NMLAB / Mbed 2 deprecated XYZ_Joystick_PWM

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Dependencies:   SoftPWM USBDevice mbed

main.cpp@2:31a9ee6d066d, 2015-04-17 (annotated)

Committer:
Dzak
Date:
Fri Apr 17 04:46:12 2015 +0000
Revision:
2:31a9ee6d066d
Parent:
1:2c0e9ef138a4
Child:
3:7a2b052c95a3
Finalized Directional Byte send protocol over Serial. Included working and tested implementation for Tx and description for working implementation of the Rx side on Stage Controller.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Dzak 0:651738eb850c 1 #include "mbed.h"
Dzak 2:31a9ee6d066d 2 //#include "USBSerial.h"
Dzak 0:651738eb850c 3 #include "SoftPWM.h"
Dzak 0:651738eb850c 4
Dzak 0:651738eb850c 5 AnalogIn Y_Axis(P0_13);
Dzak 0:651738eb850c 6 AnalogIn X_Axis(P0_11);
Dzak 1:2c0e9ef138a4 7 AnalogIn Z_Axis(P0_15);
Dzak 0:651738eb850c 8
Dzak 0:651738eb850c 9 SoftPWM X_PWM(P0_9); //P0_9
Dzak 0:651738eb850c 10 SoftPWM Y_PWM(P0_10); //P0_10
Dzak 1:2c0e9ef138a4 11 SoftPWM Z_PWM(P0_4); //P0_4
Dzak 0:651738eb850c 12
Dzak 2:31a9ee6d066d 13 //USBSerial serial;
Dzak 2:31a9ee6d066d 14
Dzak 2:31a9ee6d066d 15 Serial Send_Stage_Controller(P0_19,NC);
Dzak 2:31a9ee6d066d 16 //Serial Receive_Stage_Controller(NC,P0_18); //NULL-MOdem
Dzak 0:651738eb850c 17
Dzak 0:651738eb850c 18 #define MAX_LOGIC 10000 // Full-deflection Max Range
Dzak 0:651738eb850c 19 #define MIN_LOGIC 0 // Full-deflection Min Range
Dzak 0:651738eb850c 20
Dzak 1:2c0e9ef138a4 21 #define SWITCH_LEVELS 5 // # of possible levels
Dzak 0:651738eb850c 22 #define FWD 1
Dzak 0:651738eb850c 23 #define REV 0
Dzak 0:651738eb850c 24
Dzak 0:651738eb850c 25
Dzak 0:651738eb850c 26
Dzak 0:651738eb850c 27 //NOTE: Period MUST be defined 1st, them DC.
Dzak 0:651738eb850c 28
Dzak 1:2c0e9ef138a4 29 float Period_Array [SWITCH_LEVELS] = {0.01, 0.1, 100.0, 0.1, 0.01}; // Period Corresponding to 10, 100, 0, 100, 10 Hz
Dzak 0:651738eb850c 30 uint16_t SpeedThreshold = MAX_LOGIC / SWITCH_LEVELS;
Dzak 0:651738eb850c 31
Dzak 0:651738eb850c 32 uint16_t X_Speed = 4;
Dzak 0:651738eb850c 33 uint16_t Y_Speed = 4;
Dzak 1:2c0e9ef138a4 34 uint16_t Z_Speed = 4;
Dzak 0:651738eb850c 35
Dzak 2:31a9ee6d066d 36 char X_Direction = FWD;
Dzak 2:31a9ee6d066d 37 char Y_Direction = FWD;
Dzak 2:31a9ee6d066d 38 char Z_Direction = FWD;
Dzak 0:651738eb850c 39
Dzak 0:651738eb850c 40 uint16_t tempX_Speed = 1;
Dzak 0:651738eb850c 41 uint16_t tempY_Speed = 1;
Dzak 1:2c0e9ef138a4 42 uint16_t tempZ_Speed = 1;
Dzak 0:651738eb850c 43
Dzak 2:31a9ee6d066d 44 char Direction_Byte = 0x00; //This byte contains all the info about directions. USed for transfer to Stage Controller
Dzak 2:31a9ee6d066d 45
Dzak 2:31a9ee6d066d 46
Dzak 0:651738eb850c 47 main()
Dzak 0:651738eb850c 48 {
Dzak 0:651738eb850c 49 while(1)
Dzak 0:651738eb850c 50 {
Dzak 0:651738eb850c 51 wait_ms(5);
Dzak 0:651738eb850c 52
Dzak 0:651738eb850c 53 X_Speed = (uint16_t) (X_Axis.read() * MAX_LOGIC) / (SpeedThreshold + SpeedThreshold / SWITCH_LEVELS);
Dzak 0:651738eb850c 54
Dzak 0:651738eb850c 55 Y_Speed = (uint16_t) (Y_Axis.read() * MAX_LOGIC) / (SpeedThreshold + SpeedThreshold / SWITCH_LEVELS);
Dzak 0:651738eb850c 56
Dzak 1:2c0e9ef138a4 57 Z_Speed = (uint16_t) (Z_Axis.read() * MAX_LOGIC) / (SpeedThreshold + SpeedThreshold / SWITCH_LEVELS);
Dzak 1:2c0e9ef138a4 58
Dzak 1:2c0e9ef138a4 59 if (X_Speed > 2) {X_Direction = FWD;}
Dzak 1:2c0e9ef138a4 60 if (X_Speed < 2) {X_Direction = REV;}
Dzak 1:2c0e9ef138a4 61 if (Y_Speed > 2) {Y_Direction = FWD;}
Dzak 1:2c0e9ef138a4 62 if (Y_Speed < 2) {Y_Direction = REV;}
Dzak 1:2c0e9ef138a4 63 if (Z_Speed > 2) {Z_Direction = FWD;}
Dzak 1:2c0e9ef138a4 64 if (Z_Speed < 2) {Z_Direction = REV;}
Dzak 0:651738eb850c 65
Dzak 0:651738eb850c 66
Dzak 2:31a9ee6d066d 67
Dzak 2:31a9ee6d066d 68 /*
Dzak 2:31a9ee6d066d 69 Assemble the Direction byte for ransmission over Serial to Stage Controller. X_Dir bit 2 Y_Dir bit 1, and Z_Dir bit 0
Dzak 2:31a9ee6d066d 70 */
Dzak 2:31a9ee6d066d 71
Dzak 2:31a9ee6d066d 72
Dzak 2:31a9ee6d066d 73 Direction_Byte = Direction_Byte >> 3; //Clear 3 previous LSBits
Dzak 2:31a9ee6d066d 74 Direction_Byte = (Direction_Byte | X_Direction) << 1; //Place X_Dir value and shift right: X_Dir is now bit 1
Dzak 2:31a9ee6d066d 75 Direction_Byte = (Direction_Byte | Y_Direction) << 1; //Place X_Dir value and shift right: Y_Dir is now bit 1, X_Dir is now bit 2
Dzak 2:31a9ee6d066d 76 Direction_Byte = (Direction_Byte | Z_Direction); //Place X_Dir value : Z_Dir is now bit 0, Y_Dir is now bit 1, X_Dir is now bit 2
Dzak 2:31a9ee6d066d 77
Dzak 2:31a9ee6d066d 78 Send_Stage_Controller.putc(Direction_Byte);
Dzak 2:31a9ee6d066d 79
Dzak 2:31a9ee6d066d 80
Dzak 2:31a9ee6d066d 81 /*
Dzak 2:31a9ee6d066d 82 //============================================================================
Dzak 2:31a9ee6d066d 83 //At the receiver side the Direction_Byte will will be decoded as follows:
Dzak 2:31a9ee6d066d 84
Dzak 2:31a9ee6d066d 85 char Mask_X = 0x04;
Dzak 2:31a9ee6d066d 86 char Mask_Y = 0x02;
Dzak 2:31a9ee6d066d 87 char Mask_Z = 0x01;
Dzak 2:31a9ee6d066d 88
Dzak 2:31a9ee6d066d 89 char Manual_Direction_Received = Receive_Stage_Controller.getc();
Dzak 2:31a9ee6d066d 90
Dzak 2:31a9ee6d066d 91 char X_Dir_Received = (Manual_Direction_Received & Mask_X) >> 2;
Dzak 2:31a9ee6d066d 92 char Y_Dir_Received = (Manual_Direction_Received & Mask_Y) >> 1;
Dzak 2:31a9ee6d066d 93 char Z_Dir_Received = Manual_Direction_Received & Mask_Z;
Dzak 2:31a9ee6d066d 94 */
Dzak 2:31a9ee6d066d 95
Dzak 2:31a9ee6d066d 96
Dzak 2:31a9ee6d066d 97 /*
Dzak 2:31a9ee6d066d 98 //=======================Only For Testing via NULL-Modem========================
Dzak 2:31a9ee6d066d 99
Dzak 2:31a9ee6d066d 100 wait(1);
Dzak 2:31a9ee6d066d 101 serial.printf("X_Direction : %u\n",X_Dir_Received);
Dzak 2:31a9ee6d066d 102 serial.printf("Y_Direction : %u\n",Y_Dir_Received);
Dzak 2:31a9ee6d066d 103 serial.printf("Z_Direction : %u\n",Z_Dir_Received);
Dzak 2:31a9ee6d066d 104
Dzak 2:31a9ee6d066d 105 */
Dzak 2:31a9ee6d066d 106 //=============================================================================
Dzak 2:31a9ee6d066d 107
Dzak 2:31a9ee6d066d 108
Dzak 2:31a9ee6d066d 109 //serial.printf(" X_Direction : %u", X_Direction);
Dzak 2:31a9ee6d066d 110 //serial.printf(" Y_Direction : %u \n",Y_Direction);
Dzak 2:31a9ee6d066d 111 //serial.printf(" Z_Direction : %u \n",Z_Direction);
Dzak 0:651738eb850c 112
Dzak 0:651738eb850c 113 if(tempX_Speed != X_Speed)
Dzak 0:651738eb850c 114 {
Dzak 0:651738eb850c 115 tempX_Speed = X_Speed;
Dzak 0:651738eb850c 116 X_PWM.period(Period_Array[X_Speed]);
Dzak 0:651738eb850c 117 X_PWM.write(0.5);
Dzak 0:651738eb850c 118
Dzak 2:31a9ee6d066d 119 //serial.printf(" X_Period : %4.4f \n",Period_Array[X_Speed]);
Dzak 0:651738eb850c 120 }
Dzak 0:651738eb850c 121
Dzak 0:651738eb850c 122 if(tempY_Speed != Y_Speed)
Dzak 0:651738eb850c 123 {
Dzak 0:651738eb850c 124 tempY_Speed = Y_Speed;
Dzak 0:651738eb850c 125 Y_PWM.period(Period_Array[Y_Speed]);
Dzak 0:651738eb850c 126 Y_PWM.write(0.5);
Dzak 2:31a9ee6d066d 127 //serial.printf(" Y_Period : %4.4f \n",Period_Array[Y_Speed]);
Dzak 1:2c0e9ef138a4 128 }
Dzak 1:2c0e9ef138a4 129
Dzak 1:2c0e9ef138a4 130 if(tempZ_Speed != Z_Speed)
Dzak 1:2c0e9ef138a4 131 {
Dzak 1:2c0e9ef138a4 132 tempZ_Speed = Z_Speed;
Dzak 1:2c0e9ef138a4 133 Z_PWM.period(Period_Array[Z_Speed]);
Dzak 1:2c0e9ef138a4 134 Z_PWM.write(0.5);
Dzak 2:31a9ee6d066d 135 //serial.printf(" Z_Period : %4.4f \n",Period_Array[Z_Speed]);
Dzak 0:651738eb850c 136 }
Dzak 0:651738eb850c 137 }
Dzak 0:651738eb850c 138 }
Dzak 0:651738eb850c 139
Dzak 0:651738eb850c 140