Sven Kugathasan
/
SKAFMO_2
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Diff: main.cpp
- Revision:
- 21:828582e4d4ef
- Parent:
- 20:d796667e0c4d
- Child:
- 22:997c013e0f13
diff -r d796667e0c4d -r 828582e4d4ef main.cpp
--- a/main.cpp Fri Mar 24 20:15:40 2017 +0000
+++ b/main.cpp Sun Mar 26 15:42:10 2017 +0000
@@ -9,6 +9,7 @@
#include "stdlib.h"
#include "math.h"
#include <limits>
+//#include <vector>
/*_________________________________PIN SETUP__________________________________*/
@@ -47,6 +48,8 @@
PwmOut L3L(L3Lpin);
PwmOut L3H(L3Hpin);
+PwmOut testOut(A5);
+
//Status LED
//DigitalOut led1(LED1);
DigitalOut led2(LED2);
@@ -73,10 +76,11 @@
typedef struct{
char note;
uint8_t sharp;
+ uint8_t oct;
float dur;
}note_t;
-const float octaveMap[] = {27.50, 30.87, 16.35, 18.35, 20.60, 21.83, 24.50};
+
/*________________________Motor Drive States__________________________________*/
@@ -115,7 +119,7 @@
int8_t driveto = 0; //Holds value of new motor drive state
//Angular Velocity Variables
-float PWM_freq = 0.001f; //500Hz (> Motor LP cut-off frequency = 10Hz)
+float PWM_freq = 0.00001f; //100kHz (> Motor LP cut-off frequency = 10Hz)
float dutyout = 1.0f; //Initialized at 50% duty cycle
float dutyout_max = 1.0f; //Maximum Duty Cycle will enable maximum speed
@@ -134,7 +138,7 @@
float partial_rev = 0.0f;
float rev_target = 0.0f; //Target Rotations
-uint8_t revstates_max = 0;
+float revstates_max = 0;
//Debug Variables
bool flag = false;
@@ -169,6 +173,8 @@
if (driveOut & 0x10) L3L.write(dutyout); L3L.period(PWM_freq);
if (driveOut & 0x20) L3H = 0;
+ testOut.write(0.5f);
+ testOut.period(PWM_freq);
}
//Convert photointerrupter inputs to a rotor state
@@ -176,20 +182,25 @@
return stateMap[InterruptI1.read() + 2*InterruptI2.read() + 4*InterruptI3.read()];
}
-float returnNote(note_t n)
+const float octaveMap[] = {27.50, 30.87, 16.35, 18.35, 20.60, 21.83, 24.50};
+
+float returnNote(const note_t &n)
{
- unsigned octMult = 4;
- //for (uint8_t i=0; i<n.oct; ++i){
- //octMult = octMult << 1;
- //}
- return 1.0f/( octMult*octaveMap[n.note - 'A']);
+
+ unsigned octMult = 1;
+ for (uint8_t i=0; i<n.oct; ++i){
+ octMult = octMult << 1;
+ }
+ return 1.0f/( octMult*octaveMap[n.note - 'A'] );
}
void playMelody(note_t* song){
for (int i=0; i<songLen; ++i){
+ //pc.printf("Playing note %c with duration %f and period %f\r\n", song[i].note, song[i].dur, returnNote(song[i]));
PWM_freq = returnNote(song[i]);
wait(song[i].dur);
}
+ PWM_freq = 0.00001f;
delete[] song;
}
@@ -234,8 +245,8 @@
rev_target = rev;
vel_target = vel;
- pc.printf("rev %f\r\n", rev);
- pc.printf("vel %f\r\n", vel);
+ //pc.printf("rev %f\r\n", rev);
+ //pc.printf("vel %f\r\n", vel);
//Reverses motor direction if forwards rotation requested
if (rev_target < 0.0f || vel_target < 0.0f){
@@ -249,16 +260,16 @@
direction = 1;
}
- pc.printf("vel_target %f\r\n", vel_target);
- pc.printf("dir %d\r\n", direction);
+ //pc.printf("vel_target %f\r\n", vel_target);
+ //pc.printf("dir %d\r\n", direction);
- pc.printf("Waiting for stabilize... %d\r\n", direction);
+ pc.printf("Waiting for stabilize...\r\n");
dutyout = 0.0f;
velocity_pid.reset();
dist_pid.reset();
wait(3);
motorHome();
- pc.printf("Restarting... %d\r\n", direction);
+ pc.printf("Restarting...\r\n");
velocity_pid.reset();
//velocity_pid.setInputLimits(0.0, 50);
@@ -400,16 +411,15 @@
t_loc=input.find('T');
r_loc=input.find('R');
v_loc=input.find('V');
- pc.printf("Location of T is %d\r\n",t_loc);
- pc.printf("Location of R is %d\r\n",r_loc);
- pc.printf("Location of V is %d\r\n",v_loc);
+ //pc.printf("Location of T is %d\r\n",t_loc);
+ //pc.printf("Location of R is %d\r\n",r_loc);
+ //pc.printf("Location of V is %d\r\n",v_loc);
if(t_loc==0 && input.length()>1){ //if melody marker present and there is something after it
- printf("Note sequence detected\r\n");
+ //printf("Note sequence detected\r\n");
//note_t* song = (note_t*)malloc(sizeof(note_t)*input.length());
- note_t* song = new note_t[input.length()];
- songLen = input.length();
- uint8_t noteIter = 0;
+ note_t* song = new note_t[input.length()/2]; // since each note is at least 2 characters long, max length is string/2
+ songLen = 0;
for(int i=1;i<input.length();i++){
if(accent_marker==false && dur_marker==false && note_marker==false &&
@@ -426,40 +436,34 @@
if(note_marker==true && accent_marker==true && dur_marker == true){
note=input.substr(i-2,2);
- printf("The note is %s\r\n",note.c_str());
+ //printf("The note is %s\r\n",note.c_str());
duration=atof(input.substr(i,1).c_str());
- printf("Duration is %d\r\n",duration);
+ //printf("Duration is %d\r\n",duration);
note_marker=false;
dur_marker=false;
accent_marker=false;
-
- song[noteIter].note = note[0];
- song[noteIter].sharp = 1;
- song[noteIter].dur = duration;
- noteIter++;
+ note_t newNote = {note[0], 1, 5, duration};
+ song[songLen++] = newNote;
}
else if(note_marker==true && dur_marker==true && accent_marker==false){
note=input.substr(i-1,1);
- printf("The note is %s\r\n",note.c_str());
+ //printf("The note is %s\r\n",note.c_str());
duration=atof(input.substr(i,1).c_str());
- printf("Duration is %d\r\n",duration);
+ //printf("Duration is %d\r\n",duration);
note_marker=false;
dur_marker=false;
accent_marker=false;
-
- song[noteIter].note = note[0];
- song[noteIter].sharp = 0;
- song[noteIter].dur = duration;
- noteIter++;
+ note_t newNote = {note[0], 1, 5, duration};
+ song[songLen++] = newNote;
}
}
melody_thread.start(callback(playMelody, song));
}
else if(t_loc==-1){ //if no melody marker present
- pc.printf("Note sequence NOT detected\r\n");
+ //pc.printf("Note sequence NOT detected\r\n");
if(r_loc==0 && v_loc==-1 && input.length()>1){ //check if first letter is R
- pc.printf("Checking for sole R input type...\r\n");
+ //pc.printf("Checking for sole R input type...\r\n");
for(int j=1; j<input.length();j++){
if(!isdigit(input[j]) && input[j]!='-' && input[j]!='.'){
@@ -477,7 +481,7 @@
}
}
else if(r_loc==0 && v_loc!=-1 && v_loc < input.length()-1){ //check if first letter is R and V is also present
- pc.printf("Checking for combined R and V input type...\r\n");
+ //pc.printf("Checking for combined R and V input type...\r\n");
for(int j=1; j<v_loc;j++){
if(!isdigit(input[j]) && input[j]!='-' && input[j]!='.'){
@@ -505,7 +509,7 @@
}
}
else if(v_loc==0 && input.length()>1){ //check if first letter is V
- pc.printf("Checking for sole V input type...\r\n");
+ //pc.printf("Checking for sole V input type...\r\n");
for(int j=1; j<input.length();j++){
if(!isdigit(input[j]) && input[j]!='-' && input[j]!='.'){
v_val=false;
@@ -536,7 +540,7 @@
//Run the motor synchronisation: orState is subtracted from future rotor state inputs
orState = motorHome();
- pc.printf("Synchronization Complete: Rotor and Motor aligned with Offset: %d \r\n",orState);
+ //pc.printf("Synchronization Complete: Rotor and Motor aligned with Offset: %d\r\n", orState);
//Interrupts (Optical Disk State Change): Drives to next state, Measures whole revolution count, Measures angular velocity over a whole revolution
InterruptI1.rise(&changestate_isr);
