for cycle testing

Dependencies:   HCSR04 PinDetect Stepper

Files at this revision

API Documentation at this revision

Comitter:
rschimpf78
Date:
Sat Oct 13 02:26:02 2018 +0000
Commit message:
no change;

Changed in this revision

.gitignore Show annotated file Show diff for this revision Revisions of this file
HCSR04.lib Show annotated file Show diff for this revision Revisions of this file
PinDetect.lib Show annotated file Show diff for this revision Revisions of this file
README.md Show annotated file Show diff for this revision Revisions of this file
Stepper.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed-os.lib Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 5848e605bae5 .gitignore
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.gitignore	Sat Oct 13 02:26:02 2018 +0000
@@ -0,0 +1,4 @@
+.build
+.mbed
+projectfiles
+*.py*
diff -r 000000000000 -r 5848e605bae5 HCSR04.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04.lib	Sat Oct 13 02:26:02 2018 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/prabhuvd/code/HCSR04/#71da0dbf4400
diff -r 000000000000 -r 5848e605bae5 PinDetect.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PinDetect.lib	Sat Oct 13 02:26:02 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AjK/code/PinDetect/#cb3afc45028b
diff -r 000000000000 -r 5848e605bae5 README.md
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/README.md	Sat Oct 13 02:26:02 2018 +0000
@@ -0,0 +1,57 @@
+# Getting started with Blinky on mbed OS
+
+This guide reviews the steps required to get Blinky working on an mbed OS platform.
+
+Please install [mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli).
+
+## Import the example application
+
+From the command-line, import the example:
+
+```
+mbed import mbed-os-example-blinky
+cd mbed-os-example-blinky
+```
+
+### Now compile
+
+Invoke `mbed compile`, and specify the name of your platform and your favorite toolchain (`GCC_ARM`, `ARM`, `IAR`). For example, for the ARM Compiler 5:
+
+```
+mbed compile -m K64F -t ARM
+```
+
+Your PC may take a few minutes to compile your code. At the end, you see the following result:
+
+```
+[snip]
++----------------------------+-------+-------+------+
+| Module                     | .text | .data | .bss |
++----------------------------+-------+-------+------+
+| Misc                       | 13939 |    24 | 1372 |
+| core/hal                   | 16993 |    96 |  296 |
+| core/rtos                  |  7384 |    92 | 4204 |
+| features/FEATURE_IPV4      |    80 |     0 |  176 |
+| frameworks/greentea-client |  1830 |    60 |   44 |
+| frameworks/utest           |  2392 |   512 |  292 |
+| Subtotals                  | 42618 |   784 | 6384 |
++----------------------------+-------+-------+------+
+Allocated Heap: unknown
+Allocated Stack: unknown
+Total Static RAM memory (data + bss): 7168 bytes
+Total RAM memory (data + bss + heap + stack): 7168 bytes
+Total Flash memory (text + data + misc): 43402 bytes
+Image: .\.build\K64F\ARM\mbed-os-example-blinky.bin
+```
+
+### Program your board
+
+1. Connect your mbed device to the computer over USB.
+1. Copy the binary file to the mbed device.
+1. Press the reset button to start the program.
+
+The LED on your platform turns on and off.
+
+## Troubleshooting
+
+If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it.
diff -r 000000000000 -r 5848e605bae5 Stepper.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper.lib	Sat Oct 13 02:26:02 2018 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/mederic/code/Stepper/#a456aa3935ca
diff -r 000000000000 -r 5848e605bae5 main.cpp
--- /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
diff -r 000000000000 -r 5848e605bae5 mbed-os.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Sat Oct 13 02:26:02 2018 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#c53d51fe9220728bf8ed27afe7afc1ecc3f6f5d7