FRA221_2015
14A Game BettyMachine
Diff: main.cpp
- Revision:
- 0:8f12bfa12b59
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Dec 09 06:31:03 2015 +0000
@@ -0,0 +1,327 @@
+#include "mbed.h"
+#include "eeprom.h"
+
+Serial device(D8,D2);
+Serial pc(SERIAL_TX,SERIAL_RX);
+EEPROM memory(D14,D15,0);
+DigitalIn resetbt(D3);
+DigitalOut led(LED2);
+DigitalOut ln1(A0);
+DigitalOut ln2(A1);
+PwmOut ln3(PC_8);
+PwmOut ln4(PC_6);
+PwmOut ln11(PB_14);
+PwmOut ln22(PB_15);
+DigitalIn limitA(D4);
+DigitalIn limitB(D5);
+DigitalIn limitC(D6);
+DigitalIn limitD(D7);
+DigitalIn limit1(D9);
+DigitalIn limit2(D10);
+DigitalIn limit3(D11);
+DigitalIn limit4(D12);
+DigitalIn switchh(PB_13);
+Timer t;
+Timer t2;
+Timer t3;
+int credits ;
+uint16_t score ;
+int t_score ;
+void MotorA(int a)//สายพาน
+{
+ if(a == 1)
+ {
+ ln1 = 1;
+ ln2 = 0;
+ }
+ if(a == -1)
+ {
+ ln1 = 0;
+ ln2 = 1;
+ }
+ if(a == 0)
+ {
+ ln1 = 0;
+ ln2 = 0;
+ }
+}
+void MotorB(int a)//Gripper
+{
+ if(a == 1)
+ {
+ ln3 = 1;
+ ln4 = 0;
+ }
+ if(a == -1)
+ {
+ ln3 = 0;
+ ln4 = 1;
+ }
+ if(a == 0)
+ {
+ ln3 = 0;
+ ln4 = 0;
+ }
+}
+void MotorC(int a)//Door
+{
+ if(a == 1)
+ {
+ ln11 = 1;
+ ln22 = 0;
+ }
+ if(a == -1)
+ {
+ ln11 = 0;
+ ln22 = 1;
+ }
+ if(a == 0)
+ {
+ ln11 = 0;
+ ln22 = 0;
+ }
+}
+uint16_t numb[4];//0=high byte color , 1 = low byte color , 2 = high byte clear , 3 = low byte clear
+uint16_t command[7];
+uint16_t rnumb[4];
+uint16_t re_command[7];
+uint16_t pattern[24][4]={{1,2,3,0},{1,2,0,3},{1,3,2,0},{1,3,0,2},{1,0,2,3},{1,0,3,2}
+ ,{2,1,3,0},{2,1,0,3},{2,3,1,0},{2,3,0,1},{2,0,1,3},{2,0,3,1}
+ ,{3,1,2,0},{3,1,0,2},{3,2,1,0},{3,2,0,1},{3,0,1,2},{3,0,2,1}
+ ,{0,1,2,3},{0,1,3,2},{0,2,1,3},{0,2,3,1},{0,3,1,2},{0,3,2,1}};
+int color_num , clear_num ;
+int colorb,clearb ;
+int num1 , num2 ;
+char ch ;
+int main() {
+ pc.baud(115200);
+ t_score = 0;
+ pc.printf("\nin program");
+ while(1)
+ {
+ if(resetbt == 1)
+ {
+ uint16_t m[4]={0};
+ memory.write(20,m,8);
+ pc.printf("clear complete");
+ led = 1;
+ wait(1);
+ led = 0;
+ }
+ if(re_command[1] == 0x44)
+ {
+ uint16_t m[4]={0};
+ memory.write(20,m,8);
+ pc.printf("clear complete");
+ }
+ pc.printf("\nwait for serial");
+
+ for(int i=0;i<7;i++)
+ {
+ re_command[i] = device.getc();
+ pc.printf("%x ",re_command[i]);
+ }
+ if(re_command[0] != 0x42)
+ {
+ pc.printf("Wrong Pattern");
+ continue ;
+ }
+ pc.printf("\n%s\n",re_command);
+ if(re_command[6] != 0x4D)
+ {
+ pc.printf("Wrong Pattern");
+ continue ;
+ }
+ if(re_command[1] == 0x52)//Record All Bottle
+ {
+ num1 = re_command[3];
+ num2 = re_command[2];
+ color_num = (num2*256) + num1 ;
+ num1 = re_command[5];
+ num2 = re_command[4];
+ clear_num = (num2*256) + num1 ;
+ pc.printf("color bottle = %d \nclear bottle = %d \n",color_num,clear_num);
+ memory.read(20,numb,8);
+ colorb = ((numb[0]*256)+numb[1])+color_num;
+ clearb = ((numb[2]*256)+numb[3])+clear_num;
+ int highb , lowb ;
+ highb = colorb/256 ;
+ lowb = colorb - (highb*256);
+ numb[1] = lowb ;
+ numb[0] = highb ;
+ highb = clearb/256 ;
+ lowb = clearb - (highb*256);
+ numb[3] = lowb ;
+ numb[2] = highb ;
+ memory.write (20,numb,8);
+ memory.read(20,rnumb,8);
+ colorb = (rnumb[0]*256) + rnumb[1] ;
+ clearb = (rnumb[2]*256) + rnumb[3] ;
+ pc.printf("Record Complete\nall color bottle = %d \nall clear bottle = %d \n",colorb,clearb);
+ }
+ else if(re_command[1] == 0x43)
+ {
+ memory.read(20,numb,8);
+ colorb = ((numb[0]*256)+numb[1]);
+ clearb = ((numb[2]*256)+numb[3]);
+ pc.printf("color bottle : %d\n",colorb);
+ pc.printf("clear bottle : %d\n",clearb);
+ }
+ else if(re_command[1] == 0x50)
+ {
+ pc.printf("Game Mode");
+ credits = re_command[5];
+ pc.printf("Credits : %d\n",credits);
+ srand(time(NULL));
+ int patternNum ;
+
+ for(int i=1;i<=credits;i++)
+ {
+ patternNum = rand()%16 ;
+ command[0] = 0x42 ;
+ command[1] = 0x50 ;
+ command[2] = pattern[patternNum][0];
+ command[3] = pattern[patternNum][1];
+ command[4] = pattern[patternNum][2];
+ command[5] = pattern[patternNum][3];
+ command[6] = 0x4D ;
+ for(int j=0;j<7;j++)
+ {
+ wait(0.2);
+ device.putc(command[j]);
+ pc.printf("\n0x%x",command[j]);
+ }
+ ln11 = 0 ;
+ ln22 = 0.4 ;
+ wait(1);
+ ln11 = 0;
+ ln22 = 0;
+ wait(0.6);
+ ln11 = 0;
+ ln22 = 0;
+ wait(0.4);
+ ln11 = 0.4 ;
+ ln22 = 0 ;
+ wait(1);
+ ln11 = 0;
+ ln22 = 0;
+ ln3 = 0.1;
+ ln4 = 0;
+ wait(0.1);
+ ln3 = 0 ;
+ ln4 = 0 ;
+ while(limitA ==0)
+ {
+
+ }
+ pc.printf("\nPut the ball complete\n");
+ device.putc(0x50);
+ ln4 = 0.3 ;
+ ln3 = 0 ;
+ wait(0.5);
+ MotorA(1);
+ t.start();
+ t.reset();
+ int a;
+ pc.printf("MotorA(a)");
+ while(t.read_ms()<10000)
+ {
+ if(limitB==1)
+ {
+ a=1;
+ }
+ if(limitC==1)
+ {
+ a=1;
+ }
+ if(limitD==1)
+ {
+ a=-1;
+ }
+ if(switchh==1)
+ {
+ break;
+ }
+ MotorA(a);
+
+ }
+ pc.printf("\nBall has fall\n");
+
+ MotorA(0);
+ ln3 = 0;
+ ln4 = 0.3;
+ wait(0.1);
+ MotorB(0);
+ MotorB(0);
+ device.putc(0x53);
+ wait(0.1);
+ /* uint16_t pattern[24][4]={{1,2,3,4},{1,2,4,3},{1,3,2,4},{1,3,4,2},{1,4,2,3},{1,4,3,2}
+ ,{2,1,3,4},{2,1,4,3},{2,3,1,4},{2,3,4,1},{2,4,1,3},{2,4,3,1}
+ ,{3,1,2,4},{3,1,4,2},{3,2,1,4},{3,2,4,1},{3,4,1,2},{3,4,2,1}
+ ,{4,1,2,3},{4,1,3,2},{4,2,1,3},{4,2,3,1},{4,3,1,2},{4,3,2,1}};*/
+ int checkp ;
+ int checkst;
+ while(1)
+ {
+
+ if(limit1 ==1)
+ {
+ checkst = 1;
+ break;
+ }
+ else if(limit2 ==1)
+ {
+ checkst = 2;
+ break;
+ }
+ else if(limit3 ==1)
+ {
+ checkst = 3;
+ break;
+ }
+ else if(limit4 ==1)
+ {
+ checkst = 4;
+ break;
+ }
+
+ }
+ device.putc(checkst);
+ wait(0.1);
+ while(1)
+ {
+ if(limitB ==0)
+ {
+ MotorA(-1);
+ }
+ else
+ {
+ MotorA(0);
+ break;
+ }
+ }
+
+ pc.printf("complete one tern checkp = %x\n",checkst);
+ wait(2);
+ device.putc(0x52);
+ }
+ }
+
+
+
+
+ }
+}
+//Test Slave
+/*Serial device(D8,D2);
+Serial pc(SERIAL_TX,SERIAL_RX);
+uint16_t y=0;
+
+int main()
+{
+ while(1)
+ {
+ y = device.getc();
+ pc.printf("%d\n",y);
+ }
+}*/
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