mmotor
/
MarsRover_ExoMars____
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Dependencies: EPOS2 mbed-rtos mbed
Fork of
MarsRover_ExoMars
by 
mmotor
main.cpp
- Committer:
- joe_feubli
- Date:
- 2016-10-14
- Revision:
- 9:039318b9096e
- Parent:
- 8:98d4028cdea6
- Child:
- 10:1c42bbd596dc
File content as of revision 9:039318b9096e:
#include "mbed.h"
#include "EPOS2.h"
//***********************************************************************************************************************************//
//*** Global_Var *******************************************************************************************************************//
//***********************************************************************************************************************************//
Serial pc(USBTX, USBRX); // (tx, rx)
CAN can(p9, p10); // Can Pin def
DigitalIn usv_ready(p23);
InterruptIn buffering(p24);
DigitalIn replace_battery(p25);
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
bool node1_homed = false;
bool node2_homed = false;
bool node3_homed = false;
bool node4_homed = true;
bool node5_homed = false;
bool node6_homed = true;
bool node7_homed = true;
int homing = false;
int ready = false;
int ausfahren = false;
int einfahren = false;
int usv = false;
int current_step = 1; //HOMING
int ausfahren_step = 1;
int einfahren_step = 1;
int usv_step = 1;
void interrupt_usv(){
current_step = 5;
wait_ms(10);
}
int main(){ ///////// Main
led1 = 1;
pc.baud(9600);
buffering.rise(&interrupt_usv); //Interrupt für USV
wait(0.5); //Wartezeit bis Epos2 24/5 aufgestartet ist mit Lade-LED
led2 = 1;
wait(0.5);
led3 = 1;
wait(0.5);
led4 = 1;
wait(0.5);
can.frequency(1000000); //Define Can baud in bit/s
CANopen canOpen(&can, 0.001); //Define CanOpen Network(can function, periode of the CANopen driver in sec)
canOpen.start(); //Start defined CanOpen Network
EPOS2 MyEpos1(&canOpen, 1); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
EPOS2 MyEpos2(&canOpen, 2); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
EPOS2 MyEpos3(&canOpen, 3); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
EPOS2 MyEpos4(&canOpen, 4); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
EPOS2 MyEpos5(&canOpen, 5); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
EPOS2 MyEpos6(&canOpen, 6); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
EPOS2 MyEpos7(&canOpen, 7); //Define and connect the EPOS2 to the CanOpen Network(canOpen function, Node ID)
pc.printf("Initialisation abgeschlossen\n");
MyEpos1.Reset();
MyEpos2.Reset();
MyEpos3.Reset();
MyEpos4.Reset();
MyEpos5.Reset();
MyEpos6.Reset();
MyEpos7.Reset();
wait(0.1);
led1 = 0;
led2 = 0;
led3 = 0;
led4 = 0;
MyEpos5.SetDigOut(4, 1);
while(1){
switch (current_step){
case 1://HOMING:
led1 = 1;
MyEpos1.Power(1);
MyEpos2.Power(1);
MyEpos3.Power(1);
MyEpos4.Power(1);
MyEpos5.Power(1);
MyEpos6.Power(1);
MyEpos7.Power(1);
/***********************HOMING*************************/
if (node5_homed == false){
MyEpos5.Homing(); //Kopf
node5_homed = true;
break;
}
if (node1_homed == false){
MyEpos1.Homing(); //Solarpanel_Aussen_Links
node1_homed = true;
break;
}
if (node3_homed == false){
MyEpos3.Homing(); //Solarpanel_Aussen_Rechts
node3_homed = true;
break;
}
if (node7_homed == false){
MyEpos7.Homing(); //Bohrer
node7_homed = true;
break;
}
if (node1_homed == true and node2_homed == false and node5_homed == true){
MyEpos5.MoveAbsolute(-3000,500,100,100); //Kopf
MyEpos2.Homing(); //Solarpanel_Innen_Links
MyEpos5.MoveAbsolute(500,100,50,50); //Kopf
wait(3);
node2_homed = true;
break;
}
if (node3_homed == true and node4_homed == false){
MyEpos4.Homing(); //Solarpanel_Innen_Rechts
node4_homed = true;
break;
}
if (node7_homed == true and node6_homed == false){
MyEpos6.Homing();//Bohrgestell
node6_homed = true;
break;
}
if (node1_homed == true and node2_homed == true and node3_homed == true and node4_homed == true and node5_homed == true and node6_homed == true and node7_homed == true){
current_step = 2;//BEREIT;
MyEpos1.Power(0);
MyEpos2.Power(0);
MyEpos3.Power(0);
MyEpos4.Power(0);
wait(0.1);
MyEpos5.Power(0);
MyEpos6.Power(0);
MyEpos7.Power(0);
}
led1 = 0;
break;
case 2://BEREIT:
led2 = 1;
MyEpos5.SetDigOut(4,0);
if (MyEpos5.GetDigIn(3) == 1){
MyEpos5.SetDigOut(4,1);
current_step = 3; //ABLAUF
wait_ms(10);
MyEpos1.Power(1);
MyEpos2.Power(1);
MyEpos3.Power(1);
// MyEpos4.Power(1);
MyEpos5.Power(1);
// MyEpos6.Power(1);
// MyEpos7.Power(1);
}
wait(1);
led2 = 0;
break;
case 3://ABLAUF:
led3 = 1;
if (einfahren == false){
switch (ausfahren_step){
case 1:
MyEpos5.MoveAbsolute(-150000,800,100,100); //Kopf
ausfahren_step = 2;
wait(1);
break;
case 2:
if (MyEpos5.TargetReached()==1){
MyEpos1.MoveAbsolute(0,500,100,100); //Panel Aussen Links
MyEpos3.MoveAbsolute(0,500,100,100); //Panel Aussen Rechts
MyEpos2.MoveAbsolute(310000,500,100,100); //Panel Aussen Links
wait(0.1);
ausfahren_step = 3;
}
break;
case 3:
if (MyEpos2.TargetReached()==1){
MyEpos1.MoveAbsolute(318000,500,100,100); //Panel Aussen Links
MyEpos3.MoveAbsolute(-318000,500,100,100); //Panel Aussen Rechts
ausfahren_step = 4;
wait(1);
}
break;
case 4:
if (MyEpos1.TargetReached()==1 and MyEpos3.TargetReached()==1){
einfahren = true;
einfahren_step = 1;
wait(1);
}
break;
}//switch ausfahren_step
}//if (einfahren == false)
if (einfahren == true){
ausfahren_step = 1;
switch (einfahren_step){
case 1:
MyEpos1.MoveAbsolute(2000,500,100,100); //Panel Aussen Links
MyEpos3.MoveAbsolute(-2000,500,100,100); //Panel Aussen Rechts
einfahren_step = 2;
wait(1);
break;
case 2:
if (MyEpos1.TargetReached()==1 and MyEpos3.TargetReached()==1){
// wait(1);
MyEpos1.MoveAbsolute(0,500,100,100); //Panel Aussen Links
MyEpos3.MoveAbsolute(0,500,100,100); //Panel Aussen Rechts
MyEpos2.MoveAbsolute(0,500,100,100); //Panel Aussen Links
einfahren_step = 3;
wait(1);
}
break;
case 3:
if (MyEpos2.TargetReached()==1){
MyEpos5.MoveAbsolute(0,500,100,100); //Kopf
wait(1);
MyEpos1.Power(0);
MyEpos2.Power(0);
MyEpos3.Power(0);
MyEpos4.Power(0);
einfahren_step = 4;
}
break;
case 4:
if (MyEpos5.TargetReached()==1){
einfahren = false;
current_step = 2;
wait(1);
MyEpos5.Power(0);
}
break;
}//switch einfahren_step
}//if (einfahren == true)
led3 = 0;
break;
case 5://USV:
led4 = 1;
MyEpos5.SetDigOut(4,1);
switch (usv_step){
case 1:
MyEpos1.Power(1);
MyEpos2.Power(1);
MyEpos3.Power(1);
MyEpos4.Power(1);
MyEpos5.Power(1);
MyEpos6.Power(1);
MyEpos7.Power(1);
wait(0.1);
MyEpos1.MoveAbsolute(2000,500,500,500); //Panel_Aussen_Links
MyEpos3.MoveAbsolute(-2000,500,500,500); //Panel_Aussen_Rechts
// MyEpos7.MoveAbsolute(0,500,500,500); // Bohrer
wait(0.1);
usv_step = 2;
break;
case 2:
if (MyEpos1.TargetReached()==1 and MyEpos3.TargetReached()==1 /*and MyEpos7.TargetReached()==1*/){
usv_step = 3;
wait_ms(10);
}
break;
case 3:
MyEpos1.MoveAbsolute(0,500,100,100); //Panel Aussen Links
MyEpos3.MoveAbsolute(0,500,100,100); //Panel Aussen Rechts
MyEpos2.MoveAbsolute(0,500,500,500); //Panel_Innen_Links
// MyEpos4.MoveAbsolute(0,500,500,500); //Panel_Innen_Links
// MyEpos6.MoveAbsolute(0,500,500,500); //Panel_Innen_Links
wait(0.1);
if (MyEpos2.TargetReached()==1 /*and MyEpos4.TargetReached()==1*/){
usv_step = 4;
wait_ms(10);
}
break;
case 4:
MyEpos5.MoveAbsolute(0,800,500,500); //Kopf
wait(0.1);
if (MyEpos5.TargetReached()==1 /*and MyEpos6.TargetReached()==1*/){
usv_step = 5;
wait(0.1);
}
break;
case 5:
MyEpos1.Power(0);
MyEpos2.Power(0);
MyEpos3.Power(0);
MyEpos4.Power(0);
MyEpos5.Power(0);
MyEpos6.Power(0);
MyEpos7.Power(0);
usv_step = 6;
break;
case 6:
if(buffering == 1){
led3 = 1;
} else {
led3 = 0;
current_step=1;
usv_step=1;
ausfahren_step=1;
einfahren_step=1;
}
wait(1);
break;
}
led4 = 0;
break;
case 6://Test
break;
}//switch current_step
}//while
}//main