Revision 4:af5440b3af19, committed 2013-12-01

Comitter:

lukeplummer

Date:

Sun Dec 01 17:33:41 2013 +0000

Parent:

3:6f00e4876cab

Child:

5:9f31c55179d7

Commit message:

added filewriting

Changed in this revision

--- a/main.cpp	Mon Nov 25 21:54:30 2013 +0000
+++ b/main.cpp	Sun Dec 01 17:33:41 2013 +0000
@@ -22,6 +22,8 @@
 Ticker ctrlTicker;                // creates an instance of the ticker class, which can be used for running functions at a specified frequency.
 Ticker trajTicker;
 Serial mySerial(USBTX, USBRX);  // create a serial connection to the computer over the tx/rx pins
+LocalFileSystem local("local");
+FILE *fp = fopen("/local/out.csv", "w");
 
 float a1_t0 = 0;    //motor angle 1 from previous time step
 float a1_t1 = 0;    //motor angle 1 from current time step
@@ -93,6 +95,16 @@
     }
 }
 
+void fileWriter(float in1, float in2) {
+       n++;
+       if(n<3000){
+            fprintf(fp, "%f,%f\n",in1, in2);
+       }
+       else{
+           fclose(fp);    
+       }
+}
+
 int main() {
     mDir1_A = 1;
     mDir1_B = 0;
@@ -108,8 +120,12 @@
         trajTicker.attach(setTraj, 1/fTraj);
         ctrlTicker.attach(pdControl, 1/fPWM);
         //while (!done) {mySerial.printf("targets 1: %f 2: %f \n\r", aD[0], aD[1]);}
-        while (!done) {mySerial.printf("motor 2: %f \n\r", a2_t1);}
+        while (!done) {
+            mySerial.printf("motor 2: %f \n\r", a2_t1);
+            fprintf(fp, "%f, %f\n",a1_t1, a2_t1);
+        }
         mySerial.printf("Done\n\r");
+        fclose(fp);
         mDir1_A = 0;
         mDir1_B = 0;
         mDir2_A = 0;