Vitec Group
As used for motor testing May / June 2016
Dependencies: iC_MU mbed-rtos mbed
Fork of
SweptSine
by 
Vitec Group
Diff: ServiceKeyboard.cpp
- Revision:
- 3:463edcfc09c5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ServiceKeyboard.cpp Wed Jun 08 13:56:25 2016 +0000
@@ -0,0 +1,349 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "MyAxis.h"
+
+
+extern Serial pc;
+extern float DeadBand;
+extern bool scoping;
+extern int scope_duration;
+extern int scope_time;
+extern bool sinusoid;
+extern bool ratiocalc;
+extern float jogaccel_time;
+extern float jogaccel;
+extern int pos_enc_start;
+extern int run_count_jog;
+extern int primed;
+float temp;
+
+
+// Returns the new set point entered via the keyboard
+int ServiceKeyboard ()
+{
+ int key; // The keypress by the user
+ int value = 0; // The variable to return
+
+ key = pc.getc(); // Read the intial keypress
+
+ switch (key) {
+// List keypresses used:
+ case 'q':
+ // To move up and down: 8, 2: To move left and right 4,6. To start stop both: 5:
+ pc.printf("\n\r Left, Right, Up Down: 4,6,8,2. \n\r Start & Stop both: 5 \n\r Toggle all directions = d \n\r");
+ pc.printf("\n\r Scope = s \n\r Run Test sinusoid = t \n\r Run Ratio Calculator = r \n\r Set Motor Kp = g \n\r Set Sys Kp_Sys = h \n\r Fetch Gain = f \n\r Set Kff_Sys = k \n\r Prime Start Scope = p \n\r Set Kff = 2 \n\r Set Gearbox Ratio = 1 \n\r");
+ pc.printf(" Set Stationary c value = c \n\r Set Moving c value = b \n\r Set Jog_2 value = 3 \n\r \n\r \n\r Jog Speed PAN,TILT = j,m \n\r Set Jog Acceleration = a \n\r Cycle to hard Stop = z \n\r Fade = x \n\r");
+ break;
+
+// Turn on Scope Tool:
+ case 's':
+ if (!scoping) {
+ scope_time = 0;
+ scoping = true;
+ } else {
+ scoping = false;
+ }
+ break;
+// Turn on Ratio Calculator:
+ case 'r':
+ if (!ratiocalc) {
+ ratiocalc = true;
+ pc.printf("\n\r Running Ratio Calculator");
+ } else {
+ Tilt.calcmyratio = false;
+ Pan.calcmyratio = false;
+ }
+ break;
+// We are going to jog Tilt up
+ case '8':
+ Tilt.sysjogdir = -1;
+ if (Tilt.moveme) {
+ //pc.printf("\n\r Moving stop");
+ Tilt.moveme = false;
+ } else {
+ //pc.printf("\n\r Moving Start");
+ Tilt.moveme = true;
+ }
+ break;
+// We are going to jog Tilt down
+ case '2':
+ Tilt.sysjogdir = 1;
+ if (Tilt.moveme) {
+ //pc.printf("\n\r Moving stop");
+ Tilt.moveme = false;
+ } else {
+ //pc.printf("\n\r Moving Start");
+ Tilt.moveme = true;
+ }
+ break;
+// We are going to jog Tilt up
+ case '4':
+ Pan.sysjogdir = -1;
+ if (Pan.moveme) {
+ //pc.printf("\n\r Moving stop");
+ Pan.moveme = false;
+ } else {
+ //pc.printf("\n\r Moving Start");
+ Pan.moveme = true;
+ }
+ break;
+// We are going to jog Tilt down
+ case '6':
+ Pan.sysjogdir = 1;
+ if (Pan.moveme) {
+ //pc.printf("\n\r Moving stop");
+ Pan.moveme = false;
+ } else {
+ //pc.printf("\n\r Moving Start");
+ Pan.moveme = true;
+ }
+ break;
+// We are going to jog everything
+ case '5':
+ if (Pan.moveme) {
+ //pc.printf("\n\r Moving stop");
+ Pan.moveme = false;
+ } else {
+ //pc.printf("\n\r Moving Start");
+ Pan.moveme = true;
+ }
+ if (Tilt.moveme) {
+ //pc.printf("\n\r Moving stop");
+ Tilt.moveme = false;
+ } else {
+ //pc.printf("\n\r Moving Start");
+ Tilt.moveme = true;
+ }
+ break;
+// We are going to toggle all directions
+ case 'd':
+ Pan.sysjogdir = -Pan.sysjogdir;
+ Tilt.sysjogdir = -Tilt.sysjogdir;
+ break;
+
+// Turn on Potentiometer control:
+ case 't':
+ if (!sinusoid) {
+ pc.printf("\n\r Running sinusoid test");
+ sinusoid = true;
+ } else {
+ sinusoid = false;
+ }
+ break;
+// We are going to set the Motor gain
+ case 'g':
+ pc.printf("\n\r Enter a new Motor Kp gain x 1000: ");
+ //key = pc.getc();
+ do {
+ key = pc.getc(); // Wait for a keypress
+ if(key >= '0' && key <= '9') { // Check it is a number
+ value *= 10; // Index the old number
+ value += (key - '0'); // Add on the new number
+ pc.printf("%c",key); // Display the new number
+ }
+ } while(key != 0x0D);
+ Pan.Kp = value;
+ Pan.Kp = Pan.Kp / 1000;
+ Tilt.Kp = Pan.Kp;
+ //PanVelocityPID.setKp(Kp/1000);
+ pc.printf("\n\r");
+ break;
+// We are going to set the System gain
+ case 'h':
+ pc.printf("\n\r Enter a new System Sys_Kp gain x 10000: ");
+ //key = pc.getc();
+ do {
+ key = pc.getc(); // Wait for a keypress
+ if(key >= '0' && key <= '9') { // Check it is a number
+ value *= 10; // Index the old number
+ value += (key - '0'); // Add on the new number
+ pc.printf("%c",key); // Display the new number
+ }
+ } while(key != 0x0D);
+ Pan.Kp_Sys = value;
+ Pan.Kp_Sys = Pan.Kp_Sys / 10000;
+ Tilt.Kp_Sys = Pan.Kp_Sys;
+ //PanVelocityPID.setKp(Kp/1000);
+ pc.printf("\n\r");
+ break;
+// We are going to confirm what the gain is
+ case 'f':
+ //Kp = PanVelocityPID.getKp();
+ pc.printf("\n\r Kp = %f, Kff = %f, Kp_Sys = %f, Kff_Sys = %f, Ratio = %f, c_stationary = %f, c_moving = %f, Jog_2 = %f \n\r", Pan.Kp,Pan.Kff,Pan.Kp_Sys,Pan.Kff_Sys,Pan.ratio,Pan.c_stationary, Pan.c_moving, Pan.Jog_2);
+ break;
+
+// We are going to set the Jog_2 Value:
+ case '3':
+ pc.printf("\n\r Enter a new Jog_2 value: ");
+ //key = pc.getc();
+ do {
+ key = pc.getc(); // Wait for a keypress
+ if(key >= '0' && key <= '9') { // Check it is a number
+ value *= 10; // Index the old number
+ value += (key - '0'); // Add on the new number
+ pc.printf("%c",key); // Display the new number
+ }
+ } while(key != 0x0D);
+ Pan.Jog_2 = value;
+ pc.printf("\n\r");
+ break;
+// We are going to set the new threshold:
+ case '1':
+ pc.printf("\n\r Enter a new gearbox ratio: ");
+ //key = pc.getc();
+ do {
+ key = pc.getc(); // Wait for a keypress
+ if(key >= '0' && key <= '9') { // Check it is a number
+ value *= 10; // Index the old number
+ value += (key - '0'); // Add on the new number
+ pc.printf("%c",key); // Display the new number
+ }
+ } while(key != 0x0D);
+ Pan.ratio = value;
+ pc.printf("\n\r");
+ break;
+// We are going to set the Kff gain
+ case 'w':
+ pc.printf("\n\r Enter a new Kff gain x 100: ");
+ //key = pc.getc();
+ do {
+ key = pc.getc(); // Wait for a keypress
+ if(key >= '0' && key <= '9') { // Check it is a number
+ value *= 10; // Index the old number
+ value += (key - '0'); // Add on the new number
+ pc.printf("%c",key); // Display the new number
+ }
+ } while(key != 0x0D);
+ Pan.Kff = value;
+ Pan.Kff = Pan.Kff / 100;
+ pc.printf("\n\r");
+ break;
+// We are going to set the dead band for the Motor PWM
+ case 'k':
+ pc.printf("\n\r Enter a new Kff_Sys x 100: ");
+ //key = pc.getc();
+ do {
+ key = pc.getc(); // Wait for a keypress
+ if(key >= '0' && key <= '9') { // Check it is a number
+ value *= 10; // Index the old number
+ value += (key - '0'); // Add on the new number
+ pc.printf("%c",key); // Display the new number
+ }
+ } while(key != 0x0D);
+ temp = value;
+ Pan.Kff_Sys = temp / 100;
+ pc.printf("\n\r");
+ break;
+// We are going to set a stationary c value
+ case 'c':
+ pc.printf("\n\r Enter a new stationary c value: ");
+ //key = pc.getc();
+ do {
+ key = pc.getc(); // Wait for a keypress
+ if(key >= '0' && key <= '9') { // Check it is a number
+ value *= 10; // Index the old number
+ value += (key - '0'); // Add on the new number
+ pc.printf("%c",key); // Display the new number
+ }
+ } while(key != 0x0D);
+ Pan.c_stationary = value;
+ pc.printf("\n\r");
+ break;
+// We are going to set a moving b value
+ case 'b':
+ pc.printf("\n\r Enter a new moving c value: ");
+ //key = pc.getc();
+ do {
+ key = pc.getc(); // Wait for a keypress
+ if(key >= '0' && key <= '9') { // Check it is a number
+ value *= 10; // Index the old number
+ value += (key - '0'); // Add on the new number
+ pc.printf("%c",key); // Display the new number
+ }
+ } while(key != 0x0D);
+ Pan.c_moving = value;
+ pc.printf("\n\r");
+ break;
+// Set a jog speed
+ case 'j':
+ pc.printf("\n\r Set Jog PAN speed (Deg/s) x100 ");
+ //key = pc.getc();
+ do {
+ key = pc.getc(); // Wait for a keypress
+ if(key >= '0' && key <= '9') { // Check it is a number
+ value *= 10; // Index the old number
+ value += (key - '0'); // Add on the new number
+ pc.printf("%c",key); // Display the new number
+ }
+ } while(key != 0x0D);
+ Pan.jog = value;
+ Pan.jog = (Pan.jog * 0.0145);
+ pc.printf("\n\r");
+ break;
+// Set a jog speed
+ case 'm':
+ pc.printf("\n\r Set Jog TILT speed (Deg/s) x100 ");
+ //key = pc.getc();
+ do {
+ key = pc.getc(); // Wait for a keypress
+ if(key >= '0' && key <= '9') { // Check it is a number
+ value *= 10; // Index the old number
+ value += (key - '0'); // Add on the new number
+ pc.printf("%c",key); // Display the new number
+ }
+ } while(key != 0x0D);
+ Tilt.jog = value;
+ Tilt.jog = (Tilt.jog * 0.0145);
+ pc.printf("\n\r");
+ break;
+// Set the jog function to cycle to a stop
+ case 'z':
+ pc.printf("\n\r Set to ramp to stop \n\r");
+ Pan.ramp = Pan.jog / jogaccel_time;
+ Pan.run_count_jog = 0;
+ scope_time = 0;
+ Pan.setramp = true;
+ break;
+// Set a Fade like move
+ case 'x':
+ pc.printf("\n\r Set to Fade like move \n\r");
+ Pan.ramp = Pan.jog / jogaccel_time;
+ Pan.run_count_jog = 0;
+ scope_time = 0;
+ Pan.setramp_x = true;
+
+ Tilt.ramp = Tilt.jog / jogaccel_time;
+ Tilt.run_count_jog = 0;
+ scope_time = 0;
+ Tilt.setramp_x = true;
+ break;
+// Set a jog acceleration
+ case 'a':
+ pc.printf("\n\r Set ramp jogaccel_time, (ms) ");
+ //key = pc.getc();
+ do {
+ key = pc.getc(); // Wait for a keypress
+ if(key >= '0' && key <= '9') { // Check it is a number
+ value *= 10; // Index the old number
+ value += (key - '0'); // Add on the new number
+ pc.printf("%c",key); // Display the new number
+ }
+ } while(key != 0x0D);
+ temp = value;
+ jogaccel_time = temp;
+ //ramp = ramp / 1000;
+ pc.printf("\n\r");
+ break;
+// Prime the scope tool
+ case 'p':
+ pc.printf("\n\r Prime the scope tool \n\r");
+ primed = true;
+ break;
+ }
+ return(1);
+}
+
+
+
+
+