Morgan Mayborne
/
Lab3_experiment_example
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Dependencies: ExperimentServer QEI_pmw MotorShield
Revision 0:43448bf056e8, committed 2015-08-12
- Comitter:
- pwensing
- Date:
- Wed Aug 12 11:54:33 2015 +0000
- Child:
- 1:95a7fddd25a9
- Commit message:
- initial commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EthernetInterface.lib Wed Aug 12 11:54:33 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/EthernetInterface/#2fc406e2553f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ExperimentServer.lib Wed Aug 12 11:54:33 2015 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/pwensing/code/ExperimentServer/#bb4b95f37896
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI_pmw.lib Wed Aug 12 11:54:33 2015 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/pwensing/code/QEI_pmw/#43b9eeecccc7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Aug 12 11:54:33 2015 +0000
@@ -0,0 +1,66 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "EthernetInterface.h"
+#include "ExperimentServer.h"
+#include "QEI.h"
+
+#define NUM_INPUTS 2
+#define NUM_OUTPUTS 3
+
+Serial pc(USBTX, USBRX); // USB Serial Terminal
+ExperimentServer server; // Object that lets us communicate with MATLAB
+PwmOut motorPMW(D5); // Motor PMW output
+DigitalOut motorFwd(D6); // Motor forward enable
+DigitalOut motorRev(D7); // Motor backward enable
+Timer t; // Timer to measure elapsed time of experiment
+
+QEI encoder(D3,D4, NC, 1200 , QEI::X4_ENCODING); // Pins D3, D4, no index, 1200 counts/rev, Quadrature encoding
+
+int main (void) {
+ // Link the terminal with our server and start it up
+ server.attachTerminal(pc);
+ server.init();
+
+ // PMW period should nominally be a multiple of our control loop
+ motorPMW.period_us(500);
+
+ // Continually get input from MATLAB and run experiments
+ float input_params[NUM_INPUTS];
+
+ while(1) {
+ if (server.getParams(input_params,NUM_INPUTS)) {
+ float v1 = input_params[0]; // Voltage for first second
+ float v2 = input_params[1]; // Voltage for second second
+
+ // Setup experiment
+ t.reset();
+ t.start();
+ encoder.reset();
+ motorFwd = 1;
+ motorRev = 0;
+ motorPMW.write(0);
+
+ // Run experiment
+ while( t.read() < 2 ) {
+ // Perform control loop logic
+ if (t.read() < 1)
+ motorPMW.write(v1);
+ else
+ motorPMW.write(v2);
+
+ // Form output to send to MATLAB
+ float output_data[NUM_OUTPUTS];
+ output_data[0] = t.read();
+ output_data[1] = encoder.getPulses();
+ output_data[2] = encoder.getVelocity();
+
+ // Send data to MATLAB
+ server.sendData(output_data,NUM_OUTPUTS);
+ wait(.001);
+ }
+ // Cleanup after experiment
+ server.setExperimentComplete();
+ motorPMW.write(0);
+ } // end if
+ } // end while
+} // end main
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Wed Aug 12 11:54:33 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#5aed8bae1001
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Aug 12 11:54:33 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/b9ad9a133dc7 \ No newline at end of file