Suraj Giri / Mbed 2 deprecated heros_leg_readout_torque_addition_V3

Version 3 is with update to the test rig with a linear actuator

Dependencies:   SPTE_10Bar_5V mbed AS5048 SDFileSystem MODSERIAL PinDetect LCM101 LinearActuator

main.cpp@5:63063a9fa51c, 2019-12-09 (annotated)

Committer:
cnckiwi31
Date:
Mon Dec 09 10:51:46 2019 +0000
Revision:
5:63063a9fa51c
Parent:
4:1cdce6c6c94e
Child:
10:77fcbad99a31
Ready to run on test rig

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cnckiwi31 5:63063a9fa51c 1 /**
cnckiwi31 5:63063a9fa51c 2 * Author: Allan Veale
cnckiwi31 5:63063a9fa51c 3 * Date: 27/11/19
cnckiwi31 5:63063a9fa51c 4 * Purpose: Datalog from the active wearable test rig fitted with the first
cnckiwi31 5:63063a9fa51c 5 * realistic (foam tissue) leg
cnckiwi31 5:63063a9fa51c 6 */
megrootens 0:3855d4588f76 7
cnckiwi31 5:63063a9fa51c 8 //Both the general mbed header and the test rig bench header are needed
cnckiwi31 5:63063a9fa51c 9 #include "mbed.h"
cnckiwi31 5:63063a9fa51c 10 #include "bench.h"
megrootens 0:3855d4588f76 11
cnckiwi31 5:63063a9fa51c 12 //Example experiment method
cnckiwi31 5:63063a9fa51c 13 void runDemoExperiment0(int cycles, float targetkPa);
megrootens 0:3855d4588f76 14
cnckiwi31 5:63063a9fa51c 15 // Create bench object - this is used to control the test rig
cnckiwi31 5:63063a9fa51c 16 Bench leg;
megrootens 0:3855d4588f76 17
megrootens 0:3855d4588f76 18 /**
cnckiwi31 5:63063a9fa51c 19 * Main loop
megrootens 0:3855d4588f76 20 */
megrootens 0:3855d4588f76 21 int main()
cnckiwi31 5:63063a9fa51c 22 {
cnckiwi31 5:63063a9fa51c 23 leg.setLoggingFrequency(100); //Set datalogging frequency
cnckiwi31 5:63063a9fa51c 24
cnckiwi31 5:63063a9fa51c 25 /* Two extra columns of data will be recorded in this experiment.
cnckiwi31 5:63063a9fa51c 26 One for the target pressure, and the other for the number of sit and
cnckiwi31 5:63063a9fa51c 27 stand cycles currently completed in the experiment */
cnckiwi31 5:63063a9fa51c 28 string colNames[] = {"Target pressure (kPa)","Cycle"}; //add data headings
cnckiwi31 5:63063a9fa51c 29 leg.setExtraColumns(colNames,2);
megrootens 0:3855d4588f76 30
cnckiwi31 5:63063a9fa51c 31 float targetP = 200; //Target pressure in kPa
cnckiwi31 5:63063a9fa51c 32 int expCycles = 2; //Number of sit to stand to sit cycles
cnckiwi31 5:63063a9fa51c 33 float vals[] = {targetP,0}; //set initial values of data that will be logged
cnckiwi31 5:63063a9fa51c 34 leg.setExtraData(vals);
cnckiwi31 4:1cdce6c6c94e 35
cnckiwi31 5:63063a9fa51c 36 /* Setup all peripherals on rig, display info about SD card and the
cnckiwi31 5:63063a9fa51c 37 user interface menu */
cnckiwi31 5:63063a9fa51c 38 leg.initialise();
megrootens 0:3855d4588f76 39
cnckiwi31 5:63063a9fa51c 40
cnckiwi31 5:63063a9fa51c 41 /*Run an experiment when the button is pressed to start datalogging and
cnckiwi31 5:63063a9fa51c 42 stop it if the button is pressed again to stop datalogging
cnckiwi31 5:63063a9fa51c 43 (or when experiment stops - then datalogging stops by itself) */
cnckiwi31 5:63063a9fa51c 44 while (true) {
cnckiwi31 5:63063a9fa51c 45 if (leg.isLogging()) {
cnckiwi31 5:63063a9fa51c 46 runDemoExperiment0(expCycles,targetP);
cnckiwi31 5:63063a9fa51c 47 }
megrootens 0:3855d4588f76 48 }
megrootens 0:3855d4588f76 49 }
megrootens 0:3855d4588f76 50
cnckiwi31 5:63063a9fa51c 51 /**
cnckiwi31 5:63063a9fa51c 52 * Shows how a demo experiment works. This experiment pressurises the leg to
cnckiwi31 5:63063a9fa51c 53 * pressure targetkPa, depressurises it, and then repeats the process cycles
cnckiwi31 5:63063a9fa51c 54 * number of times
cnckiwi31 5:63063a9fa51c 55 * @param cycles: the number of cycles the leg goes up and down
cnckiwi31 5:63063a9fa51c 56 * @param targetkPa: the pressure at which the valve is opened to let the leg go down
cnckiwi31 5:63063a9fa51c 57 */
cnckiwi31 5:63063a9fa51c 58 void runDemoExperiment0(int cycles, float targetkPa)
megrootens 0:3855d4588f76 59 {
cnckiwi31 5:63063a9fa51c 60 //The experiment starts when logging does
cnckiwi31 5:63063a9fa51c 61 bool experimentRunning = leg.isLogging();
cnckiwi31 5:63063a9fa51c 62
cnckiwi31 5:63063a9fa51c 63 //Stop the Bench class from printing, so this method can print
cnckiwi31 5:63063a9fa51c 64 leg.pausePrint();
cnckiwi31 5:63063a9fa51c 65
cnckiwi31 5:63063a9fa51c 66 if (experimentRunning) {
cnckiwi31 5:63063a9fa51c 67 // Pressurise and depressurise the leg cycles number of times
cnckiwi31 5:63063a9fa51c 68 for (int i=0; i<cycles; i++) {
cnckiwi31 5:63063a9fa51c 69 leg.pc.printf("\r\nCycle: \t%i out of \t%i",i+1,cycles);
cnckiwi31 5:63063a9fa51c 70
cnckiwi31 5:63063a9fa51c 71 //Update cycles logged
cnckiwi31 5:63063a9fa51c 72 float data[] = {targetkPa,i+1};
cnckiwi31 5:63063a9fa51c 73 leg.setExtraData(data);
cnckiwi31 5:63063a9fa51c 74
cnckiwi31 5:63063a9fa51c 75 //Pressurise
cnckiwi31 5:63063a9fa51c 76 leg.setValve(true);
megrootens 0:3855d4588f76 77
cnckiwi31 5:63063a9fa51c 78 //Wait until measured pressure reaches target pressure
cnckiwi31 5:63063a9fa51c 79 float measureP = 0;
cnckiwi31 5:63063a9fa51c 80 while(measureP < targetkPa) {
cnckiwi31 5:63063a9fa51c 81 //Keep checking logging is going
cnckiwi31 5:63063a9fa51c 82 experimentRunning = leg.isLogging();
cnckiwi31 5:63063a9fa51c 83
cnckiwi31 5:63063a9fa51c 84 if (experimentRunning) {
cnckiwi31 5:63063a9fa51c 85 measureP = leg.getPressure0()*100;//Conversion of bar to kPa
cnckiwi31 5:63063a9fa51c 86 wait(0.2);//Wait a bit
cnckiwi31 5:63063a9fa51c 87 } else { //Logging stopped
cnckiwi31 5:63063a9fa51c 88 leg.stopLogging(); //Stop logging data
cnckiwi31 5:63063a9fa51c 89 leg.setValve(false); //Depressurise
cnckiwi31 5:63063a9fa51c 90 leg.resumePrint(); //Let the Bench class print
cnckiwi31 5:63063a9fa51c 91 return;
cnckiwi31 5:63063a9fa51c 92 }
cnckiwi31 5:63063a9fa51c 93 }
megrootens 0:3855d4588f76 94
cnckiwi31 5:63063a9fa51c 95 //Depressurise
cnckiwi31 5:63063a9fa51c 96 leg.setValve(false);
megrootens 0:3855d4588f76 97
cnckiwi31 5:63063a9fa51c 98 /*Wait until depressurised (completely depressurised is
cnckiwi31 5:63063a9fa51c 99 around 10-12 kPa due to current sensor calibration)*/
cnckiwi31 5:63063a9fa51c 100 while(measureP > 15) {
cnckiwi31 5:63063a9fa51c 101 //Keep checking logging is going
cnckiwi31 5:63063a9fa51c 102 experimentRunning = leg.isLogging();
cnckiwi31 5:63063a9fa51c 103
cnckiwi31 5:63063a9fa51c 104 if (experimentRunning) {
cnckiwi31 5:63063a9fa51c 105 measureP = leg.getPressure0()*100;//Conversion of bar to kpa
cnckiwi31 5:63063a9fa51c 106 wait(0.2);//Wait a bit
cnckiwi31 5:63063a9fa51c 107 } else { //Logging stopped
cnckiwi31 5:63063a9fa51c 108 leg.stopLogging(); //Stop logging data
cnckiwi31 5:63063a9fa51c 109 leg.resumePrint(); //Let the Bench class print
cnckiwi31 5:63063a9fa51c 110 return;
cnckiwi31 5:63063a9fa51c 111 }
megrootens 0:3855d4588f76 112 }
megrootens 0:3855d4588f76 113 }
cnckiwi31 5:63063a9fa51c 114 // Logging stopped as experiment is fully completed
cnckiwi31 5:63063a9fa51c 115 leg.stopLogging(); //Stop logging data
cnckiwi31 5:63063a9fa51c 116 leg.resumePrint(); //Let the Bench class print
megrootens 0:3855d4588f76 117 }
megrootens 0:3855d4588f76 118 }
megrootens 0:3855d4588f76 119
megrootens 0:3855d4588f76 120