Diff: main.cpp

Revision:

1:610dc7763656

Parent:

0:ce79b04fc2ca

Child:

2:f2583b56777e

--- a/main.cpp	Thu Jul 16 21:37:20 2015 +0000
+++ b/main.cpp	Thu Jul 23 18:39:24 2015 +0000
@@ -1,8 +1,10 @@
 #include "mbed.h"
+//#include "rtos.h"
+
 //Declare hardware inputs
 Timer timer;
 AnalogIn potSet(A0);
-AnalogIn pressure(A1);
+AnalogIn pressureDAQZO(A1);
 PwmOut pumpStep(D8);
 DigitalOut dir(D9);
 DigitalOut visDir(LED2);
@@ -11,15 +13,22 @@
 PwmOut b(LED_BLUE);
 
 //Declare globals
-unsigned long lastTime;
-float inputTemperature, outputCmd, iTerm;
-float kp=2;
+char bufferIn[10];
+char bufferOut[8];
+char hexCCIn[2];
+char hexDDDDIn[4];
+int decCCIn;
+int decDDDDIn;
+
+unsigned long lastTime; //start it at 0, so at least one run of computePressureCommand is guaranteed
+float outputCmd, iTerm;
+float kp=2/9.9;
 float ki=0;
-float setPoint;
+float setPoint=0.000f;
 int sampleTime = 250; //1/4 sec
 float outMin=-1.0;
 float outMax=1.0;
-float smallChange=0.01;
+float smallChange=0.01*9.9/5;
 float oldOutputCmd; //dont need
 bool runPump=false;
 
@@ -42,10 +51,11 @@
     b=1;
 }
 
+
 int hexToDec(char hex[])
 {
     int decValue = strtol(hex, NULL, 16);
-    
+
     return decValue;
 
 }
@@ -65,63 +75,138 @@
 
 void computePressureCommand()
 {
-    int i;
-    unsigned int now = timer.read_ms();    
+    unsigned int now = timer.read_ms();
     int nSamplesToAverage=10;
     int timeChange = (now - lastTime);
     if(timeChange>=sampleTime)   {
-        
-        inputTemperature=0;
-        for (i=0; i<nSamplesToAverage; i++) {
-            inputTemperature = inputTemperature+pressure;
+
+        float avePressureDAQZO=0;
+        for (int i=0; i<nSamplesToAverage; i++) {
+            avePressureDAQZO = avePressureDAQZO+pressureDAQZO;
         }
-        inputTemperature=inputTemperature/(double)(nSamplesToAverage);
+        avePressureDAQZO=avePressureDAQZO/(double)(nSamplesToAverage);
         //setPoint = potSet;
-        
-        float error = setPoint - inputTemperature;
-       
+        float inputPressure=avePressureDAQZO*9.9;
+
+        float error = setPoint - inputPressure;
+
         iTerm+= (ki * error);
         if(iTerm > outMax) iTerm= outMax;
         else if(iTerm < outMin) iTerm= outMin;
- 
+
         outputCmd = kp * error + iTerm;
         if(outputCmd > outMax) outputCmd = outMax;
         else if(outputCmd < outMin) outputCmd = outMin;
-                
+
         visDir=0;
         if (outputCmd < 0) {
             dir=1;
             visDir=1;
             outputCmd = outputCmd * -1.0;
-        }        
-        else dir=0;
-                
+        } else dir=0;
+
         if (abs(error) > smallChange) {
             pumpStep.write(0.50f); // turn back on
-            pumpStep.period_us((1.0/outputCmd)*200); 
+            pumpStep.period_us((1.0/outputCmd)*200);
+        } else pumpStep.write(0.0f); //shut off steps for too small change
+
+
+        char signSetPoint='+';
+        if(setPoint<0) {
+            signSetPoint='-';
         }
-        else pumpStep.write(0.0f); //shut off steps for too small change
-        
-        printf("%f, %f \n\r ",setPoint, inputTemperature);
-        //printf("%f, %f, %f, %f, %f, %f \n\r ",setPoint, inputTemperature, outputCmd, kp*error, iTerm, (-0.5-dir.read()));
-        
+        char signinputVoltage='+';
+        if(setPoint<0) {
+            signinputVoltage='-';
+        }
+
+
+        pc.printf("%s%c%2.3f%s%c%2.3f%s","#SP",signSetPoint,abs(setPoint),"MP",signinputVoltage,abs(inputPressure),"SS^");
+        //printf("%f, %f, %f, %f, %f, %f \n\r ",setPoint, inputVoltage, outputCmd, kp*error, iTerm, (-0.5-dir.read()));
+        ledConfirmSent();
         oldOutputCmd=outputCmd; //don't need
         lastTime = now; /*Remember time for next time*/
-    }//end if timeChange    
+    }//end if timeChange
+
 }//end computePressureVoltage
 
 
+void runWhenNewSerialIn()
+{
+
+
+
+    bufferOut[0]=bufferIn[0];
+
+    for(int i=0; i<7; i++) { // duplicate bytes 0 to 9 for now;
+        bufferOut[i]=bufferIn[i];
+    }
+    bufferOut[7]='^';//IMPORTANT!
+
+
+    //get hexCCIn
+    for(int i=0; i<2; i++) {
+        hexCCIn[i]=bufferIn[i+1];
+    }
+    //pc.printf("hexCCIn= is %s\r\n", hexCCIn);
+
+    for(int i=0; i<4; i++) {
+        hexDDDDIn[i]=bufferIn[i+3];
+    }
+
+    //pc.printf("hello test= is %s\r\n", test);
+
+    //int value = strtol(hexDDDDIn, NULL, 16);
+    decCCIn = hexToDec(hexCCIn);
+    decDDDDIn = hexToDec(hexDDDDIn);
+    //int decDDDDIn = hexToDec("0000");
+
+    //Make sure incoming checksum pans out:
+
+    //Do action based on CC
+
+    //pc.printf("hexCCIn= is %c%c\r\n", hexCCIn[0],hexCCIn[1]);
+    //pc.printf("hexDDDDIn= is %c%c%c%c\r\n", hexDDDDIn[0],hexDDDDIn[1],hexDDDDIn[2],hexDDDDIn[3]);
+    //pc.printf("decCCIn= is %d\r\n", decCCIn);
+    //pc.printf("decDDDDIn= is %d\r\n", decDDDDIn);
+    if (decCCIn==1) { //control built in LED
+        //PwmOut led(LED_RED); //set to red just for now, change later if nec.
+        //Get desired intensity
+        double ledIntensity=(double)(hexToDecSub(bufferIn, 4, 5));
+        if (bufferIn[3]=='0') { //red
+            //PwmOut r(LED_RED);
+            r=(255-ledIntensity)/255;
+        } else if(bufferIn[3]=='1') {
+            //PwmOut g(LED_GREEN);
+            g=(255-ledIntensity)/255;
+        } else if (bufferIn[3]=='2') {
+            //PwmOut led(LED_BLUE);
+            b=(255-ledIntensity)/255;
+        }
+
+        pc.printf("%s", bufferOut);
+
+    } else if(decCCIn==27) { //CC=1b, Enable pump
+        pumpStep.write(0.50f); // set fixed duty cycle to 50% (hold position?)
+        ledConfirmSent();
+        runPump=true;
+        //pc.printf("%s\n", bufferOut); //No output SP & MP instead via computePressureCommand
+        ledConfirmSent();
+
+    } else if(decCCIn==28) { //CC=1c, Define new pressure setPoint
+        setPoint=((double)(decDDDDIn))/100; //converted fron hex above
+
+    } else if (decCCIn==29) {//CC=1d, Deactivate pump
+        pumpStep.write(0.0f);
+        ledConfirmSent();
+        runPump=false;
+        pc.printf("%s", bufferOut);
+        ledConfirmSent();
+    }
+}
 
 int main()
 {
-
-    //int testInt=0;
-
-    char bufferIn[10];
-    char bufferOut[8];
-    char hexCCIn[2];
-    char hexDDDDIn[4];    
-
     r.period(0.001f);
     g.period(0.001f);
     b.period(0.001f);
@@ -129,93 +214,24 @@
     r=1;
     g=1;
     b=1;
+
+    //pc.printf("\r\n"); //Important
+    timer.start();
     
-    timer.start();
 
     while(1) {
 
         scanf("%10s", bufferIn);
-        //pc.printf("bufferIn= is %s\r\n", bufferIn);
-        //pc.printf("bufferIn= is %c%c\r\n", bufferIn[0],bufferIn[1]);        
-
-        
         //Turn built in LED blue (at half intensity) to confirm command recieved
         ledConfirmReceive();
-
-        bufferOut[0]=bufferIn[0];
-
-        for(int i=0; i<7; i++) { // duplicate bytes 0 to 9 for now;
-            bufferOut[i]=bufferIn[i];
-        }
-        bufferOut[7]='^';
-
-
-        //get hexCCIn
-        for(int i=0; i<2; i++) {
-            hexCCIn[i]=bufferIn[i+1];
-        }
-        //pc.printf("hexCCIn= is %s\r\n", hexCCIn);
-        
-        for(int i=0; i<4; i++) {
-            hexDDDDIn[i]=bufferIn[i+3];
-        }
-              
-        //pc.printf("hello test= is %s\r\n", test);
-
-        //int value = strtol(hexDDDDIn, NULL, 16);
-        int decCCIn = hexToDec(hexCCIn);
-        int decDDDDIn = hexToDec(hexDDDDIn);
-        //int decDDDDIn = hexToDec("0000");
-
-        //Make sure incoming checksum pans out:
-
-        //Do action based on CC
-        
-        //pc.printf("hexCCIn= is %c%c\r\n", hexCCIn[0],hexCCIn[1]);
-        pc.printf("hexDDDDIn= is %c%c%c%c\r\n", hexDDDDIn[0],hexDDDDIn[1],hexDDDDIn[2],hexDDDDIn[3]);
-        //pc.printf("decCCIn= is %d\r\n", decCCIn);
-        pc.printf("decDDDDIn= is %d\r\n", decDDDDIn);
-        if (decCCIn==1) { //control built in LED
-            //PwmOut led(LED_RED); //set to red just for now, change later if nec.
-            //Get desired intensity
-            double ledIntensity=(double)(hexToDecSub(bufferIn, 4, 5));
-            if (bufferIn[3]=='0') { //red
-                //PwmOut r(LED_RED);
-                r=(255-ledIntensity)/255;
-            } else if(bufferIn[3]=='1') {
-                //PwmOut g(LED_GREEN);
-                g=(255-ledIntensity)/255;
-            } else if (bufferIn[3]=='2') {
-                //PwmOut led(LED_BLUE);
-                b=(255-ledIntensity)/255;
-            }
-            //led.period(0.001f);
-            //led=(255-ledIntensity)/255;
-            //led=1.000;
-
-            //end built in LED control
-            //pc.printf("%s\n", bufferOut);
-            
-        }else if(decCCIn==27) { //CC=1b, Enable pump
-            pumpStep.write(0.50f); // set fixed duty cycle to 50% (hold position?)
-            ledConfirmSent();
-            runPump=true;            
-             
-        }else if(decCCIn==28) { //CC=1c, Define new pressure setPoint 
-            setPoint=((double)(decDDDDIn))/100; //converted fron hex above
-            
-        } else if (decCCIn==29) {//CC=1d, Deactivate pump
-            pumpStep.write(0.0f);
-            ledConfirmSent();
-            runPump=false;
-
-        }
+        runWhenNewSerialIn();
 
         //Always keep running computePressureCommand if requred
-        computePressureCommand();
-        
+        if(runPump) {
+            computePressureCommand();
+        }
         //pc.printf("NEW value of '%s' is %ld\n", hexDDDDIn, decDDDDIn);
         //Turn built in LED green (at half intensity) to confirm reponse sent back
-        
+
     }
 }
\ No newline at end of file