Diff: main.cpp

Revision:

6:0832c6c6bcba

Parent:

5:06381e54b94a

Child:

7:37b06688b449

diff -r 06381e54b94a -r 0832c6c6bcba main.cpp
--- a/main.cpp	Mon Sep 29 21:20:29 2014 +0000
+++ b/main.cpp	Mon Sep 29 21:39:29 2014 +0000
@@ -1,20 +1,23 @@
 #include "mbed.h"
 #include "encoder.h"
-#include "MODSERIAL.h"
+//#include "MODSERIAL.h"
+#include "HIDScope.h"
+
 
 #define TSAMP 0.01
 #define K_P (10     *TSAMP)
-
 #define K_I (0.00   *TSAMP)
-
 #define K_D (5      *TSAMP)
 
 #define POT_AVG 50
+
 void coerce(float * in, float min, float max);
 float pid(float setpoint, float measurement);
 AnalogIn potmeter(PTC2);
 volatile bool looptimerflag;
 float potsamples[POT_AVG];
+HIDScope scope(4);
+
 
 void setlooptimerflag(void)
 {
@@ -46,16 +49,19 @@
 
 int main()
 {
+    //start Encoder
     Encoder motor1(PTD0,PTC9);
+    //Ticker to average potmeter values
     Ticker potaverage;
-    MODSERIAL pc(USBTX,USBRX);
+    //MODSERIAL pc(USBTX,USBRX);
     PwmOut pwm_motor(PTA12);
+    //10kHz PWM frequency
+    pwm_motor.period_us(100);
     DigitalOut motordir(PTD3);
     potaverage.attach(potAverager,0.002);
-    pc.baud(921600);
+    //pc.baud(921600);
     Ticker looptimer;
     looptimer.attach(setlooptimerflag,TSAMP);
-    pc.printf("bla");
     while(1) {
         float setpoint;
         float new_pwm;
@@ -65,7 +71,11 @@
         //new_pwm = (setpoint - motor1.getPosition())*.001;
         new_pwm = pid(setpoint, motor1.getPosition());
         coerce(&new_pwm, -1,1);
-        pc.printf("%f %f %f 0\n", setpoint/2000.+0.5, motor1.getPosition()/2000.+.5,new_pwm/2.+0.5);
+        scope.set(0, setpoint);
+        scope.set(1,new_pwm);
+        // ch 2 and 3 set in pid controller */
+        scope.send();
+        //pc.printf("%f %f %f 0\n", setpoint/2000.+0.5, motor1.getPosition()/2000.+.5,new_pwm/2.+0.5);
         if(new_pwm > 0)
             motordir = 1;
         else
@@ -80,7 +90,7 @@
 //'ternary operators'.
 void coerce(float * in, float min, float max)
 {
-*in > min ? *in < max? : *in = max: *in = min;
+    *in > min ? *in < max? : *in = max: *in = min;
 }
 
 
@@ -97,6 +107,8 @@
     out_d  = (error-prev_error)*K_D;
     coerce(&out_i,-0.5,0.5);
     prev_error = error;
+    scope.set(2,error);
+    scope.set(3,out_p);
     return out_p + out_i + out_d;
 }