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stepper test
Dependencies: LongRangeSensor R5_StepperDrive mbed scanner
Revision 0:76bca1f580a0, committed 2016-04-01
- Comitter:
- j_j205
- Date:
- Fri Apr 01 22:21:38 2016 +0000
- Commit message:
- stepper test jj
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LongRangeSensor.lib Fri Apr 01 22:21:38 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/Texas-State-IEEE-Robotics/code/LongRangeSensor/#c8c67fabc804
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/R5_StepperDrive.lib Fri Apr 01 22:21:38 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/Texas-State-IEEE-Robotics/code/R5_StepperDrive/#2657751be34b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Apr 01 22:21:38 2016 +0000 @@ -0,0 +1,123 @@ +#include "scanner.h" +#include "StepperDrive.h" +#include "LongRangeSensor.h" +#include "stdint.h" +#include "mbed.h" + +Serial pc(USBTX, USBRX); +Serial bluetooth(PTE16,PTE17); // bluetooth +InterruptIn start(SW1); +DigitalOut led_red(LED_RED); +DigitalOut led_green(LED_GREEN); +bool active = false; + +void activate() +{ + led_red = 1; + led_green = 0; + active = true; +} + +int main() +{ + pc.baud(115200); + bluetooth.baud(9600); /* interface via Bluetooth at 9600 */ + start.mode(PullUp); /* Start/Stop button is active low needing PullUp */ + start.fall(&activate); + + led_red = 0; + led_green = 1; + + StepperDrive drive(pc, PTE19, PTE18, 1, PTE3, PTE2, 0, 10.0625, 8.4800, 650); // 8.375 + //(serial &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs) + + LongRangeSensor longRangeL(pc, PTB2); + LongRangeSensor longRangeR(pc, PTB3); + + Scanner scanner(pc, drive, PTB0, PTB1, longRangeL, longRangeR, 1.0); // original period = 0.075 + // (Serial &, PinName servoL, PinName servoR, shortRangeL, shortRangeR, longRangeL, longRangeR, period) + + pc.printf("\nWaiting for START BUTTON\n"); + bluetooth.printf("\nWaiting for START BUTTON\n"); + while(!active) // wait for start_button + { + wait(1e-6); + } + + pc.printf("\nBegin 1st peg retrieval"); + bluetooth.printf("\nBegin 1st peg retrieval"); + + drive.move(13.0, 0.0); + scanner.setLocalizeRightFlag(0); +pc.printf("\n LocalizeRight on"); +bluetooth.printf("\n LocalizeRight on"); + scanner.setLocalizeLeftFlag(0); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + pc.printf("\nMoved from 0 to 1"); + bluetooth.printf("\nMoved from 0 to 1"); + + scanner.setLocalizeRightFlag(0); +pc.printf("\n LocalizeRight off"); +bluetooth.printf("\n LocalizeRight off"); + scanner.setLocalizeLeftFlag(0); + drive.move(0.0, (-90.0)*(3.14159 / 180.0)); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + pc.printf("\nMoved left 90 degrees"); + bluetooth.printf("\nMoved left 90 degrees"); + + drive.move(15.0, 0.0); + scanner.setLocalizeRightFlag(0); + scanner.setLocalizeLeftFlag(0); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + pc.printf("\nMoved from 1 to 3"); + bluetooth.printf("\nMoved from 1 to 3"); + + scanner.setLocalizeRightFlag(0); + scanner.setLocalizeLeftFlag(0); + drive.move(0.0, (90.0)*(3.14159 / 180.0)); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + pc.printf("\nMoved right 90 degrees"); + bluetooth.printf("\nMoved right 90 degrees"); + + drive.move(6.0, 0.0); + scanner.setLocalizeRightFlag(0); + scanner.setLocalizeLeftFlag(0); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + pc.printf("\nMoved from 3 to 15"); + bluetooth.printf("\nMoved from 3 to 15"); + + drive.move(60.0, 0.0); + scanner.setLocalizeRightFlag(1); +pc.printf("\n LocalizeRight on"); + scanner.setLocalizeLeftFlag(0); + // wait for move to complete + while(!drive.isMoveDone()) + { + wait(1e-6); + } + pc.printf("\nMoved from 15 to 7"); + bluetooth.printf("\nMoved from 15 to 7"); + + pc.printf("\nExercise Complete"); + bluetooth.printf("\nExercise Complete"); +} \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Apr 01 22:21:38 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/c0f6e94411f5 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scanner.lib Fri Apr 01 22:21:38 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/Texas-State-IEEE-Robotics/code/scanner/#4e76b53cdef2