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Lab 7 student version with WSE library
Fork of Lab6 by
main.cpp@0:5d2df7452db5, 2014-10-10 (annotated)
- Committer:
- riobrien
- Date:
- Fri Oct 10 19:20:07 2014 +0000
- Revision:
- 0:5d2df7452db5
- Child:
- 1:f8c132f1ab85
None
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
riobrien | 0:5d2df7452db5 | 1 | #include "mbed.h" |
riobrien | 0:5d2df7452db5 | 2 | #define PI (3.14159) |
riobrien | 0:5d2df7452db5 | 3 | //============================================================================= |
riobrien | 0:5d2df7452db5 | 4 | // Four commands for the Instruction Register (B7,B6) - LS7366 |
riobrien | 0:5d2df7452db5 | 5 | //============================================================================= |
riobrien | 0:5d2df7452db5 | 6 | #define CLR 0x00 //Clear Instruction |
riobrien | 0:5d2df7452db5 | 7 | #define RD 0x01 //Read Instruction |
riobrien | 0:5d2df7452db5 | 8 | #define WR 0x02 //Write Instruction |
riobrien | 0:5d2df7452db5 | 9 | #define LOAD 0x03 //Load Instruction |
riobrien | 0:5d2df7452db5 | 10 | |
riobrien | 0:5d2df7452db5 | 11 | //============================================================================= |
riobrien | 0:5d2df7452db5 | 12 | // Register to Select from the Instruction Register (B5,B4,B3) - LS7366 |
riobrien | 0:5d2df7452db5 | 13 | //============================================================================= |
riobrien | 0:5d2df7452db5 | 14 | #define NONE 0x00 //No Register Selected |
riobrien | 0:5d2df7452db5 | 15 | #define MDR0 0x01 //Mode Register 0 |
riobrien | 0:5d2df7452db5 | 16 | #define MDR1 0x02 //Mode Register 1 |
riobrien | 0:5d2df7452db5 | 17 | #define DTR 0x03 //Data Transfer Register |
riobrien | 0:5d2df7452db5 | 18 | #define CNTR 0x04 //Software Configurable Counter Register |
riobrien | 0:5d2df7452db5 | 19 | #define OTR 0x05 //Output Transfer Register |
riobrien | 0:5d2df7452db5 | 20 | #define STR 0x06 //Status Register |
riobrien | 0:5d2df7452db5 | 21 | #define NONE_REG 0x07 //No Register Selected |
riobrien | 0:5d2df7452db5 | 22 | |
riobrien | 0:5d2df7452db5 | 23 | |
riobrien | 0:5d2df7452db5 | 24 | Serial pc(USBTX,USBRX); |
riobrien | 0:5d2df7452db5 | 25 | SPI spi(p5, p6, p7); |
riobrien | 0:5d2df7452db5 | 26 | LocalFileSystem local ("local"); |
riobrien | 0:5d2df7452db5 | 27 | DigitalOut ls7166_cs1(p19); //CS for LS7366 |
riobrien | 0:5d2df7452db5 | 28 | DigitalOut ls7166_cs2(p20); //CS for LS7366 |
riobrien | 0:5d2df7452db5 | 29 | DigitalOut mot1_ph1(p21); |
riobrien | 0:5d2df7452db5 | 30 | PwmOut mot_en1(p23); |
riobrien | 0:5d2df7452db5 | 31 | //----- LS7366 Encoder/Counter Routines -------------------- |
riobrien | 0:5d2df7452db5 | 32 | void LS7366_cmd(int inst, int reg){ |
riobrien | 0:5d2df7452db5 | 33 | char cmd; |
riobrien | 0:5d2df7452db5 | 34 | |
riobrien | 0:5d2df7452db5 | 35 | spi.format(8, 0); |
riobrien | 0:5d2df7452db5 | 36 | spi.frequency(2000000); |
riobrien | 0:5d2df7452db5 | 37 | cmd = (inst << 6) | (reg << 3); |
riobrien | 0:5d2df7452db5 | 38 | // printf("\r\ncmd=0X%2X", cmd); |
riobrien | 0:5d2df7452db5 | 39 | spi.write(cmd); |
riobrien | 0:5d2df7452db5 | 40 | } |
riobrien | 0:5d2df7452db5 | 41 | |
riobrien | 0:5d2df7452db5 | 42 | long LS7366_read_counter(int chan_num){ |
riobrien | 0:5d2df7452db5 | 43 | union bytes{ |
riobrien | 0:5d2df7452db5 | 44 | char byte_enc[4]; |
riobrien | 0:5d2df7452db5 | 45 | long long_enc; |
riobrien | 0:5d2df7452db5 | 46 | }counter; |
riobrien | 0:5d2df7452db5 | 47 | |
riobrien | 0:5d2df7452db5 | 48 | spi.format(8, 0); |
riobrien | 0:5d2df7452db5 | 49 | spi.frequency(2000000); |
riobrien | 0:5d2df7452db5 | 50 | |
riobrien | 0:5d2df7452db5 | 51 | if(chan_num!=2){ |
riobrien | 0:5d2df7452db5 | 52 | ls7166_cs1 = 0; |
riobrien | 0:5d2df7452db5 | 53 | wait_us(1); |
riobrien | 0:5d2df7452db5 | 54 | LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR |
riobrien | 0:5d2df7452db5 | 55 | ls7166_cs1 = 1; |
riobrien | 0:5d2df7452db5 | 56 | wait_us(1); |
riobrien | 0:5d2df7452db5 | 57 | ls7166_cs1 = 0; |
riobrien | 0:5d2df7452db5 | 58 | } |
riobrien | 0:5d2df7452db5 | 59 | else{ |
riobrien | 0:5d2df7452db5 | 60 | ls7166_cs2 = 0; |
riobrien | 0:5d2df7452db5 | 61 | wait_us(1); |
riobrien | 0:5d2df7452db5 | 62 | LS7366_cmd(LOAD,OTR);//cmd = 0xe8, LOAD to OTR |
riobrien | 0:5d2df7452db5 | 63 | ls7166_cs2 = 1; |
riobrien | 0:5d2df7452db5 | 64 | wait_us(1); |
riobrien | 0:5d2df7452db5 | 65 | |
riobrien | 0:5d2df7452db5 | 66 | ls7166_cs2 = 0; |
riobrien | 0:5d2df7452db5 | 67 | } |
riobrien | 0:5d2df7452db5 | 68 | wait_us(1); |
riobrien | 0:5d2df7452db5 | 69 | LS7366_cmd(RD,CNTR); //cmd = 0x60, READ from CNTR |
riobrien | 0:5d2df7452db5 | 70 | counter.byte_enc[3] = spi.write(0x00); |
riobrien | 0:5d2df7452db5 | 71 | counter.byte_enc[2] = spi.write(0x00); |
riobrien | 0:5d2df7452db5 | 72 | counter.byte_enc[1] = spi.write(0x00); |
riobrien | 0:5d2df7452db5 | 73 | counter.byte_enc[0] = spi.write(0x00); |
riobrien | 0:5d2df7452db5 | 74 | |
riobrien | 0:5d2df7452db5 | 75 | if(chan_num!=2){ |
riobrien | 0:5d2df7452db5 | 76 | ls7166_cs1 = 1; |
riobrien | 0:5d2df7452db5 | 77 | } |
riobrien | 0:5d2df7452db5 | 78 | else{ |
riobrien | 0:5d2df7452db5 | 79 | ls7166_cs2 = 1; |
riobrien | 0:5d2df7452db5 | 80 | } |
riobrien | 0:5d2df7452db5 | 81 | |
riobrien | 0:5d2df7452db5 | 82 | return counter.long_enc; //return count |
riobrien | 0:5d2df7452db5 | 83 | } |
riobrien | 0:5d2df7452db5 | 84 | |
riobrien | 0:5d2df7452db5 | 85 | void LS7366_quad_mode_x4(int chan_num){ |
riobrien | 0:5d2df7452db5 | 86 | |
riobrien | 0:5d2df7452db5 | 87 | spi.format(8, 0); |
riobrien | 0:5d2df7452db5 | 88 | spi.frequency(2000000); |
riobrien | 0:5d2df7452db5 | 89 | |
riobrien | 0:5d2df7452db5 | 90 | if(chan_num!=2){ |
riobrien | 0:5d2df7452db5 | 91 | ls7166_cs1 = 0; |
riobrien | 0:5d2df7452db5 | 92 | } |
riobrien | 0:5d2df7452db5 | 93 | else{ |
riobrien | 0:5d2df7452db5 | 94 | ls7166_cs2 = 0; |
riobrien | 0:5d2df7452db5 | 95 | } |
riobrien | 0:5d2df7452db5 | 96 | wait_us(1); |
riobrien | 0:5d2df7452db5 | 97 | LS7366_cmd(WR,MDR0);// Write to the MDR0 register |
riobrien | 0:5d2df7452db5 | 98 | spi.write(0x03); // X4 quadrature count mode |
riobrien | 0:5d2df7452db5 | 99 | if(chan_num!=2){ |
riobrien | 0:5d2df7452db5 | 100 | ls7166_cs1 = 1; |
riobrien | 0:5d2df7452db5 | 101 | } |
riobrien | 0:5d2df7452db5 | 102 | else{ |
riobrien | 0:5d2df7452db5 | 103 | ls7166_cs2 = 1; |
riobrien | 0:5d2df7452db5 | 104 | } |
riobrien | 0:5d2df7452db5 | 105 | } |
riobrien | 0:5d2df7452db5 | 106 | |
riobrien | 0:5d2df7452db5 | 107 | void LS7366_reset_counter(int chan_num){ |
riobrien | 0:5d2df7452db5 | 108 | |
riobrien | 0:5d2df7452db5 | 109 | spi.format(8, 0); |
riobrien | 0:5d2df7452db5 | 110 | spi.frequency(2000000); |
riobrien | 0:5d2df7452db5 | 111 | |
riobrien | 0:5d2df7452db5 | 112 | if(chan_num!=2){ |
riobrien | 0:5d2df7452db5 | 113 | ls7166_cs1 = 0; |
riobrien | 0:5d2df7452db5 | 114 | } |
riobrien | 0:5d2df7452db5 | 115 | else{ |
riobrien | 0:5d2df7452db5 | 116 | ls7166_cs2 = 0; |
riobrien | 0:5d2df7452db5 | 117 | } |
riobrien | 0:5d2df7452db5 | 118 | wait_us(1); |
riobrien | 0:5d2df7452db5 | 119 | LS7366_cmd(CLR,CNTR);//Clear the counter register |
riobrien | 0:5d2df7452db5 | 120 | if(chan_num!=2){ |
riobrien | 0:5d2df7452db5 | 121 | ls7166_cs1 = 1; |
riobrien | 0:5d2df7452db5 | 122 | } |
riobrien | 0:5d2df7452db5 | 123 | else{ |
riobrien | 0:5d2df7452db5 | 124 | ls7166_cs2 = 1; |
riobrien | 0:5d2df7452db5 | 125 | } |
riobrien | 0:5d2df7452db5 | 126 | wait_us(1); |
riobrien | 0:5d2df7452db5 | 127 | |
riobrien | 0:5d2df7452db5 | 128 | if(chan_num!=2){ |
riobrien | 0:5d2df7452db5 | 129 | ls7166_cs1 = 0; |
riobrien | 0:5d2df7452db5 | 130 | } |
riobrien | 0:5d2df7452db5 | 131 | else{ |
riobrien | 0:5d2df7452db5 | 132 | ls7166_cs2 = 0; |
riobrien | 0:5d2df7452db5 | 133 | } |
riobrien | 0:5d2df7452db5 | 134 | wait_us(1); |
riobrien | 0:5d2df7452db5 | 135 | LS7366_cmd(LOAD,CNTR);// |
riobrien | 0:5d2df7452db5 | 136 | if(chan_num!=2){ |
riobrien | 0:5d2df7452db5 | 137 | ls7166_cs1 = 1; |
riobrien | 0:5d2df7452db5 | 138 | } |
riobrien | 0:5d2df7452db5 | 139 | else{ |
riobrien | 0:5d2df7452db5 | 140 | ls7166_cs1 = 1; |
riobrien | 0:5d2df7452db5 | 141 | } |
riobrien | 0:5d2df7452db5 | 142 | } |
riobrien | 0:5d2df7452db5 | 143 | |
riobrien | 0:5d2df7452db5 | 144 | void LS7366_write_DTR(int chan_num,long enc_value) |
riobrien | 0:5d2df7452db5 | 145 | { |
riobrien | 0:5d2df7452db5 | 146 | union bytes |
riobrien | 0:5d2df7452db5 | 147 | { |
riobrien | 0:5d2df7452db5 | 148 | char byte_enc[4]; |
riobrien | 0:5d2df7452db5 | 149 | long long_enc; |
riobrien | 0:5d2df7452db5 | 150 | }counter; |
riobrien | 0:5d2df7452db5 | 151 | |
riobrien | 0:5d2df7452db5 | 152 | spi.format(8, 0); |
riobrien | 0:5d2df7452db5 | 153 | spi.frequency(2000000); |
riobrien | 0:5d2df7452db5 | 154 | |
riobrien | 0:5d2df7452db5 | 155 | counter.long_enc = enc_value; |
riobrien | 0:5d2df7452db5 | 156 | |
riobrien | 0:5d2df7452db5 | 157 | if(chan_num!=2){ |
riobrien | 0:5d2df7452db5 | 158 | ls7166_cs1 = 0; |
riobrien | 0:5d2df7452db5 | 159 | } |
riobrien | 0:5d2df7452db5 | 160 | else{ |
riobrien | 0:5d2df7452db5 | 161 | ls7166_cs2 = 0; |
riobrien | 0:5d2df7452db5 | 162 | } |
riobrien | 0:5d2df7452db5 | 163 | wait_us(1); |
riobrien | 0:5d2df7452db5 | 164 | LS7366_cmd(WR,DTR);// |
riobrien | 0:5d2df7452db5 | 165 | spi.write(counter.byte_enc[3]); |
riobrien | 0:5d2df7452db5 | 166 | spi.write(counter.byte_enc[2]); |
riobrien | 0:5d2df7452db5 | 167 | spi.write(counter.byte_enc[1]); |
riobrien | 0:5d2df7452db5 | 168 | spi.write(counter.byte_enc[0]); |
riobrien | 0:5d2df7452db5 | 169 | if(chan_num!=2){ |
riobrien | 0:5d2df7452db5 | 170 | ls7166_cs1 = 1; |
riobrien | 0:5d2df7452db5 | 171 | } |
riobrien | 0:5d2df7452db5 | 172 | else{ |
riobrien | 0:5d2df7452db5 | 173 | ls7166_cs2 = 1; |
riobrien | 0:5d2df7452db5 | 174 | } |
riobrien | 0:5d2df7452db5 | 175 | |
riobrien | 0:5d2df7452db5 | 176 | wait_us(1); |
riobrien | 0:5d2df7452db5 | 177 | if(chan_num!=2){ |
riobrien | 0:5d2df7452db5 | 178 | ls7166_cs1 = 0; |
riobrien | 0:5d2df7452db5 | 179 | } |
riobrien | 0:5d2df7452db5 | 180 | else{ |
riobrien | 0:5d2df7452db5 | 181 | ls7166_cs2 = 0; |
riobrien | 0:5d2df7452db5 | 182 | } |
riobrien | 0:5d2df7452db5 | 183 | wait_us(1); |
riobrien | 0:5d2df7452db5 | 184 | LS7366_cmd(LOAD,CNTR);// |
riobrien | 0:5d2df7452db5 | 185 | if(chan_num!=2){ |
riobrien | 0:5d2df7452db5 | 186 | ls7166_cs1 = 1; |
riobrien | 0:5d2df7452db5 | 187 | } |
riobrien | 0:5d2df7452db5 | 188 | else{ |
riobrien | 0:5d2df7452db5 | 189 | ls7166_cs2 = 1; |
riobrien | 0:5d2df7452db5 | 190 | } |
riobrien | 0:5d2df7452db5 | 191 | } |
riobrien | 0:5d2df7452db5 | 192 | float Ts = 0.001; // Sampling period 1/Ts Hz |
riobrien | 0:5d2df7452db5 | 193 | |
riobrien | 0:5d2df7452db5 | 194 | // Arrays for data storage |
riobrien | 0:5d2df7452db5 | 195 | float etime[1000]; |
riobrien | 0:5d2df7452db5 | 196 | float ang_pos[1000]; |
riobrien | 0:5d2df7452db5 | 197 | float est_speed[1000]; |
riobrien | 0:5d2df7452db5 | 198 | float dc_in[1000]; |
riobrien | 0:5d2df7452db5 | 199 | //float ang_posID[1100]; |
riobrien | 0:5d2df7452db5 | 200 | Timer t; |
riobrien | 0:5d2df7452db5 | 201 | |
riobrien | 0:5d2df7452db5 | 202 | // Open "results.M" on the local file system for writing |
riobrien | 0:5d2df7452db5 | 203 | FILE *fp = fopen("/local/results5.M", "w"); |
riobrien | 0:5d2df7452db5 | 204 | |
riobrien | 0:5d2df7452db5 | 205 | float cntr; |
riobrien | 0:5d2df7452db5 | 206 | float ang,angp,speed; |
riobrien | 0:5d2df7452db5 | 207 | float dt; |
riobrien | 0:5d2df7452db5 | 208 | float dc; |
riobrien | 0:5d2df7452db5 | 209 | long enc1; |
riobrien | 0:5d2df7452db5 | 210 | int k,k0; //,L,L0; |
riobrien | 0:5d2df7452db5 | 211 | |
riobrien | 0:5d2df7452db5 | 212 | int main () |
riobrien | 0:5d2df7452db5 | 213 | { |
riobrien | 0:5d2df7452db5 | 214 | pc.baud(921600); //Set up serial port baud rate |
riobrien | 0:5d2df7452db5 | 215 | spi.frequency(5000000); |
riobrien | 0:5d2df7452db5 | 216 | LS7366_reset_counter(1); |
riobrien | 0:5d2df7452db5 | 217 | LS7366_quad_mode_x4(1); |
riobrien | 0:5d2df7452db5 | 218 | LS7366_write_DTR(1,0); |
riobrien | 0:5d2df7452db5 | 219 | |
riobrien | 0:5d2df7452db5 | 220 | LS7366_reset_counter(2); |
riobrien | 0:5d2df7452db5 | 221 | LS7366_quad_mode_x4(2); |
riobrien | 0:5d2df7452db5 | 222 | LS7366_write_DTR(2,0); |
riobrien | 0:5d2df7452db5 | 223 | cntr = 0.0; // cntr used to keep track of sample period and elpased time |
riobrien | 0:5d2df7452db5 | 224 | |
riobrien | 0:5d2df7452db5 | 225 | // initialize data vectors |
riobrien | 0:5d2df7452db5 | 226 | for(k=0;k<1000;k++) |
riobrien | 0:5d2df7452db5 | 227 | { etime[k] = 0.0; |
riobrien | 0:5d2df7452db5 | 228 | ang_pos[k] = 0.0; |
riobrien | 0:5d2df7452db5 | 229 | est_speed[k] = 0.0; |
riobrien | 0:5d2df7452db5 | 230 | dc_in[k] = 0.0; |
riobrien | 0:5d2df7452db5 | 231 | } |
riobrien | 0:5d2df7452db5 | 232 | k = 0; // Reset index counter |
riobrien | 0:5d2df7452db5 | 233 | k0 = 0; |
riobrien | 0:5d2df7452db5 | 234 | angp = 0; // initialize previous angle variable |
riobrien | 0:5d2df7452db5 | 235 | |
riobrien | 0:5d2df7452db5 | 236 | while(cntr <= 1000) { |
riobrien | 0:5d2df7452db5 | 237 | t.start(); // start measuring comp time |
riobrien | 0:5d2df7452db5 | 238 | |
riobrien | 0:5d2df7452db5 | 239 | // Read encoder |
riobrien | 0:5d2df7452db5 | 240 | enc1 = LS7366_read_counter(1); |
riobrien | 0:5d2df7452db5 | 241 | |
riobrien | 0:5d2df7452db5 | 242 | // Convert from counts to radians |
riobrien | 0:5d2df7452db5 | 243 | ang = -2*PI*enc1/6500.0; |
riobrien | 0:5d2df7452db5 | 244 | |
riobrien | 0:5d2df7452db5 | 245 | // Estimate speed |
riobrien | 0:5d2df7452db5 | 246 | speed = (ang-angp)/Ts; |
riobrien | 0:5d2df7452db5 | 247 | |
riobrien | 0:5d2df7452db5 | 248 | // Age variables |
riobrien | 0:5d2df7452db5 | 249 | angp = ang; |
riobrien | 0:5d2df7452db5 | 250 | |
riobrien | 0:5d2df7452db5 | 251 | // Drive motor for ID |
riobrien | 0:5d2df7452db5 | 252 | if (cntr*Ts <= 0.1) { |
riobrien | 0:5d2df7452db5 | 253 | dc = 0.0; |
riobrien | 0:5d2df7452db5 | 254 | } else if (cntr*Ts <= 0.55) { |
riobrien | 0:5d2df7452db5 | 255 | dc = -0.075; |
riobrien | 0:5d2df7452db5 | 256 | k0 = k; |
riobrien | 0:5d2df7452db5 | 257 | } else if (cntr*Ts < 1.0) { |
riobrien | 0:5d2df7452db5 | 258 | dc = -0.35; |
riobrien | 0:5d2df7452db5 | 259 | }else { |
riobrien | 0:5d2df7452db5 | 260 | dc = 0.0; |
riobrien | 0:5d2df7452db5 | 261 | } |
riobrien | 0:5d2df7452db5 | 262 | |
riobrien | 0:5d2df7452db5 | 263 | // Log data |
riobrien | 0:5d2df7452db5 | 264 | etime[k] = cntr*Ts; |
riobrien | 0:5d2df7452db5 | 265 | ang_pos[k] = ang; |
riobrien | 0:5d2df7452db5 | 266 | est_speed[k] = speed; |
riobrien | 0:5d2df7452db5 | 267 | dc_in[k] = abs(dc); |
riobrien | 0:5d2df7452db5 | 268 | k++; |
riobrien | 0:5d2df7452db5 | 269 | //dc = -1; |
riobrien | 0:5d2df7452db5 | 270 | mot1_ph1 = 0; |
riobrien | 0:5d2df7452db5 | 271 | mot_en1 = abs(dc); |
riobrien | 0:5d2df7452db5 | 272 | |
riobrien | 0:5d2df7452db5 | 273 | |
riobrien | 0:5d2df7452db5 | 274 | |
riobrien | 0:5d2df7452db5 | 275 | t.stop(); // end measuring comp time |
riobrien | 0:5d2df7452db5 | 276 | dt = Ts-t.read(); |
riobrien | 0:5d2df7452db5 | 277 | //printf("%5.2f\n\r",cntr); |
riobrien | 0:5d2df7452db5 | 278 | pc.printf("%5.2f %5.2f %5.2f \n\r",cntr*Ts,speed,k0); |
riobrien | 0:5d2df7452db5 | 279 | |
riobrien | 0:5d2df7452db5 | 280 | t.reset(); |
riobrien | 0:5d2df7452db5 | 281 | cntr=cntr+1; |
riobrien | 0:5d2df7452db5 | 282 | wait(dt); // wait to ensure sampling period set by Ts |
riobrien | 0:5d2df7452db5 | 283 | //if (cntr == 200){fclose(fp);} |
riobrien | 0:5d2df7452db5 | 284 | |
riobrien | 0:5d2df7452db5 | 285 | }//while |
riobrien | 0:5d2df7452db5 | 286 | |
riobrien | 0:5d2df7452db5 | 287 | // Print out log variables in MATLAB structured variable format. |
riobrien | 0:5d2df7452db5 | 288 | pc.printf("Printing log variables to file on mBed ... "); |
riobrien | 0:5d2df7452db5 | 289 | if(1) { |
riobrien | 0:5d2df7452db5 | 290 | for(k=101; k<k0; k++) { |
riobrien | 0:5d2df7452db5 | 291 | fprintf(fp,"t_su(%d,1) = %.5f;\n",k+1-101,etime[k]-etime[101]); |
riobrien | 0:5d2df7452db5 | 292 | fprintf(fp,"est_speed_su(%d,1) = %.5f;\n",k+1-101,est_speed[k]-est_speed[101]); |
riobrien | 0:5d2df7452db5 | 293 | fprintf(fp,"dc_in_su(%d,1) = %.5f;\n",k+1-101,dc_in[k]); |
riobrien | 0:5d2df7452db5 | 294 | } |
riobrien | 0:5d2df7452db5 | 295 | for(k=k0; k<1000; k++) { |
riobrien | 0:5d2df7452db5 | 296 | fprintf(fp,"t_id(%d,1) = %.5f;\n",k+1-k0,etime[k]-etime[k0]); |
riobrien | 0:5d2df7452db5 | 297 | fprintf(fp,"est_speed_id(%d,1) = %.5f;\n",k+1-k0,est_speed[k]-est_speed[k0]); |
riobrien | 0:5d2df7452db5 | 298 | fprintf(fp,"dc_in_id(%d,1) = %.5f;\n",k+1-k0,dc_in[k]-dc_in[k0-1]); |
riobrien | 0:5d2df7452db5 | 299 | } |
riobrien | 0:5d2df7452db5 | 300 | } |
riobrien | 0:5d2df7452db5 | 301 | printf("done.\r\n"); |
riobrien | 0:5d2df7452db5 | 302 | |
riobrien | 0:5d2df7452db5 | 303 | // Close file |
riobrien | 0:5d2df7452db5 | 304 | fclose(fp); |
riobrien | 0:5d2df7452db5 | 305 | |
riobrien | 0:5d2df7452db5 | 306 | }//main |