GE Attenuator
for cycle testing
Dependencies: HCSR04 PinDetect Stepper
Diff: main.cpp
- Revision:
- 0:5848e605bae5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Oct 13 02:26:02 2018 +0000
@@ -0,0 +1,285 @@
+#include "mbed.h"
+#include "Stepper.h"
+#include "string"
+#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);
+
+volatile int plates=0;
+volatile unsigned int sheets=0;
+volatile unsigned int path_sheets=0;
+
+void plate_selection()
+{
+ unsigned int dist;
+ int er = 5;
+ int fp = 470; //adjust if needed
+ int lp = 75; //adjust if needed
+ int tp = 26;
+
+ 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){
+ sheets = 1;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+
+ if (dist<= fp-tp-er && dist>=fp-tp-er){
+ 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){
+ sheets = 16;
+ pc.printf("\nSheets selected:%ld",sheets);
+ }
+ }
+ mot.stop();
+ en = 1;
+ wait(1);
+}
+
+void beam()
+{
+
+ unsigned int path_dist;
+ int err = 5;
+ int sens_pos = 133; //adjust if needed
+ int sheet_th = 26;
+ pathsensor.start();
+ wait_ms(500);
+ path_dist=pathsensor.get_dist_cm();
+ pc.printf("\nmm:%ld",path_dist);
+ path_sheets = 17;
+
+ if (path_dist >= sens_pos-err && path_dist <= sens_pos+err){ //127-139
+ path_sheets = 16;
+
+ }
+ if (path_dist >= sens_pos-err+sheet_th && path_dist <= sens_pos+err+sheet_th){ // 153-165
+ 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){ //465-477
+ path_sheets = 3;
+
+ }
+ if (path_dist >= sens_pos-err+14*sheet_th && path_dist <= sens_pos+err+14*sheet_th){
+ 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("\nAll plates are in the start position");
+ }
+ else if (homeSwitch==1 && path_sheets==0)
+ {
+ pc.printf("\nError-Plates are not fully extended");
+ }
+ else
+ {
+ 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=0;
+ in2=1;
+ }
+ in1=1;
+ in2=1;
+}
+
+void send()
+{
+ in1=1;
+ in2=0;
+ wait(17);
+ in1=1;
+ in2=1;
+}
+void internalpullups()
+{
+ homeSwitch.mode(PullUp);
+ wait (.01);
+}
+
+void send_error_check()
+{
+ if (plates <= 0 || plates >= 17)
+ {
+ pc.printf("\nERROR: Invalid Range |");
+ }
+ else if(homeSwitch == 1)
+ {
+ pc.printf("\nERROR: Not at Home Position |");
+ }
+ else
+ {
+ plate_selection();
+ send();
+ }
+}
+
+int main() {
+
+ while(1){
+ plates = (rand() % 16) + 1;
+ pc.printf("\nSending: ",plates);
+ send_error_check();
+ beam();
+ platedetect();
+ wait(2);
+ retract();
+ }
+
+
+}
\ No newline at end of file