PRBS signal on Haptic_hid with output signal of position
Dependencies: MODSERIAL USBDevice compensation_tables mbed-dsp mbed
Fork of haptic_hid by
Revision 4:9d37f163d64c, committed 2017-06-19
- Comitter:
- vsluiter
- Date:
- Mon Jun 19 08:24:44 2017 +0000
- Parent:
- 3:10863117020c
- Commit message:
- Changed from cout to printf, changed timing a bit
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
main.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Jun 19 07:40:22 2017 +0000 +++ b/main.cpp Mon Jun 19 08:24:44 2017 +0000 @@ -9,9 +9,16 @@ #include "position_sensor_error.h" #include "cogging_compensation.h" #include "main.h" + Ticker tickObject; -#include <iostream> +//#include <iostream> + + +/* +* Comment victor: this is defined in main.h +* MODSERIAL pc(USBTX,USBRX); +*/ using namespace std; const int n = 1000; @@ -98,21 +105,25 @@ void printer(){ int positie = GET_POSITION(); positievec[q] = positie; - cout << positievec[q] << ","; + //cout << positievec[q] << ","; + pc.printf("%d,", positievec[q]); q = q+1; + if(q>=n) + q=0; } int main() { // Initialize system //initialiseer_prbs(); + pc.baud(115200); initialize_io(); calibrate_current_sensor(); calibrate_position(); for (int i = 0; i <= n; i++) { prbstest[i] = rand() % 2; - cout << prbstest[i] << ",";//"\r\n"; + pc.printf("%d,", prbstest[i]); } while(z<=n){ @@ -120,7 +131,8 @@ //tickObject.attach_us(&printer, 100000); torque_control(); printer(); - cout << z << ";\r\n"; + wait_ms(300); + pc.printf("%d;\r\n",z); z = z+1; wait_us(TORQUE_CONTROLLER_INTERVAL_US); @@ -129,7 +141,7 @@ //send_report.length = 16; //recv_report.length = 16; - cout << "\r\n"; + //cout << "\r\n"; /* for(int k=0; k <= n; k++) { status = prbstest[k]; @@ -147,7 +159,10 @@ blink(); } }*/ - cout << positievec; + for(int i=0 ; i<n ; i++) + { + pc.printf("%d ",positievec[i]); + } while(1) { int32_t abspos = ABSPOS(); @@ -296,11 +311,11 @@ // Impedance controller... if(prbstest[z] == 1){ torque = -0.1;//-ZControl_K*0.00076699f*(ABSPOS()-ZControl_RefPos) - ZControl_B*speed - ZControl_I*acceleration; - cout << torque << ",";//"\r\n"; + //cout << torque << ",";//"\r\n"; } else if(prbstest[z] == 0){ torque = 0.1; - cout << torque << ",";//"\r\n"; + //cout << torque << ",";//"\r\n"; } // Preprocess torque command
--- a/main.h Mon Jun 19 07:40:22 2017 +0000 +++ b/main.h Mon Jun 19 08:24:44 2017 +0000 @@ -63,7 +63,7 @@ //HID_REPORT recv_report; DigitalIn user_btn(p23); SPI spi(NC, p6, p7); -Serial pc(USBTX, USBRX); +MODSERIAL pc(USBTX, USBRX); AnalogIn current_sensor_a(p15); AnalogIn current_sensor_b(p16); PwmOut driver_1a(p28);