Merge remote-tracking branch 'refs/remotes/origin/development2'

# Conflicts: # Mechaduino_01/Mechaduino_01/Mechaduino_01.ino
jcchurch13 · Nov 29, 2016 · 9105d2b · 9105d2b
2 parents f8fd951 + 202251c
commit 9105d2b
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Showing 4 changed files with 31 additions and 12 deletions.
diff --git a/Mechaduino_01/Mechaduino_01/Mechaduino_01.ino b/Mechaduino_01/Mechaduino_01/Mechaduino_01.ino
@@ -52,17 +52,21 @@ void setup() {
   digitalWrite(13,HIGH);        //turn LED on 
   setupPins();                  
   setupTCInterrupts();
+<<<<<<< HEAD
   sineGen(); 
   stepNumber = 0;  //this fixes a memory bug.... better fix coming soon.
 
 
+=======
+
+>>>>>>> refs/remotes/origin/development2
   SerialUSB.begin(115200);
   delay(3000);                  //This delay seems to make it easier to establish a connection when the Mechaduino is configured to start in closed loop mode.  
   serialMenu();
   setupSPI();
   digitalWrite(13,LOW);         //turn LED off 
 
-  pinMode(3, OUTPUT);           //for debugging control loop timing on pin 3
+  pinMode(3, OUTPUT);           //for debugging control loop timing on pin 3 
 
 
   //  enableTCInterrupts();     //start in closed loop mode

diff --git a/Mechaduino_01/Mechaduino_01/Parameters.cpp b/Mechaduino_01/Mechaduino_01/Parameters.cpp
diff --git a/Mechaduino_01/Mechaduino_01/Parameters.h b/Mechaduino_01/Mechaduino_01/Parameters.h
@@ -54,8 +54,8 @@ extern const int dir_pin;
 
 extern const PROGMEM float force_lookup[];
 
-//extern  int sin_1[3600];
-extern  int sin_1[3600];
+
+extern const int sin_1[];
 
 #endif
 
diff --git a/Mechaduino_01/Mechaduino_01/Utils.cpp b/Mechaduino_01/Mechaduino_01/Utils.cpp
@@ -373,6 +373,10 @@ void serialCheck() {        //Monitors serial for commands.  Must be called in r
       case 'k':
         parameterEditmain();
         break;
+
+      case 'g':
+        sineGen();
+        break;
 
       case 'm':
         serialMenu();
@@ -977,20 +981,26 @@ void serialMenu() {
   SerialUSB.println("");
    SerialUSB.println(" j  -  step response");
   SerialUSB.println(" k  -  edit controller gains");
+  SerialUSB.println(" g  -  generate sine commutation table");
   SerialUSB.println(" m  -  print main menu");
   // SerialUSB.println(" f  -  get max loop frequency");
   SerialUSB.println("");
 }
 void sineGen() {
+  int temp;
+     SerialUSB.println("");
+     SerialUSB.println("The sineGen() function in Utils.cpp generates a sinusoidal commutation table.");
+     SerialUSB.println("You can experiment with different commutation profiles by modifying this table.");
+     SerialUSB.println("The below table should be copied into sine_1 in Parameters.cpp.");   
+     SerialUSB.println("");
+     delay(3000);
+     SerialUSB.println("Printing sine look up table:...");
+     SerialUSB.println("");
   for (int x = 0; x <= 3600; x++) {
-    sin_1[x] = round(1024.0 * sin((3.14159265358979 * ((x * 0.1 / 180.0) + 0.25))));
-   // sin_2[x] = round(1024.0 * sin((3.14159265358979 * ((x * 0.1 / 180.0) + 0.75))));    
+    temp = round(1024.0 * sin((3.14159265358979 * ((x * 0.1 / 180.0) + 0.25))));
+   SerialUSB.print(temp);
+   SerialUSB.print(", ");  
   }
-   //   for (int x = 0; x<=3600;x++){     //print out commutation table
-   //   SerialUSB.println(sin_1[x]);
-   //   SerialUSB.print(",");
-   //   SerialUSB.print(sin_2[x]);
-   // }
 
 }