GE Attenuator
update
Dependencies: Stepper mbed SDFileSystem Ultrasonic PinDetect millis
Diff: main.cpp
- Revision:
- 3:fd2ca631ab44
- Parent:
- 2:e8f8095464cf
- Child:
- 4:63f0989c8d1e
--- a/main.cpp Fri Sep 14 19:10:45 2018 +0000
+++ b/main.cpp Sat Oct 13 02:19:16 2018 +0000
@@ -1,134 +1,297 @@
#include "mbed.h"
#include "Stepper.h"
#include "string"
-DigitalOut in1(D10);///in1 d9 and in2 d10
-DigitalOut in2(D9);
-DigitalIn endSwitch(D6);
-DigitalIn homeSwitch(D7);
-DigitalIn bottomSwitch(D5);
-Stepper mot(D3,D4); //(D5 to PUL+, D4 to DIR+)
+#include "hcsr04.h"
+Serial pc(USBTX, USBRX);
+HCSR04 heightsensor(PTA2,PTC2); //(trig,echo)
+HCSR04 pathsensor(PTD3,PTD2);
+DigitalOut in1(PTC12);
+DigitalOut in2(D7);
+DigitalIn homeSwitch(D9);
+Stepper mot(D3,D4); //(D3 to PUL+, D4 to DIR+)
DigitalOut en(D2);
-Serial pc(USBTX, USBRX);
+volatile int plates=0;
+volatile unsigned int sheets=0;
+volatile unsigned int path_sheets=0;
-volatile int plates = 1;
-
-void position()
+void plate_selection()
{
- char str1[20];
- char str2[20];
- char str3[20];
- strcpy(str1,"HOME");
- strcpy(str2,"ERROR");
- strcpy(str3,"IN BEAM PATH");
+ unsigned int dist;
+ int er = 5;
+ int fp = 448; //adjust if needed
+ int lp = 64; //adjust if needed
+ int tp = 25;
- if(homeSwitch==0 && endSwitch==1)
+ while (plates!=sheets) {
+ heightsensor.start();
+ wait_ms(500);
+ dist=heightsensor.get_dist_cm();
+ pc.printf("\nmm:%ld",dist);
+
+ if (dist<=lp-10 || dist >= fp+10){
+ mot.stop();
+ en = 1;
+ sheets = plates;
+ pc.printf("\nERROR: Selector is outside of plate range\nRestart/Reset Program");
+ }
+ else if (plates<sheets){
+ en = 0;
+ mot.setSpeed(600);
+ mot.rotate(1);
+ }
+ else{
+ en = 0;
+ mot.setSpeed(600);
+ mot.rotate(0);
+ }
+
+ if (dist<=fp+er && dist>=fp-er){ //450,440
+ sheets = 1;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+
+ if (dist<= fp-tp+er && dist>=fp-tp-er){ //424,414
+ sheets = 2;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+
+ if (dist<= fp-2*tp+er && dist>=fp-2*tp-er){
+ sheets = 3;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+
+ if (dist<= fp-3*tp+er && dist>=fp-3*tp-er){
+ sheets = 4;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ if (dist<= fp-4*tp+er && dist>=fp-4*tp-er){
+ sheets = 5;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ if (dist<= fp-5*tp+er && dist>=fp-5*tp-er){
+ sheets = 6;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ if (dist<= fp-6*tp+er && dist>=fp-6*tp-er){
+ sheets = 7;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ if (dist<= fp-7*tp+er && dist>=fp-7*tp-er){
+ sheets = 8;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ if (dist<= fp-8*tp+er && dist>=fp-8*tp-er){
+ sheets = 9;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ if (dist<= fp-9*tp+er && dist>=fp-9*tp-er){
+ sheets = 10;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ if (dist<= fp-10*tp+er && dist>=fp-10*tp-er){
+ sheets = 11;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ if (dist<= fp-11*tp+er && dist>=fp-11*tp-er){
+ sheets = 12;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ if (dist<= fp-12*tp+er && dist>=fp-12*tp-er){
+ sheets = 13;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ if (dist<= fp-13*tp+er && dist>=fp-13*tp-er){
+ sheets = 14;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ if (dist<= fp-14*tp+er && dist>=fp-14*tp-er){
+ sheets = 15;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ if (dist<= fp-15*tp+er && dist>=fp-15*tp-er){ // 75, 65
+ sheets = 16;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ }
+ mot.stop();
+ en = 1;
+ wait(1);
+}
+
+void beam()
+{
+
+ unsigned int path_dist;
+ int err = 8;
+ int sens_pos = 148; //adjust if needed //535 0 plates
+ int sheet_th = 25;
+ pathsensor.start();
+ wait_ms(500);
+ path_dist=pathsensor.get_dist_cm();
+ pc.printf("\nBeam Path Sensor : %ld",path_dist);
+ path_sheets = 17;
+
+ if (path_dist >= sens_pos-err && path_dist <= sens_pos+err){ //127,143 a:152
+ path_sheets = 16;
+
+ }
+ if (path_dist >= sens_pos-err+sheet_th && path_dist <= sens_pos+err+sheet_th){ //152,168 a:
+ path_sheets = 15;
+
+ }
+ if (path_dist >= sens_pos-err+2*sheet_th && path_dist <= sens_pos+err+2*sheet_th){ //179-191
+ path_sheets = 14;
+
+ }
+ if (path_dist >= sens_pos-err+3*sheet_th && path_dist <= sens_pos+err+3*sheet_th){ //205-217
+ path_sheets = 13;
+
+ }
+ if (path_dist >= sens_pos-err+4*sheet_th && path_dist <= sens_pos+err+4*sheet_th){ //231-243
+ path_sheets = 12;
+
+ }
+ if (path_dist >= sens_pos-err+5*sheet_th && path_dist <= sens_pos+err+5*sheet_th){ //257-269
+ path_sheets = 11;
+
+ }
+ if (path_dist >= sens_pos-err+6*sheet_th && path_dist <= sens_pos+err+6*sheet_th){ //283-295
+ path_sheets = 10;
+
+ }
+ if (path_dist >= sens_pos-err+7*sheet_th && path_dist <= sens_pos+err+7*sheet_th){ //309-321
+ path_sheets = 9;
+
+ }
+ if (path_dist >= sens_pos-err+8*sheet_th && path_dist <= sens_pos+err+8*sheet_th){ //323-333
+ path_sheets = 8;
+
+ }
+ if (path_dist >= sens_pos-err+9*sheet_th && path_dist <= sens_pos+err+9*sheet_th){ //349-359
+ path_sheets = 7;
+
+ }
+ if (path_dist >= sens_pos-err+10*sheet_th && path_dist <= sens_pos+err+10*sheet_th){
+ path_sheets = 6;
+
+ }
+ if (path_dist >= sens_pos-err+11*sheet_th && path_dist <= sens_pos+err+11*sheet_th){
+ path_sheets = 5;
+
+ }
+ if (path_dist >= sens_pos-err+12*sheet_th && path_dist <= sens_pos+err+12*sheet_th){
+ path_sheets = 4;
+
+ }
+ if (path_dist >= sens_pos-err+13*sheet_th && path_dist <= sens_pos+err+13*sheet_th){ //468,478
+ path_sheets = 3;
+
+ }
+ if (path_dist >= sens_pos-err+14*sheet_th && path_dist <= sens_pos+err+14*sheet_th){ //494,504
+ path_sheets = 2;
+
+ }
+ if (path_dist >= sens_pos-err+15*sheet_th && path_dist <= sens_pos+err+15*sheet_th){
+ path_sheets = 1;
+
+ }
+ if (path_dist > sens_pos-err+16*sheet_th){
+ path_sheets = 0;
+ }
+}
+
+void platedetect()
+{
+ if(homeSwitch==0 && path_sheets==0)
{
- pc.printf(" pmma state - %s\n",str1);
+ pc.printf("\nAll plates are in the start position");
}
- else if (homeSwitch==1 && endSwitch==0)
+ else if (homeSwitch==1 && path_sheets==0)
{
- pc.printf(" pmma state - %s\n",str3);
- }
- else if (homeSwitch==1 && endSwitch==1)
- {
- pc.printf(" pmma state - %s\n",str2);
+ pc.printf("\nError-Plates are not fully extended");
}
else
{
- pc.printf(" pmma state - else");
- }
-}
-void retractPMMA()
+ if (plates==path_sheets)
+ {
+ pc.printf("\nPlates in beam path:%ld",path_sheets);
+ }
+ else if (plates != path_sheets && path_sheets <= 16)
+ {
+ pc.printf("\nError: %ld",path_sheets);
+ pc.printf(" Plates in beam path, but user sent %ld",plates);
+ pc.printf(" Plates");
+ }
+ else{
+ pc.printf("\nERROR: Additional objects detected in beam path");
+ }
+ }
+}
+void retract()
{
while(homeSwitch == 1)
{
- in1=1;
- in2=0;
- }
- in1=1;
- in2=1;
-}
-void sendPMMA() //Command: Send plates
-{
-
in1=0;
in2=1;
- wait(9);
+ }
in1=1;
in2=1;
}
-void autoCalibrate() //if machine is plugged in when the plate selector isn't at the origin...
-{
- while(homeSwitch==1)
- {
- retractPMMA();
- }
-
+void send()
+{
+ in1=1;
+ in2=0;
+ wait(17);
in1=1;
in2=1;
- en = 0; //...it automatically lowers it to the origin position
- mot.setSpeed(600);
- mot.rotate(1);
- while(bottomSwitch); //While bottom switch is unpressed
- mot.stop(); //Stop rotation when switch is pressed (pressed = logical level low) //Disable driver
- mot.setPositionZero();
- wait(1);
- mot.goesTo(-800);
- while(!mot.stopped());
- mot.stop();
- mot.setPositionZero();
- en=1; //Set absolute origin for plate selector at switch hit
}
+
void internalpullups()
{
- bottomSwitch.mode(PullUp);
homeSwitch.mode(PullUp);
- endSwitch.mode(PullUp);
wait (.01);
}
-void numberofPlates() // Command: Number of PMMA to send (plates)
-{
- int stepheight;
-
- if (plates <= 0 || plates >= 17)
+
+void send_error_check()
+{
+ if (plates <= 0 || plates >= 17)
{
- pc.printf(" ERROR invalid range |");
+ pc.printf("\nERROR: Invalid Range |");
}
- else if(endSwitch == 1 && homeSwitch==0)
- {
- en = 0;
- mot.goesTo((plates-1)*-1680); //plates per step
- while(!mot.stopped());
- stepheight = mot.getPosition();
- pc.printf(" selector height %d steps |",stepheight);
- mot.stop();
- en = 1;
- wait(1);
- sendPMMA();
+ else if(homeSwitch == 1)
+ {
+ pc.printf("\nERROR: Not at Home Position |");
+ }
+ else
+ {
+ plate_selection();
+ send();
+ }
+}
+void select_error_check()
+{
+ if (homeSwitch == 1)
+ {
+ pc.printf("\nERROR: Not at Home Position |");
+ }
+ else
+ {
+ plate_selection();
+ }
+}
+void retract_error_check()
+{
+ if (homeSwitch == 0)
+ {
+ pc.printf("\nERROR: Already at Home Position |");
}
else
{
- pc.printf("Position Error - Cannot Send");
+ retract();
}
}
-void selectionStatus()
-{
- int stepperposition;
- double selectedplates;
- stepperposition = mot.getPosition();
- selectedplates = stepperposition/1621;
- pc.printf("\n Number of plates currently selected: %d ",selectedplates);
-}
-void deviceinfo()
-{
- printf("\nUnique ID: 0240000041114e4500513007bcf9000a9e51000097969900");
- printf("\nBootloader Version: 0244");
- printf("\nBUILD: 1:4BDA04E+");
- printf("\nBUILD TIMESTAMP=3/18/2018\n\n");
-
-}
int main()
{
@@ -137,50 +300,43 @@
en = 1;
wait(0.1);
internalpullups();
- wait(0.1);
- autoCalibrate();
-
+ wait(0.1);
char command[15] = {0};
- pc.printf("\nCommands:\n\n\tsend [N]\t**places N PMMA sheets in beam path\n\tretract\t\t**removes all PMMA from beam path\n\tlocation\t**returns location of PMMA\n\tinfo\t\t**returns device and firmware information\n\n");
+ pc.printf("\nCommands:\n\n\ts [N]\t**moves N PMMA sheets in beam path\n\tr\t\t**removes all PMMA from beam path\n\tc [N]\t**raises bar to \n\tb\t\t**reports number of plates in beam path\n\n");
while(1)
{
-
pc.printf("\nRequests: ");
pc.scanf("%s",&command);
- if (strcmp (command, "send") == 0)
+ if (strcmp (command, "s") == 0)
{
pc.scanf(" %d",&plates);
pc.printf("\nresponse recieved |");
- numberofPlates();
- position();
+ send_error_check();
+ beam();
+ platedetect();
}
- else if (strcmp (command, "retract") == 0)
+ else if (strcmp (command, "r") == 0)
{
pc.printf("\nresponse recieved |");
- retractPMMA();
- position();
- }
- else if (strcmp (command, "location") == 0)
- {
- pc.printf("\nresponse recieved |");
- position();
+ retract_error_check();
}
- else if (strcmp (command, "info") == 0)
- {
+ else if (strcmp (command, "c") == 0)
+ {
+ pc.scanf(" %d",&plates);
pc.printf("\nresponse recieved |");
- deviceinfo();
+ select_error_check();
}
- else if (strcmp (command, "height") == 0)
- {
+ else if (strcmp (command, "b") == 0)
+ {
pc.printf("\nresponse recieved |");
- numberofPlates();
+ beam();
+ platedetect();
}
-
else
{
- pc.printf("\nERROR-command invalid");
+ pc.printf("\nERROR: Invalid Command");
}
}
}
\ No newline at end of file