main.cpp

00001 #include "mbed.h"
00002 #include "PinDetect.h"
00003 #include "DebounceIn.h"
00004 #include "EthernetInterface.h"
00005 
00006 #define ECHO_SERVER_PORT   4547
00007 
00008 DigitalOut myled(LED1);
00009 
00010 //**********FIRGELLI**********//
00011 DigitalOut extend(PTB9); //extends actuator
00012 DigitalOut retract(PTB2); //retracts actuator
00013 //AnalogIn   ain(PTC10); //pot wiper (no longer needed)
00014 Timer extend_timer;
00015 Timer retract_timer;
00016 void extend_actuator(); //extends actuator
00017 void retract_actuator(); //retracts actuator
00018 //**********FIRGELLI**********//
00019 
00020 //**********SCREW**********//
00021 DigitalOut dir(PTD2); 
00022 DigitalOut step(PTD0);
00023 DigitalOut motor_power(PTB3); 
00024 DebounceIn   switch_top(PTC3);       //top limit switch
00025 DebounceIn   switch_bottom(PTC2);    //bottom limit switch 
00026 void motor_power_function(int on_off); //on=1, off=0
00027 void stop_top();
00028 void stop_bottom();
00029 void move_up();
00030 void move_down();
00031 //**********SCREW**********// 
00032 
00033 //**********SEAT**********//
00034 //AnalogIn   ain(PTC10); //output from potential divider
00035 //bool sitting = false;
00036 //bool seat_state(); //Check state of seat.  Returns boolean value for the state of the seat (sitting=true, not sitting=false)
00037 //void person_sitting(); //function called if person sits down
00038 //**********SEAT**********//
00039 
00040 //**********SYSTEM**********// 
00041 PinDetect reset_switch(PTC16); 
00042 //void reset_system(); //resets system in case of fault
00043 //**********SYSTEM**********//
00044 
00045 Serial pc(USBTX, USBRX); // tx, rx
00046 
00047 //**********FIRGELLI**********//
00048 void extend_actuator()
00049 {
00050     pc.printf("extend\r\n");
00051     extend_timer.start();
00052     while(extend_timer.read() < 6)
00053     {
00054         extend = 1;
00055         retract = 0;
00056     }
00057     extend = 0;
00058     retract = 0;
00059     
00060     extend_timer.stop();
00061     extend_timer.reset();
00062 }
00063 
00064 void retract_actuator()
00065 {
00066     pc.printf("retract\r\n");
00067     retract_timer.start();
00068     while(retract_timer.read() < 6)
00069     {
00070         extend = 0;
00071         retract = 1;
00072     }
00073     extend = 0;
00074     retract = 0;
00075     
00076     retract_timer.stop();
00077     retract_timer.reset();
00078 }
00079 //**********FIRGELLI**********//
00080 
00081 //**********SEAT**********//
00082 /*
00083 bool seat_state()
00084 {
00085     double sitting_feedback = ain.read();
00086     // 0.01 < sitting_feedback < 0.99 = person sitting
00087     // 0.01 > sitting_feedback > 0.99 = person not sitting
00088     if(sitting_feedback > 0.99 || sitting_feedback < 0.01) //(problem with occassionally jumping to 0.00....)
00089     {
00090         sitting = false; //no one is sitting, therefore continue as normal
00091     }
00092     else
00093     {
00094         sitting = false; //person is sitting, therefore stop movement of steering wheel
00095         //change to true
00096     }
00097     
00098     return sitting;
00099 }
00100 
00101 void person_sitting() 
00102 {
00103     //stop movement of both actuators and add a wait
00104     pc.printf("person_sitting\r\n");
00105     step=0;
00106     motor_power_function(0);
00107     wait(3); //delay before starting to move again
00108 }
00109 */
00110 //**********SEAT**********//
00111 
00112 //**********SCREW**********// 
00113 void motor_power_function(int on_off) //on=1, off=0
00114 {
00115     pc.printf("motor_power=%i\r\n", on_off);
00116     motor_power = on_off;
00117 }
00118 
00119 void stop_top()
00120 {
00121     pc.printf("stop_top\r\n");
00122     step=0;
00123     motor_power_function(0);
00124     wait(0.5);
00125     extend_actuator(); //extend actuator once the gantry reaches the top
00126 }
00127 
00128 void stop_bottom()
00129 {
00130     pc.printf("stop_bottom\r\n");
00131     step=0;
00132     wait(0.1);
00133     motor_power_function(0);
00134 }
00135 
00136 void move_up()
00137 {
00138     pc.printf("move_up\r\n");
00139     motor_power_function(1);
00140     wait(0.1);
00141     
00142     //if (seat_state()==false) //seat free
00143     //{
00144     while(switch_top != 1)
00145     {
00146             //if (seat_state()==false) //check initial state before moving
00147             //{
00148         dir=0; //0 is up
00149         step=1;
00150         wait(0.0009); //0.0009 is min. wait
00151         step=0;
00152         wait(0.0009);
00153             //}
00154             //else
00155             //{
00156             //    person_sitting(); //stop movement
00157             //}
00158     }
00159     //}
00160     stop_top();
00161 }
00162 
00163 void move_down()
00164 {
00165     pc.printf("move_down\r\n");
00166     retract_actuator(); //retract actuator before gantry moves down
00167     motor_power_function(1);
00168     wait(0.1);
00169     
00170     //if (seat_state()==false) //seat free
00171     //{
00172     while(switch_bottom != 1)
00173     {
00174             //if (seat_state()==false) //check initial state before moving
00175             //{
00176         dir=1; //1 is down
00177         step=1;
00178         wait(0.0009); 
00179         step=0;
00180         wait(0.0009);
00181             //}
00182         //}
00183     }
00184     stop_bottom();
00185 }
00186 
00187 //**********SCREW**********// 
00188 
00189 int main() {
00190     reset_switch.mode(PullDown);
00191     reset_switch.attach_asserted(&NVIC_SystemReset);
00192     reset_switch.setSampleFrequency();
00193     
00194     switch_top.mode(PullDown);
00195     switch_bottom.mode(PullDown);
00196       
00197     wait(0.01);//delay for pullups
00198     
00199     motor_power_function(0); //start off with motor off
00200 
00201     EthernetInterface eth;
00202     eth.init(); //Use DHCP
00203     eth.connect();
00204     printf("\nServer IP Address is %s\n", eth.getIPAddress());
00205     
00206     UDPSocket server;
00207     server.bind(ECHO_SERVER_PORT);
00208     
00209     Endpoint client;
00210     char buffer[256];
00211     char state_buffer[] = "{\"name\":\"steering\"}";
00212     int state_buffer_size = strlen(state_buffer);
00213     char deploy_buffer[] = "{\"name\":\"steering\",\"state\":\"deployed\"}";
00214     int deploy_buffer_size = strlen(deploy_buffer);
00215     char retract_buffer[] = "{\"name\":\"steering\",\"state\":\"retracted\"}";
00216     int retract_buffer_size = strlen(retract_buffer);
00217     
00218     printf("switch_top = %d\r\n", switch_top.read());
00219     printf("switch_bottom = %d\r\n", switch_bottom.read());
00220     
00221     //initial check to put steering wheel in deployed position
00222     printf("Checking initial state...\r\n");
00223     printf("Initial state is ");
00224     if (switch_top == 1)
00225     {
00226         printf("deployed\n");
00227         extend_actuator(); //Already at the top.  Extend firgelli if need be
00228     }
00229     else if (switch_bottom == 1)
00230     {
00231         printf("retracted\n"); 
00232         move_up(); //move up to top for the starting position
00233     }
00234     else //neither switch is pressed - midway between states
00235     {
00236         printf("midway.  Deploying...\n");
00237         move_up(); //move up to top (reset)
00238     }
00239 
00240     while(1) {
00241         myled = !myled;
00242         
00243         printf("\nWaiting for UDP packet...\n");
00244         int n = server.receiveFrom(client, buffer, sizeof(buffer));
00245         buffer[n] = '\0';
00246         
00247         printf("Received packet from: %s\n", client.get_address());
00248         printf("Packet contents : '%s'\n",buffer);
00249         
00250         if (strcmp(buffer, state_buffer) == 0) //queries current state
00251         {
00252             //return 'deployed' or 'retracted' depending on the limit switches
00253             if (switch_top == 1)
00254             {
00255                 printf("Sending state (deployed) packet back to client\n");
00256                 server.sendTo(client, deploy_buffer, deploy_buffer_size);
00257             }
00258             else if (switch_bottom == 1)
00259             {
00260                 printf("Sending state (retracted) packet back to client\n");
00261                 server.sendTo(client, retract_buffer, retract_buffer_size);
00262             }
00263             else //nothing
00264             {
00265             }
00266         }
00267         else if (strcmp(buffer, deploy_buffer) == 0) //deploy request
00268         {
00269             move_up();
00270             printf("Sending deployed packet back to client\n");
00271             server.sendTo(client, buffer, n);
00272         }
00273         else if (strcmp(buffer, retract_buffer) == 0) //retract request
00274         {
00275             move_down();
00276             printf("Sending retracted packet back to client\n");
00277             server.sendTo(client, buffer, n);
00278         }
00279         else //invalid request
00280         {
00281             printf("Invalid request.  Error.\n");
00282         }
00283     }
00284 }