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main
Dependencies: Ultrasonic PinDetect Stepper mbed
Fork of VAM_main by
main.cpp
- Committer:
- rschimpf78
- Date:
- 2018-03-18
- Revision:
- 0:88834eed3de0
- Child:
- 2:e8f8095464cf
File content as of revision 0:88834eed3de0:
/*#include "mbed.h" #include <vector> //--------Brushed Motor ------------------- DigitalOut in3(PTC17); DigitalOut in4(PTC16); //---------Stepper Motor ------------------ Stepper mot(PTA1,D2);//d2 and d3 DigitalOut en(D4); Serial pc(USBTX, USBRX); //--Internal pullup resistors for Bumper Switches--- DigitalIn bswitch(D1); DigitalIn tswitch(D0); int main() { vector<int> time; vector<int> plates; int n,t,h,m,s = 0; int tests = 0; PULp.period(0.0006f); ENp = 1; DIRp = 0; PULp.write(0.5f); in3=0; in4=0; pc.printf("\nCommands "); pc.scanf("%d",&tests); for (int i = 1; i<=tests;i++){ pc.printf("\nEnter the Number of Plates for test %d: ",i); pc.scanf("%d",&n); pc.printf("\nEnter hours and minutes to test these plates\n\nHours: "); pc.scanf("%d",&h); pc.printf("Minutes: "); pc.scanf("%d",&m); pc.printf("Seconds: "); pc.scanf("%d",&s); t=(h*3600)+(m*60)+s; time.push_back(t); plates.push_back(n); } pc.printf("\nTesting in Progress..."); for (unsigned y=0; y<time.size(); y++){ //--------Turn Stepper on for a certain amount of time based on the number of plates---- in3=0; // stop actuator in4=0; // stop actuator ENp = 0; DIRp = 0; wait(1.9*(plates.at(y)-1)); ENp = 1; wait(0.5); //-------Move Plates Under X ray Beam--------------------------------------------------- in3=0; in4=1; wait(14); //reaches end after 10 seconds in3=0; // stop actuator in4=0; // stop actuator //-----Test the Plate for specified time ---------------------------------------------- wait(time.at(y)); //Leave plates in beam path for the user inputted amount of time //-----Retract plates to original position--------------------------------------------- in3=1; in4=0; wait(14); in3=0; in4=0; wait(0.5); //--------Return Stepper to base height with one plate selected------------------------ ENp = 0; DIRp = 1; wait(2*(plates.at(y)-1)); ENp = 1; //------------------------------------------------------------------------------------- pc.printf("\n\nTest number %d complete", y+1); pc.printf("\nNumber of Plates: %d", plates.at(y)); pc.printf("\nLength of Test: %d seconds", time.at(y)); } pc.printf("\n\nAll testing complete"); } */ /*#include "mbed.h" Serial pc(USBTX, USBRX); int main() { char c; char buffer[128]; pc.gets(buffer, 4); pc.printf("I got '%s'\n", buffer); if(strcmp(buffer,"on")==0) { printf("success"); } else{ printf("fail"); } } */ #include "mbed.h" #include "Stepper.h" DigitalIn homeSwitch(D8); DigitalIn endSwitch(D1); DigitalIn bottomSwitch(D0); DigitalIn topSwitch(D9); Stepper mot(PTA1,D2); DigitalOut en(D4); DigitalOut in1(D11); DigitalOut in2(D10); Serial pc(USBTX, USBRX); void positionStatus() { int plateposition; //plate position -> 1 is home, 2 is traveling, 3 is under beam path if(homeSwitch==0 && endSwitch==1) { plateposition = 1; pc.printf("\nPlate position is home %d",plateposition); } else if (homeSwitch==1 && endSwitch==1) { plateposition = 2; pc.printf("\nPlates are currently moving %d",plateposition); } else if(homeSwitch==1 && endSwitch==0) { plateposition = 3; pc.printf("\nPlates are under beam path %d",plateposition); } else { pc.printf("\nError, cannot locate plate position"); } } void retractPMMA() { in1=1; in2=0; wait(14); in1=0; in2=0; positionStatus(); } void sendPMMA() //Command: Send plates { //Returns: plates arrived(),plates didn't arrive() wait(2); in1=1; in2=0; wait(14); in1=0; in2=0; positionStatus(); } void autoCalibrate() //if machine is plugged in when the plate selector isn't at the origin... { en = 0; //...it automatically lowers it to the origin position mot.setSpeed(800); mot.rotate(0); while(bottomSwitch); //While bottom switch is unpressed mot.stop(); //Stop rotation when switch is pressed (pressed = logical level low) en=1; //Disable driver mot.setPositionZero(); //Set absolute origin for plate selector at switch hit } void internalpullups() { bottomSwitch.mode (PullUp); topSwitch.mode (PullUp); homeSwitch.mode (PullUp); endSwitch.mode (PullUp); wait (.01); } void numberofPlates() // Command: Number of PMMA to send (plates) // Returns: Actual number of plates selected (selectedplates), selectionerror (1 for command error, 0 for correct command) { int stepheight,plates,selectionerror; double selectedplates; pc.printf("\nEnter the Number of Plates to send "); pc.scanf("%d",&plates); if (plates <= 0) { pc.printf("\nNot a valid number, must be 1 to 16"); selectionerror = 1; } else if (plates >= 17) { pc.printf("\nNot a valid number, must be 1 to 16"); selectionerror = 1; } else { selectionerror = 0; pc.printf("\nCommand Valid\n"); en = 0; mot.goesTo(plates*1620); while(!mot.stopped()); stepheight = mot.getPosition(); selectedplates = stepheight/1620; pc.printf("\n Steps taken: %d ",selectedplates); mot.stop(); en = 1; } } void selectionStatus() { int stepheight; double selectedplates; stepheight = mot.getPosition(); selectedplates = stepheight/1620; pc.printf("\n Number of plates currently selected: %d ",selectedplates); } int main() { char command[256] = { 0 }; internalpullups(); wait (.01); autoCalibrate(); //...it automatically lowers it to the origin position for initial power up while(1) { pc.printf("\nEnter Command: \n send \n retract \n position (get status) \n selection (get status)" ); pc.scanf("\n%s", &command); if (strcmp (command, "send") == 0) { pc.printf ("\nCommand Recieved: Send"); //confirmation of recieved command numberofPlates(); //select number of plates to send sendPMMA(); } if (strcmp (command, "retract") == 0) { pc.printf ("\nCommand Recieved: retract"); retractPMMA(); } if (strcmp (command, "position") == 0) { pc.printf ("\nCommand Recieved: position"); positionStatus(); } if (strcmp (command, "selection") == 0) { pc.printf ("\nCommand Recieved: selection"); selectionStatus(); } } } /* int main () { int steps, plates; bswitch.mode (PullUp); wait (.01); mot.setSpeed (600); mot.rotate (0); //if machine is plugged in when the plate selector isn't at the origin... while (bswitch); //...it automatically lowers it to the origin positio mot.stop (); //Stop rotation when switch is pressed (pressed = logical level low) en = 1; //Disable driver mot.setPositionZero (); //Set absolute origin for plate selector at switch hit char c[256] = { 0 }; while (1) { pc.printf("Choose a command:\nPMMA 1"); pc.scanf ("%s", &c); if (strcmp (c, "PMMA1") == 0) { pc.printf ("\n match "); } if (strcmp (c, "no") == 0) { pc.printf ("\n not match "); } } } */