Team Plastics Separation / Mbed 2 deprecated ECE4012-PHD_data_out_and_1pps

Added functionality to output stored data to sd card. Code for SPI communication to modular sensor array is commented out due to bugs in reading in SPI data from arduino. (Sending SPI data to arduino is working)

Dependencies:   Regrind RioRandHBridge SDFileSystem Solenoid mbed

Fork of ECE4012-PHD by Mitchell Pang

main.cpp@2:819397348cd0, 2015-12-02 (annotated)

Committer:
mitchpang
Date:
Wed Dec 02 15:43:38 2015 +0000
Revision:
2:819397348cd0
Parent:
0:bb537a3c7f2a
Child:
3:597f8492fee2
Changed working structure for og1 and og2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mitchpang 0:bb537a3c7f2a 1 #include "mbed.h"
mitchpang 0:bb537a3c7f2a 2 #include "Regrind.h"
mitchpang 0:bb537a3c7f2a 3 #include "TB6612FNG.h"
mitchpang 0:bb537a3c7f2a 4 #include "Solenoid.h"
mitchpang 0:bb537a3c7f2a 5
mitchpang 0:bb537a3c7f2a 6 #define OG1_TO_OG2_DIST 1
mitchpang 0:bb537a3c7f2a 7 #define OG1_TO_OG3_DIST 2
mitchpang 2:819397348cd0 8 #define SOLENOID_ON_DELAY 0.5
mitchpang 0:bb537a3c7f2a 9 #define SOLENOID_OFF_DELAY 0.0
mitchpang 0:bb537a3c7f2a 10 #define LED_ON_DELAY 0.5
mitchpang 0:bb537a3c7f2a 11 #define LED_OFF_DELAY 0.0
mitchpang 0:bb537a3c7f2a 12 #define REGRIND_ARRAY_SIZE 1
mitchpang 2:819397348cd0 13 #define THRESHOLD 0.015
mitchpang 2:819397348cd0 14 #define RETURN_THRESHOLD 0.01
mitchpang 0:bb537a3c7f2a 15
mitchpang 0:bb537a3c7f2a 16 DigitalOut led1(LED1,0); //Used as 1pps out indicator
mitchpang 0:bb537a3c7f2a 17 Solenoid led2(LED2, LED_ON_DELAY, LED_OFF_DELAY);
mitchpang 0:bb537a3c7f2a 18 Solenoid led3(LED3, LED_ON_DELAY, LED_OFF_DELAY);
mitchpang 0:bb537a3c7f2a 19 Solenoid led4(LED4, LED_ON_DELAY, LED_OFF_DELAY);
mitchpang 0:bb537a3c7f2a 20 DigitalOut onePPS_out(p29);
mitchpang 0:bb537a3c7f2a 21 Solenoid solenoid(p30, SOLENOID_ON_DELAY, SOLENOID_OFF_DELAY); //Solenoid(PinName pin, float ondelay, float offdelay)
mitchpang 0:bb537a3c7f2a 22 TB6612FNG augerMotors(p21, p26, p25, p22, p24, p23, p27); //TB6612FNG( PinName pinPwmA, PinName pinAin1, PinName pinAin2, PinName pinPwmB, PinName pinBin1, PinName pinBin2, PinName pinNStby );
mitchpang 2:819397348cd0 23 AnalogIn topMotorAdjuster(p19);
mitchpang 0:bb537a3c7f2a 24 AnalogIn bottomMotorAdjuster(p16);
mitchpang 2:819397348cd0 25 DigitalOut unused1(p17,0);
mitchpang 2:819397348cd0 26 AnalogIn og1(p15);
mitchpang 2:819397348cd0 27 AnalogIn og2(p20);
mitchpang 0:bb537a3c7f2a 28 AnalogIn og3(p18);
mitchpang 2:819397348cd0 29 InterruptIn divertParticle(p5);
mitchpang 0:bb537a3c7f2a 30 Timer totalT;
mitchpang 2:819397348cd0 31 DigitalOut startColor(p6);
mitchpang 2:819397348cd0 32 //DigitalIn redColor(p5);
mitchpang 2:819397348cd0 33 DigitalIn blueColor(p7);
mitchpang 2:819397348cd0 34 DigitalIn greenColor(p8);
mitchpang 0:bb537a3c7f2a 35 //Ticker 1pps;
mitchpang 0:bb537a3c7f2a 36
mitchpang 0:bb537a3c7f2a 37 Serial pc(USBTX,USBRX); //used for debugging
mitchpang 0:bb537a3c7f2a 38
mitchpang 2:819397348cd0 39 float og1Threshold = 0.3;
mitchpang 0:bb537a3c7f2a 40 float og2Threshold = 0;
mitchpang 0:bb537a3c7f2a 41 float og3Threshold = 0;
mitchpang 0:bb537a3c7f2a 42 int og1Oneshot = 0;
mitchpang 0:bb537a3c7f2a 43 int og2Oneshot = 0;
mitchpang 0:bb537a3c7f2a 44 int og3Oneshot = 0;
mitchpang 0:bb537a3c7f2a 45 float og1_adc = 0;
mitchpang 0:bb537a3c7f2a 46 float og2_adc = 0;
mitchpang 0:bb537a3c7f2a 47 float og3_adc = 0;
mitchpang 0:bb537a3c7f2a 48 int og1Ndx = 0;
mitchpang 0:bb537a3c7f2a 49 int og2Ndx = 0;
mitchpang 0:bb537a3c7f2a 50 int og3Ndx = 0;
mitchpang 0:bb537a3c7f2a 51 float og1_min = 0;
mitchpang 2:819397348cd0 52 float og1_max = 2.7;
mitchpang 0:bb537a3c7f2a 53 float og2_min = 0;
mitchpang 0:bb537a3c7f2a 54 float og2_max = 0;
mitchpang 0:bb537a3c7f2a 55 float og3_min = 0;
mitchpang 0:bb537a3c7f2a 56 float og3_max = 0;
mitchpang 2:819397348cd0 57 float og1_calibration = 0;
mitchpang 2:819397348cd0 58 float og2_calibration = 0;
mitchpang 2:819397348cd0 59 float og3_calibration = 0;
mitchpang 0:bb537a3c7f2a 60
mitchpang 0:bb537a3c7f2a 61 Regrind regrindArray[REGRIND_ARRAY_SIZE];
mitchpang 0:bb537a3c7f2a 62 /*
mitchpang 0:bb537a3c7f2a 63 void flip(){
mitchpang 0:bb537a3c7f2a 64 led1 = !led1;
mitchpang 0:bb537a3c7f2a 65 1pps_out = !1pps_out;
mitchpang 0:bb537a3c7f2a 66 }
mitchpang 0:bb537a3c7f2a 67 */
mitchpang 2:819397348cd0 68 void divert(){
mitchpang 2:819397348cd0 69 regrindArray[og2Ndx].divert = 1;
mitchpang 2:819397348cd0 70 }
mitchpang 0:bb537a3c7f2a 71
mitchpang 0:bb537a3c7f2a 72 int main() {
mitchpang 0:bb537a3c7f2a 73 //Start Clock
mitchpang 0:bb537a3c7f2a 74 totalT.start();
mitchpang 0:bb537a3c7f2a 75 //Setup Information
mitchpang 0:bb537a3c7f2a 76 /*
mitchpang 0:bb537a3c7f2a 77 led1 = 0;
mitchpang 0:bb537a3c7f2a 78 1pps_out = 0;
mitchpang 0:bb537a3c7f2a 79 1pps.attach(&flip, 1.0);
mitchpang 0:bb537a3c7f2a 80 */
mitchpang 0:bb537a3c7f2a 81 //Setup motors
mitchpang 0:bb537a3c7f2a 82 augerMotors.setPwmApulsewidth(0.0);
mitchpang 0:bb537a3c7f2a 83 augerMotors.setPwmBpulsewidth(0.0);
mitchpang 0:bb537a3c7f2a 84 augerMotors.motorA_ccw();
mitchpang 0:bb537a3c7f2a 85 augerMotors.motorB_ccw();
mitchpang 0:bb537a3c7f2a 86
mitchpang 0:bb537a3c7f2a 87 //Spin up Motors until fluctuation of 10% seen
mitchpang 0:bb537a3c7f2a 88
mitchpang 0:bb537a3c7f2a 89
mitchpang 0:bb537a3c7f2a 90 //Calibrate the ADC
mitchpang 0:bb537a3c7f2a 91 //Done by spinning augers and measuring min and max then setting threshold as 0.9*(max-min) + min
mitchpang 2:819397348cd0 92 for(int i = 0; i<100;++i){
mitchpang 2:819397348cd0 93 og1_calibration += og1*3.3;
mitchpang 2:819397348cd0 94 og2_calibration += og2*3.3;
mitchpang 2:819397348cd0 95 }
mitchpang 2:819397348cd0 96 og1_calibration = og1_calibration/100;
mitchpang 2:819397348cd0 97 og2_calibration = og2_calibration/100;
mitchpang 2:819397348cd0 98 printf("og1_calibration value: %f\n\r",og1_calibration);
mitchpang 2:819397348cd0 99 printf("og2_calibration value: %f\n\r",og2_calibration);
mitchpang 2:819397348cd0 100 wait(3);
mitchpang 2:819397348cd0 101
mitchpang 2:819397348cd0 102 divertParticle.rise(&divert);
mitchpang 0:bb537a3c7f2a 103
mitchpang 0:bb537a3c7f2a 104 while(1) {
mitchpang 2:819397348cd0 105 /*
mitchpang 2:819397348cd0 106 if(redColor == 1){
mitchpang 2:819397348cd0 107 solenoid = 1; //actuate solenoid if red
mitchpang 2:819397348cd0 108 led1=1;
mitchpang 2:819397348cd0 109 }
mitchpang 2:819397348cd0 110 else {
mitchpang 2:819397348cd0 111 solenoid = 0; //actuate solenoid no matter what.
mitchpang 2:819397348cd0 112 led1=0;
mitchpang 2:819397348cd0 113 }
mitchpang 2:819397348cd0 114 */
mitchpang 0:bb537a3c7f2a 115 //Sample ADCs
mitchpang 2:819397348cd0 116 og1_adc = og1.read()*3.3;
mitchpang 2:819397348cd0 117 og2_adc = og2.read()*3.3;
mitchpang 2:819397348cd0 118 og3_adc = og3.read()*3.3;
mitchpang 2:819397348cd0 119 //wait(0.01);
mitchpang 2:819397348cd0 120 //pc.printf("og1: %f og2: %f og3: %f\n\r",og1_adc, og2_adc, og3_adc);
mitchpang 0:bb537a3c7f2a 121
mitchpang 2:819397348cd0 122 if((og1_calibration - og1_adc > THRESHOLD) && (og1Oneshot != 1)){ //Something passed through og1
mitchpang 0:bb537a3c7f2a 123 og1Oneshot = 1;
mitchpang 2:819397348cd0 124 //pc.printf("Regrind seen at OG 1 : %fV\n\r", og1_adc);
mitchpang 0:bb537a3c7f2a 125 led2 = 1;
mitchpang 2:819397348cd0 126
mitchpang 0:bb537a3c7f2a 127 //Create Regrind
mitchpang 0:bb537a3c7f2a 128 regrindArray[og1Ndx%REGRIND_ARRAY_SIZE] = Regrind(totalT.read_us(), 1, 0, 0, 0, 0);
mitchpang 2:819397348cd0 129 startColor = 1;
mitchpang 2:819397348cd0 130 //wait(1);
mitchpang 0:bb537a3c7f2a 131 } //if(og1...)
mitchpang 2:819397348cd0 132 else if(og1_calibration - og1_adc < RETURN_THRESHOLD){ //Regrind has passed ok to reset og
mitchpang 0:bb537a3c7f2a 133 og1Oneshot = 0;
mitchpang 0:bb537a3c7f2a 134
mitchpang 0:bb537a3c7f2a 135 }//else if(og1 ...)
mitchpang 0:bb537a3c7f2a 136
mitchpang 2:819397348cd0 137 if((og2_calibration - og2_adc > THRESHOLD) && (og2Oneshot != 1)){
mitchpang 0:bb537a3c7f2a 138 og2Oneshot = 1;
mitchpang 0:bb537a3c7f2a 139 regrindArray[og2Ndx%REGRIND_ARRAY_SIZE].setVelocity(OG1_TO_OG2_DIST);
mitchpang 0:bb537a3c7f2a 140 led3 = 1;
mitchpang 2:819397348cd0 141 if(regrindArray[og2Ndx].divert == 1){
mitchpang 2:819397348cd0 142 solenoid = 1; //actuate solenoid if red
mitchpang 2:819397348cd0 143 }
mitchpang 2:819397348cd0 144 else {
mitchpang 2:819397348cd0 145 solenoid = 0; //Dont actuate if not red.
mitchpang 2:819397348cd0 146 }
mitchpang 0:bb537a3c7f2a 147 }//if(og2..)
mitchpang 2:819397348cd0 148 else if(og2_calibration - og2_adc < RETURN_THRESHOLD){ //Regrind has passed ok to reset og
mitchpang 0:bb537a3c7f2a 149 og2Oneshot = 0;
mitchpang 0:bb537a3c7f2a 150
mitchpang 0:bb537a3c7f2a 151 }//else if(og2 ...)
mitchpang 0:bb537a3c7f2a 152
mitchpang 2:819397348cd0 153 if((og3_adc == 0) && (og3Oneshot != 1)){
mitchpang 0:bb537a3c7f2a 154 og3Oneshot = 1;
mitchpang 0:bb537a3c7f2a 155 led4 = 1;
mitchpang 0:bb537a3c7f2a 156 regrindArray[og3Ndx].setAcceleration(OG1_TO_OG3_DIST);
mitchpang 0:bb537a3c7f2a 157 if(regrindArray[og3Ndx].divert == 1){//Regrind has been selected to be diverted. Turn on solenoid.
mitchpang 0:bb537a3c7f2a 158 solenoid = 1;
mitchpang 0:bb537a3c7f2a 159 }
mitchpang 0:bb537a3c7f2a 160 }//if(og3..)
mitchpang 2:819397348cd0 161 else if(og3_adc == 1){ //Regrind has passed ok to reset og
mitchpang 0:bb537a3c7f2a 162 og3Oneshot = 0;
mitchpang 0:bb537a3c7f2a 163
mitchpang 0:bb537a3c7f2a 164 }//else if(og3 ...)
mitchpang 0:bb537a3c7f2a 165
mitchpang 0:bb537a3c7f2a 166 //Check on 1pps clock
mitchpang 0:bb537a3c7f2a 167 if((totalT.read_us() % 2000000) < 1000000){
mitchpang 0:bb537a3c7f2a 168 led1 = 1;
mitchpang 0:bb537a3c7f2a 169 onePPS_out = 1;
mitchpang 0:bb537a3c7f2a 170 }
mitchpang 0:bb537a3c7f2a 171 else {//timer is in off cycle
mitchpang 0:bb537a3c7f2a 172 led1 = 0;
mitchpang 0:bb537a3c7f2a 173 onePPS_out = 0;
mitchpang 0:bb537a3c7f2a 174 }
mitchpang 0:bb537a3c7f2a 175
mitchpang 0:bb537a3c7f2a 176 //Check if data writing flag is set - if so, write to SD card
mitchpang 0:bb537a3c7f2a 177
mitchpang 0:bb537a3c7f2a 178 //Adjust PWM as necessary
mitchpang 0:bb537a3c7f2a 179 augerMotors.setPwmApulsewidth(topMotorAdjuster.read());
mitchpang 0:bb537a3c7f2a 180 augerMotors.setPwmBpulsewidth(bottomMotorAdjuster.read());
mitchpang 2:819397348cd0 181 //pc.printf("top: %f bottom: %f\n\r",topMotorAdjuster.read(),bottomMotorAdjuster.read());
mitchpang 0:bb537a3c7f2a 182 } //while(1)
mitchpang 0:bb537a3c7f2a 183 totalT.stop();
mitchpang 0:bb537a3c7f2a 184 }// int main()