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@0:bb537a3c7f2a, 2015-11-24 (annotated)

Committer:
mitchpang
Date:
Tue Nov 24 09:36:53 2015 +0000
Revision:
0:bb537a3c7f2a
Child:
2:819397348cd0
first commit

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 0:bb537a3c7f2a 8 #define SOLENOID_ON_DELAY 0.001
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 0:bb537a3c7f2a 13
mitchpang 0:bb537a3c7f2a 14 DigitalOut led1(LED1,0); //Used as 1pps out indicator
mitchpang 0:bb537a3c7f2a 15 Solenoid led2(LED2, LED_ON_DELAY, LED_OFF_DELAY);
mitchpang 0:bb537a3c7f2a 16 Solenoid led3(LED3, LED_ON_DELAY, LED_OFF_DELAY);
mitchpang 0:bb537a3c7f2a 17 Solenoid led4(LED4, LED_ON_DELAY, LED_OFF_DELAY);
mitchpang 0:bb537a3c7f2a 18 DigitalOut onePPS_out(p29);
mitchpang 0:bb537a3c7f2a 19 Solenoid solenoid(p30, SOLENOID_ON_DELAY, SOLENOID_OFF_DELAY); //Solenoid(PinName pin, float ondelay, float offdelay)
mitchpang 0:bb537a3c7f2a 20 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 0:bb537a3c7f2a 21 AnalogIn topMotorAdjuster(p15);
mitchpang 0:bb537a3c7f2a 22 AnalogIn bottomMotorAdjuster(p16);
mitchpang 0:bb537a3c7f2a 23 DigitalOut unused1(p17);
mitchpang 0:bb537a3c7f2a 24 AnalogIn og1(p20);
mitchpang 0:bb537a3c7f2a 25 AnalogIn og2(p19);
mitchpang 0:bb537a3c7f2a 26 AnalogIn og3(p18);
mitchpang 0:bb537a3c7f2a 27 Timer totalT;
mitchpang 0:bb537a3c7f2a 28 //Ticker 1pps;
mitchpang 0:bb537a3c7f2a 29
mitchpang 0:bb537a3c7f2a 30 Serial pc(USBTX,USBRX); //used for debugging
mitchpang 0:bb537a3c7f2a 31
mitchpang 0:bb537a3c7f2a 32 float og1Threshold = 0;
mitchpang 0:bb537a3c7f2a 33 float og2Threshold = 0;
mitchpang 0:bb537a3c7f2a 34 float og3Threshold = 0;
mitchpang 0:bb537a3c7f2a 35 int og1Oneshot = 0;
mitchpang 0:bb537a3c7f2a 36 int og2Oneshot = 0;
mitchpang 0:bb537a3c7f2a 37 int og3Oneshot = 0;
mitchpang 0:bb537a3c7f2a 38 float og1_adc = 0;
mitchpang 0:bb537a3c7f2a 39 float og2_adc = 0;
mitchpang 0:bb537a3c7f2a 40 float og3_adc = 0;
mitchpang 0:bb537a3c7f2a 41 int og1Ndx = 0;
mitchpang 0:bb537a3c7f2a 42 int og2Ndx = 0;
mitchpang 0:bb537a3c7f2a 43 int og3Ndx = 0;
mitchpang 0:bb537a3c7f2a 44 float og1_min = 0;
mitchpang 0:bb537a3c7f2a 45 float og1_max = 0;
mitchpang 0:bb537a3c7f2a 46 float og2_min = 0;
mitchpang 0:bb537a3c7f2a 47 float og2_max = 0;
mitchpang 0:bb537a3c7f2a 48 float og3_min = 0;
mitchpang 0:bb537a3c7f2a 49 float og3_max = 0;
mitchpang 0:bb537a3c7f2a 50
mitchpang 0:bb537a3c7f2a 51 Regrind regrindArray[REGRIND_ARRAY_SIZE];
mitchpang 0:bb537a3c7f2a 52 /*
mitchpang 0:bb537a3c7f2a 53 void flip(){
mitchpang 0:bb537a3c7f2a 54 led1 = !led1;
mitchpang 0:bb537a3c7f2a 55 1pps_out = !1pps_out;
mitchpang 0:bb537a3c7f2a 56 }
mitchpang 0:bb537a3c7f2a 57 */
mitchpang 0:bb537a3c7f2a 58
mitchpang 0:bb537a3c7f2a 59 int main() {
mitchpang 0:bb537a3c7f2a 60 //Start Clock
mitchpang 0:bb537a3c7f2a 61 totalT.start();
mitchpang 0:bb537a3c7f2a 62 //Setup Information
mitchpang 0:bb537a3c7f2a 63 /*
mitchpang 0:bb537a3c7f2a 64 led1 = 0;
mitchpang 0:bb537a3c7f2a 65 1pps_out = 0;
mitchpang 0:bb537a3c7f2a 66 1pps.attach(&flip, 1.0);
mitchpang 0:bb537a3c7f2a 67 */
mitchpang 0:bb537a3c7f2a 68 //Setup motors
mitchpang 0:bb537a3c7f2a 69 augerMotors.setPwmApulsewidth(0.0);
mitchpang 0:bb537a3c7f2a 70 augerMotors.setPwmBpulsewidth(0.0);
mitchpang 0:bb537a3c7f2a 71 augerMotors.motorA_ccw();
mitchpang 0:bb537a3c7f2a 72 augerMotors.motorB_ccw();
mitchpang 0:bb537a3c7f2a 73
mitchpang 0:bb537a3c7f2a 74 //Spin up Motors until fluctuation of 10% seen
mitchpang 0:bb537a3c7f2a 75
mitchpang 0:bb537a3c7f2a 76
mitchpang 0:bb537a3c7f2a 77 //Calibrate the ADC
mitchpang 0:bb537a3c7f2a 78 //Done by spinning augers and measuring min and max then setting threshold as 0.9*(max-min) + min
mitchpang 0:bb537a3c7f2a 79
mitchpang 0:bb537a3c7f2a 80 while(1) {
mitchpang 0:bb537a3c7f2a 81 //Sample ADCs
mitchpang 0:bb537a3c7f2a 82 og1_adc = og1;
mitchpang 0:bb537a3c7f2a 83 og2_adc = og2;
mitchpang 0:bb537a3c7f2a 84 og3_adc = og3;
mitchpang 0:bb537a3c7f2a 85
mitchpang 0:bb537a3c7f2a 86 if((og1_adc < og1Threshold) && (og1Oneshot != 1)){ //Something passed through og1
mitchpang 0:bb537a3c7f2a 87 og1Oneshot = 1;
mitchpang 0:bb537a3c7f2a 88 pc.printf("Regrind seen at OG 1 : %dV\n\r", 3.3*og1_adc);
mitchpang 0:bb537a3c7f2a 89 led2 = 1;
mitchpang 0:bb537a3c7f2a 90 //Create Regrind
mitchpang 0:bb537a3c7f2a 91 regrindArray[og1Ndx%REGRIND_ARRAY_SIZE] = Regrind(totalT.read_us(), 1, 0, 0, 0, 0);
mitchpang 0:bb537a3c7f2a 92
mitchpang 0:bb537a3c7f2a 93 } //if(og1...)
mitchpang 0:bb537a3c7f2a 94 else if(og1_adc > 0.95*og1_max){ //Regrind has passed ok to reset og
mitchpang 0:bb537a3c7f2a 95 og1Oneshot = 0;
mitchpang 0:bb537a3c7f2a 96
mitchpang 0:bb537a3c7f2a 97 }//else if(og1 ...)
mitchpang 0:bb537a3c7f2a 98
mitchpang 0:bb537a3c7f2a 99 if((og2_adc < og2Threshold) && (og2Oneshot != 1)){
mitchpang 0:bb537a3c7f2a 100 og2Oneshot = 1;
mitchpang 0:bb537a3c7f2a 101 regrindArray[og2Ndx%REGRIND_ARRAY_SIZE].setVelocity(OG1_TO_OG2_DIST);
mitchpang 0:bb537a3c7f2a 102 led3 = 1;
mitchpang 0:bb537a3c7f2a 103 }//if(og2..)
mitchpang 0:bb537a3c7f2a 104 else if(og2_adc > 0.95*og2_max){ //Regrind has passed ok to reset og
mitchpang 0:bb537a3c7f2a 105 og2Oneshot = 0;
mitchpang 0:bb537a3c7f2a 106
mitchpang 0:bb537a3c7f2a 107 }//else if(og2 ...)
mitchpang 0:bb537a3c7f2a 108
mitchpang 0:bb537a3c7f2a 109 if((og3_adc < og3Threshold) && (og3Oneshot != 1)){
mitchpang 0:bb537a3c7f2a 110 og3Oneshot = 1;
mitchpang 0:bb537a3c7f2a 111 led4 = 1;
mitchpang 0:bb537a3c7f2a 112 regrindArray[og3Ndx].setAcceleration(OG1_TO_OG3_DIST);
mitchpang 0:bb537a3c7f2a 113 if(regrindArray[og3Ndx].divert == 1){//Regrind has been selected to be diverted. Turn on solenoid.
mitchpang 0:bb537a3c7f2a 114 solenoid = 1;
mitchpang 0:bb537a3c7f2a 115 }
mitchpang 0:bb537a3c7f2a 116 }//if(og3..)
mitchpang 0:bb537a3c7f2a 117 else if(og3_adc > 0.95*og3_max){ //Regrind has passed ok to reset og
mitchpang 0:bb537a3c7f2a 118 og3Oneshot = 0;
mitchpang 0:bb537a3c7f2a 119
mitchpang 0:bb537a3c7f2a 120 }//else if(og3 ...)
mitchpang 0:bb537a3c7f2a 121
mitchpang 0:bb537a3c7f2a 122 //Check on 1pps clock
mitchpang 0:bb537a3c7f2a 123 if((totalT.read_us() % 2000000) < 1000000){
mitchpang 0:bb537a3c7f2a 124 led1 = 1;
mitchpang 0:bb537a3c7f2a 125 onePPS_out = 1;
mitchpang 0:bb537a3c7f2a 126 }
mitchpang 0:bb537a3c7f2a 127 else {//timer is in off cycle
mitchpang 0:bb537a3c7f2a 128 led1 = 0;
mitchpang 0:bb537a3c7f2a 129 onePPS_out = 0;
mitchpang 0:bb537a3c7f2a 130 }
mitchpang 0:bb537a3c7f2a 131
mitchpang 0:bb537a3c7f2a 132 //Check if data writing flag is set - if so, write to SD card
mitchpang 0:bb537a3c7f2a 133
mitchpang 0:bb537a3c7f2a 134 //Adjust PWM as necessary
mitchpang 0:bb537a3c7f2a 135 augerMotors.setPwmApulsewidth(topMotorAdjuster.read());
mitchpang 0:bb537a3c7f2a 136 augerMotors.setPwmBpulsewidth(bottomMotorAdjuster.read());
mitchpang 0:bb537a3c7f2a 137 } //while(1)
mitchpang 0:bb537a3c7f2a 138 totalT.stop();
mitchpang 0:bb537a3c7f2a 139 }// int main()