GE Attenuator / Mbed 2 deprecated VAM_CYCLE

update

Dependencies:   Stepper mbed SDFileSystem Ultrasonic PinDetect millis

main.cpp@9:f72ddee31041, 2019-01-18 (annotated)

Committer:
rschimpf78
Date:
Fri Jan 18 19:40:19 2019 +0000
Revision:
9:f72ddee31041
Parent:
8:3f4d78017fd9 
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rschimpf78 2:e8f8095464cf 1 #include "mbed.h"
rschimpf78 2:e8f8095464cf 2 #include "Stepper.h"
rschimpf78 2:e8f8095464cf 3 #include "string"
rschimpf78 3:fd2ca631ab44 4 #include "hcsr04.h"
rschimpf78 6:354264d1e4bb 5 #include "millis.h"
rschimpf78 7:ede305192e3b 6 #include "SDFileSystem.h"
rschimpf78 7:ede305192e3b 7
rschimpf78 7:ede305192e3b 8 SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd"); // mosi, miso, sclk, cs, name
rschimpf78 3:fd2ca631ab44 9 Serial pc(USBTX, USBRX);
rschimpf78 7:ede305192e3b 10 HCSR04 pathsensor(PTC2,PTA2); //(trig,echo)
rschimpf78 7:ede305192e3b 11 HCSR04 heightsensor(PTD2,PTD3);
rschimpf78 3:fd2ca631ab44 12 DigitalOut in1(PTC12);
rschimpf78 3:fd2ca631ab44 13 DigitalOut in2(D7);
rschimpf78 3:fd2ca631ab44 14 DigitalIn homeSwitch(D9);
rschimpf78 7:ede305192e3b 15 DigitalIn magnetSwitch(D10);
rschimpf78 3:fd2ca631ab44 16 Stepper mot(D3,D4); //(D3 to PUL+, D4 to DIR+)
rschimpf78 2:e8f8095464cf 17 DigitalOut en(D2);
rschimpf78 0:88834eed3de0 18
rschimpf78 7:ede305192e3b 19 volatile int plates = 0;
rschimpf78 3:fd2ca631ab44 20 volatile unsigned int sheets=0;
rschimpf78 3:fd2ca631ab44 21 volatile unsigned int path_sheets=0;
rschimpf78 7:ede305192e3b 22 volatile int stop_error=0;
rschimpf78 7:ede305192e3b 23 volatile int error_distance;
rschimpf78 7:ede305192e3b 24 volatile int beam_distance;
rschimpf78 7:ede305192e3b 25 volatile int broken_switch;
rschimpf78 7:ede305192e3b 26 volatile int stage = 1;
rschimpf78 7:ede305192e3b 27
rschimpf78 7:ede305192e3b 28 void switch_check(){
rschimpf78 7:ede305192e3b 29 stage = 1;
rschimpf78 7:ede305192e3b 30 pc.printf("\nSwitch Check ");
rschimpf78 7:ede305192e3b 31 if (homeSwitch == 1 && magnetSwitch == 1){
rschimpf78 7:ede305192e3b 32 stop_error = 1;
rschimpf78 7:ede305192e3b 33 broken_switch = 2; //both switches broken
rschimpf78 7:ede305192e3b 34 }
rschimpf78 7:ede305192e3b 35 else if (homeSwitch == 0){
rschimpf78 7:ede305192e3b 36 stop_error = 1;
rschimpf78 7:ede305192e3b 37 broken_switch = 1; //magnet switch isn't working
rschimpf78 7:ede305192e3b 38 }
rschimpf78 7:ede305192e3b 39 else{
rschimpf78 7:ede305192e3b 40 broken_switch = 0;
rschimpf78 9:f72ddee31041 41 stop_error = 0;
rschimpf78 7:ede305192e3b 42 }
rschimpf78 7:ede305192e3b 43 }
rschimpf78 0:88834eed3de0 44
rschimpf78 7:ede305192e3b 45 void plate_selection(){
rschimpf78 7:ede305192e3b 46 stage = 2;
rschimpf78 3:fd2ca631ab44 47 unsigned int dist;
rschimpf78 3:fd2ca631ab44 48 int er = 5;
rschimpf78 7:ede305192e3b 49 int finp = 447; //sensor height initial
rschimpf78 7:ede305192e3b 50 int tp = 25;
rschimpf78 7:ede305192e3b 51 wait(1);
rschimpf78 7:ede305192e3b 52 in1=1;
rschimpf78 7:ede305192e3b 53 in2=0;
rschimpf78 7:ede305192e3b 54 wait_ms(900); //stair fix
rschimpf78 7:ede305192e3b 55 in1=1;
rschimpf78 7:ede305192e3b 56 in2=1;
rschimpf78 7:ede305192e3b 57 wait(1);
rschimpf78 7:ede305192e3b 58 millisStart();
rschimpf78 7:ede305192e3b 59 long Duration2 = 0;
rschimpf78 7:ede305192e3b 60 long StartTime2 = millis();
rschimpf78 2:e8f8095464cf 61
rschimpf78 7:ede305192e3b 62 while (plates!=sheets && Duration2 <= 55000) {
rschimpf78 7:ede305192e3b 63
rschimpf78 3:fd2ca631ab44 64 heightsensor.start();
rschimpf78 7:ede305192e3b 65 wait_ms(250);
rschimpf78 3:fd2ca631ab44 66 dist=heightsensor.get_dist_cm();
rschimpf78 3:fd2ca631ab44 67 pc.printf("\nmm:%ld",dist);
rschimpf78 7:ede305192e3b 68 long CurrentTime2 = millis();
rschimpf78 7:ede305192e3b 69 Duration2 = CurrentTime2-StartTime2;
rschimpf78 3:fd2ca631ab44 70
rschimpf78 7:ede305192e3b 71 if ( dist < 30 || dist > 500){
rschimpf78 7:ede305192e3b 72 error_distance = dist;
rschimpf78 7:ede305192e3b 73 pc.printf("\n Distance Error: %ld", error_distance);
rschimpf78 7:ede305192e3b 74 stop_error = 2;
rschimpf78 7:ede305192e3b 75 break;
rschimpf78 7:ede305192e3b 76 }
rschimpf78 7:ede305192e3b 77 // pc.printf("\nin while loop");
rschimpf78 7:ede305192e3b 78 if (plates<sheets){
rschimpf78 3:fd2ca631ab44 79 en = 0;
rschimpf78 7:ede305192e3b 80 mot.setSpeed(500);
rschimpf78 3:fd2ca631ab44 81 mot.rotate(1);
rschimpf78 7:ede305192e3b 82 }
rschimpf78 7:ede305192e3b 83 if (plates>sheets){
rschimpf78 3:fd2ca631ab44 84 en = 0;
rschimpf78 7:ede305192e3b 85 mot.setSpeed(500);
rschimpf78 3:fd2ca631ab44 86 mot.rotate(0);
rschimpf78 7:ede305192e3b 87 }
rschimpf78 7:ede305192e3b 88 if (dist<=finp+er && dist>=finp-er){
rschimpf78 3:fd2ca631ab44 89 sheets = 1;
rschimpf78 7:ede305192e3b 90 }
rschimpf78 7:ede305192e3b 91 if (dist<= finp-tp+er && dist>=finp-tp-er){
rschimpf78 3:fd2ca631ab44 92 sheets = 2;
rschimpf78 7:ede305192e3b 93 }
rschimpf78 7:ede305192e3b 94 if (dist<= finp-2*tp+er && dist>=finp-2*tp-er){
rschimpf78 3:fd2ca631ab44 95 sheets = 3;
rschimpf78 3:fd2ca631ab44 96 }
rschimpf78 7:ede305192e3b 97 if (dist<= finp-3*tp+er && dist>=finp-3*tp-er){
rschimpf78 3:fd2ca631ab44 98 sheets = 4;
rschimpf78 3:fd2ca631ab44 99 }
rschimpf78 7:ede305192e3b 100 if (dist<= finp-4*tp+er && dist>=finp-4*tp-er){
rschimpf78 7:ede305192e3b 101 sheets = 5;
rschimpf78 7:ede305192e3b 102
rschimpf78 7:ede305192e3b 103 }
rschimpf78 7:ede305192e3b 104 if (dist<= finp-5*tp+er && dist>=finp-5*tp-er){
rschimpf78 3:fd2ca631ab44 105 sheets = 6;
rschimpf78 7:ede305192e3b 106
rschimpf78 3:fd2ca631ab44 107 }
rschimpf78 7:ede305192e3b 108 if (dist<= finp-6*tp+er && dist>=finp-6*tp-er){
rschimpf78 3:fd2ca631ab44 109 sheets = 7;
rschimpf78 7:ede305192e3b 110
rschimpf78 3:fd2ca631ab44 111 }
rschimpf78 7:ede305192e3b 112 if (dist<= finp-7*tp+er && dist>=finp-7*tp-er){
rschimpf78 3:fd2ca631ab44 113 sheets = 8;
rschimpf78 7:ede305192e3b 114
rschimpf78 3:fd2ca631ab44 115 }
rschimpf78 7:ede305192e3b 116 if (dist<= finp-8*tp+er && dist>=finp-8*tp-er){
rschimpf78 3:fd2ca631ab44 117 sheets = 9;
rschimpf78 7:ede305192e3b 118
rschimpf78 3:fd2ca631ab44 119 }
rschimpf78 7:ede305192e3b 120 if (dist<= finp-9*tp+er && dist>=finp-9*tp-er){
rschimpf78 3:fd2ca631ab44 121 sheets = 10;
rschimpf78 7:ede305192e3b 122
rschimpf78 3:fd2ca631ab44 123 }
rschimpf78 7:ede305192e3b 124 if (dist<= finp-10*tp+er && dist>=finp-10*tp-er){
rschimpf78 3:fd2ca631ab44 125 sheets = 11;
rschimpf78 7:ede305192e3b 126
rschimpf78 3:fd2ca631ab44 127 }
rschimpf78 7:ede305192e3b 128 if (dist<= finp-11*tp+er && dist>=finp-11*tp-er){
rschimpf78 3:fd2ca631ab44 129 sheets = 12;
rschimpf78 7:ede305192e3b 130
rschimpf78 3:fd2ca631ab44 131 }
rschimpf78 7:ede305192e3b 132 if (dist<= finp-12*tp+er && dist>=finp-12*tp-er){
rschimpf78 3:fd2ca631ab44 133 sheets = 13;
rschimpf78 7:ede305192e3b 134
rschimpf78 3:fd2ca631ab44 135 }
rschimpf78 7:ede305192e3b 136 if (dist<= finp-13*tp+er && dist>=finp-13*tp-er){
rschimpf78 3:fd2ca631ab44 137 sheets = 14;
rschimpf78 7:ede305192e3b 138
rschimpf78 3:fd2ca631ab44 139 }
rschimpf78 7:ede305192e3b 140 if (dist<= finp-14*tp+er && dist>=finp-14*tp-er){ //102 to 112
rschimpf78 3:fd2ca631ab44 141 sheets = 15;
rschimpf78 7:ede305192e3b 142
rschimpf78 3:fd2ca631ab44 143 }
rschimpf78 7:ede305192e3b 144 if (dist<= 70 && dist>= 60){ //77 to 87
rschimpf78 7:ede305192e3b 145 sheets = 16;
rschimpf78 3:fd2ca631ab44 146 }
rschimpf78 3:fd2ca631ab44 147 }
rschimpf78 3:fd2ca631ab44 148 mot.stop();
rschimpf78 3:fd2ca631ab44 149 en = 1;
rschimpf78 3:fd2ca631ab44 150 wait(1);
rschimpf78 7:ede305192e3b 151 if (Duration2 > 55000){
rschimpf78 7:ede305192e3b 152 stop_error = 3;
rschimpf78 7:ede305192e3b 153 }
rschimpf78 3:fd2ca631ab44 154 }
rschimpf78 3:fd2ca631ab44 155
rschimpf78 3:fd2ca631ab44 156 void beam()
rschimpf78 7:ede305192e3b 157 {
rschimpf78 7:ede305192e3b 158 stage = 3;
rschimpf78 3:fd2ca631ab44 159 unsigned int path_dist;
rschimpf78 7:ede305192e3b 160 int err = 12;
rschimpf78 7:ede305192e3b 161 int sens_pos = 131;
rschimpf78 3:fd2ca631ab44 162 int sheet_th = 25;
rschimpf78 3:fd2ca631ab44 163 pathsensor.start();
rschimpf78 7:ede305192e3b 164 wait_ms(250);
rschimpf78 3:fd2ca631ab44 165 path_dist=pathsensor.get_dist_cm();
rschimpf78 7:ede305192e3b 166 pc.printf("\nBeam Path Sensor: %ld",path_dist);
rschimpf78 7:ede305192e3b 167
rschimpf78 7:ede305192e3b 168 if (path_dist < 110){
rschimpf78 7:ede305192e3b 169 beam_distance = path_dist;
rschimpf78 7:ede305192e3b 170 stop_error = 6;
rschimpf78 7:ede305192e3b 171 }
rschimpf78 7:ede305192e3b 172
rschimpf78 9:f72ddee31041 173 else if (path_dist >= sens_pos-err && path_dist <= sens_pos+err){ //119 143
rschimpf78 3:fd2ca631ab44 174 path_sheets = 16;
rschimpf78 3:fd2ca631ab44 175
rschimpf78 3:fd2ca631ab44 176 }
rschimpf78 9:f72ddee31041 177 else if (path_dist >= sens_pos-err+sheet_th && path_dist <= sens_pos+err+sheet_th){
rschimpf78 3:fd2ca631ab44 178 path_sheets = 15;
rschimpf78 3:fd2ca631ab44 179
rschimpf78 3:fd2ca631ab44 180 }
rschimpf78 9:f72ddee31041 181 else if (path_dist >= sens_pos-err+2*sheet_th && path_dist <= sens_pos+err+2*sheet_th){ //179-191
rschimpf78 3:fd2ca631ab44 182 path_sheets = 14;
rschimpf78 3:fd2ca631ab44 183
rschimpf78 3:fd2ca631ab44 184 }
rschimpf78 9:f72ddee31041 185 else if (path_dist >= sens_pos-err+3*sheet_th && path_dist <= sens_pos+err+3*sheet_th){ //205-217
rschimpf78 3:fd2ca631ab44 186 path_sheets = 13;
rschimpf78 3:fd2ca631ab44 187
rschimpf78 3:fd2ca631ab44 188 }
rschimpf78 9:f72ddee31041 189 else if (path_dist >= sens_pos-err+4*sheet_th && path_dist <= sens_pos+err+4*sheet_th){ //231-243
rschimpf78 3:fd2ca631ab44 190 path_sheets = 12;
rschimpf78 3:fd2ca631ab44 191
rschimpf78 3:fd2ca631ab44 192 }
rschimpf78 9:f72ddee31041 193 else if (path_dist >= sens_pos-err+5*sheet_th && path_dist <= sens_pos+err+5*sheet_th){ //257-269
rschimpf78 3:fd2ca631ab44 194 path_sheets = 11;
rschimpf78 3:fd2ca631ab44 195
rschimpf78 3:fd2ca631ab44 196 }
rschimpf78 9:f72ddee31041 197 else if (path_dist >= sens_pos-err+6*sheet_th && path_dist <= sens_pos+err+6*sheet_th){ //283-295
rschimpf78 3:fd2ca631ab44 198 path_sheets = 10;
rschimpf78 3:fd2ca631ab44 199
rschimpf78 3:fd2ca631ab44 200 }
rschimpf78 9:f72ddee31041 201 else if (path_dist >= sens_pos-err+7*sheet_th && path_dist <= sens_pos+err+7*sheet_th){ //309-321
rschimpf78 3:fd2ca631ab44 202 path_sheets = 9;
rschimpf78 3:fd2ca631ab44 203
rschimpf78 3:fd2ca631ab44 204 }
rschimpf78 9:f72ddee31041 205 else if (path_dist >= sens_pos-err+8*sheet_th && path_dist <= sens_pos+err+8*sheet_th){ //323-333
rschimpf78 3:fd2ca631ab44 206 path_sheets = 8;
rschimpf78 3:fd2ca631ab44 207
rschimpf78 3:fd2ca631ab44 208 }
rschimpf78 9:f72ddee31041 209 else if (path_dist >= sens_pos-err+9*sheet_th && path_dist <= sens_pos+err+9*sheet_th){ //349-359
rschimpf78 3:fd2ca631ab44 210 path_sheets = 7;
rschimpf78 3:fd2ca631ab44 211
rschimpf78 3:fd2ca631ab44 212 }
rschimpf78 9:f72ddee31041 213 else if (path_dist >= sens_pos-err+10*sheet_th && path_dist <= sens_pos+err+10*sheet_th){
rschimpf78 3:fd2ca631ab44 214 path_sheets = 6;
rschimpf78 3:fd2ca631ab44 215
rschimpf78 3:fd2ca631ab44 216 }
rschimpf78 9:f72ddee31041 217 else if (path_dist >= sens_pos-err+11*sheet_th && path_dist <= sens_pos+err+11*sheet_th){
rschimpf78 3:fd2ca631ab44 218 path_sheets = 5;
rschimpf78 3:fd2ca631ab44 219
rschimpf78 3:fd2ca631ab44 220 }
rschimpf78 9:f72ddee31041 221 else if (path_dist >= sens_pos-err+12*sheet_th && path_dist <= sens_pos+err+12*sheet_th){
rschimpf78 3:fd2ca631ab44 222 path_sheets = 4;
rschimpf78 3:fd2ca631ab44 223
rschimpf78 3:fd2ca631ab44 224 }
rschimpf78 9:f72ddee31041 225 else if (path_dist >= sens_pos-err+13*sheet_th && path_dist <= sens_pos+err+13*sheet_th){
rschimpf78 3:fd2ca631ab44 226 path_sheets = 3;
rschimpf78 3:fd2ca631ab44 227
rschimpf78 3:fd2ca631ab44 228 }
rschimpf78 9:f72ddee31041 229 else if (path_dist >= sens_pos-err+14*sheet_th && path_dist <= sens_pos+err+14*sheet_th){
rschimpf78 3:fd2ca631ab44 230 path_sheets = 2;
rschimpf78 3:fd2ca631ab44 231
rschimpf78 3:fd2ca631ab44 232 }
rschimpf78 9:f72ddee31041 233 else if (path_dist >= sens_pos-10-err+15*sheet_th && path_dist <= sens_pos-10+err+15*sheet_th){
rschimpf78 3:fd2ca631ab44 234 path_sheets = 1;
rschimpf78 3:fd2ca631ab44 235
rschimpf78 3:fd2ca631ab44 236 }
rschimpf78 9:f72ddee31041 237 else if (path_dist > sens_pos-err+16*sheet_th){
rschimpf78 3:fd2ca631ab44 238 path_sheets = 0;
rschimpf78 7:ede305192e3b 239 }
rschimpf78 9:f72ddee31041 240 else {
rschimpf78 9:f72ddee31041 241 path_sheets = 17;
rschimpf78 9:f72ddee31041 242 }
rschimpf78 3:fd2ca631ab44 243 }
rschimpf78 6:354264d1e4bb 244
rschimpf78 3:fd2ca631ab44 245 void retract()
rschimpf78 0:88834eed3de0 246 {
rschimpf78 7:ede305192e3b 247 stage = 4;
rschimpf78 6:354264d1e4bb 248 millisStart();
rschimpf78 6:354264d1e4bb 249 long Duration = 0;
rschimpf78 6:354264d1e4bb 250 long StartTime = millis();
rschimpf78 6:354264d1e4bb 251
rschimpf78 8:3f4d78017fd9 252 while(homeSwitch == 1 && magnetSwitch == 1 && Duration <= 60000 )
rschimpf78 2:e8f8095464cf 253 {
rschimpf78 0:88834eed3de0 254 in1=0;
rschimpf78 2:e8f8095464cf 255 in2=1;
rschimpf78 6:354264d1e4bb 256 long CurrentTime = millis();
rschimpf78 6:354264d1e4bb 257 Duration = CurrentTime-StartTime;
rschimpf78 3:fd2ca631ab44 258 }
rschimpf78 2:e8f8095464cf 259 in1=1;
rschimpf78 2:e8f8095464cf 260 in2=1;
rschimpf78 8:3f4d78017fd9 261 if (Duration > 60000){
rschimpf78 7:ede305192e3b 262 stop_error = 5;
rschimpf78 7:ede305192e3b 263 }
rschimpf78 8:3f4d78017fd9 264 else{
rschimpf78 8:3f4d78017fd9 265 stop_error = 0;
rschimpf78 8:3f4d78017fd9 266 }
rschimpf78 0:88834eed3de0 267 }
rschimpf78 0:88834eed3de0 268
rschimpf78 3:fd2ca631ab44 269 void send()
rschimpf78 3:fd2ca631ab44 270 {
rschimpf78 3:fd2ca631ab44 271 in1=1;
rschimpf78 3:fd2ca631ab44 272 in2=0;
rschimpf78 8:3f4d78017fd9 273 wait(58);
rschimpf78 0:88834eed3de0 274 in1=1;
rschimpf78 2:e8f8095464cf 275 in2=1;
rschimpf78 0:88834eed3de0 276 }
rschimpf78 7:ede305192e3b 277
rschimpf78 3:fd2ca631ab44 278
rschimpf78 7:ede305192e3b 279 void logwriting()
rschimpf78 3:fd2ca631ab44 280 {
rschimpf78 7:ede305192e3b 281 FILE *fp = fopen("/sd/mydir/sdtest.txt", "a");
rschimpf78 7:ede305192e3b 282 if(fp == NULL) {
rschimpf78 7:ede305192e3b 283 pc.printf("\nError Writing to Log ");
rschimpf78 7:ede305192e3b 284 }
rschimpf78 7:ede305192e3b 285 pc.printf("\nLogging ");
rschimpf78 7:ede305192e3b 286 pc.printf("\nStop Error: %ld ", stop_error);
rschimpf78 7:ede305192e3b 287
rschimpf78 7:ede305192e3b 288 switch (stop_error){
rschimpf78 7:ede305192e3b 289 case 1:
rschimpf78 7:ede305192e3b 290 fprintf(fp,"\nRequested: %ld ",plates);
rschimpf78 7:ede305192e3b 291 fprintf(fp,"\nBroken Switch: %ld ", broken_switch);
rschimpf78 7:ede305192e3b 292 fprintf(fp,"\nStop Error: %ld ", stop_error);
rschimpf78 7:ede305192e3b 293 fclose(fp);
rschimpf78 7:ede305192e3b 294 exit(1);
rschimpf78 7:ede305192e3b 295 break;
rschimpf78 7:ede305192e3b 296 case 2:
rschimpf78 7:ede305192e3b 297 fprintf(fp,"\nRequested: %ld ",plates);
rschimpf78 7:ede305192e3b 298 fprintf(fp,"\nSelector Sensor Distance : %ld ", error_distance);
rschimpf78 7:ede305192e3b 299 fprintf(fp,"\nStop Error: %ld ", stop_error);
rschimpf78 7:ede305192e3b 300 fclose(fp);
rschimpf78 7:ede305192e3b 301 exit(1);
rschimpf78 7:ede305192e3b 302 break;
rschimpf78 7:ede305192e3b 303 case 3:
rschimpf78 7:ede305192e3b 304 fprintf(fp,"\nRequested: %ld ",plates);
rschimpf78 7:ede305192e3b 305 fprintf(fp,"\nSelector Timeout");
rschimpf78 7:ede305192e3b 306 fprintf(fp,"\nStop Error: %ld ", stop_error);
rschimpf78 7:ede305192e3b 307 fclose(fp);
rschimpf78 7:ede305192e3b 308 exit(1);
rschimpf78 7:ede305192e3b 309 break;
rschimpf78 7:ede305192e3b 310 case 4:
rschimpf78 8:3f4d78017fd9 311 fprintf(fp,"\nRequested: %ld ", plates);
rschimpf78 7:ede305192e3b 312 fprintf(fp,"\nSelected: %ld ", sheets);
rschimpf78 7:ede305192e3b 313 fprintf(fp,"\nDetected: %ld ", path_sheets);
rschimpf78 7:ede305192e3b 314 fprintf(fp,"\nStop Error: %ld ", stop_error);
rschimpf78 7:ede305192e3b 315 fclose(fp);
rschimpf78 7:ede305192e3b 316 break;
rschimpf78 7:ede305192e3b 317 case 5:
rschimpf78 8:3f4d78017fd9 318 fprintf(fp,"\nRequested: %ld ", plates);
rschimpf78 7:ede305192e3b 319 fprintf(fp,"\nSelected: %ld ", sheets);
rschimpf78 7:ede305192e3b 320 fprintf(fp,"\nDetected: %ld ", path_sheets);
rschimpf78 7:ede305192e3b 321 fprintf(fp,"\nStop Error: %ld ", stop_error);
rschimpf78 7:ede305192e3b 322 fclose(fp);
rschimpf78 7:ede305192e3b 323 exit(1);
rschimpf78 7:ede305192e3b 324 break;
rschimpf78 7:ede305192e3b 325 case 6:
rschimpf78 8:3f4d78017fd9 326 fprintf(fp,"\nRequested: %ld ", plates);
rschimpf78 7:ede305192e3b 327 fprintf(fp,"\nSelected: %ld ", sheets);
rschimpf78 7:ede305192e3b 328 fprintf(fp,"\nBeam Sensor Distance: %ld ", beam_distance);
rschimpf78 7:ede305192e3b 329 fprintf(fp,"\nStop Error: %ld ", stop_error);
rschimpf78 7:ede305192e3b 330 fclose(fp);
rschimpf78 7:ede305192e3b 331 exit(1);
rschimpf78 7:ede305192e3b 332 break;
rschimpf78 7:ede305192e3b 333 case 7:
rschimpf78 8:3f4d78017fd9 334 fprintf(fp,"\nRequested: %ld ", plates);
rschimpf78 7:ede305192e3b 335 fprintf(fp,"\nNot at Start Position ");
rschimpf78 7:ede305192e3b 336 fprintf(fp,"\nStop Error: %ld ", stop_error);
rschimpf78 7:ede305192e3b 337 fclose(fp);
rschimpf78 7:ede305192e3b 338 exit(1);
rschimpf78 7:ede305192e3b 339 default:
rschimpf78 7:ede305192e3b 340 pc.printf("\nstage: %ld ", stage);
rschimpf78 7:ede305192e3b 341 if (stage == 1){
rschimpf78 7:ede305192e3b 342 pc.printf("\nRequested: %ld ", plates);
rschimpf78 7:ede305192e3b 343 fprintf(fp,"\nRequested: %ld ",plates);
rschimpf78 7:ede305192e3b 344 fclose(fp);
rschimpf78 7:ede305192e3b 345 }
rschimpf78 7:ede305192e3b 346 else if (stage == 2) {
rschimpf78 7:ede305192e3b 347 pc.printf("\nSelected: %ld ", sheets);
rschimpf78 7:ede305192e3b 348 fprintf(fp,"\nSelected: %ld ", sheets);
rschimpf78 7:ede305192e3b 349 fclose(fp);
rschimpf78 7:ede305192e3b 350 }
rschimpf78 7:ede305192e3b 351 else if (stage == 3){
rschimpf78 7:ede305192e3b 352 pc.printf("\nDetected: %ld ", path_sheets);
rschimpf78 7:ede305192e3b 353 fprintf(fp,"\nDetected: %ld ", path_sheets);
rschimpf78 7:ede305192e3b 354 fclose(fp);
rschimpf78 7:ede305192e3b 355 }
rschimpf78 7:ede305192e3b 356 else{
rschimpf78 7:ede305192e3b 357 pc.printf("\nPass ");
rschimpf78 7:ede305192e3b 358 fprintf(fp,"\nPass ");
rschimpf78 7:ede305192e3b 359 fclose(fp);
rschimpf78 7:ede305192e3b 360 }
rschimpf78 7:ede305192e3b 361 break;
rschimpf78 7:ede305192e3b 362 }
rschimpf78 2:e8f8095464cf 363 }
rschimpf78 0:88834eed3de0 364
rschimpf78 0:88834eed3de0 365 int main()
rschimpf78 2:e8f8095464cf 366 {
rschimpf78 8:3f4d78017fd9 367 homeSwitch.mode(PullUp);
rschimpf78 8:3f4d78017fd9 368 wait(.01);
rschimpf78 8:3f4d78017fd9 369 magnetSwitch.mode(PullUp);
rschimpf78 8:3f4d78017fd9 370 wait (.01);
rschimpf78 7:ede305192e3b 371 mkdir("/sd/mydir", 0777);
rschimpf78 2:e8f8095464cf 372 in1=1;
rschimpf78 2:e8f8095464cf 373 in2=1;
rschimpf78 2:e8f8095464cf 374 en = 1;
rschimpf78 2:e8f8095464cf 375 wait(0.1);
rschimpf78 8:3f4d78017fd9 376
rschimpf78 7:ede305192e3b 377 while(stop_error==0)
rschimpf78 0:88834eed3de0 378 {
rschimpf78 4:63f0989c8d1e 379 plates = (rand() % 16) + 1;
rschimpf78 7:ede305192e3b 380 wait(1);
rschimpf78 7:ede305192e3b 381 switch_check(); //stage 1
rschimpf78 7:ede305192e3b 382 wait(1);
rschimpf78 7:ede305192e3b 383 logwriting(); // plates requestd
rschimpf78 7:ede305192e3b 384 wait(1);
rschimpf78 7:ede305192e3b 385 plate_selection(); //stage 2
rschimpf78 7:ede305192e3b 386 wait(1);
rschimpf78 7:ede305192e3b 387 logwriting(); //paltes selected
rschimpf78 7:ede305192e3b 388 wait(1);
rschimpf78 7:ede305192e3b 389 send();
rschimpf78 7:ede305192e3b 390 wait(1);
rschimpf78 7:ede305192e3b 391 beam(); //stage 3
rschimpf78 7:ede305192e3b 392 wait(1);
rschimpf78 7:ede305192e3b 393 logwriting(); //plates detected
rschimpf78 7:ede305192e3b 394 wait(1);
rschimpf78 7:ede305192e3b 395 retract(); //stage 4
rschimpf78 7:ede305192e3b 396 wait(1);
rschimpf78 7:ede305192e3b 397 logwriting(); //nothing
rschimpf78 7:ede305192e3b 398 }
rschimpf78 7:ede305192e3b 399 pc.printf("\nError was detected. Stopping Program");
rschimpf78 7:ede305192e3b 400 }
rschimpf78 7:ede305192e3b 401