Sridevi Kaza / Mbed OS project

nov 18th

Dependencies:   Bezier_Traj_Follower_Example ExperimentServer QEI_pmw MotorShield

main.cpp@14:c0aa529968a2, 2020-08-26 (annotated)

Committer:
elijahsj
Date:
Wed Aug 26 23:42:18 2020 +0000
Revision:
14:c0aa529968a2
Parent:
13:3a1f4e09789b
Child:
15:495333b2ccf1
Fully functional with high frequency loop

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pwensing 0:43448bf056e8 1 #include "mbed.h"
pwensing 0:43448bf056e8 2 #include "rtos.h"
pwensing 0:43448bf056e8 3 #include "EthernetInterface.h"
pwensing 0:43448bf056e8 4 #include "ExperimentServer.h"
pwensing 0:43448bf056e8 5 #include "QEI.h"
elijahsj 6:1faceb53dabe 6 #include "MotorShield.h"
elijahsj 13:3a1f4e09789b 7 #include "HardwareSetup.h"
pwensing 0:43448bf056e8 8
pwensing 0:43448bf056e8 9 #define NUM_INPUTS 2
elijahsj 13:3a1f4e09789b 10 #define NUM_OUTPUTS 4
elijahsj 13:3a1f4e09789b 11
pwensing 0:43448bf056e8 12
pwensing 0:43448bf056e8 13 Serial pc(USBTX, USBRX); // USB Serial Terminal
pwensing 0:43448bf056e8 14 ExperimentServer server; // Object that lets us communicate with MATLAB
elijahsj 5:1ab9b2527794 15 Timer t; // Timer to measure elapsed time of experiment
elijahsj 5:1ab9b2527794 16
elijahsj 5:1ab9b2527794 17 QEI encoderA(PE_9,PE_11, NC, 1200, QEI::X4_ENCODING); // MOTOR A ENCODER (no index, 1200 counts/rev, Quadrature encoding)
elijahsj 5:1ab9b2527794 18 QEI encoderB(PA_5, PB_3, NC, 1200, QEI::X4_ENCODING); // MOTOR B ENCODER (no index, 1200 counts/rev, Quadrature encoding)
elijahsj 5:1ab9b2527794 19 QEI encoderC(PC_6, PC_7, NC, 1200, QEI::X4_ENCODING); // MOTOR C ENCODER (no index, 1200 counts/rev, Quadrature encoding)
elijahsj 5:1ab9b2527794 20 QEI encoderD(PD_12, PD_13, NC, 1200, QEI::X4_ENCODING);// MOTOR D ENCODER (no index, 1200 counts/rev, Quadrature encoding)
elijahsj 5:1ab9b2527794 21
elijahsj 12:84a6dcb60422 22 MotorShield motorShield(12000); //initialize the motor shield with a period of 12000 ticks or ~20kHZ
elijahsj 6:1faceb53dabe 23
elijahsj 4:7a1b35f081bb 24 int main (void)
elijahsj 4:7a1b35f081bb 25 {
pwensing 0:43448bf056e8 26 // Link the terminal with our server and start it up
pwensing 0:43448bf056e8 27 server.attachTerminal(pc);
pwensing 0:43448bf056e8 28 server.init();
elijahsj 13:3a1f4e09789b 29
pwensing 0:43448bf056e8 30 // Continually get input from MATLAB and run experiments
pwensing 0:43448bf056e8 31 float input_params[NUM_INPUTS];
elijahsj 5:1ab9b2527794 32 pc.printf("%f",input_params[0]);
elijahsj 5:1ab9b2527794 33
pwensing 0:43448bf056e8 34 while(1) {
pwensing 0:43448bf056e8 35 if (server.getParams(input_params,NUM_INPUTS)) {
elijahsj 12:84a6dcb60422 36 float v1 = input_params[0]; // Duty cycle for first second
elijahsj 12:84a6dcb60422 37 float v2 = input_params[1]; // Duty cycle for second second
elijahsj 4:7a1b35f081bb 38
pwensing 0:43448bf056e8 39 // Setup experiment
pwensing 0:43448bf056e8 40 t.reset();
pwensing 0:43448bf056e8 41 t.start();
elijahsj 5:1ab9b2527794 42 encoderA.reset();
elijahsj 5:1ab9b2527794 43 encoderB.reset();
elijahsj 5:1ab9b2527794 44 encoderC.reset();
elijahsj 5:1ab9b2527794 45 encoderD.reset();
elijahsj 10:a40d180c305c 46
elijahsj 12:84a6dcb60422 47 motorShield.motorAWrite(0, 0); //turn motor A off, motorShield.motorAWrite(DUTY CYCLE, DIRECTION), DIRECTION = 0 is forward
pwensing 0:43448bf056e8 48
pwensing 0:43448bf056e8 49 // Run experiment
elijahsj 4:7a1b35f081bb 50 while( t.read() < 2 ) {
pwensing 0:43448bf056e8 51 // Perform control loop logic
elijahsj 4:7a1b35f081bb 52 if (t.read() < 1)
elijahsj 12:84a6dcb60422 53 motorShield.motorAWrite(v1, 0); //run motor A at "v1" duty cycle and in the forward direction
elijahsj 4:7a1b35f081bb 54 else
elijahsj 12:84a6dcb60422 55 motorShield.motorAWrite(v2, 0); //run motor A at "v2" duty cycle and in the forward direction
elijahsj 4:7a1b35f081bb 56
elijahsj 4:7a1b35f081bb 57 // Form output to send to MATLAB
pwensing 0:43448bf056e8 58 float output_data[NUM_OUTPUTS];
elijahsj 13:3a1f4e09789b 59
pwensing 0:43448bf056e8 60 output_data[0] = t.read();
elijahsj 13:3a1f4e09789b 61 output_data[1] = encoderA.getPulses();
elijahsj 5:1ab9b2527794 62 output_data[2] = encoderA.getVelocity();
elijahsj 14:c0aa529968a2 63 output_data[3] = motorShield.readCurrentA();
elijahsj 13:3a1f4e09789b 64
pwensing 0:43448bf056e8 65 // Send data to MATLAB
pwensing 0:43448bf056e8 66 server.sendData(output_data,NUM_OUTPUTS);
elijahsj 13:3a1f4e09789b 67
elijahsj 13:3a1f4e09789b 68 wait(.001); //run control loop at 1kHz
elijahsj 4:7a1b35f081bb 69 }
pwensing 0:43448bf056e8 70 // Cleanup after experiment
pwensing 0:43448bf056e8 71 server.setExperimentComplete();
elijahsj 12:84a6dcb60422 72 motorShield.motorAWrite(0, 0); //turn motor A off
pwensing 0:43448bf056e8 73 } // end if
pwensing 0:43448bf056e8 74 } // end while
elijahsj 10:a40d180c305c 75
elijahsj 6:1faceb53dabe 76 } // end main
elijahsj 6:1faceb53dabe 77