Lab 6 code.
Dependencies: mbed
Fork of WaG by
main.cpp@56:048b30c9f2a1, 2018-04-06 (annotated)
- Committer:
- spm71
- Date:
- Fri Apr 06 18:25:19 2018 +0000
- Revision:
- 56:048b30c9f2a1
- Parent:
- 55:1a25dd75e309
Final update
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
spm71 | 0:ee6e5c60dd2d | 1 | /****************************************************************************** |
spm71 | 0:ee6e5c60dd2d | 2 | * EECS 397 |
spm71 | 0:ee6e5c60dd2d | 3 | * |
spm71 | 42:6cba679a4ee4 | 4 | * Assignment Name: Lab 6: WaG |
spm71 | 0:ee6e5c60dd2d | 5 | * |
spm71 | 0:ee6e5c60dd2d | 6 | * Authors: Sam Morrison and Phong Nguyen |
phn10 | 16:dfa9eb1a808d | 7 | * File name: main.cpp |
spm71 | 22:09dd6977576b | 8 | * Purpose: Configures the dispaly for 4-digit display or motor control |
spm71 | 0:ee6e5c60dd2d | 9 | * |
spm71 | 18:0e281922212c | 10 | * Created: 03/01/2018 |
spm71 | 56:048b30c9f2a1 | 11 | * Last Modified: 04/06/2018 |
spm71 | 0:ee6e5c60dd2d | 12 | * |
spm71 | 0:ee6e5c60dd2d | 13 | ******************************************************************************/ |
spm71 | 0:ee6e5c60dd2d | 14 | #include "mbed.h" |
phn10 | 8:d8bc78bda829 | 15 | #include "io_pins.h" |
phn10 | 8:d8bc78bda829 | 16 | #include "display.h" |
spm71 | 20:d23bcd97f2c5 | 17 | #include "spi.h" |
spm71 | 20:d23bcd97f2c5 | 18 | #include "stepper.h" |
spm71 | 23:3da1d39c1ae9 | 19 | #include "utility.h" |
spm71 | 38:57af77435ae1 | 20 | #include "analog.h" |
spm71 | 42:6cba679a4ee4 | 21 | #include "laser.h" |
phn10 | 44:4c2ba5bbba67 | 22 | #include "wag.h" |
spm71 | 0:ee6e5c60dd2d | 23 | #include <stdlib.h> |
spm71 | 0:ee6e5c60dd2d | 24 | #include <stdio.h> |
spm71 | 0:ee6e5c60dd2d | 25 | #include <string.h> |
spm71 | 0:ee6e5c60dd2d | 26 | |
spm71 | 18:0e281922212c | 27 | SPI wag_spi(MOSI, MISO, SCLK); |
spm71 | 0:ee6e5c60dd2d | 28 | Serial pc(USBTX, USBRX); |
spm71 | 25:896dbc85907e | 29 | DigitalIn jog_cw(UI_JOG_RIGHT_BUTTON); |
spm71 | 25:896dbc85907e | 30 | DigitalIn jog_ccw(UI_JOG_LEFT_BUTTON); |
spm71 | 23:3da1d39c1ae9 | 31 | DigitalIn my_button(USER_BUTTON); |
spm71 | 25:896dbc85907e | 32 | DigitalIn start_button(UI_START_BUTTON); |
spm71 | 25:896dbc85907e | 33 | DigitalIn cal_button(UI_CAL_BUTTON); |
spm71 | 25:896dbc85907e | 34 | DigitalIn station_select(UI_STATION_SELECT); |
spm71 | 41:9b293b14b845 | 35 | DigitalIn home_sensor(STP_HOME_SENSOR); |
spm71 | 42:6cba679a4ee4 | 36 | DigitalOut laser(LZR_ENABLE); |
phn10 | 31:4fe43fa66ce8 | 37 | AnalogIn mux_out (MUX_OUT); |
phn10 | 26:3006f5abc0a5 | 38 | BusOut mux_select(MUX_S0, MUX_S1, MUX_S2, MUX_S3); |
phn10 | 44:4c2ba5bbba67 | 39 | int station = -1; |
phn10 | 55:1a25dd75e309 | 40 | int cal_status = NOT_CALIBRATED; |
spm71 | 49:80d4ffabec16 | 41 | float sensor_values[TGT_SENSOR_QUAN * 2]; |
spm71 | 52:8987e38851e5 | 42 | int stp_sensor_pos[TGT_SENSOR_QUAN]; |
spm71 | 39:abf211b17e3c | 43 | |
spm71 | 20:d23bcd97f2c5 | 44 | struct spi_cfg as1107{ |
spm71 | 39:abf211b17e3c | 45 | SPI_AS1107_ID, |
spm71 | 39:abf211b17e3c | 46 | DSP_AS1107_NCS, |
spm71 | 39:abf211b17e3c | 47 | SPI_NO_ID, |
spm71 | 39:abf211b17e3c | 48 | AS1107_SPI_FREQ, |
spm71 | 39:abf211b17e3c | 49 | AS1107_SPI_NO_BITS, |
spm71 | 20:d23bcd97f2c5 | 50 | }; |
spm71 | 20:d23bcd97f2c5 | 51 | |
spm71 | 22:09dd6977576b | 52 | |
spm71 | 0:ee6e5c60dd2d | 53 | int main(void) { |
spm71 | 20:d23bcd97f2c5 | 54 | initial_setup(as1107); |
spm71 | 20:d23bcd97f2c5 | 55 | |
spm71 | 25:896dbc85907e | 56 | //set all digits to zero |
spm71 | 32:0dc2b4a3eee6 | 57 | spi_send(as1107, 0x0100); |
spm71 | 32:0dc2b4a3eee6 | 58 | spi_send(as1107, 0x0200); |
spm71 | 32:0dc2b4a3eee6 | 59 | spi_send(as1107, 0x0300); |
spm71 | 32:0dc2b4a3eee6 | 60 | spi_send(as1107, 0x0400); |
spm71 | 25:896dbc85907e | 61 | |
spm71 | 56:048b30c9f2a1 | 62 | |
spm71 | 39:abf211b17e3c | 63 | pc.printf("Press user button to test.\n"); |
phn10 | 40:4e82369f337c | 64 | |
spm71 | 46:85c4b722baa7 | 65 | test_target_leds(); |
spm71 | 46:85c4b722baa7 | 66 | pc.printf("LED's tested\n"); |
phn10 | 40:4e82369f337c | 67 | |
spm71 | 46:85c4b722baa7 | 68 | test_phototransistors(); |
spm71 | 46:85c4b722baa7 | 69 | pc.printf("Phototransistors tested\n"); |
spm71 | 56:048b30c9f2a1 | 70 | |
spm71 | 41:9b293b14b845 | 71 | step_test(); |
spm71 | 53:389fe53b2642 | 72 | pc.printf("Step motor tested\n"); |
spm71 | 56:048b30c9f2a1 | 73 | |
spm71 | 46:85c4b722baa7 | 74 | pc.printf("laser test\n"); |
spm71 | 46:85c4b722baa7 | 75 | while (my_button.read() == 0); |
spm71 | 46:85c4b722baa7 | 76 | pc.printf("test begin\n"); |
spm71 | 43:3b7f326aa096 | 77 | lzr_init(); |
spm71 | 49:80d4ffabec16 | 78 | wait(0.5); |
spm71 | 46:85c4b722baa7 | 79 | while (my_button.read() == 0) { |
spm71 | 46:85c4b722baa7 | 80 | lzr_on(); |
spm71 | 46:85c4b722baa7 | 81 | wait(0.5); |
spm71 | 46:85c4b722baa7 | 82 | lzr_off(); |
spm71 | 46:85c4b722baa7 | 83 | wait(0.5); |
spm71 | 46:85c4b722baa7 | 84 | } |
spm71 | 46:85c4b722baa7 | 85 | lzr_init(); |
spm71 | 49:80d4ffabec16 | 86 | pc.printf("Laser tested.\n"); |
spm71 | 49:80d4ffabec16 | 87 | |
phn10 | 44:4c2ba5bbba67 | 88 | // determine if the wag is connected to station A or station B |
phn10 | 44:4c2ba5bbba67 | 89 | station = station_select.read(); |
spm71 | 53:389fe53b2642 | 90 | pc.printf("station in main: %d\n", station); |
spm71 | 56:048b30c9f2a1 | 91 | |
spm71 | 52:8987e38851e5 | 92 | /** Part 9: calibration test **/ |
spm71 | 52:8987e38851e5 | 93 | pc.printf("Part 9: calibration test begin.\n"); |
phn10 | 55:1a25dd75e309 | 94 | stp_calibrate(station, sensor_values, &cal_status); |
spm71 | 52:8987e38851e5 | 95 | pc.printf("Part 9: calibration test done.\n"); |
spm71 | 52:8987e38851e5 | 96 | |
spm71 | 54:d5a95bc8ffb0 | 97 | |
phn10 | 55:1a25dd75e309 | 98 | //stp_sensor_pos[0] = 27; |
spm71 | 54:d5a95bc8ffb0 | 99 | //stp_sensor_pos[1] = 50; |
spm71 | 54:d5a95bc8ffb0 | 100 | //stp_sensor_pos[2] = 72; |
spm71 | 54:d5a95bc8ffb0 | 101 | //stp_sensor_pos[3] = 98; |
spm71 | 54:d5a95bc8ffb0 | 102 | //stp_sensor_pos[4] = 122; |
spm71 | 54:d5a95bc8ffb0 | 103 | //stp_sensor_pos[5] = 146; |
spm71 | 54:d5a95bc8ffb0 | 104 | //stp_sensor_pos[6] = 173; |
spm71 | 54:d5a95bc8ffb0 | 105 | //stp_sensor_pos[7] = 197; |
phn10 | 55:1a25dd75e309 | 106 | |
spm71 | 54:d5a95bc8ffb0 | 107 | // turn on laser |
spm71 | 54:d5a95bc8ffb0 | 108 | lzr_on(); |
spm71 | 54:d5a95bc8ffb0 | 109 | |
spm71 | 52:8987e38851e5 | 110 | /** Part 10: repeatibility test **/ |
spm71 | 52:8987e38851e5 | 111 | pc.printf("Part 10: press user button to begin the test.\n"); |
spm71 | 52:8987e38851e5 | 112 | while (uti_chk_ubutton() == 0); |
spm71 | 52:8987e38851e5 | 113 | while (uti_chk_ubutton() == 0) { |
spm71 | 56:048b30c9f2a1 | 114 | int sensor_no = 8; |
spm71 | 56:048b30c9f2a1 | 115 | if (station == STATION_B) sensor_no = 0; |
spm71 | 52:8987e38851e5 | 116 | |
spm71 | 52:8987e38851e5 | 117 | // move to the left most sensor |
phn10 | 55:1a25dd75e309 | 118 | repeatability_test(0, cal_status); |
spm71 | 54:d5a95bc8ffb0 | 119 | |
spm71 | 52:8987e38851e5 | 120 | // read sensor value |
spm71 | 52:8987e38851e5 | 121 | ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); |
spm71 | 54:d5a95bc8ffb0 | 122 | |
spm71 | 52:8987e38851e5 | 123 | // print value |
spm71 | 54:d5a95bc8ffb0 | 124 | pc.printf("Sensor %d: %f\n", sensor_no, sensor_values[sensor_no] * 3.3f); |
spm71 | 52:8987e38851e5 | 125 | |
spm71 | 52:8987e38851e5 | 126 | // move to the right most sensor |
phn10 | 55:1a25dd75e309 | 127 | repeatability_test(TGT_SENSOR_QUAN - 1, cal_status); |
spm71 | 54:d5a95bc8ffb0 | 128 | |
spm71 | 52:8987e38851e5 | 129 | // read sensor value |
spm71 | 52:8987e38851e5 | 130 | ana_scan_mux(sensor_values, TGT_SENSOR_QUAN * 2); |
spm71 | 54:d5a95bc8ffb0 | 131 | |
spm71 | 52:8987e38851e5 | 132 | // print value |
phn10 | 55:1a25dd75e309 | 133 | pc.printf("Sensor %d: %f\n", sensor_no + TGT_SENSOR_QUAN - 1, sensor_values[sensor_no + TGT_SENSOR_QUAN - 1] * 3.3f); |
spm71 | 52:8987e38851e5 | 134 | } |
spm71 | 52:8987e38851e5 | 135 | pc.printf("Part 10: repeatibility test done.\n"); |
spm71 | 39:abf211b17e3c | 136 | } |