PWM& PWM::operator=(bool state)
{
if(state)
setDutyCycle(1.0);
else
setDutyCycle(0.0);
return *this;
}
//translate omega1,2,3,4 to pwm1,2,3,4 and actuate motors accordingly
unsigned int controlled_speed(void)
{
unsigned int t1;
unsigned int t2;
unsigned int t3;
unsigned int t4;
if (controller_param->FCS == FCS_MOTOR_TEST) {
setDutyCycle(test_speed[0], 1);
setDutyCycle(test_speed[1], 2);
setDutyCycle(test_speed[2], 3);
setDutyCycle(test_speed[3], 4);
} else {
//actuate the motors
if (motor_on) {
t1 = normalize_speed(ctrl_data->omega1square);
t2 = normalize_speed(ctrl_data->omega2square);
t3 = normalize_speed(ctrl_data->omega3square);
t4 = normalize_speed(ctrl_data->omega4square);
//setDutyCycle(ZERO_SPEED_THROTTLE+normalize_speed(ctrl_data->omega1square), 1);
//setDutyCycle(ZERO_SPEED_THROTTLE+normalize_speed(ctrl_data->omega2square), 2);
//setDutyCycle(ZERO_SPEED_THROTTLE+normalize_speed(ctrl_data->omega3square), 3);
//setDutyCycle(ZERO_SPEED_THROTTLE+normalize_speed(ctrl_data->omega4square), 4);
if (speed_report_count == SPEED_REPORT_RATE) {
printf("T1: %u, T2: %u, T3: %u, T4: %u.\n\r", t1, t2, t3, t4);
//print the motor speeds
printf("M1: ");
printFloat(ctrl_data->omega1square);
printf(", M2: ");
printFloat(ctrl_data->omega2square);
printf(", M3: ");
printFloat(ctrl_data->omega3square);
printf(", M4: ");
printFloat(ctrl_data->omega4square);
printf(".\n\r");
printf("e_roll: ");
printFloat(kinetic_errs->roll_error);
printf("e_pitch: ");
printFloat(kinetic_errs->pitch_error);
printf(", e_yaw: ");
printFloat(kinetic_errs->yaw_error);
printf(", e_alt: ");
printFloat(kinetic_errs->altitude_error);
printf(".\n\r");
printf(".\n\r");
speed_report_count = 0;
} else {
speed_report_count++;
}
} else {
// gives zero throttle to all
setDutyCycle(6, 0);
}
}
}
void start_scheduler(void) {
setDutyCycle (50, 50); // dutyCycle = 50%, frequency = 50Hz
while (1) {
// OpenEPWM1(0xff);
// SetDCEPWM1(0);
// SetOutputEPWM1(FULL_OUT_FWD, PWM_MODE_1);
// CloseEPWM1();
//timer interrupt
if (sampling_flag == 1) {
timer_rst();
if (curr_channel < high) {
PORTBbits.RB0 = 1;
PORTBbits.RB1 = 1;
PORTBbits.RB2 = 0;
PORTBbits.RB3 = 0;
} else if (curr_channel >= high){
PORTBbits.RB0 = 0;
PORTBbits.RB1 = 0;
PORTBbits.RB2 = 1;
PORTBbits.RB3 = 1;
} else if (curr_channel == totalTicks){
update_status(SYSTEM_UART);
done = uart_task();
}
//update status if a task terminate
} else {
if ((check_status() == SYSTEM_UART) && done && TXSTAbits.TRMT) {
update_status(SYSTEM_IDLE);
done = 0;
}
}
}
}
void motors_init(void)
{
// enable timer0,1,3,5 for motor control
T0CONbits.T08BIT = 0; // set timer0 in 16-bit mode
T0CONbits.T0CS = 0; // set timer0 clk source as instruction cycle
T0CONbits.PSA = 0; // enable timer0 pre-scale
T0CONbits.T0SE = 0; // increment on low to high transition
T0CONbits.T0PS = 0b001; // choose a pre-scale of 4
// turn on Timer0
T0CONbits.TMR0ON = 0;
// enable timer1
T1CONbits.TMR1CS = 0b00; // CLK src FOSC/4
T1CONbits.T1CKPS = MOTOR_TIMER_PRESCALE;
T1CONbits.T1SOSCEN = 0; // disable secondary osc
T1CONbits.T1RD16 = 1; // sing 16-bit-read/write operation enable
T1CONbits.TMR1ON = 0; // enable tmr1
// enable timer3
T3CONbits.TMR3CS = 0b00; // CLK src FOSC/4
T3CONbits.T3CKPS = MOTOR_TIMER_PRESCALE;
T3CONbits.T3SOSCEN = 0; // disable secondary osc
T3CONbits.T3RD16 = 1; // sing 16-bit-read/write operation enable
T3CONbits.TMR3ON = 0; // enable tmr3
// enable timer5
T5CONbits.TMR5CS = 0b00; // CLK src FOSC/4
T5CONbits.T5CKPS = MOTOR_TIMER_PRESCALE;
T5CONbits.T5SOSCEN = 0; // disable secondary osc
T5CONbits.T5RD16 = 1; // sing 16-bit-read/write operation enable
T5CONbits.TMR5ON = 1; // enable tmr5
motor_on = 0;
setDutyCycle (6, 1); // dutyCycle = 10%, frequency = 50Hz
setDutyCycle (6, 2); // dutyCycle = 10%, frequency = 50Hz
setDutyCycle (6, 3); // dutyCycle = 10%, frequency = 50Hz
setDutyCycle (6, 4); // dutyCycle = 10%, frequency = 50Hz
PORTBbits.RB0 = 1;
PORTBbits.RB1 = 1;
PORTBbits.RB2 = 1;
PORTBbits.RB3 = 1;
speed_report_count = 1;
}
PIRInfraredLED::PIRInfraredLED(
unsigned int frequency,
unsigned int dutyCycle)
: fileDescriptor(-1),
index(0)
{
openLircDevice();
setCarrierFrequency(frequency);
setDutyCycle(dutyCycle);
}
float WCMA::do_all_the_magic()
{
if ( current_slice == static_cast<unsigned int>( adaptive_slices - 1 ) )
{
calculateAdaptiveSlices();
setDutyCycle();
current_slice = 0;
return energy_current_slot;
}
else
{
DriverInterface::debug.printLine( "current_slice: ", false );
DriverInterface::debug.printFloat( current_slice, 3, true );
++current_slice;
setDutyCycle();
return Algorithms::getLuminance();
}
}
ProtonProtocol::ProtonProtocol(
QObject *guiObject,
unsigned int index)
: SpaceProtocol(
guiObject, index,
500, 500,
500, 1500,
8000, 4000,
500,
63000, true)
{
setDutyCycle(50);
}
//Function to control DOF1
void control_dof1(unsigned int setpoint_dof1)
{
position_dof1 = ADC0Read(1);
if(setpoint_dof1 > position_dof1)
{
IOCLR0 = (1<<19);
IOSET0 = (1<<18);
//setDutyCycle(2,(setpoint_dof1 - position_dof1)*100/1024);
}
if(position_dof1 > setpoint_dof1)
{
IOCLR0 = (1<<18);
IOSET0 = (1<<19);
//setDutyCycle(2,(position_dof1 - setpoint_dof1)*100/1024);
}
setDutyCycle(2,85);
//iprintf("Position: %d Setpoint: %d\r\n",position_dof1, setpoint_dof1);
}
void BitHistory::write(BitHistoryProto::Builder& proto) const
{
proto.setId(id_.c_str());
auto statsList = proto.initStats(stats_.size());
UInt i = 0;
for (const auto & elem : stats_)
{
auto stat = statsList[i];
stat.setIndex(elem.first);
stat.setDutyCycle(elem.second);
i++;
}
proto.setLastTotalUpdate(lastTotalUpdate_);
proto.setLearnIteration(learnIteration_);
proto.setAlpha(alpha_);
proto.setVerbosity(verbosity_);
}
void PWM::off()
{
setDutyCycle(0.0);
}
void PWM::on()
{
setDutyCycle(1.0);
}
