Diff: Battery_Linear_Actuator.cpp

Revision:

0:645ad86abcba

Child:

1:ca2454ef80d9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Battery_Linear_Actuator.cpp	Fri Jun 09 17:32:14 2017 +0000
@@ -0,0 +1,189 @@
+#include "Battery_Linear_Actuator.h"
+
+#include "MODSERIAL.h"
+Serial MC(p28,p27);         //tx, rx (pins verified)
+
+//CONSTRUCTOR
+Battery_Linear_Actuator::Battery_Linear_Actuator()
+{
+    MC.baud(9600);  //motor controller to MBED connection speed
+    motor_absolute_position = 0;            //initialize variables here
+    
+    linear_actuator_step_size = 1000;   //default confirmed with Dan Edwards
+    linear_actuator_motor_speed = 500;  //5 seconds of full travel between 0 and 175,000 (1000 is about 3 seconds)
+    
+    map_check = 0;
+}
+
+//KEYBOARD FUNCTIONS
+int Battery_Linear_Actuator::MC_readable()
+{
+    return MC.readable();
+}
+
+string Battery_Linear_Actuator::Keyboard_O()
+{      
+    //PC.printf("MBED_m_a_p: %d \n", motor_absolute_position); //linear actuator position
+    
+    MC.printf("pos\r"); //get position from motor controller...maybe rewrite this
+                        //get this from the Faulhaber Motor Controller in MATLAB?
+    
+    char char_buffer [60];
+    string Battery_Position_String;
+    sprintf(char_buffer,"MBED_m_a_p: %d \n", motor_absolute_position);      //linear actuator position
+    Battery_Position_String = char_buffer;
+    return Battery_Position_String;
+}
+
+string Battery_Linear_Actuator::Keyboard_H()    //Home linear actuator
+{
+    //reset position in program:
+    motor_absolute_position = 0;
+    
+    MC.printf("hosp-100\r"); wait(0.1); //homing speed -100 (verified 
+    MC.printf("ghosp\r");   wait(0.1);//check homing speed
+    MC.printf("SHL1\r");    wait(0.1);//setup fault and AnIn
+    MC.printf("gohoseq\r"); wait(0.1);//enable the sequence
+    
+    char homing_string[80];
+    sprintf(homing_string,"\nH received! (Homing Sequence In Progress)\nMBED_m_a_p: %d \n", motor_absolute_position);                
+    return homing_string;
+}
+
+string Battery_Linear_Actuator::Keyboard_E() //enable linear actuator
+{
+    MC.printf("en\r");
+    return "\nE received!\nMOTOR ENABLED!";
+}
+
+string Battery_Linear_Actuator::Keyboard_Q() //disable linear actuator
+{
+    MC.printf("di\r");  
+    return "\nQ received!\nMOTOR DISABLED!";
+} 
+
+string Battery_Linear_Actuator::Keyboard_EQUAL_KEY()    //INCREASE L.A. step size
+{
+    if (linear_actuator_step_size <= 9800) //arbitrary stop at 10000
+        linear_actuator_step_size += 200;
+    char bla_string[80];
+    sprintf(bla_string, "\n(MBED) Linear Actuator step size INCREASED: %d\nLA_SZ: %d", linear_actuator_step_size, linear_actuator_step_size);
+    
+    return bla_string;
+}
+
+string Battery_Linear_Actuator::Keyboard_DASH_KEY()    //DECREASE L.A. step size
+{
+    if (linear_actuator_step_size >= 200)
+        linear_actuator_step_size -= 200;
+    char bla_string[80];
+    sprintf(bla_string, "\n(MBED) Linear Actuator step size DECREASED\nLA_SZ: %d", linear_actuator_step_size, linear_actuator_step_size);
+    
+    return bla_string;
+}
+
+string Battery_Linear_Actuator::Keyboard_LEFT_BRACKET()
+{                                                   //100 to 30000, DECREASE (100 increments)
+    if (linear_actuator_motor_speed >= 100)
+        linear_actuator_motor_speed -= 100;
+    //PC.printf("\n(MBED) Linear Actuator Motor Speed INCREASED: sp%d\n", linear_actuator_motor_speed);
+    MC.printf("sp%d\r", linear_actuator_motor_speed); //retesting linear actuator motor speed 5/11/17
+    //PC.printf("\nLAMSP: %d\n", linear_actuator_motor_speed);
+    
+    char str[80];
+    sprintf(str,"(MBED) Linear Actuator Motor Speed DECREASED\nLA_SP: %d", linear_actuator_motor_speed);
+    
+    return str;
+}
+
+string Battery_Linear_Actuator::Keyboard_RIGHT_BRACKET() //disable linear actuator
+{                                                   //100 to 30000, INCREASE (100 increments)
+    if (linear_actuator_motor_speed <= 29900)
+        linear_actuator_motor_speed += 100;
+    //PC.printf("\n(MBED) Linear Actuator Motor Speed INCREASED: sp%d\n", linear_actuator_motor_speed);
+    MC.printf("sp%d\r", linear_actuator_motor_speed); //retesting linear actuator motor speed 5/11/17
+    //PC.printf("\nLAMSP: %d\n", linear_actuator_motor_speed);
+    
+    char str[80];
+    sprintf(str,"(MBED) Linear Actuator Motor Speed INCREASED\nLA_SP: %d", linear_actuator_motor_speed);
+    
+    return str;
+}
+
+//http://stackoverflow.com/questions/8011700/how-do-i-extract-specific-n-bits-of-a-32-bit-unsigned-integer-in-c
+unsigned createMask(unsigned a, unsigned b) {
+   unsigned r = 0;
+   for (unsigned i=a; i<=b; i++)
+       r |= 1 << i;
+
+   return r;
+}
+
+string Battery_Linear_Actuator::Keyboard_A()
+{
+    if (motor_absolute_position >= 0)
+    {
+        //explicitly written, check if this will not go past 175000
+        map_check = motor_absolute_position - linear_actuator_step_size;
+        if (map_check >= 0) 
+            motor_absolute_position -= linear_actuator_step_size;
+    }
+                    
+    MC.printf("la%d\r", motor_absolute_position);
+    MC.printf("m\r");
+    
+    char position[80];
+    sprintf(position, "\nA received! (MBED) motor_absolute_position\nMBED_m_a_p: %d\n", motor_absolute_position);
+    return position;
+}
+
+string Battery_Linear_Actuator::Keyboard_D()
+{
+    if (motor_absolute_position <= 175000)
+    {
+        //explicitly written, check if this will not go past 175000
+        map_check = motor_absolute_position + linear_actuator_step_size;
+        if (map_check <= 175000) 
+            motor_absolute_position += linear_actuator_step_size;
+    }
+                    
+    MC.printf("la%d\r", motor_absolute_position);
+    MC.printf("m\r");
+    
+    char position[80];
+    sprintf(position, "\nA received! (MBED) motor_absolute_position\nMBED_m_a_p: %d\n", motor_absolute_position);
+    return position;
+}
+
+//void Keyboard_P()
+//{
+//    //Buoyancy Engine gets about 14.5 inches of travel before it hits end of screw (inner piston)
+//    //max voltage on potentiometer is 3.06 volts
+//    //min voltage on potentiometer is 0.70 volts
+//    PC.printf("\nP received!\n");
+//    float pot_check = potentiometer_analog_in.read() * 3.3;
+//    float pot_check_inches = 6.144 * pot_check - 4.3;
+//    float percent_travel_check = (pot_check_inches / 14.5) * 100;               
+//    //PC.printf("(MBED) Potentiometer Reading: %f volts %f inches\n", pot_check, pot_check_inches); //  Read the input voltage, represented as a float in the range [0.0, 1.0].
+////    PC.printf("Potentiometer Reading: %f volts %f inches %f%c\n ", pot_check, pot_check_inches, percent_travel_check, 37); 
+////    PC.printf("\n(MBED) Linear Actuator position: %d\n", motor_absolute_position); //wait(0.1); //Linear Actuator position
+//    
+//    PC.printf("B_E_POS: %d\n", pot_check); //wait(0.1); //Linear Actuator position
+//    PC.printf("MBED_m_a_p: %d \n", motor_absolute_position);
+//    
+//    MC.printf("pos\r");
+//    //MC.printf("pos\r"); wait(0.1); //position
+//    //get the next line from the Faulhaber Motor Controller in MATLAB?
+//}
+
+//void BE_POSITION()
+//{
+//    float pot_check = potentiometer_analog_in.read() * 3.3;
+//    float pot_check_inches = 6.144 * pot_check - 4.3;
+//    float percent_travel_check = (pot_check_inches / 14.5) * 100;               
+//    PC.printf("B_E_POS: %d\n", pot_check); //wait(0.1); //Linear Actuator position
+//}
+
+//
+//char ioc_char;          //linear actuator i/o configuration
+//int ioc_array[28];      //http://stackoverflow.com/questions/439573/how-to-convert-a-single-char-into-an-int
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