[Krobot-commits] [SCM] krobot branch, master, updated. d2263c4a65ff26f062be07d440f81591045645fb

[ghaessig <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit d2263c4a65ff26f062be07d440f81591045645fb
Author: Germain Haessig <gha...@cr...>
Date:   Sat Apr 6 22:58:55 2013 +0200

    [Beacon_Laser] initial import of dump_times firmware
    
    New laser Beacon system. Firmware to dump the data through Xbee for later use.

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Beacon_Laser/Firmwares/dump_times/dump_times.ino b/elec/boards/Beacon_Laser/Firmwares/dump_times/dump_times.ino
new file mode 100644
index 0000000..a1a6b11
--- /dev/null
+++ b/elec/boards/Beacon_Laser/Firmwares/dump_times/dump_times.ino
@@ -0,0 +1,116 @@
+  /*
+ * beacon_1_dump.c
+ * --------------------
+ * Copyright : (c) 2013, Germain Haessig <ger...@cr...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ */
+
+
+int pin_interrupt = 2 ;
+int pin_A = 3 ;
+int pin_B = 4 ;
+int pin_C = 5 ;
+
+volatile unsigned long times[12]={0,0,0,0,0,0,0,0,0,0,0,0};
+volatile int index_times=0;
+
+int i;
+
+volatile boolean flag_data_ready,cmd_get_data;
+float N ;
+float l = 2 ;
+float L = 3 ;
+float k = 0.5*l ;
+float r = 28E-3 ;
+
+float gamma_A,gamma_B,gamma_C;
+float d_A,d_B,d_C;
+
+float alpha, beta,gamma;
+
+float x_angle,y_angle;
+
+
+void setup() {
+  delay(2000);
+  flag_data_ready = false ;
+  cmd_get_data = true;
+  Serial.begin(115200);
+  attachInterrupt(0,interrupt1,RISING);
+}
+
+
+
+void loop() {
+  static float A = 0 ;
+  static float B = 0 ;
+  static float denom = 0 ;
+
+  if(flag_data_ready)  {
+    flag_data_ready = false ;
+    N=(1E6/(times[6]-times[0])*60);  // beacon RPM 
+    
+    /*gamma_A = N*(times[1]-times[0])*M_PI/30;
+    gamma_B = N*(times[3]-times[2])*M_PI/30;
+    gamma_C = N*(times[5]-times[1])*M_PI/30;
+    
+    d_A = r/(sin(gamma_A/2));
+    d_B = r/(sin(gamma_B/2));
+    d_C = r/(sin(gamma_C/2));*/
+    /*
+    alpha=N*(times[2]-times[0])*1E-6*M_PI/30;
+    beta=N*(times[4]-times[2])*1E-6*M_PI/30;
+    gamma=N*(times[6]-times[4])*1E-6*M_PI/30;
+    
+    A = tan(alpha);
+    B = tan(beta) ;
+    
+    denom = B*B*l*l+A*A*l*l*B*B+A*A*B*B*k*k+A*A*L*L+A*A*k*k+B*B*A*A*L*L-2*A*A*l*B*B*k-2*A*A*l*B*L+2*B*l*A*k-2*B*B*l*A*L;
+    x_angle = (l*B-B*k-L)*(A*B*L-A*k-B*k-L)*A*l/denom;
+    y_angle = l*(-A*k+A*B*L-B*k-L)*(-l*B-A*k+A*B*L)/denom;
+    */
+    
+    for(i=1;i<=11;i++)  {
+     Serial.print(times[i]-times[0]);
+     Serial.print(" "); 
+    }
+    Serial.println();
+    
+    cmd_get_data = true ;
+  }
+
+}
+
+
+void interrupt1() {
+  static int last_beacon = -1 ;
+  static boolean measuring = false ;
+  unsigned long time = micros();
+  int beacon = -1 ; 
+  
+  if(digitalRead(pin_A))  {
+    beacon = 0 ;
+  } else if(digitalRead(pin_B))  {
+    beacon = 1 ;
+  } else if(digitalRead(pin_C))  {
+    beacon = 2 ;
+  }
+  
+  if (!measuring && cmd_get_data && last_beacon == 2 && beacon == 0)  {
+    measuring = true ;
+    cmd_get_data = false ;
+    index_times = 0;
+  }
+  if(measuring)  {
+    times[index_times] = time;
+    index_times++;
+    if(index_times > 11)  {
+      measuring = false ;
+      flag_data_ready = true ;  
+    }
+  }
+  last_beacon=beacon ;
+}
+


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