SunTracker_BLE
Dependencies: BLE_API X_NUCLEO_6180XA1 X_NUCLEO_IDB0XA1 X_NUCLEO_IHM01A1 X_NUCLEO_IKS01A1 mbed
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Overview
The SunTracker is a demo application running on ST Nucleo-F401RE stacking a set of ST X-NUCLEO expansion boards.
Main features provided are:
- A solar panel follows the light source, orienting the panel in order to achieve the best panel efficiency.
- Orientation is controlled thanks to a couple of VL6180X FlightSense light sensors mounted on a X-NUCLEO-6180XA1 expansion board and driven by X-NUCLEO-IHM01A1 controlled stepper motor acting as actuator to orientate the panel.
- The system features a progressive control on the stepper motor in order to modulate the panel rotation speed according to the light angle.
- The application is also able to control the panel productivity reading the panel voltage through an ADC and proving feedback on the local display.
- A manual orientation is possible by using the accelerometer on a X-NUCLEO-IKS01A1 expansion board that, according on board tilt, controls the speed and the rotate direction.
- A remote control is available using a X-NUCLEO-IDB04A1 or a X-NUCLEO-IDB05A1 Bluetooth Low Energy expansion board. Remote control software is here.
Working Status
- SunTracker has 3 working status visible on FlightSense display and switchable by pressing the User Button:
Status 0 (Idle)
- Motor: Free Turning
- Display: Waiting for User Button
Status 1
- Motor: Driven by Light
- Display: Direction and Light Intensity = Direction and Motor Speed
Status 2
- Motor: Driven by Light
- Display: Solar Panel Efficiency
Status 3
- Motor: Driven by Accelerometer
- Display: Direction and Accelerometer Intensity
Server Startup
- When you plug the power supply, the word ‘PUSH’ is shown on display.
- You can manually rotate the structure to assign the ‘Zero Point’. Then press the User Button to launch the application.
- The display will show this status, which means that the structureis oriented to maximize the efficiency of the solar panel.
- If there is a light displacement, the structure will rotate, left or right,to follow the light source and on display is shown the direction and the speed.
- You can press the User Button to show the panel efficiencywith 4 digits that represent the range from 0v (0000) to 3,3v (3300).
- Further pressing the User Button you will manual rotate the panel by tilt the Server or Client accelerometer depending by BLE connection.
Client Startup
- The Client application can remotely control the User Button and the Accelerometer functions.
- Power on the Client AFTER the Server, it will automatically search for the SunTracker and will establish a BLE connection.
- The Green Led on Nucleo Client board will be powered on.
Rotation Features
- It has been implemented a block of rotation to avoid cables twist.
- The blocking point can be set in the firmware by changing a constant.
- You can manually rotate the structure to assign the ‘Zero Point’ before press the User Button to launch the application.
- The system features a progressive control on the stepper motor in order to modulate the rotation speed according to the light or accelerometer angle.
List of Components
SERVER SunTracker_BLE
- Nucleo-F401RE platform using a STM32F401RET6 microcontroller.
- X-NUCLEO-IHM01A1 - Stepper motor driver board based on the EasySPIN L6474.
- X-NUCLEO-6180XA1 - 3-in-1 proximity and ambient light sensor board based on ST FlightSense technology.
- VL6180X-SATEL - Satellite boards compatible with X-NUCLEO-6180XA1 board.
- X-NUCLEO-IKS01A1 - Motion MEMS and environmental sensor board.
- X-NUCLEO-IDB04A1 or X-NUCLEO-IDB05A1 - Bluetooth Low Energy Bluetooth low energy evaluation board.
- Stepper Motor 400’’ (Part Number 5350401) - To orientate the Mechanical Structure.
- Solar Panel 0.446w (Part Number 0194127) - To capture sunlight and generate electrical current.
- Power Supply 12v (Part Number 7262993) - To provide power supply at the Stepper Motor.
- Flat Cable 6 ways (Part Number 1807010) - To plug VL6180X-SATEL with X-NUCLEO-6180XA1 (60cm length each x2).
- Cable Connector (Part Number 6737694) - To plug the Flat Cable (x4).
- Power Connector (Part Number 0487842) - To provide Power Supply to X-NUCLEO-IHM01A1.
CLIENT SunTracker_BLE_Remote
- Nucleo-F401RE platform using a STM32F401RET6 microcontroller.
- X-NUCLEO-IKS01A1 - Motion MEMS and environmental sensor board.
- X-NUCLEO-IDB04A1 or X-NUCLEO-IDB05A1- Bluetooth Low Energy Bluetooth low energy evaluation board.
MECHANICAL STRUCTURE
Find here the STL files to print with a 3D printer.
FLAT CABLE ASSEMBLY
HARDWARE SETUP
Nucleo ADC + Solar Panel
Connect Solar Panel cables to Nucleo Morpho PC_3 (white) and Nucleo Morpho GND (black). Connect a capacitor 10uF between PC_3 and GND to stabilize its voltage value shown on display.
EasySpin (L6474) + BLE
Hardware conflict between EasySpin DIR1 and BLE Reset, both on same Arduino Pin PA_8. Disconnect PA_8 between EasySpin and Nucleo by fold EasySpin Pin. PB_2 has been configured as EasySpin DIR1 in the firmware .Connect Nucleo Morpho PB_2 to FlightSense Arduino PA_8 by a wire.
FlightSense Satellites
In case of instability with I2C due to long flat cables, solder 4 SMD capacitors 47pF on FlightSense board in parallel between R15, R16, R17, R18 and plug 2 capacitors 15pF between FlightSense Arduino PB_8 and PB_9 to GND pin to cut-off noises over 720 KHz.
Arduino & Morpho Pinout
main.cpp@4:1d3d071a4c2c, 2016-01-26 (annotated)
- Committer:
- fabiombed
- Date:
- Tue Jan 26 13:29:53 2016 +0000
- Revision:
- 4:1d3d071a4c2c
- Parent:
- 2:013921c26f43
- Child:
- 5:76fb6b783487
fixed compile error and all libraries updated at last release
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
fabiombed | 0:becf0d313663 | 1 | /** |
fabiombed | 0:becf0d313663 | 2 | ****************************************************************************** |
fabiombed | 0:becf0d313663 | 3 | * @file main.cpp |
fabiombed | 1:8f312c1686b6 | 4 | * @author Fabio Brembilla |
fabiombed | 4:1d3d071a4c2c | 5 | * @version V2.0.0 |
fabiombed | 4:1d3d071a4c2c | 6 | * @date January 22th, 2016 |
fabiombed | 1:8f312c1686b6 | 7 | * @brief SunTracker + RemoteControl Vertical Application |
fabiombed | 1:8f312c1686b6 | 8 | * This application use IHM01A1, 6180XA1, IKS01A1, IDB0XA1 expansion boards |
fabiombed | 0:becf0d313663 | 9 | ****************************************************************************** |
fabiombed | 0:becf0d313663 | 10 | * @attention |
fabiombed | 4:1d3d071a4c2c | 11 | * |
fabiombed | 4:1d3d071a4c2c | 12 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
fabiombed | 0:becf0d313663 | 13 | * |
fabiombed | 0:becf0d313663 | 14 | * Redistribution and use in source and binary forms, with or without modification, |
fabiombed | 0:becf0d313663 | 15 | * are permitted provided that the following conditions are met: |
fabiombed | 0:becf0d313663 | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
fabiombed | 0:becf0d313663 | 17 | * this list of conditions and the following disclaimer. |
fabiombed | 0:becf0d313663 | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
fabiombed | 0:becf0d313663 | 19 | * this list of conditions and the following disclaimer in the documentation |
fabiombed | 0:becf0d313663 | 20 | * and/or other materials provided with the distribution. |
fabiombed | 0:becf0d313663 | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
fabiombed | 0:becf0d313663 | 22 | * may be used to endorse or promote products derived from this software |
fabiombed | 0:becf0d313663 | 23 | * without specific prior written permission. |
fabiombed | 0:becf0d313663 | 24 | * |
fabiombed | 0:becf0d313663 | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
fabiombed | 0:becf0d313663 | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
fabiombed | 0:becf0d313663 | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
fabiombed | 0:becf0d313663 | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
fabiombed | 0:becf0d313663 | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
fabiombed | 0:becf0d313663 | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
fabiombed | 0:becf0d313663 | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
fabiombed | 0:becf0d313663 | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
fabiombed | 0:becf0d313663 | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
fabiombed | 0:becf0d313663 | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
fabiombed | 0:becf0d313663 | 35 | * |
fabiombed | 0:becf0d313663 | 36 | ****************************************************************************** |
fabiombed | 0:becf0d313663 | 37 | */ |
fabiombed | 4:1d3d071a4c2c | 38 | |
fabiombed | 0:becf0d313663 | 39 | /* Includes ------------------------------------------------------------------*/ |
fabiombed | 4:1d3d071a4c2c | 40 | |
fabiombed | 0:becf0d313663 | 41 | /* mbed specific header files. */ |
fabiombed | 0:becf0d313663 | 42 | #include "mbed.h" |
fabiombed | 4:1d3d071a4c2c | 43 | |
fabiombed | 0:becf0d313663 | 44 | /* Helper header files. */ |
fabiombed | 0:becf0d313663 | 45 | #include "DevSPI.h" |
fabiombed | 1:8f312c1686b6 | 46 | #include "DevI2C.h" |
fabiombed | 0:becf0d313663 | 47 | |
fabiombed | 1:8f312c1686b6 | 48 | /* Component specific header files. */ |
fabiombed | 1:8f312c1686b6 | 49 | #include "l6474_class.h" |
fabiombed | 1:8f312c1686b6 | 50 | #include "x_nucleo_6180xa1.h" |
fabiombed | 0:becf0d313663 | 51 | #include "x_nucleo_iks01a1.h" |
fabiombed | 0:becf0d313663 | 52 | |
fabiombed | 1:8f312c1686b6 | 53 | /* C header files. */ |
fabiombed | 1:8f312c1686b6 | 54 | #include <string.h> |
fabiombed | 1:8f312c1686b6 | 55 | #include <stdlib.h> |
fabiombed | 1:8f312c1686b6 | 56 | #include <stdio.h> |
fabiombed | 1:8f312c1686b6 | 57 | #include <assert.h> |
fabiombed | 0:becf0d313663 | 58 | |
fabiombed | 4:1d3d071a4c2c | 59 | /* Calibration files. */ |
fabiombed | 4:1d3d071a4c2c | 60 | #include "MotionFX_Manager.h" // Need for osxMFX_calibFactor |
fabiombed | 4:1d3d071a4c2c | 61 | |
fabiombed | 4:1d3d071a4c2c | 62 | /* BlueTooth Custom Service files. */ |
fabiombed | 4:1d3d071a4c2c | 63 | #include "CustomSunTrackerService.h" |
fabiombed | 4:1d3d071a4c2c | 64 | |
fabiombed | 0:becf0d313663 | 65 | /* Definitions ---------------------------------------------------------------*/ |
fabiombed | 0:becf0d313663 | 66 | |
fabiombed | 1:8f312c1686b6 | 67 | #define SET_ACC 400 // Set Motor Acceleration |
fabiombed | 1:8f312c1686b6 | 68 | #define SET_DEC 400 // Set Motor Deceleration |
fabiombed | 1:8f312c1686b6 | 69 | #define SET_MAX 200 // Set Motor MaxSpeed |
fabiombed | 1:8f312c1686b6 | 70 | #define SET_MIN 100 // Set Motor MinSpeed |
fabiombed | 1:8f312c1686b6 | 71 | #define STOP 1000 // Set Motor Stop Position |
fabiombed | 1:8f312c1686b6 | 72 | #define TOLLERANCE 100 // Tollerance between Left and Right before Start Movement |
fabiombed | 1:8f312c1686b6 | 73 | #define RANGE_1 200 // Range 1 for Motor Speed |
fabiombed | 1:8f312c1686b6 | 74 | #define RANGE_2 500 // Range 2 for Motor Speed |
fabiombed | 0:becf0d313663 | 75 | |
fabiombed | 0:becf0d313663 | 76 | /* Variables -----------------------------------------------------------------*/ |
fabiombed | 0:becf0d313663 | 77 | |
fabiombed | 1:8f312c1686b6 | 78 | int16_t dir=0; // Motor Rotation Direction: 0 = Stop, 1 = Anticlockwise, 2 = Clockwise |
fabiombed | 1:8f312c1686b6 | 79 | int16_t changedir=0; // Change Direction: 0 = No, 1 = Yes |
fabiombed | 1:8f312c1686b6 | 80 | int16_t babybear=0; // Difference (in Lux) between Left and Right |
fabiombed | 1:8f312c1686b6 | 81 | int acc_data[3]; // Difference of Accelerometer |
fabiombed | 1:8f312c1686b6 | 82 | int16_t diff=0; // Abs of Babybear or Accelerometer difference |
fabiombed | 1:8f312c1686b6 | 83 | int16_t left=0; // Left Command for Rotate Direction |
fabiombed | 1:8f312c1686b6 | 84 | int16_t right=0; // Right Command for Rotate Direction |
fabiombed | 1:8f312c1686b6 | 85 | int16_t start=0; // Waiting User Button Push |
fabiombed | 1:8f312c1686b6 | 86 | int32_t pos=0; // Motor Position |
fabiombed | 1:8f312c1686b6 | 87 | char DisplayStr[5]; // Status Display |
fabiombed | 1:8f312c1686b6 | 88 | int16_t Display=0; // Shown on Display: 0 = Motor Speed, 1 = Solar Panel Value, 2 = Manual Control |
fabiombed | 1:8f312c1686b6 | 89 | int16_t status, status_t, status_b, status_l, status_r; // Babybear Status |
fabiombed | 1:8f312c1686b6 | 90 | |
fabiombed | 1:8f312c1686b6 | 91 | /* ---------------------------------------------------------------------------*/ |
fabiombed | 0:becf0d313663 | 92 | |
fabiombed | 0:becf0d313663 | 93 | /* Motor Control Component. */ |
fabiombed | 0:becf0d313663 | 94 | L6474 *motor; |
fabiombed | 0:becf0d313663 | 95 | |
fabiombed | 1:8f312c1686b6 | 96 | /* Initializing SPI bus. */ |
fabiombed | 1:8f312c1686b6 | 97 | DevSPI dev_spi(D11, D12, D13); |
fabiombed | 0:becf0d313663 | 98 | |
fabiombed | 1:8f312c1686b6 | 99 | /* Initializing I2C bus. */ |
fabiombed | 1:8f312c1686b6 | 100 | DevI2C dev_i2c(D14, D15); |
fabiombed | 1:8f312c1686b6 | 101 | |
fabiombed | 1:8f312c1686b6 | 102 | /* Instance board 6180XA1. */ |
fabiombed | 1:8f312c1686b6 | 103 | static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC); |
fabiombed | 1:8f312c1686b6 | 104 | MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right; |
fabiombed | 0:becf0d313663 | 105 | |
fabiombed | 1:8f312c1686b6 | 106 | /* Instance mems IKS01A1. */ |
fabiombed | 1:8f312c1686b6 | 107 | static X_NUCLEO_IKS01A1 *mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c); |
fabiombed | 1:8f312c1686b6 | 108 | MotionSensor *accelerometer = mems->GetAccelerometer(); |
fabiombed | 4:1d3d071a4c2c | 109 | |
fabiombed | 4:1d3d071a4c2c | 110 | void DISP_ExecLoopBody(void) {}; |
fabiombed | 0:becf0d313663 | 111 | |
fabiombed | 1:8f312c1686b6 | 112 | AnalogIn analog_read_A1(A1); |
fabiombed | 1:8f312c1686b6 | 113 | |
fabiombed | 4:1d3d071a4c2c | 114 | InterruptIn mybutton(USER_BUTTON); |
fabiombed | 1:8f312c1686b6 | 115 | |
fabiombed | 1:8f312c1686b6 | 116 | /* User_Button_Pressed -------------------------------------------------------*/ |
fabiombed | 0:becf0d313663 | 117 | |
fabiombed | 1:8f312c1686b6 | 118 | void User_Button_Pressed() |
fabiombed | 1:8f312c1686b6 | 119 | { |
fabiombed | 4:1d3d071a4c2c | 120 | |
fabiombed | 4:1d3d071a4c2c | 121 | if (start>0) { |
fabiombed | 4:1d3d071a4c2c | 122 | Display++; |
fabiombed | 4:1d3d071a4c2c | 123 | } |
fabiombed | 4:1d3d071a4c2c | 124 | if (Display>2) { |
fabiombed | 4:1d3d071a4c2c | 125 | Display=0; |
fabiombed | 4:1d3d071a4c2c | 126 | } |
fabiombed | 4:1d3d071a4c2c | 127 | if (start==0) { |
fabiombed | 4:1d3d071a4c2c | 128 | start=1; |
fabiombed | 4:1d3d071a4c2c | 129 | } |
fabiombed | 4:1d3d071a4c2c | 130 | |
fabiombed | 1:8f312c1686b6 | 131 | } |
fabiombed | 1:8f312c1686b6 | 132 | |
fabiombed | 1:8f312c1686b6 | 133 | /* Initialization ------------------------------------------------------------*/ |
fabiombed | 0:becf0d313663 | 134 | |
fabiombed | 1:8f312c1686b6 | 135 | bool Initialization(void) |
fabiombed | 1:8f312c1686b6 | 136 | { |
fabiombed | 4:1d3d071a4c2c | 137 | |
fabiombed | 1:8f312c1686b6 | 138 | /* Initializing Babybear Component. */ |
fabiombed | 1:8f312c1686b6 | 139 | status=board->InitBoard(); |
fabiombed | 1:8f312c1686b6 | 140 | if(status) |
fabiombed | 1:8f312c1686b6 | 141 | VL6180x_ErrLog("Failed to init the board!\n\r"); |
fabiombed | 0:becf0d313663 | 142 | |
fabiombed | 1:8f312c1686b6 | 143 | // Put GPIO not used as Interrupt in Hi-Z |
fabiombed | 1:8f312c1686b6 | 144 | status_t=board->sensor_top->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); |
fabiombed | 1:8f312c1686b6 | 145 | //status_b=board->sensor_botton->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); No Present |
fabiombed | 4:1d3d071a4c2c | 146 | status_l=board->sensor_left->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); |
fabiombed | 1:8f312c1686b6 | 147 | status_r=board->sensor_right->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); |
fabiombed | 4:1d3d071a4c2c | 148 | |
fabiombed | 0:becf0d313663 | 149 | /* Initializing Motor Control Component. */ |
fabiombed | 0:becf0d313663 | 150 | motor = new L6474(D2, D8, D7, D9, D10, dev_spi); |
fabiombed | 0:becf0d313663 | 151 | if (motor->Init(NULL) != COMPONENT_OK) |
fabiombed | 0:becf0d313663 | 152 | return false; |
fabiombed | 4:1d3d071a4c2c | 153 | |
fabiombed | 1:8f312c1686b6 | 154 | motor->SetStepMode(STEP_MODE_1_8); // Default is STEP_MODE_1_16 |
fabiombed | 4:1d3d071a4c2c | 155 | |
fabiombed | 1:8f312c1686b6 | 156 | /* Set defaults Motor Speed. */ |
fabiombed | 1:8f312c1686b6 | 157 | motor->SetAcceleration(SET_ACC); |
fabiombed | 1:8f312c1686b6 | 158 | motor->SetDeceleration(SET_DEC); |
fabiombed | 1:8f312c1686b6 | 159 | motor->SetMaxSpeed(SET_MAX); // Variable by Light/Mems Sensors |
fabiombed | 1:8f312c1686b6 | 160 | motor->SetMinSpeed(SET_MIN); |
fabiombed | 4:1d3d071a4c2c | 161 | |
fabiombed | 1:8f312c1686b6 | 162 | return true; |
fabiombed | 4:1d3d071a4c2c | 163 | |
fabiombed | 1:8f312c1686b6 | 164 | } |
fabiombed | 0:becf0d313663 | 165 | |
fabiombed | 1:8f312c1686b6 | 166 | /* Measure_Babybear ----------------------------------------------------------*/ |
fabiombed | 1:8f312c1686b6 | 167 | |
fabiombed | 1:8f312c1686b6 | 168 | void Measure_Babybear(void) |
fabiombed | 1:8f312c1686b6 | 169 | { |
fabiombed | 1:8f312c1686b6 | 170 | |
fabiombed | 1:8f312c1686b6 | 171 | status_l=board->sensor_left->GetMeasurement(als_continuous_polling, &data_sensor_left); |
fabiombed | 1:8f312c1686b6 | 172 | status_r=board->sensor_right->GetMeasurement(als_continuous_polling, &data_sensor_right); |
fabiombed | 1:8f312c1686b6 | 173 | |
fabiombed | 1:8f312c1686b6 | 174 | babybear = data_sensor_right.lux - data_sensor_left.lux; |
fabiombed | 1:8f312c1686b6 | 175 | |
fabiombed | 1:8f312c1686b6 | 176 | diff = abs(babybear); |
fabiombed | 1:8f312c1686b6 | 177 | |
fabiombed | 4:1d3d071a4c2c | 178 | if (babybear>0) { |
fabiombed | 4:1d3d071a4c2c | 179 | left=0; |
fabiombed | 4:1d3d071a4c2c | 180 | right=1; |
fabiombed | 4:1d3d071a4c2c | 181 | } |
fabiombed | 4:1d3d071a4c2c | 182 | if (babybear<0) { |
fabiombed | 4:1d3d071a4c2c | 183 | left=1; |
fabiombed | 4:1d3d071a4c2c | 184 | right=0; |
fabiombed | 4:1d3d071a4c2c | 185 | } |
fabiombed | 4:1d3d071a4c2c | 186 | |
fabiombed | 1:8f312c1686b6 | 187 | } |
fabiombed | 1:8f312c1686b6 | 188 | |
fabiombed | 1:8f312c1686b6 | 189 | /* Measure_Accelerometer -----------------------------------------------------*/ |
fabiombed | 1:8f312c1686b6 | 190 | |
fabiombed | 1:8f312c1686b6 | 191 | void Measure_Accelerometer(void) |
fabiombed | 1:8f312c1686b6 | 192 | { |
fabiombed | 1:8f312c1686b6 | 193 | |
fabiombed | 1:8f312c1686b6 | 194 | accelerometer->Get_X_Axes(acc_data); |
fabiombed | 1:8f312c1686b6 | 195 | |
fabiombed | 1:8f312c1686b6 | 196 | diff = abs(acc_data[0]); |
fabiombed | 1:8f312c1686b6 | 197 | |
fabiombed | 4:1d3d071a4c2c | 198 | if (acc_data[0]>0) { |
fabiombed | 4:1d3d071a4c2c | 199 | left=0; |
fabiombed | 4:1d3d071a4c2c | 200 | right=1; |
fabiombed | 4:1d3d071a4c2c | 201 | } |
fabiombed | 4:1d3d071a4c2c | 202 | if (acc_data[0]<0) { |
fabiombed | 4:1d3d071a4c2c | 203 | left=1; |
fabiombed | 4:1d3d071a4c2c | 204 | right=0; |
fabiombed | 4:1d3d071a4c2c | 205 | } |
fabiombed | 4:1d3d071a4c2c | 206 | |
fabiombed | 1:8f312c1686b6 | 207 | } |
fabiombed | 0:becf0d313663 | 208 | |
fabiombed | 0:becf0d313663 | 209 | |
fabiombed | 1:8f312c1686b6 | 210 | /* Control_Motor -------------------------------------------------------------*/ |
fabiombed | 1:8f312c1686b6 | 211 | |
fabiombed | 1:8f312c1686b6 | 212 | void Control_Motor(void) |
fabiombed | 4:1d3d071a4c2c | 213 | { |
fabiombed | 0:becf0d313663 | 214 | |
fabiombed | 4:1d3d071a4c2c | 215 | //printf("Diff: %d lux/mems\n\r", diff); |
fabiombed | 4:1d3d071a4c2c | 216 | motor->SetMaxSpeed(diff); |
fabiombed | 4:1d3d071a4c2c | 217 | |
fabiombed | 4:1d3d071a4c2c | 218 | if (diff>TOLLERANCE) { |
fabiombed | 1:8f312c1686b6 | 219 | if (diff <=RANGE_1) { |
fabiombed | 4:1d3d071a4c2c | 220 | if (left) { |
fabiombed | 4:1d3d071a4c2c | 221 | strcpy(DisplayStr,"E___"); |
fabiombed | 4:1d3d071a4c2c | 222 | } |
fabiombed | 4:1d3d071a4c2c | 223 | if (right) { |
fabiombed | 4:1d3d071a4c2c | 224 | strcpy(DisplayStr,"___3"); |
fabiombed | 4:1d3d071a4c2c | 225 | } |
fabiombed | 4:1d3d071a4c2c | 226 | } else if (diff >RANGE_1 & diff <=RANGE_2) { |
fabiombed | 4:1d3d071a4c2c | 227 | if (left) { |
fabiombed | 4:1d3d071a4c2c | 228 | strcpy(DisplayStr,"E==="); |
fabiombed | 4:1d3d071a4c2c | 229 | } |
fabiombed | 4:1d3d071a4c2c | 230 | if (right) { |
fabiombed | 4:1d3d071a4c2c | 231 | strcpy(DisplayStr,"===3"); |
fabiombed | 4:1d3d071a4c2c | 232 | } |
fabiombed | 4:1d3d071a4c2c | 233 | } else if (diff >RANGE_2) { |
fabiombed | 4:1d3d071a4c2c | 234 | if (left) { |
fabiombed | 4:1d3d071a4c2c | 235 | strcpy(DisplayStr,"E~~~"); |
fabiombed | 4:1d3d071a4c2c | 236 | } |
fabiombed | 4:1d3d071a4c2c | 237 | if (right) { |
fabiombed | 4:1d3d071a4c2c | 238 | strcpy(DisplayStr,"~~~3"); |
fabiombed | 4:1d3d071a4c2c | 239 | } |
fabiombed | 4:1d3d071a4c2c | 240 | } |
fabiombed | 4:1d3d071a4c2c | 241 | |
fabiombed | 1:8f312c1686b6 | 242 | // In Case of Change Direction |
fabiombed | 4:1d3d071a4c2c | 243 | if (left & dir==2) { |
fabiombed | 4:1d3d071a4c2c | 244 | changedir=1; |
fabiombed | 4:1d3d071a4c2c | 245 | } |
fabiombed | 4:1d3d071a4c2c | 246 | if (right & dir==1) { |
fabiombed | 4:1d3d071a4c2c | 247 | changedir=1; |
fabiombed | 4:1d3d071a4c2c | 248 | } |
fabiombed | 4:1d3d071a4c2c | 249 | |
fabiombed | 1:8f312c1686b6 | 250 | // Run only if Stop or Change Direction |
fabiombed | 1:8f312c1686b6 | 251 | if (diff>TOLLERANCE & (dir==0 | changedir==1)) { |
fabiombed | 4:1d3d071a4c2c | 252 | if (left) { |
fabiombed | 4:1d3d071a4c2c | 253 | motor->Run(StepperMotor::FWD); |
fabiombed | 4:1d3d071a4c2c | 254 | dir=1; |
fabiombed | 4:1d3d071a4c2c | 255 | changedir=0; |
fabiombed | 4:1d3d071a4c2c | 256 | } |
fabiombed | 4:1d3d071a4c2c | 257 | if (right) { |
fabiombed | 4:1d3d071a4c2c | 258 | motor->Run(StepperMotor::BWD); |
fabiombed | 4:1d3d071a4c2c | 259 | dir=2; |
fabiombed | 4:1d3d071a4c2c | 260 | changedir=0; |
fabiombed | 4:1d3d071a4c2c | 261 | } |
fabiombed | 4:1d3d071a4c2c | 262 | } |
fabiombed | 1:8f312c1686b6 | 263 | } |
fabiombed | 4:1d3d071a4c2c | 264 | |
fabiombed | 1:8f312c1686b6 | 265 | // Get Motor Position and Control Rotation Block |
fabiombed | 1:8f312c1686b6 | 266 | pos = motor->GetPosition(); |
fabiombed | 1:8f312c1686b6 | 267 | if (pos>STOP | pos<-STOP) { |
fabiombed | 4:1d3d071a4c2c | 268 | if (pos>0) { |
fabiombed | 4:1d3d071a4c2c | 269 | motor->GoTo(STOP); |
fabiombed | 4:1d3d071a4c2c | 270 | } |
fabiombed | 4:1d3d071a4c2c | 271 | if (pos<0) { |
fabiombed | 4:1d3d071a4c2c | 272 | motor->GoTo(-STOP); |
fabiombed | 4:1d3d071a4c2c | 273 | } |
fabiombed | 1:8f312c1686b6 | 274 | } |
fabiombed | 4:1d3d071a4c2c | 275 | |
fabiombed | 1:8f312c1686b6 | 276 | // Stop Motor |
fabiombed | 4:1d3d071a4c2c | 277 | if (diff<=TOLLERANCE) { |
fabiombed | 1:8f312c1686b6 | 278 | motor->HardStop(); |
fabiombed | 4:1d3d071a4c2c | 279 | if (Display==0) { |
fabiombed | 4:1d3d071a4c2c | 280 | strcpy(DisplayStr,"----"); |
fabiombed | 4:1d3d071a4c2c | 281 | } |
fabiombed | 4:1d3d071a4c2c | 282 | if (Display==2) { |
fabiombed | 4:1d3d071a4c2c | 283 | strcpy(DisplayStr,"E 3"); |
fabiombed | 4:1d3d071a4c2c | 284 | } |
fabiombed | 1:8f312c1686b6 | 285 | dir=0; |
fabiombed | 1:8f312c1686b6 | 286 | changedir=0; |
fabiombed | 1:8f312c1686b6 | 287 | } |
fabiombed | 4:1d3d071a4c2c | 288 | |
fabiombed | 1:8f312c1686b6 | 289 | } |
fabiombed | 1:8f312c1686b6 | 290 | |
fabiombed | 1:8f312c1686b6 | 291 | /* Measure_SolarPanel --------------------------------------------------------*/ |
fabiombed | 1:8f312c1686b6 | 292 | |
fabiombed | 1:8f312c1686b6 | 293 | void Measure_SolarPanel(void) |
fabiombed | 1:8f312c1686b6 | 294 | { |
fabiombed | 1:8f312c1686b6 | 295 | |
fabiombed | 1:8f312c1686b6 | 296 | // AnalogIn A1: 0V return 0.0 , 3.3V return 1.0 |
fabiombed | 1:8f312c1686b6 | 297 | float measure = analog_read_A1.read() * 3300; |
fabiombed | 1:8f312c1686b6 | 298 | //printf("Measure = %.0f mV\r\n", measure); |
fabiombed | 1:8f312c1686b6 | 299 | //board->display->DisplayDigit("A", 0); |
fabiombed | 1:8f312c1686b6 | 300 | |
fabiombed | 4:1d3d071a4c2c | 301 | if (Display==1) { |
fabiombed | 4:1d3d071a4c2c | 302 | sprintf(DisplayStr, "%.0f", measure); |
fabiombed | 4:1d3d071a4c2c | 303 | } |
fabiombed | 4:1d3d071a4c2c | 304 | |
fabiombed | 4:1d3d071a4c2c | 305 | board->display->DisplayString(DisplayStr, 4); |
fabiombed | 1:8f312c1686b6 | 306 | |
fabiombed | 1:8f312c1686b6 | 307 | } |
fabiombed | 1:8f312c1686b6 | 308 | |
fabiombed | 1:8f312c1686b6 | 309 | /* Main ----------------------------------------------------------------------*/ |
fabiombed | 1:8f312c1686b6 | 310 | |
fabiombed | 1:8f312c1686b6 | 311 | int main() |
fabiombed | 4:1d3d071a4c2c | 312 | { |
fabiombed | 4:1d3d071a4c2c | 313 | |
fabiombed | 4:1d3d071a4c2c | 314 | Initialization(); |
fabiombed | 4:1d3d071a4c2c | 315 | |
fabiombed | 1:8f312c1686b6 | 316 | mybutton.fall(&User_Button_Pressed); |
fabiombed | 4:1d3d071a4c2c | 317 | |
fabiombed | 0:becf0d313663 | 318 | /* Printing to the console. */ |
fabiombed | 1:8f312c1686b6 | 319 | printf("SunTracker by Fabio Brembilla\r\n\n"); |
fabiombed | 4:1d3d071a4c2c | 320 | |
fabiombed | 1:8f312c1686b6 | 321 | /* Set Babybears. */ |
fabiombed | 1:8f312c1686b6 | 322 | status_l=board->sensor_left->AlsSetAnalogueGain(3); |
fabiombed | 1:8f312c1686b6 | 323 | status_r=board->sensor_right->AlsSetAnalogueGain(3); |
fabiombed | 1:8f312c1686b6 | 324 | status_l=board->sensor_left->StartMeasurement(als_continuous_polling, NULL, NULL, NULL); |
fabiombed | 1:8f312c1686b6 | 325 | status_r=board->sensor_right->StartMeasurement(als_continuous_polling, NULL, NULL, NULL); |
fabiombed | 4:1d3d071a4c2c | 326 | |
fabiombed | 1:8f312c1686b6 | 327 | /* Loop until push User Button to Set 0 Point. */ |
fabiombed | 1:8f312c1686b6 | 328 | strcpy(DisplayStr,"pusH"); |
fabiombed | 4:1d3d071a4c2c | 329 | while(start<1) { |
fabiombed | 1:8f312c1686b6 | 330 | board->display->DisplayString(DisplayStr, 4); |
fabiombed | 1:8f312c1686b6 | 331 | } |
fabiombed | 4:1d3d071a4c2c | 332 | |
fabiombed | 0:becf0d313663 | 333 | /* Main Loop. */ |
fabiombed | 4:1d3d071a4c2c | 334 | while(true) { |
fabiombed | 4:1d3d071a4c2c | 335 | if (Display==0 | Display==1) { |
fabiombed | 4:1d3d071a4c2c | 336 | Measure_Babybear(); |
fabiombed | 4:1d3d071a4c2c | 337 | } |
fabiombed | 4:1d3d071a4c2c | 338 | if (Display==2) { |
fabiombed | 4:1d3d071a4c2c | 339 | Measure_Accelerometer(); |
fabiombed | 4:1d3d071a4c2c | 340 | } |
fabiombed | 4:1d3d071a4c2c | 341 | |
fabiombed | 1:8f312c1686b6 | 342 | Control_Motor(); |
fabiombed | 1:8f312c1686b6 | 343 | Measure_SolarPanel(); |
fabiombed | 0:becf0d313663 | 344 | } |
fabiombed | 4:1d3d071a4c2c | 345 | |
fabiombed | 1:8f312c1686b6 | 346 | status_l=board->sensor_left->StopMeasurement(als_continuous_polling); |
fabiombed | 1:8f312c1686b6 | 347 | status_r=board->sensor_right->StopMeasurement(als_continuous_polling); |
fabiombed | 4:1d3d071a4c2c | 348 | |
fabiombed | 0:becf0d313663 | 349 | } |