Team Plastics Separation / Mbed 2 deprecated ECE4012-PHD_working_copy

Working copy of PHD program. Make any modifications to this file and archive in separate programs as necessary.

Dependencies:   Regrind RioRandHBridge SDFileSystem Solenoid mbed

Fork of ECE4012-PHD_data_out_and_1pps by Team Plastics Separation

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()