Team Plastics Separation / Mbed 2 deprecated ECE4012-PHD_working_copy

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Dependencies:   Regrind RioRandHBridge SDFileSystem Solenoid mbed

Fork of ECE4012-PHD_data_out_and_1pps by Team Plastics Separation

main.cpp@5:893aa74ff5aa, 2015-12-06 (annotated)

Committer:
mitchpang
Date:
Sun Dec 06 18:53:38 2015 +0000
Revision:
5:893aa74ff5aa
Parent:
3:597f8492fee2
Child:
6:ad8a8c14b1f0
Calibrated timings for .25sec on time. and no 1pps, no data logging, no data out to sensor.

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 3:597f8492fee2 3 #include "RioRandHBridge.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 5:893aa74ff5aa 8 #define SOLENOID_ON_DELAY 0.25
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 5:893aa74ff5aa 13 #define THRESHOLD 0.02
mitchpang 2:819397348cd0 14 #define RETURN_THRESHOLD 0.01
mitchpang 0:bb537a3c7f2a 15
mitchpang 5:893aa74ff5aa 16 Solenoid led1(LED1, LED_ON_DELAY, LED_OFF_DELAY); //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 3:597f8492fee2 22 RioRandHBridge augerMotors(p21, p25, p22, p23); //RioRandHBridge( PinName pinPwm1, PinName pinDir1, PinName pinPwm2, PinName pinDir2);
mitchpang 3:597f8492fee2 23 DigitalIn reverseMotor1pb(p26);
mitchpang 3:597f8492fee2 24 DigitalIn reverseMotor2pb(p24);
mitchpang 2:819397348cd0 25 AnalogIn topMotorAdjuster(p19);
mitchpang 3:597f8492fee2 26 DigitalOut bottomMotorAdjuster(p16,0);
mitchpang 2:819397348cd0 27 DigitalOut unused1(p17,0);
mitchpang 5:893aa74ff5aa 28 AnalogIn og1(p16);
mitchpang 2:819397348cd0 29 AnalogIn og2(p20);
mitchpang 3:597f8492fee2 30 DigitalOut og3(p18,0);
mitchpang 2:819397348cd0 31 InterruptIn divertParticle(p5);
mitchpang 0:bb537a3c7f2a 32 Timer totalT;
mitchpang 2:819397348cd0 33 DigitalOut startColor(p6);
mitchpang 2:819397348cd0 34 //DigitalIn redColor(p5);
mitchpang 2:819397348cd0 35 DigitalIn blueColor(p7);
mitchpang 2:819397348cd0 36 DigitalIn greenColor(p8);
mitchpang 0:bb537a3c7f2a 37 //Ticker 1pps;
mitchpang 0:bb537a3c7f2a 38
mitchpang 0:bb537a3c7f2a 39 Serial pc(USBTX,USBRX); //used for debugging
mitchpang 0:bb537a3c7f2a 40
mitchpang 2:819397348cd0 41 float og1Threshold = 0.3;
mitchpang 0:bb537a3c7f2a 42 float og2Threshold = 0;
mitchpang 0:bb537a3c7f2a 43 float og3Threshold = 0;
mitchpang 0:bb537a3c7f2a 44 int og1Oneshot = 0;
mitchpang 0:bb537a3c7f2a 45 int og2Oneshot = 0;
mitchpang 0:bb537a3c7f2a 46 int og3Oneshot = 0;
mitchpang 0:bb537a3c7f2a 47 float og1_adc = 0;
mitchpang 0:bb537a3c7f2a 48 float og2_adc = 0;
mitchpang 0:bb537a3c7f2a 49 float og3_adc = 0;
mitchpang 0:bb537a3c7f2a 50 int og1Ndx = 0;
mitchpang 0:bb537a3c7f2a 51 int og2Ndx = 0;
mitchpang 0:bb537a3c7f2a 52 int og3Ndx = 0;
mitchpang 0:bb537a3c7f2a 53 float og1_min = 0;
mitchpang 2:819397348cd0 54 float og1_max = 2.7;
mitchpang 0:bb537a3c7f2a 55 float og2_min = 0;
mitchpang 0:bb537a3c7f2a 56 float og2_max = 0;
mitchpang 0:bb537a3c7f2a 57 float og3_min = 0;
mitchpang 0:bb537a3c7f2a 58 float og3_max = 0;
mitchpang 2:819397348cd0 59 float og1_calibration = 0;
mitchpang 2:819397348cd0 60 float og2_calibration = 0;
mitchpang 2:819397348cd0 61 float og3_calibration = 0;
mitchpang 0:bb537a3c7f2a 62
mitchpang 0:bb537a3c7f2a 63 Regrind regrindArray[REGRIND_ARRAY_SIZE];
mitchpang 0:bb537a3c7f2a 64 /*
mitchpang 0:bb537a3c7f2a 65 void flip(){
mitchpang 0:bb537a3c7f2a 66 led1 = !led1;
mitchpang 0:bb537a3c7f2a 67 1pps_out = !1pps_out;
mitchpang 0:bb537a3c7f2a 68 }
mitchpang 0:bb537a3c7f2a 69 */
mitchpang 2:819397348cd0 70 void divert(){
mitchpang 2:819397348cd0 71 regrindArray[og2Ndx].divert = 1;
mitchpang 5:893aa74ff5aa 72 led3 = 1;
mitchpang 2:819397348cd0 73 }
mitchpang 3:597f8492fee2 74 void reverseMotor1(){
mitchpang 3:597f8492fee2 75 augerMotors.Dir1 = !augerMotors.Dir1;
mitchpang 3:597f8492fee2 76 }
mitchpang 3:597f8492fee2 77 void reverseMotor2(){
mitchpang 3:597f8492fee2 78 augerMotors.Dir2 = !augerMotors.Dir2;
mitchpang 3:597f8492fee2 79 }
mitchpang 0:bb537a3c7f2a 80
mitchpang 0:bb537a3c7f2a 81 int main() {
mitchpang 0:bb537a3c7f2a 82 //Start Clock
mitchpang 0:bb537a3c7f2a 83 totalT.start();
mitchpang 0:bb537a3c7f2a 84 //Setup Information
mitchpang 0:bb537a3c7f2a 85 /*
mitchpang 0:bb537a3c7f2a 86 led1 = 0;
mitchpang 0:bb537a3c7f2a 87 1pps_out = 0;
mitchpang 0:bb537a3c7f2a 88 1pps.attach(&flip, 1.0);
mitchpang 0:bb537a3c7f2a 89 */
mitchpang 0:bb537a3c7f2a 90 //Setup motors
mitchpang 3:597f8492fee2 91 reverseMotor1pb.mode( PullUp );
mitchpang 3:597f8492fee2 92 reverseMotor2pb.mode( PullUp );
mitchpang 3:597f8492fee2 93 //reverseMotor1pb.attach_asserted( &reverseMotor1 );
mitchpang 3:597f8492fee2 94 //reverseMotor2pb.attach_asserted (&reverseMotor2);
mitchpang 3:597f8492fee2 95 augerMotors.setpwm1pulsewidth(0.0);
mitchpang 3:597f8492fee2 96 augerMotors.setpwm2pulsewidth(0.0);
mitchpang 3:597f8492fee2 97 augerMotors.motor1_ccw();
mitchpang 3:597f8492fee2 98 augerMotors.motor2_ccw();
mitchpang 0:bb537a3c7f2a 99
mitchpang 0:bb537a3c7f2a 100 //Spin up Motors until fluctuation of 10% seen
mitchpang 0:bb537a3c7f2a 101
mitchpang 0:bb537a3c7f2a 102
mitchpang 0:bb537a3c7f2a 103 //Calibrate the ADC
mitchpang 0:bb537a3c7f2a 104 //Done by spinning augers and measuring min and max then setting threshold as 0.9*(max-min) + min
mitchpang 2:819397348cd0 105 for(int i = 0; i<100;++i){
mitchpang 2:819397348cd0 106 og1_calibration += og1*3.3;
mitchpang 2:819397348cd0 107 og2_calibration += og2*3.3;
mitchpang 2:819397348cd0 108 }
mitchpang 2:819397348cd0 109 og1_calibration = og1_calibration/100;
mitchpang 2:819397348cd0 110 og2_calibration = og2_calibration/100;
mitchpang 2:819397348cd0 111 printf("og1_calibration value: %f\n\r",og1_calibration);
mitchpang 2:819397348cd0 112 printf("og2_calibration value: %f\n\r",og2_calibration);
mitchpang 2:819397348cd0 113 wait(3);
mitchpang 2:819397348cd0 114
mitchpang 2:819397348cd0 115 divertParticle.rise(&divert);
mitchpang 0:bb537a3c7f2a 116
mitchpang 0:bb537a3c7f2a 117 while(1) {
mitchpang 2:819397348cd0 118 /*
mitchpang 2:819397348cd0 119 if(redColor == 1){
mitchpang 2:819397348cd0 120 solenoid = 1; //actuate solenoid if red
mitchpang 2:819397348cd0 121 led1=1;
mitchpang 2:819397348cd0 122 }
mitchpang 2:819397348cd0 123 else {
mitchpang 2:819397348cd0 124 solenoid = 0; //actuate solenoid no matter what.
mitchpang 2:819397348cd0 125 led1=0;
mitchpang 2:819397348cd0 126 }
mitchpang 2:819397348cd0 127 */
mitchpang 0:bb537a3c7f2a 128 //Sample ADCs
mitchpang 2:819397348cd0 129 og1_adc = og1.read()*3.3;
mitchpang 2:819397348cd0 130 og2_adc = og2.read()*3.3;
mitchpang 3:597f8492fee2 131 //og3_adc = og3.read()*3.3;
mitchpang 2:819397348cd0 132 //wait(0.01);
mitchpang 5:893aa74ff5aa 133 //pc.printf("og1: %f og2: %f \n\r",og1_adc, og2_adc);
mitchpang 5:893aa74ff5aa 134
mitchpang 2:819397348cd0 135 if((og1_calibration - og1_adc > THRESHOLD) && (og1Oneshot != 1)){ //Something passed through og1
mitchpang 0:bb537a3c7f2a 136 og1Oneshot = 1;
mitchpang 3:597f8492fee2 137 divertParticle.rise(&divert);
mitchpang 2:819397348cd0 138 //pc.printf("Regrind seen at OG 1 : %fV\n\r", og1_adc);
mitchpang 5:893aa74ff5aa 139 led1 = 1;
mitchpang 2:819397348cd0 140
mitchpang 0:bb537a3c7f2a 141 //Create Regrind
mitchpang 0:bb537a3c7f2a 142 regrindArray[og1Ndx%REGRIND_ARRAY_SIZE] = Regrind(totalT.read_us(), 1, 0, 0, 0, 0);
mitchpang 2:819397348cd0 143 startColor = 1;
mitchpang 2:819397348cd0 144 //wait(1);
mitchpang 0:bb537a3c7f2a 145 } //if(og1...)
mitchpang 2:819397348cd0 146 else if(og1_calibration - og1_adc < RETURN_THRESHOLD){ //Regrind has passed ok to reset og
mitchpang 0:bb537a3c7f2a 147 og1Oneshot = 0;
mitchpang 0:bb537a3c7f2a 148
mitchpang 0:bb537a3c7f2a 149 }//else if(og1 ...)
mitchpang 0:bb537a3c7f2a 150
mitchpang 2:819397348cd0 151 if((og2_calibration - og2_adc > THRESHOLD) && (og2Oneshot != 1)){
mitchpang 0:bb537a3c7f2a 152 og2Oneshot = 1;
mitchpang 3:597f8492fee2 153 divertParticle.rise(NULL);
mitchpang 0:bb537a3c7f2a 154 regrindArray[og2Ndx%REGRIND_ARRAY_SIZE].setVelocity(OG1_TO_OG2_DIST);
mitchpang 5:893aa74ff5aa 155 led2 = 1;
mitchpang 2:819397348cd0 156 if(regrindArray[og2Ndx].divert == 1){
mitchpang 5:893aa74ff5aa 157 wait_ms(90);
mitchpang 2:819397348cd0 158 solenoid = 1; //actuate solenoid if red
mitchpang 5:893aa74ff5aa 159 led4 = 1;
mitchpang 2:819397348cd0 160 }
mitchpang 2:819397348cd0 161 else {
mitchpang 5:893aa74ff5aa 162 //wait_ms(90);
mitchpang 2:819397348cd0 163 solenoid = 0; //Dont actuate if not red.
mitchpang 5:893aa74ff5aa 164 led4 = 0;
mitchpang 2:819397348cd0 165 }
mitchpang 5:893aa74ff5aa 166 regrindArray[og2Ndx].divert = 0; //reset divert flag
mitchpang 0:bb537a3c7f2a 167 }//if(og2..)
mitchpang 2:819397348cd0 168 else if(og2_calibration - og2_adc < RETURN_THRESHOLD){ //Regrind has passed ok to reset og
mitchpang 0:bb537a3c7f2a 169 og2Oneshot = 0;
mitchpang 0:bb537a3c7f2a 170
mitchpang 0:bb537a3c7f2a 171 }//else if(og2 ...)
mitchpang 3:597f8492fee2 172 /*
mitchpang 2:819397348cd0 173 if((og3_adc == 0) && (og3Oneshot != 1)){
mitchpang 0:bb537a3c7f2a 174 og3Oneshot = 1;
mitchpang 0:bb537a3c7f2a 175 led4 = 1;
mitchpang 0:bb537a3c7f2a 176 regrindArray[og3Ndx].setAcceleration(OG1_TO_OG3_DIST);
mitchpang 0:bb537a3c7f2a 177 if(regrindArray[og3Ndx].divert == 1){//Regrind has been selected to be diverted. Turn on solenoid.
mitchpang 0:bb537a3c7f2a 178 solenoid = 1;
mitchpang 0:bb537a3c7f2a 179 }
mitchpang 0:bb537a3c7f2a 180 }//if(og3..)
mitchpang 2:819397348cd0 181 else if(og3_adc == 1){ //Regrind has passed ok to reset og
mitchpang 0:bb537a3c7f2a 182 og3Oneshot = 0;
mitchpang 0:bb537a3c7f2a 183
mitchpang 0:bb537a3c7f2a 184 }//else if(og3 ...)
mitchpang 3:597f8492fee2 185 */
mitchpang 5:893aa74ff5aa 186 /*
mitchpang 0:bb537a3c7f2a 187 //Check on 1pps clock
mitchpang 0:bb537a3c7f2a 188 if((totalT.read_us() % 2000000) < 1000000){
mitchpang 0:bb537a3c7f2a 189 led1 = 1;
mitchpang 0:bb537a3c7f2a 190 onePPS_out = 1;
mitchpang 0:bb537a3c7f2a 191 }
mitchpang 0:bb537a3c7f2a 192 else {//timer is in off cycle
mitchpang 0:bb537a3c7f2a 193 led1 = 0;
mitchpang 0:bb537a3c7f2a 194 onePPS_out = 0;
mitchpang 5:893aa74ff5aa 195 }*/
mitchpang 0:bb537a3c7f2a 196
mitchpang 0:bb537a3c7f2a 197 //Check if data writing flag is set - if so, write to SD card
mitchpang 0:bb537a3c7f2a 198
mitchpang 0:bb537a3c7f2a 199 //Adjust PWM as necessary
mitchpang 3:597f8492fee2 200 augerMotors.Dir1 = reverseMotor1pb;
mitchpang 3:597f8492fee2 201 augerMotors.setpwm1pulsewidth(topMotorAdjuster.read());
mitchpang 3:597f8492fee2 202 augerMotors.setpwm2pulsewidth(bottomMotorAdjuster.read());
mitchpang 2:819397348cd0 203 //pc.printf("top: %f bottom: %f\n\r",topMotorAdjuster.read(),bottomMotorAdjuster.read());
mitchpang 0:bb537a3c7f2a 204 } //while(1)
mitchpang 0:bb537a3c7f2a 205 totalT.stop();
mitchpang 0:bb537a3c7f2a 206 }// int main()