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
- Committer:
- cnckiwi31
- Date:
- 2019-12-09
- Revision:
- 5:63063a9fa51c
- Parent:
- 4:1cdce6c6c94e
- Child:
- 10:77fcbad99a31
File content as of revision 5:63063a9fa51c:
/** * Author: Allan Veale * Date: 27/11/19 * Purpose: Datalog from the active wearable test rig fitted with the first * realistic (foam tissue) leg */ //Both the general mbed header and the test rig bench header are needed #include "mbed.h" #include "bench.h" //Example experiment method void runDemoExperiment0(int cycles, float targetkPa); // Create bench object - this is used to control the test rig Bench leg; /** * Main loop */ int main() { leg.setLoggingFrequency(100); //Set datalogging frequency /* Two extra columns of data will be recorded in this experiment. One for the target pressure, and the other for the number of sit and stand cycles currently completed in the experiment */ string colNames[] = {"Target pressure (kPa)","Cycle"}; //add data headings leg.setExtraColumns(colNames,2); float targetP = 200; //Target pressure in kPa int expCycles = 2; //Number of sit to stand to sit cycles float vals[] = {targetP,0}; //set initial values of data that will be logged leg.setExtraData(vals); /* Setup all peripherals on rig, display info about SD card and the user interface menu */ leg.initialise(); /*Run an experiment when the button is pressed to start datalogging and stop it if the button is pressed again to stop datalogging (or when experiment stops - then datalogging stops by itself) */ while (true) { if (leg.isLogging()) { runDemoExperiment0(expCycles,targetP); } } } /** * Shows how a demo experiment works. This experiment pressurises the leg to * pressure targetkPa, depressurises it, and then repeats the process cycles * number of times * @param cycles: the number of cycles the leg goes up and down * @param targetkPa: the pressure at which the valve is opened to let the leg go down */ void runDemoExperiment0(int cycles, float targetkPa) { //The experiment starts when logging does bool experimentRunning = leg.isLogging(); //Stop the Bench class from printing, so this method can print leg.pausePrint(); if (experimentRunning) { // Pressurise and depressurise the leg cycles number of times for (int i=0; i<cycles; i++) { leg.pc.printf("\r\nCycle: \t%i out of \t%i",i+1,cycles); //Update cycles logged float data[] = {targetkPa,i+1}; leg.setExtraData(data); //Pressurise leg.setValve(true); //Wait until measured pressure reaches target pressure float measureP = 0; while(measureP < targetkPa) { //Keep checking logging is going experimentRunning = leg.isLogging(); if (experimentRunning) { measureP = leg.getPressure0()*100;//Conversion of bar to kPa wait(0.2);//Wait a bit } else { //Logging stopped leg.stopLogging(); //Stop logging data leg.setValve(false); //Depressurise leg.resumePrint(); //Let the Bench class print return; } } //Depressurise leg.setValve(false); /*Wait until depressurised (completely depressurised is around 10-12 kPa due to current sensor calibration)*/ while(measureP > 15) { //Keep checking logging is going experimentRunning = leg.isLogging(); if (experimentRunning) { measureP = leg.getPressure0()*100;//Conversion of bar to kpa wait(0.2);//Wait a bit } else { //Logging stopped leg.stopLogging(); //Stop logging data leg.resumePrint(); //Let the Bench class print return; } } } // Logging stopped as experiment is fully completed leg.stopLogging(); //Stop logging data leg.resumePrint(); //Let the Bench class print } }