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Dependencies:   mbed

Fork of Lab_6_WaG by GroupA

main.cpp@66:70efa618c378, 2018-04-19 (annotated)

Committer:
spm71
Date:
Thu Apr 19 15:26:19 2018 +0000
Revision:
66:70efa618c378
Parent:
65:b8f3339b9268
Child:
67:6dffd5c82eb6
Bug hunting

Who changed what in which revision?

UserRevisionLine numberNew 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 32:4fe43fa66ce8 37 AnalogIn mux_out (MUX_OUT);
phn10 27:3006f5abc0a5 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 31:0dc2b4a3eee6 57 spi_send(as1107, 0x0100);
spm71 31:0dc2b4a3eee6 58 spi_send(as1107, 0x0200);
spm71 31:0dc2b4a3eee6 59 spi_send(as1107, 0x0300);
spm71 31:0dc2b4a3eee6 60 spi_send(as1107, 0x0400);
spm71 25:896dbc85907e 61
spm71 56:048b30c9f2a1 62
spm71 58:69f9a4607a16 63 pc.printf("Press user button to calibrate.\n");
phn10 40:4e82369f337c 64
phn10 44:4c2ba5bbba67 65 // determine if the wag is connected to station A or station B
phn10 44:4c2ba5bbba67 66 station = station_select.read();
spm71 53:389fe53b2642 67 pc.printf("station in main: %d\n", station);
spm71 56:048b30c9f2a1 68
spm71 58:69f9a4607a16 69 //calibration test
phn10 55:1a25dd75e309 70 stp_calibrate(station, sensor_values, &cal_status);
spm71 52:8987e38851e5 71
spm71 58:69f9a4607a16 72 if (cal_status == NOT_CALIBRATED) {
spm71 58:69f9a4607a16 73 pc.printf("Critical error: station not calibrated.");
spm71 58:69f9a4607a16 74 while(1);
spm71 58:69f9a4607a16 75 }
spm71 54:d5a95bc8ffb0 76
spm71 58:69f9a4607a16 77 if (station == STATION_A) {
spm71 66:70efa618c378 78 gnoll(8, sensor_values);
phn10 64:72f7f5757f0d 79 whack(0, sensor_values);
spm71 52:8987e38851e5 80 }
spm71 58:69f9a4607a16 81 else if (station == STATION_B) {
phn10 64:72f7f5757f0d 82 whack(8, sensor_values);
spm71 66:70efa618c378 83 gnoll(0, sensor_values);
spm71 58:69f9a4607a16 84 }
spm71 58:69f9a4607a16 85 else {
phn10 64:72f7f5757f0d 86 pc.printf("Critical error: no station detected.");
spm71 58:69f9a4607a16 87 }
spm71 39:abf211b17e3c 88 }