kyle johnson
Code for SLOPE drawbar pull
Dependencies: MODSERIAL QEI mbed
Revision 0:0734b922c101, committed 2014-07-07
- Comitter:
- johnson6987
- Date:
- Mon Jul 07 16:11:23 2014 +0000
- Commit message:
- Slope Draw Bar Pull
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Mon Jul 07 16:11:23 2014 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/Sissors/code/MODSERIAL/#f42def64c4ee
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Mon Jul 07 16:11:23 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jul 07 16:11:23 2014 +0000
@@ -0,0 +1,160 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "MODSERIAL.h"
+
+#define MCONV 10900
+
+AnalogOut tri(p18);
+DigitalIn Enable(p10);
+MODSERIAL pc(USBTX,USBRX);
+QEI wheel (p24, p25,NC, 1800);
+AnalogIn load(p20);
+unsigned short value = 0x0500;
+float Set=25;
+LocalFileSystem local("local");
+Timer SystemTime;
+Timer LogTime;
+Timer LoopTime;
+Timer SampleTime;
+BusOut leds(LED1, LED2, LED3, LED4);
+float errorup=1;
+float errorlow=-1;
+
+int main()
+{
+ pc.printf("alive");
+ Enable.mode(PullDown);
+ int filenumber=0;
+ bool FLAG =0;
+ char filename[22];
+ leds=0x1;
+ pc.printf("alsoHere");
+ Set=30;
+ value=0x0500;
+ while(1) {
+ while(!FLAG) {
+ sprintf(filename,"/local/data%04d.txt",filenumber++);
+ FILE *SetupFile= fopen(filename, "r");
+ if (SetupFile != NULL) fclose(SetupFile);
+ else FLAG=1;
+ }
+ leds=0x2;
+ tri.write_u16(value);
+ while(pc.getcNb()!='s');
+
+ FILE *fp =fopen(filename, "w"); // Open "out.txt" on the local file system for writing
+ fprintf(fp,"Time(s), EncoderCnts, LoadCell, Meters, Newtons \n");
+
+ tri = 0;
+ //wait(20);
+ SystemTime.start();
+ LogTime.start();
+ LoopTime.start();
+ SampleTime.start();
+ leds=0xF;
+ float avgtotal=0;
+ float avgcnt=0;
+ wheel.reset();
+ char check = '0';
+ while(check!= 'S') {
+check = pc.getcNb();
+ if(check=='y') {
+ //while(pc.getcNb()=='y');
+ Set+=3;
+ pc.printf("\r\nTarget = %flbs",Set);
+ }
+ if(check=='h') {
+ //while(pc.getcNb()=='h');
+ Set-=3;
+ pc.printf("\r\nTarget = %flbs",Set);
+ }
+
+ //wait_ms(100);
+ if (LogTime.read_ms()>100) {
+ int temp2 = wheel.getPulses();
+ float temp = ((avgtotal/avgcnt)+1.7026)/336.85;
+ fprintf(fp,"%f ,%i ,%f , %f, %f\n", SystemTime.read(),temp2,temp,(float)temp2/10900.000,avgtotal/avgcnt*4.45);
+ LogTime.reset();
+
+ }
+ avgtotal+=336.85*load.read()-1.7026;
+ avgcnt+=1.0;
+ if (LoopTime.read_ms()>5) {
+
+ LoopTime.reset();
+
+ float Actual=avgtotal/avgcnt;
+ avgtotal=0;
+ avgcnt=0;
+ float Error = (Set-Actual);
+ if (Error>errorup)Error=errorup;
+ if (Error<errorlow)Error=errorlow;
+ value=value+Error;
+ // pc.printf("%x\r\n",value);
+
+ if(value > 0xFFFE) {
+ value=0xFFFE;
+ }
+ if(value < 0x00A0) {
+ value=0x00A0;
+ }
+ tri.write_u16(value);
+
+
+ }// 4.45 lbs to N
+
+ // if (wheel.getPulses()>MCONV)Set=200;
+ if (wheel.getPulses()>1.6*MCONV)Set=220;
+ if (wheel.getPulses()>2.2*MCONV)Set=240;
+ if (wheel.getPulses()>2.8*MCONV)Set=260;
+ if (wheel.getPulses()>3.4*MCONV)Set=280;
+ if (wheel.getPulses()>4*MCONV)Set=300;
+ if (wheel.getPulses()>4.6*MCONV)Set=320;
+ /*if (wheel.getPulses()>5.8*MCONV)Set=210;
+ if (wheel.getPulses()>6.6*MCONV)Set=220;
+ if (wheel.getPulses()>7*MCONV)Set=240;*/
+
+
+/*
+if (wheel.getPulses()>MCONV)Set=40;
+ if (wheel.getPulses()>1.8*MCONV)Set=60;
+ if (wheel.getPulses()>2.6*MCONV)Set=80;
+ if (wheel.getPulses()>3.4*MCONV)Set=100;
+ if (wheel.getPulses()>4.2*MCONV)Set=120;
+ if (wheel.getPulses()>5*MCONV)Set=140;
+ if (wheel.getPulses()>5.8*MCONV)Set=160;
+ if (wheel.getPulses()>6.6*MCONV)Set=180;
+ if (wheel.getPulses()>7*MCONV)Set=200;
+ */
+ }
+ fclose(fp);
+ tri.write_u16(0x0400);
+ leds=0x8;
+ Set=30;
+ while(pc.getcNb()!='R') {
+ avgtotal+=336.85*load.read()-1.7026;
+ avgcnt+=1.0;
+ if (LoopTime.read_ms()>5) {
+
+ LoopTime.reset();
+
+ float Actual=avgtotal/avgcnt;
+ avgtotal=0;
+ avgcnt=0;
+ float Error = (Set-Actual);
+ if (Error>errorup)Error=errorup;
+ if (Error<errorlow)Error=errorlow;
+ value=value+Error;
+ // pc.printf("%x\r\n",value);
+
+ if(value > 0xFFFE) {
+ value=0xFFFE;
+ }
+ if(value < 0x00A0) {
+ value=0x00A0;
+ }
+ tri.write_u16(value);
+ }
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jul 07 16:11:23 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/71b101360fb9 \ No newline at end of file