megan gimple / Mbed 2 deprecated OCE360_Final_Project

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Dependencies:   mbed MMA8452Q MS5837 SDFileSystem SCI_SENSOR

main.cpp@34:dd00bd18ead9, 2021-12-08 (annotated)

Committer:
mgimple
Date:
Wed Dec 08 21:53:14 2021 +0000
Revision:
34:dd00bd18ead9
Parent:
33:b9e349e91d29
Child:
35:414778105560
thruster part 1 and 2 function ; need to find error in accel attach or log accache;

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 20:6fb55c833f9f 44 float vessel_length=1;
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 31:f62d09120c6a 53 //IMU related
mgimple 31:f62d09120c6a 54 void accel_update(); //update accelerometer related variables. we use imu_ticker to call this function
mgimple 31:f62d09120c6a 55
mgimple 9:e4e1d5db0c04 56 //Control Parameters
mgimple 34:dd00bd18ead9 57 float tim = 1; //define thruster on time
mgimple 14:ed172dec4022 58 float percent = 1.5; //user defined percent of thrust power
mgimple 9:e4e1d5db0c04 59
slicht_instructor 0:6e97f9a6aca0 60 //Control related functions
slicht_instructor 0:6e97f9a6aca0 61 void thrust_on(float pw, float on_time); //input is pulse width
mgimple 10:b2fe6d1dee81 62 //void thrust_off(float pw, float on_time); // turn off pulse width
mgimple 9:e4e1d5db0c04 63
mgimple 5:17f2b3e61112 64
elizabethtaylor 11:fc58334fd36b 65 //global variables
elizabethtaylor 11:fc58334fd36b 66
elizabethtaylor 11:fc58334fd36b 67
slicht_instructor 0:6e97f9a6aca0 68 //-------------Main functions-----------------------------------------------------------------------------------------
slicht_instructor 0:6e97f9a6aca0 69 int main()
slicht_instructor 0:6e97f9a6aca0 70 {
slicht_instructor 0:6e97f9a6aca0 71 //-----Initialization realted code-------//
mgimple 18:b5f58a274570 72 //inital set the thruster esc to 1ms duty cycle
slicht_instructor 0:6e97f9a6aca0 73 thruster.period(0.002); // 2 ms period
mgimple 18:b5f58a274570 74 thruster.pulsewidth(1.0/1000.000);
mgimple 29:48534309e09d 75 thruster2.period(0.002); // 2 ms period
mgimple 29:48534309e09d 76 thruster2.pulsewidth(1.0/1000.000);
mgimple 18:b5f58a274570 77
slicht_instructor 0:6e97f9a6aca0 78 //Initialize accelerometer:
slicht_instructor 0:6e97f9a6aca0 79 accel.init();
slicht_instructor 0:6e97f9a6aca0 80 led1=1;
mgimple 18:b5f58a274570 81
slicht_instructor 0:6e97f9a6aca0 82 //initialize pressure sensor
slicht_instructor 0:6e97f9a6aca0 83 pc.printf("setting the pressure sensor\r\n");
slicht_instructor 0:6e97f9a6aca0 84 p_sensor.MS5837Reset();
slicht_instructor 0:6e97f9a6aca0 85 p_sensor.MS5837Init();
mgimple 6:5f55105701ac 86 pc.printf("setting the tickers\r\n");
slicht_instructor 0:6e97f9a6aca0 87 t.start();
slicht_instructor 0:6e97f9a6aca0 88 led2=1;
mgimple 31:f62d09120c6a 89 //*****************************************************
mgimple 31:f62d09120c6a 90 //waits until it gets an answer over the Bluetooth link!
mgimple 31:f62d09120c6a 91 welcome(); //prompts user for the logfile name
mgimple 31:f62d09120c6a 92 //********************************************************
mgimple 31:f62d09120c6a 93
mgimple 18:b5f58a274570 94
slicht_instructor 0:6e97f9a6aca0 95 //-----setup ticker-------//
slicht_instructor 0:6e97f9a6aca0 96 //setup ticker to separate log and IMU data update.
slicht_instructor 0:6e97f9a6aca0 97 //so we could have all our control code in the while loop
slicht_instructor 0:6e97f9a6aca0 98 // //log at 2 Hz
mgimple 34:dd00bd18ead9 99 //accel_ticker.attach(&accel_update,0.5); //10Hz
mgimple 34:dd00bd18ead9 100 //log_ticker.attach(&log_data,0.5);
mgimple 31:f62d09120c6a 101 led2=0;
mgimple 28:55b04fb61809 102 led1=0;
mgimple 18:b5f58a274570 103
mgimple 34:dd00bd18ead9 104
mgimple 17:e72c4ac9a39e 105 //Part One
elizabethtaylor 25:69027120c44f 106 int count=0;
elizabethtaylor 25:69027120c44f 107 while(count<3) {
mgimple 27:e0943cb83251 108 led3=1;
mgimple 34:dd00bd18ead9 109 count=count+1;
mgimple 34:dd00bd18ead9 110 float pw=percent;
mgimple 34:dd00bd18ead9 111 float on_time=tim;
mgimple 20:6fb55c833f9f 112 thrust_on(pw, on_time); //turn thruster on for 5 seconds
mgimple 21:1a9fe2de6e4f 113 wait(1);
mgimple 19:c78d3e8353c4 114 }
mgimple 18:b5f58a274570 115
mgimple 17:e72c4ac9a39e 116 //Part Two
mgimple 21:1a9fe2de6e4f 117 timer2.start();
mgimple 18:b5f58a274570 118 while(1) {
mgimple 27:e0943cb83251 119 led3=0;
mgimple 17:e72c4ac9a39e 120 float current_depth=p_sensor.depth();
mgimple 17:e72c4ac9a39e 121 float pw=percent;
mgimple 34:dd00bd18ead9 122 float on_time=5;
mgimple 18:b5f58a274570 123
mgimple 18:b5f58a274570 124 if (current_depth-vessel_length<2) {
mgimple 17:e72c4ac9a39e 125 thrust_on(pw,on_time);
mgimple 18:b5f58a274570 126 }
mgimple 34:dd00bd18ead9 127 if (timer2.read()>60) { //60 because counting in seconds?
mgimple 17:e72c4ac9a39e 128 return 0;
mgimple 17:e72c4ac9a39e 129 }
mgimple 18:b5f58a274570 130 }
mgimple 34:dd00bd18ead9 131
mgimple 18:b5f58a274570 132
mgimple 19:c78d3e8353c4 133 /*Part Three
mgimple 18:b5f58a274570 134 while(1) {
mgimple 18:b5f58a274570 135 error_deep = 2.5; //deep end of error band 2.5m ?
mgimple 18:b5f58a274570 136 error_shallow = 1.5; //shallow end of error band 1.5m?
slicht_instructor 0:6e97f9a6aca0 137
mgimple 18:b5f58a274570 138 if (current_depth <= error_shallow) { //if float is less than 1.5meters deep
mgimple 18:b5f58a274570 139 thrust_on(pw,on_time); // turn on thruster at set pw and ontime
mgimple 18:b5f58a274570 140 else if (current_depth >= error_deep) //if float is more than 2.5 meters deep
mgimple 18:b5f58a274570 141 wait(1); // do nothing for 1 sec.. float will go up for 1 sec
mgimple 20:6fb55c833f9f 142 else
mgimple 18:b5f58a274570 143 pw = ; //very low thruster percentage
mgimple 20:6fb55c833f9f 144 thrust_on(pw,on_time); //run thruster at very low percentage to maintain depth
mgimple 18:b5f58a274570 145 }
mgimple 19:c78d3e8353c4 146 */
mgimple 34:dd00bd18ead9 147 }
slicht_instructor 0:6e97f9a6aca0 148
slicht_instructor 0:6e97f9a6aca0 149 //-------------Customized functions---------------------------------------------//----------------------------------------
slicht_instructor 0:6e97f9a6aca0 150 ///-----------Welcome menu---------------------///
mgimple 34:dd00bd18ead9 151 void welcome()
mgimple 34:dd00bd18ead9 152 {
mgimple 34:dd00bd18ead9 153 char buffer[100]= {0};
mgimple 34:dd00bd18ead9 154 int flag=1;
mgimple 34:dd00bd18ead9 155 //Flush the port
mgimple 34:dd00bd18ead9 156 while(BLE.readable()) {
mgimple 34:dd00bd18ead9 157 BLE.getc();
mgimple 34:dd00bd18ead9 158 }
mgimple 34:dd00bd18ead9 159 led1=1;
mgimple 34:dd00bd18ead9 160 while(flag) {
mgimple 34:dd00bd18ead9 161 BLE.printf("### I am alive\r\n");
mgimple 34:dd00bd18ead9 162 BLE.printf("### Please enter the log file name you want\r\n");
mgimple 34:dd00bd18ead9 163 if(BLE.readable()) {
mgimple 34:dd00bd18ead9 164 BLE.scanf("%s",buffer);
mgimple 34:dd00bd18ead9 165 sprintf(fname,"/sd/mydir/%s.txt",buffer); //make file name
slicht_instructor 0:6e97f9a6aca0 166
mgimple 34:dd00bd18ead9 167 flag = 0; //set the flag to 0 to break the while
mgimple 20:6fb55c833f9f 168 }
mgimple 34:dd00bd18ead9 169 wait(1);
mgimple 34:dd00bd18ead9 170 }
mgimple 34:dd00bd18ead9 171 led2=1;
mgimple 34:dd00bd18ead9 172 //print name
mgimple 34:dd00bd18ead9 173 BLE.printf("### name received\r\n");
mgimple 34:dd00bd18ead9 174 BLE.printf("### file name and directory is: \r\n %s\r\n",fname); //file name and location
mgimple 34:dd00bd18ead9 175 //open file test
mgimple 34:dd00bd18ead9 176 mkdir("/sd/mydir",0777); //keep 0777, this is magic #
mgimple 34:dd00bd18ead9 177 fp = fopen(fname, "a");
mgimple 34:dd00bd18ead9 178 if(fp == NULL) {
mgimple 34:dd00bd18ead9 179 BLE.printf("Could not open file for write\n");
mgimple 34:dd00bd18ead9 180 } else {
mgimple 34:dd00bd18ead9 181 BLE.printf("##file open good \n"); //open file and tell if open
mgimple 34:dd00bd18ead9 182 fprintf(fp, "Hello\r\n");
mgimple 34:dd00bd18ead9 183 fclose(fp);
mgimple 20:6fb55c833f9f 184 }
mgimple 20:6fb55c833f9f 185
mgimple 34:dd00bd18ead9 186 BLE.printf("### The main program will start in 5 seconds\r\n");
mgimple 34:dd00bd18ead9 187 wait(5);
mgimple 34:dd00bd18ead9 188 }
mgimple 34:dd00bd18ead9 189
slicht_instructor 0:6e97f9a6aca0 190 ///-----------log functions---------------------///
mgimple 34:dd00bd18ead9 191 void log_data()
mgimple 34:dd00bd18ead9 192 {
mgimple 34:dd00bd18ead9 193
mgimple 34:dd00bd18ead9 194 p_sensor.Barometer_MS5837();
mgimple 34:dd00bd18ead9 195
mgimple 34:dd00bd18ead9 196 //Code from Licht
mgimple 34:dd00bd18ead9 197 //Sample code shows how to read temperature and light data:
mgimple 34:dd00bd18ead9 198 BLE.printf("Temperature: %f Light: %f\r\n",temp.temp(), light.light());
slicht_instructor 0:6e97f9a6aca0 199
mgimple 34:dd00bd18ead9 200 //Sample code shows how to read pressure sensor
mgimple 34:dd00bd18ead9 201 BLE.printf("Depth: %f Pressure: %f Temperature: %f\r\n", p_sensor.depth(), p_sensor.MS5837_Pressure(), p_sensor.MS5837_Temperature());
mgimple 34:dd00bd18ead9 202 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 203
mgimple 34:dd00bd18ead9 204 //Sample code indicates how to read accelerometer data:
mgimple 34:dd00bd18ead9 205 BLE.printf("Acceleration: %f %f %f\r\n",accelData[0],accelData[1],accelData[2]);
mgimple 34:dd00bd18ead9 206 //end of code from Licht
mgimple 34:dd00bd18ead9 207
mgimple 34:dd00bd18ead9 208 fp = fopen(fname, "a");
mgimple 34:dd00bd18ead9 209 fprintf(fp, "$DATA \r\n");
mgimple 34:dd00bd18ead9 210 //fprintf(fp, "Time:%f \r\n", t.read());
mgimple 34:dd00bd18ead9 211 //fprintf(fp, "Pressure:%f \r\n", p_sensor.MS5837_Pressure());
mgimple 34:dd00bd18ead9 212 // Time:%f, Pressure:%f, Depth:%f, Acceleration:%f, %f, %f, Temp:%f, Light:%f, Percent:%f\r\n", t.read(),p_sensor.MS5837_Pressure(),p_sensor.depth(),accelData[0],accelData[1],accelData[2],temp.temp(),light.light(),percent);
mgimple 34:dd00bd18ead9 213 fclose(fp);
mgimple 34:dd00bd18ead9 214
mgimple 34:dd00bd18ead9 215 }
slicht_instructor 0:6e97f9a6aca0 216
slicht_instructor 0:6e97f9a6aca0 217 ///-----------acceleromter related functions---------------------///
mgimple 34:dd00bd18ead9 218 void accel_update()
mgimple 34:dd00bd18ead9 219 {
mgimple 34:dd00bd18ead9 220 accelData[0] = accel.readX();
mgimple 34:dd00bd18ead9 221 accelData[1] = accel.readY();
mgimple 34:dd00bd18ead9 222 accelData[2] = accel.readZ();
mgimple 34:dd00bd18ead9 223 }
slicht_instructor 0:6e97f9a6aca0 224
slicht_instructor 0:6e97f9a6aca0 225 ///-----------Control related functions---------------------///
slicht_instructor 0:6e97f9a6aca0 226 ////Thruster on control, pw->pulse width in milli-second//
slicht_instructor 0:6e97f9a6aca0 227 //// pw range between 1 to 1.5//
slicht_instructor 0:6e97f9a6aca0 228 //// on_time-> thruster on time.
mgimple 34:dd00bd18ead9 229 void thrust_on(float pw, float on_time) //input is pulse width
mgimple 34:dd00bd18ead9 230 {
slicht_instructor 0:6e97f9a6aca0 231
mgimple 34:dd00bd18ead9 232 float pw_max=2.0;
mgimple 34:dd00bd18ead9 233 if(pw>pw_max) {
mgimple 34:dd00bd18ead9 234 pw=pw_max; //hard limitation
mgimple 34:dd00bd18ead9 235 }
mgimple 34:dd00bd18ead9 236 Timer tt;
mgimple 34:dd00bd18ead9 237 tt.reset();
mgimple 34:dd00bd18ead9 238 tt.start();
mgimple 34:dd00bd18ead9 239 // lets set the pulse width
mgimple 34:dd00bd18ead9 240 //thruster.period(20.0/1000.00); // 20 ms period
mgimple 34:dd00bd18ead9 241 thruster.pulsewidth(pw/1000.00);
mgimple 34:dd00bd18ead9 242 thruster2.pulsewidth(pw/1000.00);
mgimple 34:dd00bd18ead9 243 //PWM will be kept until time out
mgimple 34:dd00bd18ead9 244 while(tt.read()<=on_time) {
mgimple 18:b5f58a274570 245
mgimple 34:dd00bd18ead9 246 BLE.printf("thruster on?...mack is cool\r\n"); //print check
mgimple 34:dd00bd18ead9 247 }
mgimple 34:dd00bd18ead9 248 //stop the timer
mgimple 34:dd00bd18ead9 249 tt.stop();
mgimple 34:dd00bd18ead9 250 //turn off the thruster
mgimple 34:dd00bd18ead9 251 thruster.pulsewidth(1.0/1000.00);
mgimple 34:dd00bd18ead9 252 thruster2.pulsewidth(1.0/1000.00);
mgimple 18:b5f58a274570 253
mgimple 34:dd00bd18ead9 254 }