WheelTest_Whorl2.cpp

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file WheelTest_Whorl2.cpp
*  \brief Runs momentum wheels on Whorl-II.
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.1 $
*  \date    $Date: 2005/09/18 17:14:30 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*!
*/
//////////////////////////////////////////////////////////////////////////////////////////////////


#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("USB1");
        WheelY.SetPort("USB2");
        WheelZ.SetPort("USB3");
        
        // Each wheel needs to be initialized individually
        WheelX.Initialize();
        WheelY.Initialize();
        WheelZ.Initialize();
        
        // 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();

        // Run wheel.SetWheelSpeed(s) to set wheel to a speed of s (in rad/s)
        usleep(25000);
        WheelX.SetWheelSpeed(60);
        sleep(1);
        //WheelY.SetWheelSpeed(60);
        sleep(1);
        //WheelZ.SetWheelSpeed(60);
        sleep(10);

/*      
        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++;
        }
        return 0;
*/
}

// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: WheelTest_Whorl2.cpp,v $
*       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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