Diff: main.cpp

Revision:

2:9a9fbbf43957

Parent:

1:57f1410e9614

Child:

3:473269e5a06f

--- a/main.cpp	Tue Feb 23 00:31:03 2016 +0000
+++ b/main.cpp	Wed Feb 24 16:48:50 2016 +0000
@@ -1,42 +1,27 @@
 //Linear Actuator to control the moving rod. 
-
+/*
 #include "mbed.h"
 #include "Motor.h"
 #include "PinDetect.h"
 
-
 float moving_time1 = 15.0;            //we control the Table Actuator stop position by play with the moving time1; longer rising time,higher stop position
 float moving_time2 = 20.0;            //we control the Connector Actuator stop position by play with the moving time2; longer rising time,higher stop position
 float charging_time = 20.0;           //the time needed to charge the battery, during which the Connector Actuator will stay at its highest position
 float wait_time = 3.0;               //time waiting for the drone to slide to the triangle hindge
 float hold_time = 3.0;               //the time during which the Table Actuator will stay at its highest position after disconnected the connector
-
+int running_schedule = 0;            //0-resting  1-running the schedule
+int reset = 0;
 
 Motor m1(p21, p27, p28);        // pwm, fwd, rev //Table Actuator
 Motor m2(p22, p10, p9);          // pwm, fwd, rev //Connector Actuator
-InterruptIn load_sensor(p5);
-
+PinDetect load_sensor(p5);
 PinDetect start(p6);
 PinDetect reset(p7);
 
-void start_the_schedual(){
-    m1.speed(1);            //Table Actuator Going Up
-    wait(moving_time1);
-    m1.speed(0);            //Table Actuator Stops at its Highest Position
-    wait(wait_time);        //Waiting for the quadcoptor to slide into the triangle hindge
-    m2.speed(1);            //Connector Actuator Going Up
-    wait(moving_time2);
-    m2.speed(0);            //Connector Actuator Stops at its Highest Position
-    wait(charging_time);    //Waiting for the battery to charging
-    m2.speed(-1);           //Connector Actuator Goging down
-    wait(moving_time2);
-    m2.speed(0);            //Connector Actuator Stops at the start position
-    wait(hold_time);        //Waiting for the quadcoptpr to take off
-    m1.speed(-1);           //Connector Actuator Goging down
-    wait(moving_time1);
-    m1.speed(0);            //Table Actuator Stops at the start position
+void start_the_schedule(){
+    running_schedule = 1;       //when the load sensor sense the drone or the start putton is pressed, change to 1;    
 }
-/*
+
 void reset_to_zero(){
     m2.speed(-1);           //Connector Actuator Goging down
     wait(moving_time2);
@@ -45,29 +30,178 @@
     wait(moving_time1);
     m1.speed(0);            //Table Actuator Stops at the start position
 }
-*/
+
 
 void reset_to_zero(){
+    reset = 1;                 //reset now gets priority
     m2.speed(-1); 
     m1.speed(-1);             //Connector Actuator Goging down
     wait(moving_time2);
-    m2.speed(0);            //Connector Actuator Stops at the start position
-    m1.speed(0);            //Table Actuator Stops at the start position
+    m2.speed(0);              //Connector Actuator Stops at the start position
+    m1.speed(0);              //Table Actuator Stops at the start position
 }
 
 int main() {
+    load_sensor.mode(PullUp); wait(0.01);
+    load_sensor.attach_deasserted(&start_the_schedule);
+    load_sensor.setSampleFrequency();
     start.mode(PullUp); wait(0.01);
-    start.attach_deasserted(&start_the_schedual);
+    start.attach_deasserted(&start_the_schedule);
     start.setSampleFrequency();
     reset.mode(PullUp); wait(0.01);
     reset.attach_deasserted(&reset_to_zero);
     reset.setSampleFrequency();
-    //load_sensor.fall(&start_the_schedual);
-    //start.fall(&start_the_schedual);
-    //reset.fall(&reset_to_zero);
+    
     while(1) {
-      
-     
+        while(running_schedule){
+            if(reset) break;
+            m1.speed(1);            //Table Actuator Going Up
+            wait(moving_time1);
+            m1.speed(0);            //Table Actuator Stops at its Highest Position
+            if(reset) break;
+            wait(wait_time);        //Waiting for the quadcoptor to slide into the triangle hindge
+            if(reset) break;
+            m2.speed(1);            //Connector Actuator Going Up
+            wait(moving_time2);
+            m2.speed(0);            //Connector Actuator Stops at its Highest Position
+            if(reset) break;
+            wait(charging_time);    //Waiting for the battery to charging 
+            if(reset) break;
+            m2.speed(-1);           //Connector Actuator Goging down
+            wait(moving_time2);
+            m2.speed(0);            //Connector Actuator Stops at the start position
+            if(reset) break;
+            wait(hold_time);        //Waiting for the quadcoptpr to take off
+            if(reset) break;
+            m1.speed(-1);           //Connector Actuator Goging down
+            wait(moving_time1);
+            m1.speed(0);            //Table Actuator Stops at the start position
+            running_schedule = 0;   //change back to resting after finished the whole loop
+        }
+        reset = 0;                  //Either finishe the schedual natually, or break from the loop, set reset back to 0
+        running_schedule = 0;       //and rest the system 
     }  
   
 }
+
+*/
+
+#include "mbed.h"
+#include "Motor.h"
+#include "PinDetect.h"
+
+float moving_time1 = 15.0;            //we control the Table Actuator stop position by play with the moving time1; longer rising time,higher stop position
+float moving_time2 = 20.0;            //we control the Connector Actuator stop position by play with the moving time2; longer rising time,higher stop position
+float charging_time = 20.0;           //the time needed to charge the battery, during which the Connector Actuator will stay at its highest position
+float wait_time = 3.0;                //time waiting for the drone to slide to the triangle hindge
+float hold_time = 3.0;                //the time during which the Table Actuator will stay at its highest position after disconnected the connector
+bool running_schedule = 0;            //0- the system is resting  1-running schedule
+bool is_reset=0;                      // Used to activate reset function
+
+const float pulse_width = 0.2;        // Define width of the pulse
+
+Motor m1(p21, p27, p28);              // pwm, fwd, rev //Table Actuator
+Motor m2(p22, p10, p9);               // pwm, fwd, rev //Connector Actuator
+PinDetect load_sensor(p5);
+PinDetect start(p6);
+PinDetect reset(p7);
+
+
+
+//********************************************* Pb Interrupt Functions **************************************************
+
+void start_the_schedule()
+{
+    running_schedule = 1;       //when the load sensor sense the drone or the start putton is pressed, change to 1;    
+}
+
+void break_loop()
+{
+    is_reset = 1;               // intterup to reset
+}
+
+//********************************************* Actuator Control Functions **************************************************
+void raise(Motor& m,const float& pls_wid)
+{   //send a rising command pulse to Motor m
+    m.speed(1);
+    wait(pls_wid);
+    m.speed(0);
+}
+
+void fall(Motor& m,const float& pls_wid)
+{   //send a falling command pulse to Motor m 
+    m.speed(-1);
+    wait(pulse_width);
+    m.speed(0);
+}
+
+void hold()
+{   //send a wait command pulse
+    wait(0.2);  
+}
+
+//********************************************* Functions for Base Station System *********************************************************
+void reset_schedule()
+{
+    for(int i = 0; i<(moving_time2/pulse_width);i++){
+         fall(m2,pulse_width);   
+    }    
+    for(int i = 0; i<(moving_time1/pulse_width);i++){
+         fall(m1,pulse_width);   
+    } 
+    is_reset = 0;
+}
+
+void schedule()
+{
+    for(int i=0;i<(moving_time1/pulse_width);i++)    //Table Actuator lift the table up
+    {   if(is_reset){reset_schedule();return;}
+        raise(m1,pulse_width);
+    }
+    for(int i=0;i<(wait_time/pulse_width);i++)       //Waiting for the quadcoptor to slide into the triangle hindge
+    {   if(is_reset){reset_schedule();return;}
+        hold();
+    }
+    for(int i = 0; i<(moving_time2/pulse_width);i++) //Connector Actuator lifts up
+    {   if(is_reset){reset_schedule();return;}
+        raise(m2,pulse_width);   
+    } 
+    for(int i=0;i<(charging_time/pulse_width);i++)   //Waiting for the battery to charge
+    {   if(is_reset){reset_schedule();return;}
+        hold();
+    }
+    for(int i = 0; i<(moving_time2/pulse_width);i++) //Connector Actuator goes down
+    {   if(is_reset){reset_schedule();return;}
+        fall(m2,pulse_width);   
+    } 
+    for(int i=0;i<(hold_time/pulse_width);i++)       //Waiting for the quadcoptpr to take off
+    {   if(is_reset){reset_schedule();return;}
+        hold();
+    }      
+    for(int i = 0; i<(moving_time1/pulse_width);i++) //Table Actuator goes down
+    {   if(is_reset){reset_schedule();return;}
+        fall(m1,pulse_width);   
+    }        
+}
+
+//********************************************* Main Function *********************************************************
+int main()
+{
+    //init interuppt
+    load_sensor.mode(PullUp); wait(0.01);
+    load_sensor.attach_deasserted(&start_the_schedule);
+    load_sensor.setSampleFrequency();
+    start.mode(PullUp); wait(0.01);
+    start.attach_deasserted(&start_the_schedule);
+    start.setSampleFrequency();
+    reset.mode(PullUp); wait(0.01);
+    reset.attach_deasserted(&break_loop);
+    reset.setSampleFrequency();
+    while(1){
+        if(running_schedule){
+            schedule();
+            running_schedule = 0;       //return to rest after finish the schedule
+        }
+    }
+}
+