Revision 0:d9bbc6522aa0, committed 2020-04-28

Comitter:

mikermarza

Date:

Tue Apr 28 21:54:28 2020 +0000

Commit message:

Final Version for Submission

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DebounceIn.lib	Tue Apr 28 21:54:28 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/AjK/code/DebounceIn/#31ae5cfb44a4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Apr 28 21:54:28 2020 +0000
@@ -0,0 +1,246 @@
+/* Written by Autumn Caraway
+ECE 4180 Final Project
+Sliding Camera Rail
+
+Souce code for the camera rail controller
+*/
+
+#include "mbed.h"
+#include "DebounceIn.h"
+ 
+ // Joystick
+AnalogIn xAxis(p19);
+AnalogIn yAxis(p20);   // Initialized but unused
+InterruptIn select(p18);
+
+// XBEE
+//Serial xbee(USBTX, USBRX);
+Serial xbee(p28, p27);
+DigitalOut xb_reset(p21); //Digital reset for the XBee, 200ns for reset
+
+// Buttons
+InterruptIn R_btn(p16);
+InterruptIn L_btn(p17);
+
+BusOut lights (LED4,LED3,LED2,LED1);
+
+typedef enum {
+    OFF = 0b0000,
+    ALL = 0b1111,
+    L2  = 0b1100,
+    R2  = 0b0011    
+} light_configs;
+
+ 
+int joystick_x, fire;  // global variables to hold values
+volatile int current_speed;
+volatile bool LOCKED;
+const float LED_HOLD_SHORT = .1;
+const float LED_HOLD_LONG = .25;
+
+Ticker joystick; // recurring interrupt to get joystick data
+
+/********************
+* LED CONTROL FUNCS *
+*********************/
+void homeLED(bool send) {
+    // Tripple blink
+    lights = OFF;
+    wait(LED_HOLD_SHORT);
+    lights = ALL;
+    wait(LED_HOLD_SHORT);
+    lights = OFF;
+    wait(LED_HOLD_SHORT);
+    
+    lights = ALL;
+    wait(LED_HOLD_SHORT);
+    lights = OFF;
+    wait(LED_HOLD_SHORT);
+    
+    lights = ALL;
+    wait(LED_HOLD_SHORT);
+    lights = OFF;
+    wait(LED_HOLD_SHORT);
+    
+    wait(LED_HOLD_SHORT);
+    
+    // If recieve, don't hold
+    if (send) { 
+        // Hold until ACK
+        lights = ALL;
+    }
+}
+
+void lockLED(){
+    if (LOCKED) {
+        lights = ALL;
+    } else {
+        lights = OFF;
+    }
+}
+
+void doubleBlinkLED() {
+    lights = OFF;
+    wait(LED_HOLD_SHORT);
+    
+    lights = ALL;
+    wait(LED_HOLD_LONG);
+    lights = OFF;
+    wait(LED_HOLD_LONG);
+    
+    lights = ALL;
+    wait(LED_HOLD_LONG);
+    lights = OFF;
+    wait(LED_HOLD_LONG);
+}
+
+
+/*****************
+* JOYSTICK FUNCS *
+******************/
+void joystick_Int_Handler()
+{
+    joystick_x = xAxis.read() * 11; // float (0->1) to int (0-1000)
+    
+    if (!select) {
+        LOCKED = !LOCKED;
+    }
+    
+}
+
+
+/**************************
+* DATA SEND/RECIEVE FUNCS *
+***************************/
+
+void goHome() {
+    homeLED(true);
+    
+    if (LOCKED) !LOCKED; // Turn off LOCK
+    
+    xbee.puts("!H\n\r");
+    wait(.2);
+    
+    // Wait for ACK to recall
+    while (1) {
+        if (xbee.getc() == '!') {
+            if (xbee.getc() == 'A') {
+                break;
+            }
+        }
+    }
+    
+    homeLED(false);
+}
+
+void calibrate() {
+    doubleBlinkLED();
+    
+    if (LOCKED) !LOCKED; // Turn off LOCK
+    
+    // Send into calibrate state
+    xbee.puts("!C\n\r");
+    wait(.2);
+    
+    lights = L2;
+    
+    // Wait for Home to send calibrate signal
+    while (1) {
+        // Home calibration
+        if (R_btn) {
+            xbee.puts("!C\n\r");
+            wait(.2);
+            break;
+        }
+    }
+    
+    // Wait for ACK to recall on home
+    while (1) {
+        if (xbee.getc() == '!') {
+            if (xbee.getc() == 'A') {
+                break;
+            }
+        }
+    }
+    
+    // Wait for Away to send calibrate signal
+    while (1) {
+        // Home calibration
+        if (R_btn) {
+            xbee.puts("!C\n\r");
+            wait(.2);
+            break;
+        }
+    }
+    
+    lights = R2;
+    
+    // Wait for ACK to recall on away
+    while (1) {
+        if (xbee.getc() == '!') {
+            if (xbee.getc() == 'A') {
+                break;
+            }
+        }
+    }
+    
+    // Wait for ACK to recall on finish calibrate
+    while (1) {
+        if (xbee.getc() == '!') {
+            if (xbee.getc() == 'A') {
+                break;
+            }
+        }
+    }
+    
+    doubleBlinkLED();
+}
+
+void lock_state() {
+    // LED indicator
+    lockLED();
+    
+    // Toggle lock state
+    LOCKED = !LOCKED;
+    
+    // Send lock command
+    xbee.puts("!0L");
+    wait(.02); 
+}
+
+void send_new_speed(int speed) {
+    if (speed > 5) { xbee.printf("!%iL", speed-5); }
+    else if (speed == 5) { xbee.printf("!%iL", speed-5); }
+    else { xbee.printf("!%iR", 5-speed); }
+    wait(.02);
+} 
+ 
+
+int main() 
+{
+    select.mode(PullUp);
+    select.rise(&lock_state);
+    L_btn.rise(&goHome);
+    R_btn.rise(&calibrate);
+    
+    // init interrupt, call every .2s
+    joystick.attach(joystick_Int_Handler,0.2);
+    
+    // Print out the variables
+    while(1){
+        
+        // Do nothing if locked -- can still take in interrupts
+        if (LOCKED) { continue; }
+        
+        // Manages speed
+        int sampled_speed = joystick_x;  // Get static copy of speed
+        
+        // If speed changes, send speed update command
+        if (current_speed != sampled_speed) {
+            send_new_speed(sampled_speed);
+        }
+        
+    }
+    
+    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Apr 28 21:54:28 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file