File content as of revision 1:9f279c68ed0c:

//*****************************************************/
//  Include  //
#include "mbed.h"
#include "pinconfig.h"
#include "PID.h"
#include "Motor.h"
#include "eeprom.h"

//*****************************************************/
// Defines  //
#define Rate 0.01
#define Kc  -2.6
#define Ti   0.0
#define Td   0.0

//*****************************************************/
// Global  //
//-- pc monitor --
Serial PC(D1,D0);
//-- encoder --
int Position;
int data;


//*******************************************************


//write encoder
EEPROM memory(I2C_SDA,I2C_SCL,0);
int8_t out,write;
int mod;
InterruptIn send(D11);
int FromSerial;


//*******************************************************
SPI device(Emosi, Emiso, Esck);
DigitalOut Encoder(EncoderA);
//-- Motor --
Motor LeftUpper(PWM_LU,A_LU,B_LU);
//-- PID --
int SetPoint;
PID LU_PID(Kc, Ti, Td, Rate);//Kp,Ki,Kd,Rate
//*****************************************************/
void Read_Encoder()
{
    SPI device(Emosi, Emiso, Esck);
    device.format(8,0);
    device.frequency(200000);//due to rising time,have to decrease clock from 1M - 240k

    Encoder = 0;
    wait_us(50);
    device.write(0x41);
    wait_us(50);
    device.write(0x09);
    wait_us(50);
    data = device.write(0x00);
    wait_us(50);
    Encoder = 1;

}
//*****************************************************/
void Get_EnValue(int Val)
{
    int i = 0;
    static unsigned char codes[] = {
        127, 63, 62, 58, 56, 184, 152, 24, 8, 72, 73, 77, 79, 15, 47, 175,
        191, 159, 31, 29, 28, 92, 76, 12, 4, 36, 164, 166, 167, 135, 151, 215,
        223, 207, 143, 142, 14, 46, 38, 6, 2, 18, 82, 83, 211, 195, 203, 235,
        239, 231, 199, 71, 7, 23, 19, 3, 1, 9, 41, 169, 233, 225, 229, 245,
        247, 243, 227, 163, 131, 139, 137, 129, 128, 132, 148, 212, 244, 240, 242, 250,
        251, 249, 241, 209, 193, 197, 196, 192, 64, 66, 74, 106, 122, 120, 121, 125,
        253, 252, 248, 232, 224, 226, 98, 96, 32, 33, 37, 53, 61, 60, 188, 190,
        254, 126, 124, 116, 112, 113, 49, 48, 16, 144, 146, 154, 158, 30, 94, 95
    };

    while(i<=127) {
        if(Val == codes[i]) {
            Position = i;
            break;
        } else i++;
    }
}
//******************************************************************************************
void eewrite()
{
    write = Position;
    memory.write(0xFF,write);
    PC.printf("%x\n",write);

    wait_ms(10);
}
//******************************************************************************************
void eeread()
{
    memory.read(0xFF,out);
    PC.printf("%x\n",out);

    wait_ms(10);
}
//******************************************************************************************
void StartWriteRead(int mod)
{
    while(1) {
        if(mod==1) {
            send.rise(eewrite);
            wait_ms(10);
        } else if(mod==0) {
            send.rise(eeread);
            wait_ms(10);
        }
    }
}
//*****************************************************/
int main()
{

    uint8_t state_menu=0;
    uint8_t state_show=0;
    uint8_t state_exit =0;
    uint8_t data;

    // myled = 0;
    PC.printf("Wellcome !\n");
    while(1) {
        if(state_show == 0) {
            PC.printf("Menu\n");
            PC.printf("1.Mode Write Or Read  \n");
            PC.printf("2.Logic Input Test\n");
            state_show =1;
        }
        if(PC.readable()) {
            data = PC.getc();
            PC.printf("\n");
            state_show =0;
            state_exit =0;

            switch(data) {
                case '1':
                    do {
                        if(state_menu == 0) {
                            PC.printf("Mode Write Or Read\n");
                            PC.printf("a.Mode Write \n");
                            PC.printf("d.Mode Read \n");
                            PC.printf("s.Stop \n");
                            state_menu = 1;
                        }
                        if(PC.readable()) {
                            data = PC.getc();
                            PC.printf("\n");
                            state_menu=0;

                            switch(data) {

                                case 'a':
                                    StartWriteRead(1);
                                    break;

                                case 's':
                                    state_exit = 1;

                                    break;

                                case 'd':
                                    StartWriteRead(0);
                                    break;

                                default:
                                    PC.printf("plz select a or d\n");
                                    PC.printf("\n\n");
                                    break;

                            }
                        }



                    } while(state_exit ==0);
                    PC.printf("\n\n");
                    break;

                case '2':

                    do {
                        if(state_menu == 0) {
                            PC.printf("Mode POP\n\n");
                            //***start mode
                            {
                                LeftUpper.period(0.00005);
                                LU_PID.setInputLimits(0,127);
                                LU_PID.setOutputLimits(0,0.9);
                                LU_PID.setMode(AUTO_MODE);

                                //get the target position
                                SetPoint = 63;
                                LU_PID.setSetPoint(SetPoint);

                                Read_Encoder();
                                PC.printf("%d\n",data);
                                Get_EnValue(data);
                                PC.printf("%d\n********************\n",Position);

                                while(Position != SetPoint) {
                                    LU_PID.setProcessValue(Position);
                                    LeftUpper.speed(LU_PID.compute());

                                    Read_Encoder();
                                    Get_EnValue(data);
                                }
                            }
                            PC.printf("press x to exit or else to continue\n");
                            state_menu = 1;
                        }
                        if(PC.readable()) {
                            data = PC.getc();
                            if (data == 'x') state_exit = 1;
                            else state_menu = 0;
                        }



                    } while(state_exit ==0);
                    PC.printf("\n\n");
                    break;


                case 0x00:

                    break;

                default:
                    PC.printf("plz select 1 or 2 only\n");
                    PC.printf("\n\n");
                    break;
            }
        }

    }


}