WheelTest_Whorl1.cpp

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file WheelTest_Whorl1.cpp
*  \brief Runs momentum wheels on Whorl-I.
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.2 $
*  \date    $Date: 2007/07/24 09:43:46 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*!
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

#include <Actuators/MomentumWheel.h>
#include <fstream>
#include <utils/Time.h>
#include <matrix/Matrix.h>

int main()
{
        //Sample Program for new wheel initialization and
        // velocity reading procedures.
        //ifstream infile("OpenLoopInputs.txt", ios::in);
        //ofstream outfile("QuerySpeed.txt", ios::out);
        
        // 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("/dev/ttyUSB4");
        WheelY.SetPort("/dev/ttyUSB5");
        WheelZ.SetPort("/dev/ttyUSB6");
        
        // Each wheel needs to be initialized individually
        WheelX.Initialize();
        WheelY.Initialize();
        WheelZ.Initialize();
        

        // Run wheel.SetWheelSpeed(s) to set wheel to a speed of s (in rad/s)
        //usleep(250000);

        cout << "WHEEL Z... " << endl;

        WheelZ.SetWheelSpeed( 30 );
        sleep(1);
        
        cout << "WHEEL X... " << endl;
        
        WheelX.SetWheelSpeed( 10 );

        sleep(1);

        cout << "WHEEL Y... " << endl;
        
        WheelY.SetWheelSpeed( 10 );


for( int i=1; i<10; i++ )
{

        double volts = WheelX.GetVolts( );
        cout << "Volts (x): " << volts << endl;
        
        volts = WheelY.GetVolts( );
        cout << "Volts (y): " << volts << endl;
        
        volts = WheelZ.GetVolts( );
        cout << "Volts (z): " << volts << endl;

        sleep(1);
        
        double amps = WheelX.GetAmps( );
        cout << "Amps (x): " << amps << endl;
        
        amps = WheelY.GetAmps( );
        cout << "Amps (y): " << amps << endl;

        amps = WheelZ.GetAmps( );
        cout << "Amps (z): " << amps << endl;
        
        sleep(1);
        
        double wheelSpeed; 
        double measureTime;

        WheelX.GetWheelSpeed( wheelSpeed, measureTime );
        cout << "X Wheel Speed (rad/s): " << wheelSpeed << "   Measurement Time (sec): " << measureTime << endl;        

        WheelY.GetWheelSpeed( wheelSpeed, measureTime );
        cout << "Y Wheel Speed (rad/s): " << wheelSpeed << "   Measurement Time (sec): " << measureTime << endl;        
        
        WheelZ.GetWheelSpeed( wheelSpeed, measureTime );
        cout << "Z Wheel Speed (rad/s): " << wheelSpeed << "   Measurement Time (sec): " << measureTime << endl;        

        cout << "-- END OF LOOP ---- " << endl;
        sleep(2);

}

//      sleep(15);
/*      
        cout << "WHEEL Y... " << endl;
        
        WheelY.SetWheelSpeed( 10 );
        sleep(10);
*/
        WheelX.Stop();
//      WheelY.Stop();

        sleep(2);

//      WheelZ.Stop();
        WheelX.Deinitialize();
//      WheelY.Deinitialize();
//      WheelZ.Deinitialize();

        cout << "End of Program..." << endl;

/*      
        int brett = 0;
        double stampx;
        double stampy;
        double stampz;
        double speedx;
        double speedy;
        double speedz;
        double epoch = Now();

        cout << "# X-speed  X-time   Y-speed    Y-time   Z-speed  Z-time\n";

        while(brett < 10)       
        {
                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);
                cout << brett << " " <<  speedx  << " " << stampx-epoch  << " ";
                cout  << speedy  << " " << stampy-epoch  << " " << speedz << " " << stampz-epoch << " \n";
                
                brett++;
        }



        WheelX.Stop();
        WheelY.Stop();
        WheelZ.Stop();
        WheelX.Deinitialize();
        WheelY.Deinitialize();
        WheelZ.Deinitialize();
*/      

return 0;
}


// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: WheelTest_Whorl1.cpp,v $
*       Revision 1.2  2007/07/24 09:43:46  jayhawk_hokie
*       Updated.
*
*       Revision 1.1  2005/09/18 17:14:30  jayhawk_hokie
*       Initial Addition of Test programs
*
*       Revision 1.1  2005/06/17 18:07:28  jayhawk_hokie
*       Initial submission.
*
*
******************************************************************************/

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