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Added amplitude frequency to md25sine command.

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This commit is contained in:
James Goppert
2013-07-28 00:05:56 -04:00
parent 4cfcea1767
commit 308f1dbfa4
3 changed files with 10 additions and 11 deletions
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src/drivers/md25/md25.cpp
+3 -8
View File
@@ -560,7 +560,7 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
return 0; return 0;
} }
int md25Sine(const char *deviceName, uint8_t bus, uint8_t address) int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency)
{ {
printf("md25 sine: starting\n"); printf("md25 sine: starting\n");
@@ -576,9 +576,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address)
md25.setSpeedRegulation(true); md25.setSpeedRegulation(true);
md25.setTimeout(true); md25.setTimeout(true);
float dt = 0.01; float dt = 0.01;
float amplitude = 0.5; float t_final = 60.0;
float frequency = 1.0;
float t_final = 120.0;
float prev_revolution = md25.getRevolutions1(); float prev_revolution = md25.getRevolutions1();
// debug publication // debug publication
@@ -599,8 +597,6 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address)
// output // output
md25.readData(); md25.readData();
float current_revolution = md25.getRevolutions1(); float current_revolution = md25.getRevolutions1();
float output_speed_rpm = 60*(current_revolution - prev_revolution)/dt;
mavlink_log_info(mavlink_fd, "rpm: %10.4f\n", (double)output_speed_rpm);
// send input message // send input message
//strncpy(debug_msg.key, "md25 in ", 10); //strncpy(debug_msg.key, "md25 in ", 10);
@@ -611,8 +607,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address)
// send output message // send output message
strncpy(debug_msg.key, "md25 out ", 10); strncpy(debug_msg.key, "md25 out ", 10);
debug_msg.timestamp_ms = 1000*timestamp; debug_msg.timestamp_ms = 1000*timestamp;
debug_msg.value = current_revolution - prev_revolution; debug_msg.value = current_revolution;
//debug_msg.value = output_speed_rpm;
debug_msg.update(); debug_msg.update();
if (t > t_final) break; if (t > t_final) break;
src/drivers/md25/md25.hpp
+1 -1
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@@ -291,6 +291,6 @@ private:
int md25Test(const char *deviceName, uint8_t bus, uint8_t address); int md25Test(const char *deviceName, uint8_t bus, uint8_t address);
// sine testing // sine testing
int md25Sine(const char *deviceName, uint8_t bus, uint8_t address); int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency);
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78 // vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
src/drivers/md25/md25_main.cpp
+6 -2
View File
@@ -139,7 +139,7 @@ int md25_main(int argc, char *argv[])
if (!strcmp(argv[1], "sine")) { if (!strcmp(argv[1], "sine")) {
if (argc < 4) { if (argc < 4) {
printf("usage: md25 sine bus address\n"); printf("usage: md25 sine bus address amp freq\n");
exit(0); exit(0);
} }
@@ -149,7 +149,11 @@ int md25_main(int argc, char *argv[])
uint8_t address = strtoul(argv[3], nullptr, 0); uint8_t address = strtoul(argv[3], nullptr, 0);
md25Sine(deviceName, bus, address); float amplitude = atof(argv[4]);
float frequency = atof(argv[5]);
md25Sine(deviceName, bus, address, amplitude, frequency);
exit(0); exit(0);
} }