SpeedTest.cpp

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#include "MomentumWheel.h"
#include <fstream.h>
#include "utils/Time.h"

int main()
{
        //Sample Program for new wheel initialization and
        // velocity reading procedures.
        
        
        // Create 3 momentum wheels
        MomentumWheel WheelX;
        MomentumWheel WheelY;
        MomentumWheel WheelZ;
        
        //Set the communications port for each wheel
        // can be done manually or in a config file
        WheelX.SetPort("USB0");
        WheelY.SetPort("USB1");
        WheelZ.SetPort("USB2");
        
        // Each wheel needs to be initialized individually
        WheelX.Initialize();
        WheelY.Initialize();
        WheelZ.Initialize();

        //Send a command to the wheels
        WheelX.SetWheelTorque(0.15);
        WheelY.SetWheelTorque(0.25);
        WheelZ.SetWheelTorque(0.35);

        sleep(10);
        double epoch = Now();

        // Run wheel.StartSpeedQuery() for every wheel you need to have speeds of.
        // The current configuration reads a speed every 0.75 sec, so the program 
        // performs best if the threads created by StartSpeedQuery() are staggered
        // over that time.
        WheelX.StartSpeedQuery();
        usleep(250000);
        WheelY.StartSpeedQuery();
        usleep(250000);
        WheelZ.StartSpeedQuery();
        
        ofstream outfile("QuerySpeed.txt", ios::out);
        outfile << "# xspeed xstamp yspeed ystamp zspeed zstamp looptime elapsed\n";
        int brett = 0;
        double stampx;
        double stampy;
        double stampz;
        double speedx;
        double speedy;
        double speedz;
        //double epoch = Now();
        
        while(brett < 20)       
        {
                usleep(1000000);
                tick();

                // To retrieve the most current speed of the wheel run wheel.GetWheelSpeed(speed, time)
                // where speed is set to the most recent wheel speed, and time is set to the timestamp
                // on that measurement.
                WheelX.GetWheelSpeed(speedx,stampx);
                WheelY.GetWheelSpeed(speedy,stampy);
                WheelZ.GetWheelSpeed(speedz,stampz);
                outfile << brett << " " <<  speedx  << " " << stampx-epoch  << " ";
                outfile << speedy  << " " << stampy-epoch  << " " << speedz << " " << stampz-epoch << " ";
                
                outfile << tock() << " " << Now()-epoch << endl;
                
                brett++;

        }

        return 0;
}

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