/* LAB1.C */
/* Test of DC motor */

#include <stdlib.h>
#include <stdio.h>
#include <dos.h>
#include <conio.h>
#include <timer.h>
#include <inout.h>

/* Declaration of user variables and constants */
#define ampgain 5.        /* Amplifier gain */
#define maxpoints 4000    /* Number of points to be stored on disk */
FILE *fp; char fname[]="DATA.M";
float ref[maxpoints],pos[maxpoints],vol[maxpoints];
float keybin,y,u,uda; int clock,npoints;

/* Keyboard routine */
void user_interface() {
	scanf("%f",&keybin); }

/* Initialization routine */
void user_init() {
	put_da(0,0.); encoder_init();
	freq=500.; clock=0;
	printf("Enter desired motor voltage, type Ctrl-Break to stop:\n");
	scanf("%f",&keybin); }

/* Data storage on disk -- File readable by MATLAB, simply typing "data" */
void write_data() {
	npoints=clock;
	fp=fopen(fname,"w");       
	fprintf(fp,"t=[\n");
	for (clock=0;clock<npoints;clock++) fprintf(fp,"%f\n",clock/freq);
	fprintf(fp,"];\n"); 
	fprintf(fp,"vol=[\n");
	for (clock=0;clock<npoints;clock++) fprintf(fp,"%f\n",vol[clock]);
	fprintf(fp,"];\n");   
	fprintf(fp,"pos=[\n");
	for (clock=0;clock<npoints;clock++) fprintf(fp,"%f\n",pos[clock]);
	fprintf(fp,"];\n"); }

/* Termination routines */
void user_terminate() {}
void user_abort() {
	put_da(0,0.); write_data(); }

/* Periodic task I/O and voltage output */
void user_task () {
	u=keybin;           /* Read desired voltage            */
	y=get_encoder();    /* Get position measurement in rad */
	uda=u/ampgain;      /* Calculate D/A voltage           */
	put_da(0,uda);      /* Output voltage                  */
	if (clock<maxpoints) {       /* Data storage in arrays */
		vol[clock]=u;pos[clock]=y;++clock;} }