wschrab / Lab 6

/////////////////////////////////////////////////////////////////////////////////////////////// // SINEIO /////////////////////////////////////////////////////////////////////////////////////////////// #include <time.h> #include "../myWin826.h" #include "../826api.h" #include "../RealTime.h" #define SAMPLE_RATE 1000 // SET ME // IO card configuration constants #define IO_BOARD_NUM 0 // no change #define ADC_SLOT 0 // no change #define DAC_ZERO_OUTPUT 0x8000 #define DAC_CONFIG_GAIN S826_DAC_SPAN_10_10 // -10 to 10 spans 20 volts so... #define DAC_VRANGE 20.0 // This MUST correspond to the DAC_SPAN just above #define DAC_CNT_RANGE 0xFFFF // 16-bit DAC #define DAC_OFFSET_COUNTS 0x8000 // 32768 offset for a signed desired output mapped to unsigned DAC write. #define DAC_CHANNEL 7 // SET ME! CHECK YOUR SETUP: DAC channel output #define ADC_CHANNEL 1 // SET ME! CHECK YOUR SETUP: analog input channel to track #define ADC_CNT_RANGE 0xFFFF // 2^16= 0xFFFF (16 bit converter) #define ADC_GAIN S826_ADC_GAIN_1 // -10 to 10 option #define ADC_VRANGE 20 // this must correspond to gain setting #define ADC_ENABLE 1 int main() { int errcode = S826_ERR_OK; int boardflags = S826_SystemOpen(); // open 826 driver and find all 826 boards int slotdata; // adc data from the slot of interest int ncount = 0; uint dacout; double voltagein = 0.0; double voltageout = 0; double Kp = 0.008; // Proportional gain [cite: 111] int current_position = 0; // Actual position from encoder int ref_position = 0; // Desired position int error = 0; // Control error char key = '0'; // Keyboard input // --- Data Logging Variables --- int data_log[2000]; // Integer array for 2 seconds of data [cite: 111, 112] int log_index = 0; // instantiate our "real time" object that will pace our loop RealTime realTime(SAMPLE_RATE); // Configure data achqisition interfaces and start them running. X826(S826_AdcSlotConfigWrite(IO_BOARD_NUM, ADC_SLOT, ADC_CHANNEL, 0, ADC_GAIN)); // program adc timeslot attributes: slot, chan, 0us settling time. For -5V-5V use: "S826_ADC_GAIN_2" X826(S826_AdcSlotlistWrite(IO_BOARD_NUM, 1 << ADC_SLOT, S826_BITWRITE)); // enable adc timeslot; disable all other slots X826(S826_AdcEnableWrite(IO_BOARD_NUM, ADC_ENABLE)); // enable adc conversions X826(S826_DacRangeWrite(IO_BOARD_NUM, DAC_CHANNEL, DAC_CONFIG_GAIN, 0)); // program dac output range: -10V to +10V double Kp = 0.008; // Proportional gain [cite: 111] int current_position = 0; // Actual position from encoder int ref_position = 0; // Desired position int error = 0; // Control error char key = 0; // Keyboard input // --- Data Logging Variables --- int data_log[2000]; // Integer array for 2 seconds of data [cite: 111, 112] int log_index = 0; uint counts = 0; ref_position = current_position + 500; // commence pseudo-real-time loop. realTime.Start(); while (key != 'q') { // 1. Read Keyboard Input if (_kbhit()) // if you hit a key keyboard then read input [cite: 125] { key = _getch(); if (key == 'M') ref_position += 500; // 'right arrow key' increments ref [cite: 128, 132] else if (key == 'K') ref_position -= 500; // 'left arrow key' decrements ref [cite: 129, 133] } if (log_index < 2000) { data_log[log_index] = current_position; log_index++; } error = ref_position - current_position; voltageout = Kp * error; //Saftey if (voltageout > 10.0) voltageout = 10.0; if (voltageout < -10.0) voltageout = -10.0; realTime.Sleep(); } realTime.Stop(log_index); // stop real-time loop X826(S826_DacDataWrite(IO_BOARD_NUM, DAC_CHANNEL, DAC_ZERO_OUTPUT, 0)); // put to zero at the end S826_SystemClose(); return 0; }