File content as of revision 24:92f612ca218b:

// LIBs ------------------------------------------------------------------------------------
#include "mbed.h"
#include "string"
#include "classes.h"

// MACHINE SETUP ---------------------------------------------------------------------------
Timer t;
IHM ihm_class;

// drivers output signal
DigitalOut enable(D2);

DigitalOut dirX(D3);
DigitalOut stepX(D4);

DigitalOut dirY(D5);
DigitalOut stepY(D6);

DigitalOut dirZ(D7);
DigitalOut stepZ(D8);

// hardware input signal
// end-of-stroke sensors
InterruptIn endX(A2);
InterruptIn endY(A3);
InterruptIn endZ(A4);

// JOG Controls
AnalogIn joyX(A0);
AnalogIn joyY(A1);

DigitalIn zUp(D15);
DigitalIn zDwn(D14);

// variables definition
int modeStatus = 1;

float valX;
float valY;
int valZUp;
int valZDwn;

int activeX = 1;
int activeY = 1;
int activeZ = 1;

int x_dir;
int y_dir;
int z_dir;

int x_plus = 0;
int x_minus = 1;
int y_plus = 0;
int y_minus = 1;
int z_plus = 0;
int z_minus = 1;

int x_limit = 0;
int x_block_max = 0;
int x_block_min = 0;

int y_limit = 0;
int y_block_max = 0;
int y_block_min = 0;

int z_limit = 0;
int z_block_max = 0;
int z_block_min = 0;

float ppsMax = 1000.0;

int totalX = 0;
int totalY = 0;
int totalZ = 0;

int x_steps_to_run;
int y_steps_to_run;
int z_steps_to_run;

float x_distance_to_run;
float y_distance_to_run;
float z_distance_to_run;

float X = 0;
float Y = 0;
float Z = 0;

int endX1Status;
int endX2Status;

// machine parameters
float xPitch = 3.0;
float yPitch = 3.0;
float zPitch = 3.0;

float motor_steps_by_rotation = 200.0;
float step_mode = 0.5;
float steps_by_rotation = motor_steps_by_rotation/step_mode;

int saved = 0;
const int maxPoints = 10;
float points[3][maxPoints]; // [0] X; [1] Y; [2] Z;
float path[2][maxPoints]; // [0] speed; [1] mode;
int resting_points = 0;

int startSaved = 0;
int autoReload = 0;
int exitSavedPointsLoop = 0;
int keepSavedPointsReload = 0;

int kill_jog;

// PROTOTYPE FUNCTIONS -------------------------------------------------------------------------------
void jog(void);
void killJog(void);

void automatic_run(int);

void move(int pps, int x_dir, int y_dir, int z_dir, int x_step, int y_step, int z_step);

float steps_to_distance(int steps, float pitch);
int distance_to_steps(float distance, float pitch);

void endX_press(void);
void endX_release(void);

void endY_press(void);
void endY_release(void);

void endZ_press(void);
void endZ_release(void);

void zeroX(int pps);
void zeroY(int pps);

void savePoint(void);
void startSavedPoints(void);

void printDistance(void);

void readSerial(void);

// MAIN PROGRAM ----------------------------------------------------------------------------------------------
int main(){
    printf("\nStarting...\r\n");
    
    enable = 0;
    t.start();
    
    //  interrupções de fim de curso
    /*
    endX.fall(&endX_press);
    endX.rise(&endX_release);
    
    endY.fall(&endY_press);
    endY.rise(&endY_release);
    
    endZ.fall(&endZ_press);
    endZ.rise(&endZ_release);*/
    
    while(1){
        if(ihm.readable()){
            readSerial();    
        }    
    }
}  

// FUNCTIONS ----------------------------------------------------------------

void endX_press(void){
    printf("X - press\n\r");
    if(dirX == x_plus){
        x_block_max = 1;
    }
    else {
        x_block_min = 1;
    }
}
void endX_release(void){
    printf("X - release\n\r");
    x_block_min = 0;
    x_block_max = 0;
}

void endY_press(void){
    printf("Y - press\n\r");  
    if(dirY == y_plus){
        y_block_max = 1;
    }
    else {
        y_block_min = 1;
    } 
}
void endY_release(void){
    printf("Y - release\n\r");
    y_block_min = 0;   
    y_block_max = 0;
}

void endZ_press(void){
    printf("Z - press\n\r");
    if(dirZ == z_plus){
        z_block_max = 1;
    }
    else {
        z_block_min = 1;
    }
}
void endZ_release(void){
    printf("Z - release\n\r");
    z_block_min = 0;
    z_block_max = 0;
}

void move(int pps, int x_dir, int y_dir, int z_dir, int x_step, int y_step, int z_step){
    float time = 1.0/pps/2.0;
    
    dirX = x_dir;
    dirY = y_dir;
    dirZ = z_dir;
    
    // X
    if((x_dir == x_plus) && x_block_max){
        x_step = 0;    
    }
    if((x_dir == x_minus) && x_block_min){
        x_step = 0;    
    }
    
    // Y
    if((y_dir == y_plus) && y_block_max){
        y_step = 0;    
    }
    if((y_dir == y_minus) && y_block_min){
        y_step = 0;    
    }
    
    // Z
    if((z_dir == z_plus) && z_block_max){
        z_step = 0;    
    }
    if((z_dir == z_minus) && z_block_min){
        z_step = 0;    
    }
    
    int max_val;
    
    // maior número de passos -------
    if(x_step > y_step){
        if(x_step > z_step){
            max_val = x_step;
        }
        else {
            max_val = z_step;
        }
    } else if(y_step > z_step){
        max_val = y_step;
    }
    else {
        max_val = z_step;    
    }
    
    for(int i = 0; i < max_val; i++){
        if(i >= x_step){
            stepX = 0;
        }
        else { stepX = 1; }
        
        if(i >= y_step){
            stepY = 0;
        }
        else {
            stepY = 1;}
        
        if(i >= z_step){
            stepZ = 0;
        }
        else { stepZ = 1; }
        
        wait(time);
        stepX = 0;
        stepY = 0;
        stepZ = 0;
        wait(time); 
    }

    if(dirX == x_minus){
        totalX-=x_step;
    }
    else { totalX+=x_step; }
    
    if(dirY == y_minus){
        totalY-=y_step;
    } else { totalY+=y_step; }
    
    if(dirZ == z_minus){
        totalZ-=z_step;
    } else { totalZ+=z_step; }
}

void zeroX(int pps){
    float time = 1.0/pps/2.0;
    
    if(dirX != x_minus){
        dirX = x_minus;    
    }
    
    while(!x_block_min){
        stepX = 1;
        wait(time);
        stepX = 0;
        wait(time);  
    }
    
    printf("X zero\n\r");
    
    totalX = 0;
}
void zeroY(int pps){
    float time = 1.0/pps/2.0;
    
    if(dirY != y_minus){
        dirY = y_minus;    
    }
    
    while(!y_block_min){
        stepY = 1;
        wait(time);
        stepY = 0;
        wait(time);  
    }
    
    printf("Y zero\n\r");
    
    totalY = 0;
}

float steps_to_distance(int steps, float pitch){
    float delta_S = (((float)steps)/steps_by_rotation)*pitch;
    return delta_S;
}

int distance_to_steps(float distance, float pitch){
    int steps = (int)(distance*steps_by_rotation/pitch);
    return steps;
}

void printDistance(void){
    X = steps_to_distance(totalX, xPitch);
    Y = steps_to_distance(totalY, yPitch);
    Z = steps_to_distance(totalZ, zPitch);
    printf("X: %.2f     Y: %.2f     Z: %.2f\r\n", X, Y, Z);
}

void savePoint(string speed, string mode){
    if(!autoReload){
        keepSavedPointsReload = 0;
        exitSavedPointsLoop = 0;
        printf("\nSave selected\n\r");
        if(saved >= maxPoints){
            printf("Max points reached\n\r");
        } else{
            X = steps_to_distance(totalX, xPitch);
            Y = steps_to_distance(totalY, yPitch);
            Z = steps_to_distance(totalZ, zPitch);
            
            points[0][saved] = X;
            points[1][saved] = Y;
            points[2][saved] = Z;
            path[0][saved] = atof(speed.c_str());
            path[1][saved] = atof(mode.c_str());
            saved+=1;
        }
        // save code
        printf("Saved --> X: %.2f     Y: %.2f     Z: %.2f\r\n", X, Y, Z);
        printf("Path --> Speed: %.2f      Mode: %.2f\n\r", path[0][saved-1], path[1][saved-1]);
        resting_points = maxPoints-saved;
        printf("Pontos restantes: %d\n\r", resting_points);
    }  
    else { 
        exitSavedPointsLoop = 1;
        keepSavedPointsReload = 0;
    }   
}

void jog(void){
    kill_jog = 0;
    printf("JOG Selected %d\n\r", kill_jog);
    
    t.reset();
    
    while(1){  
        if(ihm.readable()){
            readSerial();    
        }      
        valX = joyX;
        valY = joyY;
        
        valZUp = zUp;
        valZDwn = zDwn;
        
        if(valX > 0.7){
            if(x_dir != x_plus){
                x_dir = x_plus;
            }
            activeX = 1;     
        }
        else if(valX < 0.3){
            if(x_dir != x_minus){
                x_dir = x_minus;   
            }
            activeX = 1;  
        }
        else{
            activeX = 0;
        }
        
        //----------------------------------------------------------------------
        
        if(valY > 0.7){
            if(y_dir != y_plus){
                y_dir = y_plus;   
            }
            activeY = 1;  
        }
        else if(valY < 0.3){
            if(y_dir != y_minus){
                y_dir = y_minus;    
            }
            activeY = 1;  
        }
        else{
            activeY = 0;
        }
        
        //----------------------------------------------------------------------   
        
        if(!valZUp && valZDwn){
            if(z_dir != z_minus){
                z_dir = z_minus;    
            }
            activeZ = 1;   
        }
        else if(!valZDwn && valZUp){
            if(z_dir != z_plus){
                z_dir = z_plus;   
            }
            activeZ = 1;   
        }
        else {
            activeZ = 0;    
        }
        
        //----------------------------------------------------------------------

        move(ppsMax, x_dir, y_dir, z_dir, activeX, activeY, activeZ);  
        X = steps_to_distance(totalX, xPitch);
        Y = steps_to_distance(totalY, yPitch);
        Z = steps_to_distance(totalZ, zPitch);
        
        if(t.read() > sendTime){
            printf("X: %.2f     Y: %.2f     Z: %.2f\r\n", X, Y, Z);
            X = steps_to_distance(totalX, xPitch);
            Y = steps_to_distance(totalY, yPitch);
            Z = steps_to_distance(totalZ, zPitch);
            ihm_class.send_position(X, Y, Z);
            t.reset();
        }
        
        if(kill_jog){
            break;
        }
    }
}
            
void automatic_run(int total_points){
    printf("\nStarting automatic routine\n\r");
    
    // home
    x_distance_to_run = points[0][0] - points[0][total_points-1];
    y_distance_to_run = points[1][0] - points[1][total_points-1];
    z_distance_to_run = points[2][0] - points[2][total_points-1]; 
    
    printf("\nGoing to first point\n\r");
    
    if(x_distance_to_run < 0){
            x_dir = x_minus;
            x_distance_to_run = -1.0*x_distance_to_run;
        } else { x_dir = x_plus; }
        
        if(y_distance_to_run < 0){
            y_dir = y_minus;
            y_distance_to_run = -1.0*y_distance_to_run;
        } else { y_dir = y_plus; }
        
        if(z_distance_to_run < 0){
            z_dir = z_minus;
            z_distance_to_run = -1.0*z_distance_to_run;
        } else { z_dir = z_plus; }
        
    x_steps_to_run = distance_to_steps(x_distance_to_run, xPitch); 
    y_steps_to_run = distance_to_steps(y_distance_to_run, yPitch); 
    z_steps_to_run = distance_to_steps(z_distance_to_run, zPitch);
    
    printf("deltaX: %.2f        deltaY: %.2f            deltaZ: %.2f\n\r", x_distance_to_run, y_distance_to_run, z_distance_to_run);
    
    move(ppsMax, x_dir, y_dir, z_dir, x_steps_to_run, 0, 0);
    move(ppsMax, x_dir, y_dir, z_dir, 0, y_steps_to_run, 0);
    move(ppsMax, x_dir, y_dir, z_dir, 0, 0, z_steps_to_run);
    
    wait(2);
    
    printf("\nSaved points\n\r");
    
    // routine
    
    for(int i = 1; i < total_points; i++){
        x_distance_to_run = points[0][i]-points[0][i-1];
        y_distance_to_run = points[1][i]-points[1][i-1];
        z_distance_to_run = points[2][i]-points[2][i-1];
        
        printf("deltaX: %.2f        deltaY: %.2f            deltaZ: %.2f\n\r", x_distance_to_run, y_distance_to_run, z_distance_to_run);
        
        if(x_distance_to_run < 0){
            x_dir = x_minus;
            x_distance_to_run = -1.0*x_distance_to_run;
        } else { x_dir = x_plus; }
        
        if(y_distance_to_run < 0){
            y_dir = y_minus;
            y_distance_to_run = -1.0*y_distance_to_run;
        } else { y_dir = y_plus; }
        
        if(z_distance_to_run < 0){
            z_dir = z_minus;
            z_distance_to_run = -1.0*z_distance_to_run;
        } else { z_dir = z_plus; }
        
        x_steps_to_run = distance_to_steps(x_distance_to_run, xPitch); 
        y_steps_to_run = distance_to_steps(y_distance_to_run, yPitch); 
        z_steps_to_run = distance_to_steps(z_distance_to_run, zPitch);
        
        move(ppsMax, x_dir, y_dir, z_dir, x_steps_to_run, 0, 0);
        move(ppsMax, x_dir, y_dir, z_dir, 0, y_steps_to_run, 0);
        move(ppsMax, x_dir, y_dir, z_dir, 0, 0, z_steps_to_run);
    }
    killJog();
    printf("Done\n\r");
}

void killJog(void){
    saved = 0;
    kill_jog = 1; 
    printf("Jog killed\n\r"); 
}

void readSerial(void){
    char recv;
    
    //save
    int save = 0;
    int mode = 0;
    int speed = 0;
    string mode_recv;
    string speed_str;
    
    //begin
    int begin = 0;
    
    //jog
    int jog_mode = 0;
    int kill_jog_mode = 0;
    
    printf("\n\nReceiving...\n\r");
    
    t.reset();
    
    while(1){
        if(t.read()>0.2){
            printf("Timeout\n\r");
            break;
        }
        
        recv = ihm.getc();
        
        printf("%c\n\r", recv);
        
        if(recv == 'x'){
            if(save){
                savePoint(speed_str, mode_recv);
            } else if(begin){
                automatic_run(saved);    
            } else if(jog_mode){
                if(kill_jog_mode){
                    killJog();
                } else {
                    jog();    
                }
            }        
            break;
        }
        
        if(recv == 's'){
            save = 1;
        }
        
        if(recv == 'b'){
            begin = 1;    
        }
        
        if(recv == 'j'){
            jog_mode = 1;    
        } 
        
        if(save){
            if(recv == 'M'){
                mode = 1;
                speed = 0;
            } else if(recv == 'F'){
                mode = 0;
                speed = 1;
            } 
            
            if(mode){
                if(recv != 'M'){
                    mode_recv.push_back(recv);
                }  
            } else if(speed){
                if(recv != 'F'){
                    speed_str.push_back(recv);
                }
            }
        }
        
        if(jog_mode && recv == 'k'){
            kill_jog_mode = 1;    
        }
    }
    t.reset();
}