Mitchell Hatfield / Mbed 2 deprecated MX_Spoile_Test

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Dependencies:   BridgeDriver_NA FrontPanelButtons MCP23017 TextLCD mbed

main.cpp@0:1d73f030c262, 2015-01-20 (annotated)

Committer:
mehatfie
Date:
Tue Jan 20 04:21:28 2015 +0000
Revision:
0:1d73f030c262
-Upload to Component Test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mehatfie 0:1d73f030c262 1 #include "mbed.h"
mehatfie 0:1d73f030c262 2 #include "LocalPinNames.h"
mehatfie 0:1d73f030c262 3 #include "BridgeDriver.h"
mehatfie 0:1d73f030c262 4 #include "FrontPanelButtons.h"
mehatfie 0:1d73f030c262 5 #include "TextLCD.h"
mehatfie 0:1d73f030c262 6
mehatfie 0:1d73f030c262 7 I2C i2c( P0_10, P0_11 ); // I2C bus (SDA, SCL)
mehatfie 0:1d73f030c262 8 BridgeDriver bridges( &i2c ); // bridge
mehatfie 0:1d73f030c262 9 TextLCD_I2C lcd( &i2c, MCP23008_SA0, TextLCD::LCD20x4 ); // LCD
mehatfie 0:1d73f030c262 10 FrontPanelButtons buttons( &i2c ); // front panel buttons
mehatfie 0:1d73f030c262 11
mehatfie 0:1d73f030c262 12 DigitalIn TDC(DIO0, PullDown);
mehatfie 0:1d73f030c262 13 AnalogIn signal(AI0);
mehatfie 0:1d73f030c262 14
mehatfie 0:1d73f030c262 15 Ticker ErrorWatch;
mehatfie 0:1d73f030c262 16 Timer timer; //initialize a timer
mehatfie 0:1d73f030c262 17 Timer avgCycTimer;
mehatfie 0:1d73f030c262 18
mehatfie 0:1d73f030c262 19 float totaltime = 0;
mehatfie 0:1d73f030c262 20
mehatfie 0:1d73f030c262 21 SPI spi(P0_9, P0_8, P0_7); // mosi(out), miso(in), sclk(clock)
mehatfie 0:1d73f030c262 22 DigitalOut cs_Current(P1_0); // cs (the chip select signal)
mehatfie 0:1d73f030c262 23
mehatfie 0:1d73f030c262 24 float stateDir = 0;
mehatfie 0:1d73f030c262 25 int numCycles = 200000;
mehatfie 0:1d73f030c262 26 int cycleCount = 1;
mehatfie 0:1d73f030c262 27
mehatfie 0:1d73f030c262 28 void errorCheck(){
mehatfie 0:1d73f030c262 29
mehatfie 0:1d73f030c262 30 if (timer.read() > 3.0){
mehatfie 0:1d73f030c262 31 bridges.drive( BridgeDriver::MOTOR_B, 0.0 );
mehatfie 0:1d73f030c262 32
mehatfie 0:1d73f030c262 33 lcd.cls(); //clear the display
mehatfie 0:1d73f030c262 34 lcd.setAddress ( 0, 0 );
mehatfie 0:1d73f030c262 35 lcd.printf( "<Error Occurred>" );
mehatfie 0:1d73f030c262 36 lcd.setAddress ( 0, 1 );
mehatfie 0:1d73f030c262 37 lcd.printf( "Timeout, transition greater than 3 seconds" );
mehatfie 0:1d73f030c262 38 lcd.setAddress ( 0, 3 );
mehatfie 0:1d73f030c262 39 lcd.printf( "<Press Sel to Resume" );
mehatfie 0:1d73f030c262 40 while (!buttons.readSel());
mehatfie 0:1d73f030c262 41 lcd.cls(); //clear the display
mehatfie 0:1d73f030c262 42
mehatfie 0:1d73f030c262 43 lcd.setAddress( 0, 0 );
mehatfie 0:1d73f030c262 44 lcd.printf( "Cycle %d/%3d", cycleCount, numCycles );
mehatfie 0:1d73f030c262 45 lcd.setAddress( 0, 1 );
mehatfie 0:1d73f030c262 46 lcd.printf( "Avg t(sec): %1.3f", (totaltime / cycleCount));
mehatfie 0:1d73f030c262 47
mehatfie 0:1d73f030c262 48 timer.reset();
mehatfie 0:1d73f030c262 49 timer.start();
mehatfie 0:1d73f030c262 50
mehatfie 0:1d73f030c262 51 bridges.drive( BridgeDriver::MOTOR_B, stateDir );
mehatfie 0:1d73f030c262 52 }
mehatfie 0:1d73f030c262 53 }
mehatfie 0:1d73f030c262 54
mehatfie 0:1d73f030c262 55
mehatfie 0:1d73f030c262 56
mehatfie 0:1d73f030c262 57 float calcCurrent(int channel){
mehatfie 0:1d73f030c262 58
mehatfie 0:1d73f030c262 59 // Select the device by seting chip select low
mehatfie 0:1d73f030c262 60 cs_Current = 0;
mehatfie 0:1d73f030c262 61
mehatfie 0:1d73f030c262 62 // sending the 6 bits + 1 bit to ignore the null bit
mehatfie 0:1d73f030c262 63 // coming from the device, so the data that is sent is 1100000
mehatfie 0:1d73f030c262 64 // get data for channel 0
mehatfie 0:1d73f030c262 65 //spi.write(0x68); // 1101000
mehatfie 0:1d73f030c262 66
mehatfie 0:1d73f030c262 67 // create the message to send in order to get the appropriate data transmitted from the ADC
mehatfie 0:1d73f030c262 68 unsigned char channelBits = (channel-1) << 2; // shift the channel bits into there position
mehatfie 0:1d73f030c262 69 unsigned char msg = 96 + channelBits;
mehatfie 0:1d73f030c262 70 spi.write(msg);
mehatfie 0:1d73f030c262 71
mehatfie 0:1d73f030c262 72 // now the device sends back the readings 12 bits, 7 bits at a time
mehatfie 0:1d73f030c262 73 uint8_t high = spi.write(0x00);
mehatfie 0:1d73f030c262 74 uint8_t low = spi.write(0x00);
mehatfie 0:1d73f030c262 75
mehatfie 0:1d73f030c262 76 // shift out the right bits
mehatfie 0:1d73f030c262 77 low = ( high << 5 ) | (low >> 2);
mehatfie 0:1d73f030c262 78 high = high >> 3;
mehatfie 0:1d73f030c262 79
mehatfie 0:1d73f030c262 80
mehatfie 0:1d73f030c262 81 float DigOutVal = ( high << 8 ) | low; // shift and or the result together
mehatfie 0:1d73f030c262 82
mehatfie 0:1d73f030c262 83 cs_Current = 1; // Deselect the device
mehatfie 0:1d73f030c262 84
mehatfie 0:1d73f030c262 85 //return current;
mehatfie 0:1d73f030c262 86 return DigOutVal;
mehatfie 0:1d73f030c262 87 }
mehatfie 0:1d73f030c262 88
mehatfie 0:1d73f030c262 89 int main() {
mehatfie 0:1d73f030c262 90
mehatfie 0:1d73f030c262 91 //initialize Ticker
mehatfie 0:1d73f030c262 92 ErrorWatch.attach(&errorCheck, 3);
mehatfie 0:1d73f030c262 93
mehatfie 0:1d73f030c262 94 // Setup the spi for 7 bit data, high steady state clock,
mehatfie 0:1d73f030c262 95 // second edge capture, with a 1MHz clock rate
mehatfie 0:1d73f030c262 96 spi.format(7,0);
mehatfie 0:1d73f030c262 97 spi.frequency(1000000);
mehatfie 0:1d73f030c262 98
mehatfie 0:1d73f030c262 99 i2c.frequency(1000000);
mehatfie 0:1d73f030c262 100 lcd.setBacklight(TextLCD::LightOn);
mehatfie 0:1d73f030c262 101 wait(.6);
mehatfie 0:1d73f030c262 102 lcd.cls(); //clear the display
mehatfie 0:1d73f030c262 103 lcd.setAddress(0,0); //set cursor to 0,0
mehatfie 0:1d73f030c262 104
mehatfie 0:1d73f030c262 105 int count = 0;
mehatfie 0:1d73f030c262 106
mehatfie 0:1d73f030c262 107 bridges.enablePwm ( 0, 1, 0, 0 );
mehatfie 0:1d73f030c262 108 bridges.drive( BridgeDriver::MOTOR_B, 0.0 );
mehatfie 0:1d73f030c262 109
mehatfie 0:1d73f030c262 110 lcd.cls(); //clear the display
mehatfie 0:1d73f030c262 111 lcd.setAddress ( 0, 2 );
mehatfie 0:1d73f030c262 112 lcd.printf( "<Press Sel to start>" );
mehatfie 0:1d73f030c262 113
mehatfie 0:1d73f030c262 114 while (!buttons.readSel()){
mehatfie 0:1d73f030c262 115 if(buttons.readUp() && numCycles < 999999 ){
mehatfie 0:1d73f030c262 116 numCycles += 500;
mehatfie 0:1d73f030c262 117 wait(0.2); //so that the speed of changing the numbers is more controllable, should mean you can move 20 digits per second
mehatfie 0:1d73f030c262 118 }
mehatfie 0:1d73f030c262 119 else if (buttons.readDown() && numCycles > 0 ){
mehatfie 0:1d73f030c262 120 numCycles -= 500;
mehatfie 0:1d73f030c262 121 wait(0.2); //so that the speed of changing the numbers is more controllable, should mean you can move 20 digits per second
mehatfie 0:1d73f030c262 122 }
mehatfie 0:1d73f030c262 123 lcd.setAddress ( 0, 0 );
mehatfie 0:1d73f030c262 124 lcd.printf( "<Cycles: %d >" , numCycles );
mehatfie 0:1d73f030c262 125 }
mehatfie 0:1d73f030c262 126
mehatfie 0:1d73f030c262 127 bridges.drive( 2, 1 ); //turn on the hall sensor voltage
mehatfie 0:1d73f030c262 128
mehatfie 0:1d73f030c262 129 int hallCount = 109;
mehatfie 0:1d73f030c262 130
mehatfie 0:1d73f030c262 131 //Initialize the spoiler by rotating to stall currents and finding how many ticks the hall sensor takes through the rotation
mehatfie 0:1d73f030c262 132 bridges.drive( BridgeDriver::MOTOR_B, -1.0 );
mehatfie 0:1d73f030c262 133 while (calcCurrent(4) < 2200);
mehatfie 0:1d73f030c262 134 bridges.drive( BridgeDriver::MOTOR_B, 0.0 );
mehatfie 0:1d73f030c262 135 // wait(1);
mehatfie 0:1d73f030c262 136 // bridges.drive( BridgeDriver::MOTOR_B, 1.0 );
mehatfie 0:1d73f030c262 137 // wait(1);
mehatfie 0:1d73f030c262 138 //
mehatfie 0:1d73f030c262 139 // int flag = 0;
mehatfie 0:1d73f030c262 140 // while (calcCurrent(3) < 2200){
mehatfie 0:1d73f030c262 141 // if(signal.read() >= 0.8 && flag == 0){
mehatfie 0:1d73f030c262 142 // flag = 1;
mehatfie 0:1d73f030c262 143 // hallCount++;
mehatfie 0:1d73f030c262 144 // }
mehatfie 0:1d73f030c262 145 // else if (signal.read() < 0.8 && flag == 1)
mehatfie 0:1d73f030c262 146 // flag = 0;
mehatfie 0:1d73f030c262 147 // }
mehatfie 0:1d73f030c262 148
mehatfie 0:1d73f030c262 149 bridges.drive( BridgeDriver::MOTOR_B, 0.0 );
mehatfie 0:1d73f030c262 150 wait(3);
mehatfie 0:1d73f030c262 151
mehatfie 0:1d73f030c262 152
mehatfie 0:1d73f030c262 153 lcd.cls(); //clear the display
mehatfie 0:1d73f030c262 154
mehatfie 0:1d73f030c262 155 while(cycleCount <= numCycles){
mehatfie 0:1d73f030c262 156
mehatfie 0:1d73f030c262 157 avgCycTimer.reset();
mehatfie 0:1d73f030c262 158 avgCycTimer.start();
mehatfie 0:1d73f030c262 159
mehatfie 0:1d73f030c262 160 lcd.setAddress( 0, 0 );
mehatfie 0:1d73f030c262 161 lcd.printf( "Cycle %d/%3d", cycleCount, numCycles );
mehatfie 0:1d73f030c262 162
mehatfie 0:1d73f030c262 163 stateDir = 1;
mehatfie 0:1d73f030c262 164 bridges.drive( BridgeDriver::MOTOR_B, 1.0 );
mehatfie 0:1d73f030c262 165 timer.reset();
mehatfie 0:1d73f030c262 166 timer.start();
mehatfie 0:1d73f030c262 167
mehatfie 0:1d73f030c262 168 int flag = 0;
mehatfie 0:1d73f030c262 169 count = 0;
mehatfie 0:1d73f030c262 170
mehatfie 0:1d73f030c262 171 while (TDC.read() == 1){ //while not at TDC
mehatfie 0:1d73f030c262 172 if(signal.read() >= 0.8 && flag == 0){
mehatfie 0:1d73f030c262 173 flag = 1;
mehatfie 0:1d73f030c262 174 count++;
mehatfie 0:1d73f030c262 175 }
mehatfie 0:1d73f030c262 176 else if (signal.read() < 0.8 && flag == 1)
mehatfie 0:1d73f030c262 177 flag = 0;
mehatfie 0:1d73f030c262 178 }
mehatfie 0:1d73f030c262 179
mehatfie 0:1d73f030c262 180 timer.stop();
mehatfie 0:1d73f030c262 181
mehatfie 0:1d73f030c262 182 //Pause at TDC for 5 seconds before continuing
mehatfie 0:1d73f030c262 183 stateDir = 0;
mehatfie 0:1d73f030c262 184 bridges.drive( BridgeDriver::MOTOR_B, 0.0 );
mehatfie 0:1d73f030c262 185 wait(1);
mehatfie 0:1d73f030c262 186 stateDir = 1;
mehatfie 0:1d73f030c262 187 bridges.drive( BridgeDriver::MOTOR_B, 1.0 );
mehatfie 0:1d73f030c262 188
mehatfie 0:1d73f030c262 189 timer.reset();
mehatfie 0:1d73f030c262 190 timer.start();
mehatfie 0:1d73f030c262 191
mehatfie 0:1d73f030c262 192 int stopCount = 0;
mehatfie 0:1d73f030c262 193 while (stopCount < (hallCount - count - 20)){
mehatfie 0:1d73f030c262 194 if(signal.read() >= 0.8 && flag == 0){
mehatfie 0:1d73f030c262 195 flag = 1;
mehatfie 0:1d73f030c262 196 stopCount++;
mehatfie 0:1d73f030c262 197 }
mehatfie 0:1d73f030c262 198 else if (signal.read() < 0.8 && flag == 1)
mehatfie 0:1d73f030c262 199 flag = 0;
mehatfie 0:1d73f030c262 200 }
mehatfie 0:1d73f030c262 201
mehatfie 0:1d73f030c262 202 timer.stop();
mehatfie 0:1d73f030c262 203
mehatfie 0:1d73f030c262 204 //Pause at the end state before rotating back
mehatfie 0:1d73f030c262 205 stateDir = 0;
mehatfie 0:1d73f030c262 206 bridges.drive( BridgeDriver::MOTOR_B, 0.0 );
mehatfie 0:1d73f030c262 207 wait(1);
mehatfie 0:1d73f030c262 208 stateDir = -1;
mehatfie 0:1d73f030c262 209 bridges.drive( BridgeDriver::MOTOR_B, -1.0 );
mehatfie 0:1d73f030c262 210
mehatfie 0:1d73f030c262 211 timer.reset();
mehatfie 0:1d73f030c262 212 timer.start();
mehatfie 0:1d73f030c262 213
mehatfie 0:1d73f030c262 214 flag = 0;
mehatfie 0:1d73f030c262 215 count = 0;
mehatfie 0:1d73f030c262 216 while (TDC.read() == 1){ //while not at TDC
mehatfie 0:1d73f030c262 217 if(signal.read() >= 0.8 && flag == 0){
mehatfie 0:1d73f030c262 218 flag = 1;
mehatfie 0:1d73f030c262 219 count++;
mehatfie 0:1d73f030c262 220 }
mehatfie 0:1d73f030c262 221 else if (signal.read() < 0.8 && flag == 1)
mehatfie 0:1d73f030c262 222 flag = 0;
mehatfie 0:1d73f030c262 223 }
mehatfie 0:1d73f030c262 224
mehatfie 0:1d73f030c262 225 timer.stop();
mehatfie 0:1d73f030c262 226
mehatfie 0:1d73f030c262 227 //Pause at TDC for 5 seconds before continuing
mehatfie 0:1d73f030c262 228 stateDir = 0;
mehatfie 0:1d73f030c262 229 bridges.drive( BridgeDriver::MOTOR_B, 0.0 );
mehatfie 0:1d73f030c262 230 wait(1);
mehatfie 0:1d73f030c262 231 stateDir = -1;
mehatfie 0:1d73f030c262 232 bridges.drive( BridgeDriver::MOTOR_B, -1.0 );
mehatfie 0:1d73f030c262 233
mehatfie 0:1d73f030c262 234 timer.reset();
mehatfie 0:1d73f030c262 235 timer.start();
mehatfie 0:1d73f030c262 236
mehatfie 0:1d73f030c262 237 stopCount = 0;
mehatfie 0:1d73f030c262 238 while (stopCount < (hallCount - count - 15)){
mehatfie 0:1d73f030c262 239 if(signal.read() >= 0.8 && flag == 0){
mehatfie 0:1d73f030c262 240 flag = 1;
mehatfie 0:1d73f030c262 241 stopCount++;
mehatfie 0:1d73f030c262 242 }
mehatfie 0:1d73f030c262 243 else if (signal.read() < 0.8 && flag == 1)
mehatfie 0:1d73f030c262 244 flag = 0;
mehatfie 0:1d73f030c262 245 }
mehatfie 0:1d73f030c262 246
mehatfie 0:1d73f030c262 247 timer.stop();
mehatfie 0:1d73f030c262 248
mehatfie 0:1d73f030c262 249 //Pause at TDC for 5 seconds before continuing
mehatfie 0:1d73f030c262 250 stateDir = 0;
mehatfie 0:1d73f030c262 251 bridges.drive( BridgeDriver::MOTOR_B, 0.0 );
mehatfie 0:1d73f030c262 252 wait(1);
mehatfie 0:1d73f030c262 253
mehatfie 0:1d73f030c262 254 avgCycTimer.stop();
mehatfie 0:1d73f030c262 255
mehatfie 0:1d73f030c262 256 totaltime += avgCycTimer.read();
mehatfie 0:1d73f030c262 257 lcd.setAddress( 0, 1 );
mehatfie 0:1d73f030c262 258 lcd.printf( "Avg t(sec): %1.3f", (totaltime / cycleCount));
mehatfie 0:1d73f030c262 259 wait(0.2);
mehatfie 0:1d73f030c262 260
mehatfie 0:1d73f030c262 261 cycleCount++;
mehatfie 0:1d73f030c262 262 }
mehatfie 0:1d73f030c262 263
mehatfie 0:1d73f030c262 264 lcd.cls(); //clear the display
mehatfie 0:1d73f030c262 265 lcd.setAddress(0,0);
mehatfie 0:1d73f030c262 266 lcd.printf("END OF PROGRAM");
mehatfie 0:1d73f030c262 267 lcd.setAddress(0,1);
mehatfie 0:1d73f030c262 268 lcd.printf("Num Cycles Met");
mehatfie 0:1d73f030c262 269 return 0;
mehatfie 0:1d73f030c262 270
mehatfie 0:1d73f030c262 271 }