Diff: main.cpp

Revision:

0:2a0d9ec15bb4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Mar 18 04:48:40 2019 +0000
@@ -0,0 +1,71 @@
+#include "mbed.h"
+#include "Encoder.h"
+#include "SDFileSystem.h"
+#include "motordriver.h"
+
+#define SAMPLETIME 0.001
+ 
+SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+Encoder Enc(p21, p22, 12, 0.0001, 0.001);
+Motor motor(p25 , p23 , p24 , 10000);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+Ticker timer;
+FILE* fp;
+
+double Velocity[1000] = { 0 };
+double Time[1000] = { 0 };
+
+double t = 0.0;
+
+int n = 0;
+
+void SDwrite() {
+    double velocity = -Enc.getVelocity();
+    
+    Velocity[n] = velocity;
+    Time[n] = t;
+    
+    n += 1;
+    t += SAMPLETIME;
+}
+
+int main() {
+    
+    pc.baud(115200);
+    
+    led2 = 1;   
+    fp = fopen("/sd/motor.csv", "w");
+    if(fp == NULL) {
+        pc.printf("Could not open file for write\n");
+    }
+    
+    timer.attach(&SDwrite, SAMPLETIME);
+    
+    motor.rotate(1.0);
+    
+    while(1) {
+        led1 = !led1;
+        pc.printf("Velocity: %5.2f [rad/s]\n\r", -Enc.getVelocity());
+        wait(0.0001);
+        if(t > 0.9) break;
+    }
+    timer.detach();
+    
+    motor.rotate(0.0);
+    led2 = 0;
+    led1 = 0;
+    
+    for( int i = 0; i < n; i++) {
+        fprintf(fp,"%f,%f\n",Time[i],Velocity[i]);
+    }
+    
+    
+    fclose(fp); 
+
+}