megan gimple / Mbed 2 deprecated OCE360_Final_Project

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Dependencies:   mbed MMA8452Q MS5837 SDFileSystem SCI_SENSOR

main.cpp@41:9c7e35212c68, 2021-12-10 (annotated)

Committer:
mgimple
Date:
Fri Dec 10 21:58:49 2021 +0000
Revision:
41:9c7e35212c68
Parent:
40:8a37ea9d006d
Child:
42:4cad666e57f4
wasdfgh

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elizabethtaylor 11:fc58334fd36b 1 //OCE 360 Final Project
elizabethtaylor 11:fc58334fd36b 2 //Annaliese Nardi, Eliza Taylor, Mackenzie Fraser, Megan Gimple
elizabethtaylor 11:fc58334fd36b 3 //Updated Code by Stephen Licht
elizabethtaylor 25:69027120c44f 4 //Description: This code controls the movement of a UAV. Collects pressure, temperaure, light, and acceleration data and writes that to a file on an onboard SD card.
elizabethtaylor 11:fc58334fd36b 5
slicht_instructor 0:6e97f9a6aca0 6 #include "mbed.h"
slicht_instructor 0:6e97f9a6aca0 7 #include "MMA8452Q.h" //accelerometer library
slicht_instructor 0:6e97f9a6aca0 8 #include "MS5837.h" //pressure sensor library***
mgimple 1:e1a2b47c3098 9 #include "SCI_SENSOR.h" //science sensor library, photocell, temperature cell
slicht_instructor 0:6e97f9a6aca0 10 #include "SDFileSystem.h" // SD card library
slicht_instructor 0:6e97f9a6aca0 11
slicht_instructor 0:6e97f9a6aca0 12 DigitalOut led1(LED1);
slicht_instructor 0:6e97f9a6aca0 13 DigitalOut led2(LED2);
mgimple 28:55b04fb61809 14 DigitalOut led3(LED3);
slicht_instructor 0:6e97f9a6aca0 15
mgimple 1:e1a2b47c3098 16 Serial pc(USBTX, USBRX); //initial serial
mgimple 1:e1a2b47c3098 17 Serial BLE(p13,p14); //Bluetooth
mgimple 1:e1a2b47c3098 18 MMA8452Q accel(p28,p27,0x1D); //initial accelerometer
mgimple 1:e1a2b47c3098 19 LM19 temp(p19); //temperature sensor
mgimple 1:e1a2b47c3098 20 PhotoCell light(p20); //photocell
slicht_instructor 0:6e97f9a6aca0 21 MS5837 p_sensor(p9, p10, ms5837_addr_no_CS); //pressure sensor
slicht_instructor 0:6e97f9a6aca0 22 PwmOut thruster(p21); //set PWM pin //max 1.3ms min 1.1ms
slicht_instructor 0:6e97f9a6aca0 23 PwmOut thruster2(p22); //set PWM pin
slicht_instructor 0:6e97f9a6aca0 24 SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
slicht_instructor 0:6e97f9a6aca0 25
slicht_instructor 0:6e97f9a6aca0 26 //global ticker
slicht_instructor 0:6e97f9a6aca0 27 Ticker log_ticker;
slicht_instructor 0:6e97f9a6aca0 28 Ticker accel_ticker;
mgimple 1:e1a2b47c3098 29
slicht_instructor 0:6e97f9a6aca0 30 // global timer
slicht_instructor 0:6e97f9a6aca0 31 Timer t;
mgimple 20:6fb55c833f9f 32 Timer timer2; //part two timer
slicht_instructor 0:6e97f9a6aca0 33
slicht_instructor 0:6e97f9a6aca0 34 ///File
slicht_instructor 0:6e97f9a6aca0 35 FILE *fp;
slicht_instructor 0:6e97f9a6aca0 36 char fname[100];
slicht_instructor 0:6e97f9a6aca0 37 float PI = 3.14159265358979323846f;
slicht_instructor 0:6e97f9a6aca0 38
slicht_instructor 0:6e97f9a6aca0 39 //float operation parameters
mgimple 1:e1a2b47c3098 40 float target_depth=0; //global target depth default 0
mgimple 1:e1a2b47c3098 41 int yo_num=0; //global yo_num default 0
mgimple 1:e1a2b47c3098 42 float thrust_on_time=0; //global thrust_on time default 0
mgimple 1:e1a2b47c3098 43 float accelData[3]; //global accel data
mgimple 40:8a37ea9d006d 44 //float vessel_length=0.75; //vessel length 0.75 meters
slicht_instructor 0:6e97f9a6aca0 45
slicht_instructor 0:6e97f9a6aca0 46 //functions
slicht_instructor 0:6e97f9a6aca0 47 void welcome();
slicht_instructor 0:6e97f9a6aca0 48 void log_data();
mgimple 4:d87b1e40d419 49
slicht_instructor 0:6e97f9a6aca0 50 //IMU related
slicht_instructor 0:6e97f9a6aca0 51 void accel_update(); //update accelerometer related variables. we use imu_ticker to call this function
mgimple 5:17f2b3e61112 52
mgimple 9:e4e1d5db0c04 53 //Control Parameters
mgimple 40:8a37ea9d006d 54 float tim = 5; //define thruster on time
mgimple 41:9c7e35212c68 55 float percent = 1.5; //user defined percent of thrust power
mgimple 9:e4e1d5db0c04 56
slicht_instructor 0:6e97f9a6aca0 57 //Control related functions
slicht_instructor 0:6e97f9a6aca0 58 void thrust_on(float pw, float on_time); //input is pulse width
mgimple 10:b2fe6d1dee81 59 //void thrust_off(float pw, float on_time); // turn off pulse width
mgimple 9:e4e1d5db0c04 60
mgimple 5:17f2b3e61112 61
elizabethtaylor 11:fc58334fd36b 62 //global variables
elizabethtaylor 11:fc58334fd36b 63
elizabethtaylor 11:fc58334fd36b 64
slicht_instructor 0:6e97f9a6aca0 65 //-------------Main functions-----------------------------------------------------------------------------------------
slicht_instructor 0:6e97f9a6aca0 66 int main()
slicht_instructor 0:6e97f9a6aca0 67 {
slicht_instructor 0:6e97f9a6aca0 68 //-----Initialization realted code-------//
mgimple 18:b5f58a274570 69 //inital set the thruster esc to 1ms duty cycle
slicht_instructor 0:6e97f9a6aca0 70 thruster.period(0.002); // 2 ms period
mgimple 18:b5f58a274570 71 thruster.pulsewidth(1.0/1000.000);
mgimple 29:48534309e09d 72 thruster2.period(0.002); // 2 ms period
mgimple 29:48534309e09d 73 thruster2.pulsewidth(1.0/1000.000);
mgimple 18:b5f58a274570 74
slicht_instructor 0:6e97f9a6aca0 75 //Initialize accelerometer:
slicht_instructor 0:6e97f9a6aca0 76 accel.init();
slicht_instructor 0:6e97f9a6aca0 77 led1=1;
mgimple 18:b5f58a274570 78
slicht_instructor 0:6e97f9a6aca0 79 //initialize pressure sensor
slicht_instructor 0:6e97f9a6aca0 80 pc.printf("setting the pressure sensor\r\n");
slicht_instructor 0:6e97f9a6aca0 81 p_sensor.MS5837Reset();
slicht_instructor 0:6e97f9a6aca0 82 p_sensor.MS5837Init();
mgimple 6:5f55105701ac 83 pc.printf("setting the tickers\r\n");
slicht_instructor 0:6e97f9a6aca0 84 t.start();
slicht_instructor 0:6e97f9a6aca0 85 led2=1;
mgimple 31:f62d09120c6a 86 //*****************************************************
mgimple 31:f62d09120c6a 87 //waits until it gets an answer over the Bluetooth link!
mgimple 31:f62d09120c6a 88 welcome(); //prompts user for the logfile name
mgimple 31:f62d09120c6a 89 //********************************************************
mgimple 31:f62d09120c6a 90
mgimple 18:b5f58a274570 91
slicht_instructor 0:6e97f9a6aca0 92 //-----setup ticker-------//
slicht_instructor 0:6e97f9a6aca0 93 //setup ticker to separate log and IMU data update.
slicht_instructor 0:6e97f9a6aca0 94 //so we could have all our control code in the while loop
slicht_instructor 0:6e97f9a6aca0 95 // //log at 2 Hz
mgimple 40:8a37ea9d006d 96 accel_ticker.attach(&accel_update,1); //
mgimple 35:414778105560 97 log_ticker.attach(&log_data,0.5);
mgimple 31:f62d09120c6a 98 led2=0;
mgimple 28:55b04fb61809 99 led1=0;
mgimple 18:b5f58a274570 100
mgimple 41:9c7e35212c68 101 //Part One
mgimple 41:9c7e35212c68 102 int count=0;
mgimple 41:9c7e35212c68 103 while(count<3) {
mgimple 41:9c7e35212c68 104 led1=1;
mgimple 41:9c7e35212c68 105 count=count+1;
mgimple 41:9c7e35212c68 106 float pw=percent;
mgimple 41:9c7e35212c68 107 float on_time=tim;
mgimple 41:9c7e35212c68 108 thrust_on(pw, on_time); //turn thruster on for 5 seconds
mgimple 41:9c7e35212c68 109 wait(10);
mgimple 41:9c7e35212c68 110 }
mgimple 41:9c7e35212c68 111
mgimple 41:9c7e35212c68 112 //Part Two
mgimple 41:9c7e35212c68 113 timer2.start();
mgimple 18:b5f58a274570 114
mgimple 41:9c7e35212c68 115 while(timer2.read()<60) {
mgimple 41:9c7e35212c68 116 led1=0;
mgimple 41:9c7e35212c68 117 led2=1;
mgimple 41:9c7e35212c68 118 float current_depth=p_sensor.depth();
mgimple 41:9c7e35212c68 119 float pw=percent;
mgimple 41:9c7e35212c68 120 float on_time=2;
mgimple 18:b5f58a274570 121
mgimple 41:9c7e35212c68 122 if (current_depth<1.8) {
mgimple 41:9c7e35212c68 123 thrust_on(pw,on_time);
mgimple 18:b5f58a274570 124 }
mgimple 41:9c7e35212c68 125 }
mgimple 41:9c7e35212c68 126 timer2.reset();
mgimple 41:9c7e35212c68 127 timer2.start();
mgimple 41:9c7e35212c68 128
mgimple 41:9c7e35212c68 129 //Part Three
mgimple 41:9c7e35212c68 130 while(timer2.read()<60) {
mgimple 41:9c7e35212c68 131 led2=0;
mgimple 41:9c7e35212c68 132 led3=1;
mgimple 41:9c7e35212c68 133 float error_deep = 2.3; //deep end of error band 2.5m ?
mgimple 41:9c7e35212c68 134 float error_shallow = 1.7; //shallow end of error band 1.5m?
mgimple 41:9c7e35212c68 135 float target_depth=2;
mgimple 41:9c7e35212c68 136 float current_depth = p_sensor.depth();
mgimple 41:9c7e35212c68 137 float on_time=2;
mgimple 34:dd00bd18ead9 138
mgimple 18:b5f58a274570 139
mgimple 41:9c7e35212c68 140 if ((current_depth>=0)&&(current_depth<=error_shallow)) { //if float is between 0 & 1.6 meters deep
mgimple 41:9c7e35212c68 141 float pw = 1.5;
mgimple 41:9c7e35212c68 142 thrust_on(pw,on_time);
mgimple 41:9c7e35212c68 143 } // turn on thruster at set pw and ontime
mgimple 41:9c7e35212c68 144 else if ((current_depth>=error_shallow)&&(current_depth<=target_depth)) {//if float is between 1.6 & 2 meters deep
mgimple 41:9c7e35212c68 145 float pw = 1.2;
mgimple 41:9c7e35212c68 146 thrust_on(pw,on_time);
mgimple 41:9c7e35212c68 147 }
mgimple 41:9c7e35212c68 148 else if ((current_depth>=target_depth)&&(current_depth<=error_deep)) {//if float is inbetween 2 & 2.4 meters deep
mgimple 41:9c7e35212c68 149 float pw = 1.0;
mgimple 41:9c7e35212c68 150 thrust_on(pw,on_time);
mgimple 41:9c7e35212c68 151 }
mgimple 41:9c7e35212c68 152 else if (current_depth>error_deep) {
mgimple 41:9c7e35212c68 153 wait(1); //float up 1 second
mgimple 41:9c7e35212c68 154 }
mgimple 36:93a04bd48152 155 }
mgimple 34:dd00bd18ead9 156 }
slicht_instructor 0:6e97f9a6aca0 157
mgimple 41:9c7e35212c68 158
mgimple 41:9c7e35212c68 159
slicht_instructor 0:6e97f9a6aca0 160 //-------------Customized functions---------------------------------------------//----------------------------------------
slicht_instructor 0:6e97f9a6aca0 161 ///-----------Welcome menu---------------------///
mgimple 34:dd00bd18ead9 162 void welcome()
mgimple 34:dd00bd18ead9 163 {
mgimple 34:dd00bd18ead9 164 char buffer[100]= {0};
mgimple 34:dd00bd18ead9 165 int flag=1;
mgimple 34:dd00bd18ead9 166 //Flush the port
mgimple 34:dd00bd18ead9 167 while(BLE.readable()) {
mgimple 34:dd00bd18ead9 168 BLE.getc();
mgimple 34:dd00bd18ead9 169 }
mgimple 34:dd00bd18ead9 170 led1=1;
mgimple 34:dd00bd18ead9 171 while(flag) {
mgimple 34:dd00bd18ead9 172 BLE.printf("### I am alive\r\n");
mgimple 34:dd00bd18ead9 173 BLE.printf("### Please enter the log file name you want\r\n");
mgimple 34:dd00bd18ead9 174 if(BLE.readable()) {
mgimple 34:dd00bd18ead9 175 BLE.scanf("%s",buffer);
mgimple 34:dd00bd18ead9 176 sprintf(fname,"/sd/mydir/%s.txt",buffer); //make file name
slicht_instructor 0:6e97f9a6aca0 177
mgimple 34:dd00bd18ead9 178 flag = 0; //set the flag to 0 to break the while
mgimple 20:6fb55c833f9f 179 }
mgimple 34:dd00bd18ead9 180 wait(1);
mgimple 34:dd00bd18ead9 181 }
mgimple 34:dd00bd18ead9 182 led2=1;
mgimple 34:dd00bd18ead9 183 //print name
mgimple 34:dd00bd18ead9 184 BLE.printf("### name received\r\n");
mgimple 34:dd00bd18ead9 185 BLE.printf("### file name and directory is: \r\n %s\r\n",fname); //file name and location
mgimple 34:dd00bd18ead9 186 //open file test
mgimple 34:dd00bd18ead9 187 mkdir("/sd/mydir",0777); //keep 0777, this is magic #
mgimple 34:dd00bd18ead9 188 fp = fopen(fname, "a");
mgimple 34:dd00bd18ead9 189 if(fp == NULL) {
mgimple 34:dd00bd18ead9 190 BLE.printf("Could not open file for write\n");
mgimple 34:dd00bd18ead9 191 } else {
mgimple 34:dd00bd18ead9 192 BLE.printf("##file open good \n"); //open file and tell if open
mgimple 34:dd00bd18ead9 193 fprintf(fp, "Hello\r\n");
mgimple 34:dd00bd18ead9 194 fclose(fp);
mgimple 20:6fb55c833f9f 195 }
mgimple 20:6fb55c833f9f 196
mgimple 34:dd00bd18ead9 197 BLE.printf("### The main program will start in 5 seconds\r\n");
mgimple 34:dd00bd18ead9 198 wait(5);
mgimple 34:dd00bd18ead9 199 }
mgimple 34:dd00bd18ead9 200
slicht_instructor 0:6e97f9a6aca0 201 ///-----------log functions---------------------///
mgimple 34:dd00bd18ead9 202 void log_data()
mgimple 34:dd00bd18ead9 203 {
mgimple 40:8a37ea9d006d 204
mgimple 34:dd00bd18ead9 205 p_sensor.Barometer_MS5837();
mgimple 34:dd00bd18ead9 206
mgimple 34:dd00bd18ead9 207 //Code from Licht
mgimple 34:dd00bd18ead9 208 //Sample code shows how to read temperature and light data:
mgimple 38:46975eaa1400 209 BLE.printf("Temperature: %f Light: %f\r\n",temp.temp(), light.light());
slicht_instructor 0:6e97f9a6aca0 210
mgimple 34:dd00bd18ead9 211 //Sample code shows how to read pressure sensor
mgimple 39:f2f0308ebecd 212 BLE.printf("Depth: %f Pressure: %f \r\n", p_sensor.depth(), p_sensor.MS5837_Pressure()); //p_sensor.MS5837_Temperature());
mgimple 37:7bb14ad22d78 213 //p_sensor.Barometer_MS5837(); //NOTE: this function prompts the pressure sensor to collect the next data point, so it must be included!
mgimple 34:dd00bd18ead9 214
mgimple 34:dd00bd18ead9 215 //Sample code indicates how to read accelerometer data:
mgimple 39:f2f0308ebecd 216 BLE.printf("Acceleration: %f %f %f\r\n",accelData[0],accelData[1],accelData[2]);
mgimple 34:dd00bd18ead9 217 //end of code from Licht
mgimple 40:8a37ea9d006d 218 float ttime =t.read();
mgimple 40:8a37ea9d006d 219 float depth =p_sensor.depth();
mgimple 40:8a37ea9d006d 220 float pressure =p_sensor.MS5837_Pressure();
mgimple 41:9c7e35212c68 221
mgimple 40:8a37ea9d006d 222
mgimple 34:dd00bd18ead9 223 fp = fopen(fname, "a");
mgimple 41:9c7e35212c68 224 fprintf(fp, "$DATA %f,%f,%f,%f,%f,%f,%f \r\n", ttime,depth,pressure,accelData[0],accelData[1],accelData[2],light.light());
mgimple 34:dd00bd18ead9 225 fclose(fp);
mgimple 34:dd00bd18ead9 226 }
slicht_instructor 0:6e97f9a6aca0 227
slicht_instructor 0:6e97f9a6aca0 228 ///-----------acceleromter related functions---------------------///
mgimple 34:dd00bd18ead9 229 void accel_update()
mgimple 34:dd00bd18ead9 230 {
mgimple 34:dd00bd18ead9 231 accelData[0] = accel.readX();
mgimple 34:dd00bd18ead9 232 accelData[1] = accel.readY();
mgimple 34:dd00bd18ead9 233 accelData[2] = accel.readZ();
mgimple 34:dd00bd18ead9 234 }
slicht_instructor 0:6e97f9a6aca0 235
slicht_instructor 0:6e97f9a6aca0 236 ///-----------Control related functions---------------------///
slicht_instructor 0:6e97f9a6aca0 237 ////Thruster on control, pw->pulse width in milli-second//
slicht_instructor 0:6e97f9a6aca0 238 //// pw range between 1 to 1.5//
slicht_instructor 0:6e97f9a6aca0 239 //// on_time-> thruster on time.
mgimple 34:dd00bd18ead9 240 void thrust_on(float pw, float on_time) //input is pulse width
mgimple 34:dd00bd18ead9 241 {
slicht_instructor 0:6e97f9a6aca0 242
mgimple 34:dd00bd18ead9 243 float pw_max=2.0;
mgimple 34:dd00bd18ead9 244 if(pw>pw_max) {
mgimple 34:dd00bd18ead9 245 pw=pw_max; //hard limitation
mgimple 34:dd00bd18ead9 246 }
mgimple 34:dd00bd18ead9 247 Timer tt;
mgimple 34:dd00bd18ead9 248 tt.reset();
mgimple 34:dd00bd18ead9 249 tt.start();
mgimple 34:dd00bd18ead9 250 // lets set the pulse width
mgimple 34:dd00bd18ead9 251 //thruster.period(20.0/1000.00); // 20 ms period
mgimple 34:dd00bd18ead9 252 thruster.pulsewidth(pw/1000.00);
mgimple 34:dd00bd18ead9 253 thruster2.pulsewidth(pw/1000.00);
mgimple 34:dd00bd18ead9 254 //PWM will be kept until time out
mgimple 34:dd00bd18ead9 255 while(tt.read()<=on_time) {
mgimple 18:b5f58a274570 256
mgimple 34:dd00bd18ead9 257 BLE.printf("thruster on?...mack is cool\r\n"); //print check
mgimple 34:dd00bd18ead9 258 }
mgimple 34:dd00bd18ead9 259 //stop the timer
mgimple 34:dd00bd18ead9 260 tt.stop();
mgimple 34:dd00bd18ead9 261 //turn off the thruster
mgimple 34:dd00bd18ead9 262 thruster.pulsewidth(1.0/1000.00);
mgimple 34:dd00bd18ead9 263 thruster2.pulsewidth(1.0/1000.00);
mgimple 18:b5f58a274570 264
mgimple 34:dd00bd18ead9 265 }