ST » Code » SunTracker_BLE

SunTracker_BLE

Dependencies: BLE_API X_NUCLEO_6180XA1 X_NUCLEO_IDB0XA1 X_NUCLEO_IHM01A1 X_NUCLEO_IKS01A1 mbed

Fork of SunTracker_BLE by ST Expansion SW Team

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.

/media/uploads/fabiombed/suntracker_server-client.png

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.

/media/uploads/fabiombed/assembly.png

/media/uploads/fabiombed/mechanical_structure_and_motor_legs.png

FLAT CABLE ASSEMBLY

/media/uploads/fabiombed/flat_cable.png

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

/media/uploads/fabiombed/arduino_pinout.png /media/uploads/fabiombed/morpho_pinout.png

main.cpp@2:013921c26f43, 2016-01-22 (annotated)

Committer:: fabiombed
Date:: Fri Jan 22 13:48:41 2016 +0000
Revision:: 2:013921c26f43
Parent:: 1:8f312c1686b6
Child:: 4:1d3d071a4c2c

minor change

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	0:becf0d313663	5	* @version V1.0.0
fabiombed	1:8f312c1686b6	6	* @date December 1st, 2015
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	2:013921c26f43	11	*
fabiombed	0:becf0d313663	12	* <h2><center>© COPYRIGHT(c) 2015 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	1:8f312c1686b6	38
fabiombed	0:becf0d313663	39	/* Includes ------------------------------------------------------------------*/
fabiombed	1:8f312c1686b6	40
fabiombed	0:becf0d313663	41	/* mbed specific header files. */
fabiombed	0:becf0d313663	42	#include "mbed.h"
fabiombed	1:8f312c1686b6	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	0:becf0d313663	59	/* Definitions ---------------------------------------------------------------*/
fabiombed	0:becf0d313663	60
fabiombed	1:8f312c1686b6	61	#define SET_ACC 400 // Set Motor Acceleration
fabiombed	1:8f312c1686b6	62	#define SET_DEC 400 // Set Motor Deceleration
fabiombed	1:8f312c1686b6	63	#define SET_MAX 200 // Set Motor MaxSpeed
fabiombed	1:8f312c1686b6	64	#define SET_MIN 100 // Set Motor MinSpeed
fabiombed	1:8f312c1686b6	65	#define STOP 1000 // Set Motor Stop Position
fabiombed	1:8f312c1686b6	66	#define TOLLERANCE 100 // Tollerance between Left and Right before Start Movement
fabiombed	1:8f312c1686b6	67	#define RANGE_1 200 // Range 1 for Motor Speed
fabiombed	1:8f312c1686b6	68	#define RANGE_2 500 // Range 2 for Motor Speed
fabiombed	0:becf0d313663	69
fabiombed	0:becf0d313663	70	/* Variables -----------------------------------------------------------------*/
fabiombed	0:becf0d313663	71
fabiombed	1:8f312c1686b6	72	int16_t dir=0; // Motor Rotation Direction: 0 = Stop, 1 = Anticlockwise, 2 = Clockwise
fabiombed	1:8f312c1686b6	73	int16_t changedir=0; // Change Direction: 0 = No, 1 = Yes
fabiombed	1:8f312c1686b6	74	int16_t babybear=0; // Difference (in Lux) between Left and Right
fabiombed	1:8f312c1686b6	75	int acc_data[3]; // Difference of Accelerometer
fabiombed	1:8f312c1686b6	76	int16_t diff=0; // Abs of Babybear or Accelerometer difference
fabiombed	1:8f312c1686b6	77	int16_t left=0; // Left Command for Rotate Direction
fabiombed	1:8f312c1686b6	78	int16_t right=0; // Right Command for Rotate Direction
fabiombed	1:8f312c1686b6	79	int16_t start=0; // Waiting User Button Push
fabiombed	1:8f312c1686b6	80	int32_t pos=0; // Motor Position
fabiombed	1:8f312c1686b6	81	char DisplayStr[5]; // Status Display
fabiombed	1:8f312c1686b6	82	int16_t Display=0; // Shown on Display: 0 = Motor Speed, 1 = Solar Panel Value, 2 = Manual Control
fabiombed	1:8f312c1686b6	83	int16_t status, status_t, status_b, status_l, status_r; // Babybear Status
fabiombed	1:8f312c1686b6	84
fabiombed	1:8f312c1686b6	85	/* ---------------------------------------------------------------------------*/
fabiombed	0:becf0d313663	86
fabiombed	0:becf0d313663	87	/* Motor Control Component. */
fabiombed	0:becf0d313663	88	L6474 *motor;
fabiombed	0:becf0d313663	89
fabiombed	1:8f312c1686b6	90	/* Initializing SPI bus. */
fabiombed	1:8f312c1686b6	91	DevSPI dev_spi(D11, D12, D13);
fabiombed	0:becf0d313663	92
fabiombed	1:8f312c1686b6	93	/* Initializing I2C bus. */
fabiombed	1:8f312c1686b6	94	DevI2C dev_i2c(D14, D15);
fabiombed	1:8f312c1686b6	95
fabiombed	1:8f312c1686b6	96	/* Instance board 6180XA1. */
fabiombed	1:8f312c1686b6	97	static X_NUCLEO_6180XA1 *board=X_NUCLEO_6180XA1::Instance(&dev_i2c, NC, NC, NC, NC);
fabiombed	1:8f312c1686b6	98	MeasureData_t data_sensor_top, data_sensor_bottom, data_sensor_left, data_sensor_right;
fabiombed	0:becf0d313663	99
fabiombed	1:8f312c1686b6	100	/* Instance mems IKS01A1. */
fabiombed	1:8f312c1686b6	101	static X_NUCLEO_IKS01A1 *mems=X_NUCLEO_IKS01A1::Instance(&dev_i2c);
fabiombed	1:8f312c1686b6	102	MotionSensor *accelerometer = mems->GetAccelerometer();
fabiombed	1:8f312c1686b6	103
fabiombed	1:8f312c1686b6	104	void DISP_ExecLoopBody(void){};
fabiombed	0:becf0d313663	105
fabiombed	1:8f312c1686b6	106	AnalogIn analog_read_A1(A1);
fabiombed	1:8f312c1686b6	107
fabiombed	1:8f312c1686b6	108	InterruptIn mybutton(USER_BUTTON);
fabiombed	1:8f312c1686b6	109
fabiombed	1:8f312c1686b6	110	/* User_Button_Pressed -------------------------------------------------------*/
fabiombed	0:becf0d313663	111
fabiombed	1:8f312c1686b6	112	void User_Button_Pressed()
fabiombed	1:8f312c1686b6	113	{
fabiombed	1:8f312c1686b6	114
fabiombed	1:8f312c1686b6	115	if (start>0) { Display++; }
fabiombed	1:8f312c1686b6	116	if (Display>2) { Display=0; }
fabiombed	1:8f312c1686b6	117	if (start==0) { start=1; }
fabiombed	1:8f312c1686b6	118
fabiombed	1:8f312c1686b6	119	}
fabiombed	1:8f312c1686b6	120
fabiombed	1:8f312c1686b6	121	/* Initialization ------------------------------------------------------------*/
fabiombed	0:becf0d313663	122
fabiombed	1:8f312c1686b6	123	bool Initialization(void)
fabiombed	1:8f312c1686b6	124	{
fabiombed	1:8f312c1686b6	125
fabiombed	1:8f312c1686b6	126	/* Initializing Babybear Component. */
fabiombed	1:8f312c1686b6	127	status=board->InitBoard();
fabiombed	1:8f312c1686b6	128	if(status)
fabiombed	1:8f312c1686b6	129	VL6180x_ErrLog("Failed to init the board!\n\r");
fabiombed	0:becf0d313663	130
fabiombed	1:8f312c1686b6	131	// Put GPIO not used as Interrupt in Hi-Z
fabiombed	1:8f312c1686b6	132	status_t=board->sensor_top->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed	1:8f312c1686b6	133	//status_b=board->sensor_botton->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF); No Present
fabiombed	1:8f312c1686b6	134	status_l=board->sensor_left->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed	1:8f312c1686b6	135	status_r=board->sensor_right->SetGPIOxFunctionality(1, GPIOx_SELECT_OFF);
fabiombed	1:8f312c1686b6	136
fabiombed	0:becf0d313663	137	/* Initializing Motor Control Component. */
fabiombed	0:becf0d313663	138	motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
fabiombed	0:becf0d313663	139	if (motor->Init(NULL) != COMPONENT_OK)
fabiombed	0:becf0d313663	140	return false;
fabiombed	1:8f312c1686b6	141
fabiombed	1:8f312c1686b6	142	motor->SetStepMode(STEP_MODE_1_8); // Default is STEP_MODE_1_16
fabiombed	1:8f312c1686b6	143
fabiombed	1:8f312c1686b6	144	/* Set defaults Motor Speed. */
fabiombed	1:8f312c1686b6	145	motor->SetAcceleration(SET_ACC);
fabiombed	1:8f312c1686b6	146	motor->SetDeceleration(SET_DEC);
fabiombed	1:8f312c1686b6	147	motor->SetMaxSpeed(SET_MAX); // Variable by Light/Mems Sensors
fabiombed	1:8f312c1686b6	148	motor->SetMinSpeed(SET_MIN);
fabiombed	1:8f312c1686b6	149
fabiombed	1:8f312c1686b6	150	return true;
fabiombed	1:8f312c1686b6	151
fabiombed	1:8f312c1686b6	152	}
fabiombed	0:becf0d313663	153
fabiombed	1:8f312c1686b6	154	/* Measure_Babybear ----------------------------------------------------------*/
fabiombed	1:8f312c1686b6	155
fabiombed	1:8f312c1686b6	156	void Measure_Babybear(void)
fabiombed	1:8f312c1686b6	157	{
fabiombed	1:8f312c1686b6	158
fabiombed	1:8f312c1686b6	159	status_l=board->sensor_left->GetMeasurement(als_continuous_polling, &data_sensor_left);
fabiombed	1:8f312c1686b6	160	status_r=board->sensor_right->GetMeasurement(als_continuous_polling, &data_sensor_right);
fabiombed	1:8f312c1686b6	161
fabiombed	1:8f312c1686b6	162	babybear = data_sensor_right.lux - data_sensor_left.lux;
fabiombed	1:8f312c1686b6	163
fabiombed	1:8f312c1686b6	164	diff = abs(babybear);
fabiombed	1:8f312c1686b6	165
fabiombed	1:8f312c1686b6	166	if (babybear>0) { left=0; right=1; }
fabiombed	1:8f312c1686b6	167	if (babybear<0) { left=1; right=0; }
fabiombed	1:8f312c1686b6	168
fabiombed	1:8f312c1686b6	169	}
fabiombed	1:8f312c1686b6	170
fabiombed	1:8f312c1686b6	171	/* Measure_Accelerometer -----------------------------------------------------*/
fabiombed	1:8f312c1686b6	172
fabiombed	1:8f312c1686b6	173	void Measure_Accelerometer(void)
fabiombed	1:8f312c1686b6	174	{
fabiombed	1:8f312c1686b6	175
fabiombed	1:8f312c1686b6	176	accelerometer->Get_X_Axes(acc_data);
fabiombed	1:8f312c1686b6	177
fabiombed	1:8f312c1686b6	178	diff = abs(acc_data[0]);
fabiombed	1:8f312c1686b6	179
fabiombed	1:8f312c1686b6	180	if (acc_data[0]>0) { left=0; right=1; }
fabiombed	1:8f312c1686b6	181	if (acc_data[0]<0) { left=1; right=0; }
fabiombed	1:8f312c1686b6	182
fabiombed	1:8f312c1686b6	183	}
fabiombed	0:becf0d313663	184
fabiombed	0:becf0d313663	185
fabiombed	1:8f312c1686b6	186	/* Control_Motor -------------------------------------------------------------*/
fabiombed	1:8f312c1686b6	187
fabiombed	1:8f312c1686b6	188	void Control_Motor(void)
fabiombed	1:8f312c1686b6	189	{
fabiombed	1:8f312c1686b6	190
fabiombed	1:8f312c1686b6	191	//printf("Diff: %d lux/mems\n\r", diff);
fabiombed	1:8f312c1686b6	192	motor->SetMaxSpeed(diff);
fabiombed	0:becf0d313663	193
fabiombed	1:8f312c1686b6	194	if (diff>TOLLERANCE)
fabiombed	1:8f312c1686b6	195	{
fabiombed	1:8f312c1686b6	196	if (diff <=RANGE_1) {
fabiombed	1:8f312c1686b6	197	if (left) { strcpy(DisplayStr,"E___"); }
fabiombed	1:8f312c1686b6	198	if (right) { strcpy(DisplayStr,"___3"); }
fabiombed	1:8f312c1686b6	199	}
fabiombed	1:8f312c1686b6	200	else if (diff >RANGE_1 & diff <=RANGE_2) {
fabiombed	1:8f312c1686b6	201	if (left) { strcpy(DisplayStr,"E==="); }
fabiombed	1:8f312c1686b6	202	if (right) { strcpy(DisplayStr,"===3"); }
fabiombed	1:8f312c1686b6	203	}
fabiombed	1:8f312c1686b6	204	else if (diff >RANGE_2) {
fabiombed	1:8f312c1686b6	205	if (left) { strcpy(DisplayStr,"E~~~"); }
fabiombed	1:8f312c1686b6	206	if (right) { strcpy(DisplayStr,"~~~3"); }
fabiombed	1:8f312c1686b6	207	}
fabiombed	1:8f312c1686b6	208
fabiombed	1:8f312c1686b6	209	// In Case of Change Direction
fabiombed	1:8f312c1686b6	210	if (left & dir==2) { changedir=1; }
fabiombed	1:8f312c1686b6	211	if (right & dir==1) { changedir=1; }
fabiombed	1:8f312c1686b6	212
fabiombed	1:8f312c1686b6	213	// Run only if Stop or Change Direction
fabiombed	1:8f312c1686b6	214	if (diff>TOLLERANCE & (dir==0 \| changedir==1)) {
fabiombed	1:8f312c1686b6	215	if (left) { motor->Run(StepperMotor::FWD); dir=1; changedir=0; }
fabiombed	1:8f312c1686b6	216	if (right) { motor->Run(StepperMotor::BWD); dir=2; changedir=0; }
fabiombed	1:8f312c1686b6	217	}
fabiombed	1:8f312c1686b6	218	}
fabiombed	1:8f312c1686b6	219
fabiombed	1:8f312c1686b6	220	// Get Motor Position and Control Rotation Block
fabiombed	1:8f312c1686b6	221	pos = motor->GetPosition();
fabiombed	1:8f312c1686b6	222	if (pos>STOP \| pos<-STOP) {
fabiombed	1:8f312c1686b6	223	if (pos>0) { motor->GoTo(STOP); }
fabiombed	1:8f312c1686b6	224	if (pos<0) { motor->GoTo(-STOP); }
fabiombed	1:8f312c1686b6	225	}
fabiombed	1:8f312c1686b6	226
fabiombed	1:8f312c1686b6	227	// Stop Motor
fabiombed	1:8f312c1686b6	228	if (diff<=TOLLERANCE) {
fabiombed	1:8f312c1686b6	229	motor->HardStop();
fabiombed	1:8f312c1686b6	230	if (Display==0) { strcpy(DisplayStr,"----"); }
fabiombed	1:8f312c1686b6	231	if (Display==2) { strcpy(DisplayStr,"E 3"); }
fabiombed	1:8f312c1686b6	232	dir=0;
fabiombed	1:8f312c1686b6	233	changedir=0;
fabiombed	1:8f312c1686b6	234	}
fabiombed	1:8f312c1686b6	235
fabiombed	1:8f312c1686b6	236	}
fabiombed	1:8f312c1686b6	237
fabiombed	1:8f312c1686b6	238	/* Measure_SolarPanel --------------------------------------------------------*/
fabiombed	1:8f312c1686b6	239
fabiombed	1:8f312c1686b6	240	void Measure_SolarPanel(void)
fabiombed	1:8f312c1686b6	241	{
fabiombed	1:8f312c1686b6	242
fabiombed	1:8f312c1686b6	243	// AnalogIn A1: 0V return 0.0 , 3.3V return 1.0
fabiombed	1:8f312c1686b6	244	float measure = analog_read_A1.read() * 3300;
fabiombed	1:8f312c1686b6	245	//printf("Measure = %.0f mV\r\n", measure);
fabiombed	1:8f312c1686b6	246	//board->display->DisplayDigit("A", 0);
fabiombed	1:8f312c1686b6	247
fabiombed	1:8f312c1686b6	248	if (Display==1) { sprintf(DisplayStr, "%.0f", measure); }
fabiombed	1:8f312c1686b6	249
fabiombed	1:8f312c1686b6	250	board->display->DisplayString(DisplayStr, 4);
fabiombed	1:8f312c1686b6	251
fabiombed	1:8f312c1686b6	252	}
fabiombed	1:8f312c1686b6	253
fabiombed	1:8f312c1686b6	254	/* Main ----------------------------------------------------------------------*/
fabiombed	1:8f312c1686b6	255
fabiombed	1:8f312c1686b6	256	int main()
fabiombed	1:8f312c1686b6	257	{
fabiombed	1:8f312c1686b6	258
fabiombed	1:8f312c1686b6	259	Initialization();
fabiombed	1:8f312c1686b6	260
fabiombed	1:8f312c1686b6	261	mybutton.fall(&User_Button_Pressed);
fabiombed	1:8f312c1686b6	262
fabiombed	0:becf0d313663	263	/* Printing to the console. */
fabiombed	1:8f312c1686b6	264	printf("SunTracker by Fabio Brembilla\r\n\n");
fabiombed	1:8f312c1686b6	265
fabiombed	1:8f312c1686b6	266	/* Set Babybears. */
fabiombed	1:8f312c1686b6	267	status_l=board->sensor_left->AlsSetAnalogueGain(3);
fabiombed	1:8f312c1686b6	268	status_r=board->sensor_right->AlsSetAnalogueGain(3);
fabiombed	1:8f312c1686b6	269	status_l=board->sensor_left->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed	1:8f312c1686b6	270	status_r=board->sensor_right->StartMeasurement(als_continuous_polling, NULL, NULL, NULL);
fabiombed	1:8f312c1686b6	271
fabiombed	1:8f312c1686b6	272	/* Loop until push User Button to Set 0 Point. */
fabiombed	1:8f312c1686b6	273	strcpy(DisplayStr,"pusH");
fabiombed	1:8f312c1686b6	274	while(start<1)
fabiombed	1:8f312c1686b6	275	{
fabiombed	1:8f312c1686b6	276	board->display->DisplayString(DisplayStr, 4);
fabiombed	1:8f312c1686b6	277	}
fabiombed	1:8f312c1686b6	278
fabiombed	0:becf0d313663	279	/* Main Loop. */
fabiombed	0:becf0d313663	280	while(true)
fabiombed	0:becf0d313663	281	{
fabiombed	1:8f312c1686b6	282	if (Display==0 \| Display==1) { Measure_Babybear(); }
fabiombed	1:8f312c1686b6	283	if (Display==2) { Measure_Accelerometer(); }
fabiombed	1:8f312c1686b6	284
fabiombed	1:8f312c1686b6	285	Control_Motor();
fabiombed	1:8f312c1686b6	286	Measure_SolarPanel();
fabiombed	0:becf0d313663	287	}
fabiombed	1:8f312c1686b6	288
fabiombed	1:8f312c1686b6	289	status_l=board->sensor_left->StopMeasurement(als_continuous_polling);
fabiombed	1:8f312c1686b6	290	status_r=board->sensor_right->StopMeasurement(als_continuous_polling);
fabiombed	1:8f312c1686b6	291
fabiombed	0:becf0d313663	292	}

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Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	16 May 2016
Imports:	42
Forks:	0
Commits:	26
Dependents:	0
Dependencies:	6
Followers:	403

The code in this repository is Apache licensed.