Diff: main.cpp

Revision:

0:60a314903fb0

Child:

1:7cdb9114f511

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Mar 20 15:33:07 2016 +0000
@@ -0,0 +1,485 @@
+#include "mbed.h"
+
+//Pull everything up
+DigitalOut pull1(PTE2);
+DigitalOut pull2(PTA2);
+//DigitalOut pull4(PTA12);
+//DigitalOut pull5(PTA4);
+DigitalOut pull6(PTA5);
+//DigitalOut pull7(PTC8);
+
+DigitalOut pull9(PTA13);
+DigitalOut pull10(PTD5);
+DigitalOut pull11(PTD0);
+DigitalOut pull12(PTD2);
+DigitalOut pull13(PTD3);
+DigitalOut pull14(PTD1);
+DigitalOut pull15(PTE0);
+DigitalOut pull16(PTE1);
+
+//DigitalOut pull17(PTC7);
+//DigitalOut pull18(PTC0);
+//DigitalOut pull19(PTC3);
+DigitalOut pull20(PTC4);
+
+
+DigitalOut pull27(PTE31);
+DigitalOut pull28(PTD6);
+DigitalOut pull29(PTD7);
+
+//DigitalOut pull30(PTE30);
+
+//DigitalOut pull38(PTE3);
+//DigitalOut pull39(PTE2);
+//DigitalOut pull50(PTB11);
+//DigitalOut pull51(PTB10);
+//DigitalOut pull52(PTB9);
+//DigitalOut pull53(PTB8);
+
+//DigitalOut pull34(PTE21);
+//DigitalOut pull35(PTE20);
+//DigitalOut pull47(PTB1);
+//DigitalOut pull48(PTB0);
+DigitalOut pull100(PTA20);
+
+//motor driver outputs
+DigitalOut IN4(PTC5);
+DigitalOut IN3(PTC6);
+DigitalOut IN2(PTC10);
+DigitalOut IN1(PTC11);
+PwmOut ENA(PTC9);
+PwmOut ENB(PTD4);
+
+DigitalOut indicator(LED_BLUE);
+
+//constant 3.3 volts for sensors
+DigitalOut constant1(PTE5);
+DigitalOut constant2(PTE4);
+DigitalOut constant3(PTE3);
+DigitalOut constant4(PTC0);
+DigitalOut constant5(PTC7);
+DigitalOut constant6 (PTC3);
+
+//line following inputs
+AnalogIn leftmost(PTB0);
+AnalogIn left(PTC2);
+AnalogIn middle(PTB3);
+AnalogIn right(PTB2);
+AnalogIn rightmost(PTB1);
+
+DigitalIn back(PTB10);
+DigitalIn midbar(PTB11);
+DigitalIn front(PTE2);
+
+//debugging led outputs
+DigitalOut ledleftmost(PTE20);
+DigitalOut ledright(PTE23);
+DigitalOut ledmiddle(PTE22);
+DigitalOut ledleft(PTE29);
+DigitalOut ledrightmost(PTE21);
+
+DigitalOut ledback(PTC4);
+DigitalOut ledmidbar(PTB8);
+DigitalOut ledfront(PTB9);
+
+//ball firing
+PwmOut motors(PTA12);
+DigitalOut solenoid(PTA2);
+
+//Ball dispensing
+PwmOut dispenser(PTA4);
+
+//Ball Counter
+DigitalOut constant7(PTC16);
+DigitalOut bcd1(PTC17);
+DigitalOut bcd0(PTE31);
+DigitalOut bcd3(PTA17);
+DigitalOut bcd2(PTA16);
+InterruptIn ball_trigger(PTD7);
+DigitalOut constant8(PTD6);
+
+//Serial bluetooth(PTD3, PTD2); //tx,rx
+PwmOut speaker(PTA5);
+
+
+//Old
+/*Ticker sine_interrupt;
+AnalogOut Aout(PTE30);
+double interrupt_f = .00001525878;                  //  (1/2048*32)
+static int sine_wave_steps = 32;                    // number of steps in sine wave
+int sine_counter = 0;
+static float sine_val[] = {.5,.5976,.6914,.7773,.8535,.9160,.9619,.9902,1,.9902,.9619,.9160,.8535,.7773,.6914,.5976,.5,.4023,.3085,.2226,.1464,.0839,.0380,.0097,0,.0097,.0380,.0839,.1464,.2226,.3085,.4023};
+
+
+void create_sine() {                                //subroutine for interrupt, creates sine wave
+    sine_counter = sine_counter + 1;                //run through sine array
+    if (sine_counter >= sine_wave_steps){
+           sine_counter = 0;                            //repeat sine wave
+    }
+    Aout = sine_val[sine_counter];                  //output decimal 0-1 on DAC
+}*/
+int counter = 0;
+int bar=0;
+int i=0;
+static int ballcount=0;
+
+float k = 0;
+
+bool go_slower=false;
+bool stop=false;
+
+void sound()
+{
+    //speaker.period(1.0/500.0); // 500hz period
+    //speaker =0.5; //50% duty cycle - max volume
+
+    for (k=400; k<470; k=k+8) {
+        speaker.period(1.0/float(k));
+        speaker=0.5;
+        wait(.1);
+    }
+
+    speaker=0;
+}
+
+
+void display()
+{
+
+    if (ballcount == 0) {
+        bcd0 = 0;
+        bcd1 = 0;
+        bcd2 = 0;
+        bcd3 = 0;
+    }
+    if (ballcount == 1) {
+        bcd0 = 1;
+        bcd1 = 0;
+        bcd2 = 0;
+        bcd3 = 0;
+    }
+    if (ballcount == 2) {
+        bcd0 = 0;
+        bcd1 = 1;
+        bcd2 = 0;
+        bcd3 = 0;
+    }
+    if (ballcount == 3) {
+        bcd0 = 1;
+        bcd1 = 1;
+        bcd2 = 0;
+        bcd3 = 0;
+    }
+    if (ballcount == 4) {
+        bcd0 = 0;
+        bcd1 = 0;
+        bcd2 = 1;
+        bcd3 = 0;
+    }
+    if (ballcount == 5) {
+        bcd0 = 1;
+        bcd1 = 0;
+        bcd2 = 1;
+        bcd3 = 0;
+    }
+     if (ballcount > 5) {
+        ballcount = 0;
+    }
+}
+
+void count()
+{
+    wait_ms(0.55); //this time has to be optimised to stop false positives
+    if(ball_trigger==0) {
+        ballcount++;
+        indicator = 0;
+        wait (0.25);
+        indicator = 1;
+        display();
+
+    }
+}
+
+int balls=0;
+
+int barcode()
+{
+    
+    /*if(front==1 or midbar==1 or back==1){
+        //ENA=0.29;
+        //ENB=0.29;
+        }
+        */
+    if(front==1) {
+        ledfront=1;
+        //ENA=0.25;
+        //ENB=0.25;
+    } else {
+        ledfront=0;
+    }
+
+    if(midbar==1) {
+        ledmidbar=1;
+        //ENA=0.25;
+        //ENB=0.25;
+    } else {
+        ledmidbar=0;
+    }
+
+    if(back==1) {
+        ledback=1;
+        //ENA=0.25;
+        //ENB=0.25;
+    } else {
+        ledback=0;
+    }
+
+    if(midbar==1 and back==1 and front==0){ //or (midbar==1 and front==1)) {
+        //shoot balls
+        ENA=0;
+        ENB=0;
+        motors=0.095;
+        stop=false;
+        if (ballcount>0){
+        while(ballcount>0){
+            ballcount--;                   
+            sound();
+            wait_ms(550);
+            solenoid=1;
+            display();
+            wait_ms(45);
+            solenoid=0;
+            wait(1);
+            stop=true;
+        }
+        }
+        
+        motors=0;
+        ENA=0.35;
+        ENB=0.35;
+        if(stop==true){
+            wait(2);   
+        }       
+        return bar==1;
+    } else if(front==1 and midbar==0 and back==1) { //test barcode
+        ENA=0;
+        ENB=0;
+        ballcount=0;
+        display();
+        while(ballcount<5){
+            dispenser=0.5;
+            wait(1);
+            dispenser=0;
+        }        
+        ENA=0.35;
+        ENB=0.35;
+        wait(2);
+        go_slower=true;
+        return bar==1;
+    }
+    
+    
+
+    //sine_interrupt.detach();
+    wait(0.1);
+    return bar ==0;
+}
+int main()
+{
+
+
+    pull100=0;
+    pull1=0;
+    pull2=0;
+    //pull3.mode(PullUp);
+    //pull4=0;
+    //pull5=0;
+    pull6=0;
+    //pull7=0;
+    //pull8.mode(PullUp);
+    pull9=0;
+    pull10=0;
+    pull11=0;
+    pull12=0;
+    pull13=0;
+    pull14=0;
+    pull15=0;
+    pull16=0;
+    //pull17=0;
+    //pull18=0;
+    //pull19=0;
+    pull20=0;
+    //pull21=0;
+    //pull22=0;
+    //pull23=0;
+    //pull24=0;
+    //pull25=0;
+    //pull26=0;
+    pull27=0;
+    pull28=0;
+    pull29=0;
+    //pull30=0;
+    //pull34=0;
+    //pull35=0;
+    //pull38=0;
+    //pull39=0;
+    //pull47=0;
+    //pull48=0;
+    //pull49=0;
+    //pull50=0;
+    //pull51=0;
+    //pull52=0;
+    //pull53=0;
+
+
+
+
+    motors.period(3.0);
+    motors.write(0);
+    solenoid=0;
+
+
+
+    constant1=1;
+    constant2=1;
+    constant3=1;
+    constant4=1;
+    constant5=1;
+    constant6=1;
+    
+
+    indicator=1;
+    wait(0.3);
+    indicator=0;
+    wait(0.3);
+    indicator=1;
+    wait(0.3);
+    indicator=0;// because its a pile of shite
+
+    //define pwn freq for dispenser
+    dispenser.period(1/2048);
+
+
+    dispenser=0;
+
+    ENA.period(0.001);
+    ENB.period(0.001);
+
+    IN1=0;
+    IN2=1;
+    IN3=0;
+    IN4=1;
+    //set inital pwm values for motor driver outputs
+    ENA=0;
+    ENB=0;
+    //You´ll never be the real slim shady
+    //int counter=0;
+
+    bcd0 = 0;
+    bcd1 = 0;
+    bcd2 = 0;
+    bcd3 = 0;
+    constant7 = 1;
+    constant8=1;
+    ballcount=0;
+
+    ball_trigger.fall(&count);
+    //sine_interrupt.attach(&create_sine , interrupt_f);
+
+    while(1) {
+
+        //sine_interrupt.attach(&create_sine , interrupt_f);
+        //sine_interrupt.detach();
+
+        bar = 0;
+        //counter=counter+1;
+        //zonecounter=zonecounter+1;
+
+        if(middle<0.4 & left<0.4 & right<0.4 & leftmost<0.4 & rightmost<0.4) {
+            //skip the loop
+            ledmiddle=0;
+            ledleft=0;
+            ledright=0;
+            ledleftmost=0;
+            ledrightmost=0;
+
+            
+        } else {
+
+
+            if(middle>0.4) {
+                ledmiddle=1;
+                ENA=0.45;
+                ENB=0.45;
+            } else {
+                ledmiddle=0;
+                ENA=0.4;
+                ENB=0.4;
+            }
+            
+            if(go_slower==true){
+                ENA=0.38;
+                ENB=0.38;       
+            }
+
+            if(left>0.4) {
+                ledleft=1;
+                ENA=0.3;
+            } else {
+                ledleft=0;
+            }
+
+            if(right>0.4) {
+                ledright=1;
+                ENB=0.28;
+            } else {
+                ledright=0;
+            }
+
+
+
+            if(leftmost>0.4) {
+                ledleftmost=1;
+                ENA=0;
+            } else {
+                ledleftmost=0;
+            }
+
+
+
+            if(rightmost>0.4) {
+                ledrightmost=1;
+                ENB=0;
+            } else {
+                ledrightmost=0;
+            }
+
+
+
+            if((left>0.4 or leftmost>0.4)and(right>0.4 or rightmost>0.4)) {
+                ENB=0.38;
+                ENA=0;
+                wait(2);
+                if(go_slower==false){
+                    go_slower=true;  
+                }else{
+                    go_slower=false;      
+                }                
+            }
+
+
+
+            if(bar == 0) { 
+                barcode();
+            }
+
+
+
+
+            wait(0.01);
+
+
+        }
+    }
+}
+