xLAB - acutators
ese519
Dependencies: MRF24J40 mbed-rtos mbed
Revision 0:ef293aec3a85, committed 2015-03-21
- Comitter:
- Jing_Qiu
- Date:
- Sat Mar 21 02:52:43 2015 +0000
- Commit message:
- ese519
Changed in this revision
diff -r 000000000000 -r ef293aec3a85 Actuator.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuator.cpp Sat Mar 21 02:52:43 2015 +0000
@@ -0,0 +1,49 @@
+#include "Actuator.h"
+
+
+ Actuator::Actuator(int m_, int index_, PwmOut motor_, Timeout to_):m(m_),index(index_), motor(motor_), to(to_){}
+ Actuator::~Actuator(){}
+ int Actuator::getM(){
+ return m;
+ }
+
+ int Actuator::getIndex(){
+ return index;
+ }
+
+ PwmOut Actuator::getMotor()
+ {
+ return motor;
+ }
+
+ Timeout Actuator::getTo()
+ {
+ return to;
+ }
+
+ void Actuator::setM(int m_)
+ {
+ m = m_;
+
+ }
+ void Actuator::setIndex(int idx)
+ {
+ index = idx;
+ }
+
+ void Actuator::setMotor(double pw)
+ {
+ motor = pw;
+ }
+
+ void Actuator::shot()
+ {
+ setM(0);
+ setMotor(0);
+ }
+
+ //void Actuator::updateMotor()
+ //{
+ // if(getM()) getTo().attach(this,&Actuator::shot,0.2);
+ // }
+
diff -r 000000000000 -r ef293aec3a85 Actuator.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuator.h Sat Mar 21 02:52:43 2015 +0000
@@ -0,0 +1,23 @@
+#include "mbed.h"
+class Actuator{
+ private:
+ int m;
+ int index;
+ PwmOut motor;
+ Timeout to;
+
+ public:
+ Actuator(int m_, int index_, PwmOut motor_, Timeout to_);
+ virtual ~Actuator();
+ int getM();
+ int getIndex();
+ PwmOut getMotor();
+ Timeout getTo();
+ void setM(int m);
+ void setIndex(int idx);
+ void setMotor(double pw);
+
+ void shot();
+ //void updateMotor();
+
+ };
\ No newline at end of file
diff -r 000000000000 -r ef293aec3a85 MRF24J40.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MRF24J40.lib Sat Mar 21 02:52:43 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/hilgo/code/MRF24J40/#55d2672c4708
diff -r 000000000000 -r ef293aec3a85 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Mar 21 02:52:43 2015 +0000
@@ -0,0 +1,185 @@
+#include "mbed.h"
+#include "MRF24J40.h"
+#include "Actuator.h"
+#include <string>
+#include <sstream>
+#include <vector>
+#include <stdio.h> /* printf, scanf, puts, NULL */
+#include <stdlib.h> /* srand, rand */
+#include <time.h>
+#include "rtos.h"
+
+DigitalOut myled(LED3); //for vest test
+DigitalOut led1(LED1); //for RF test
+
+
+PwmOut motor1(p25);
+PwmOut motor2(p26);
+PwmOut motor3(p23);
+PwmOut motor4(p24);
+PwmOut motor5(p22);
+PwmOut motor6(p21);
+Serial pc(USBTX, USBRX);
+Timeout to1;
+Timeout to2;
+Timeout to3;
+Timeout to4;
+Timeout to5;
+Timeout to6;
+
+Actuator actuator1(0,1,motor1,to1);
+Actuator actuator2(0,2,motor2,to2);
+Actuator actuator3(0,3,motor3,to3);
+Actuator actuator4(0,4,motor4,to4);
+Actuator actuator5(0,5,motor5,to5);
+Actuator actuator6(0,5,motor6,to6);
+
+
+
+// Timeout for vibration
+
+// RF tranceiver to link with handheld.
+MRF24J40 mrf(p11, p12, p13, p14, p21);
+
+char rxBuffer[128];
+uint8_t rxLen;
+uint32_t duration;
+uint32_t viberation;
+
+int rf_receive(char *data, uint8_t maxLength)
+{
+ uint8_t len = mrf.Receive((uint8_t *)data, maxLength);
+ //pc.printf("data: %s, %d\r\n",data,len);
+ uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
+ if(len > 10) {
+ //Remove the header and footer of the message
+ for(uint8_t i = 0; i < len-2; i++) {
+ if(i<8) {
+ //Make sure our header is valid first
+ if(data[i] != header[i])
+ return 0;
+ } else {
+ data[i-8] = data[i];
+ }
+ }
+ pc.printf("Received: %s length:%d\r\n", data, ((int)len)-10);
+ }
+ return ((int)len)-10;
+}
+
+std::vector<std::string> split(const std::string &str, char delimiter, std::vector<std::string> extract)
+{
+ std::stringstream ss(str);
+ std::string item;
+ while (std::getline(ss, item, delimiter)) {
+ extract.push_back(item);
+ }
+ return extract;
+}
+
+
+void updateMotors(uint32_t dur) {
+ float durinsec = dur/1000.0;
+ if(actuator1.getM()) actuator1.getTo().attach(&actuator1,&Actuator::shot,durinsec);
+ if(actuator2.getM()) actuator2.getTo().attach(&actuator2,&Actuator::shot,durinsec);
+ if(actuator3.getM()) actuator3.getTo().attach(&actuator3,&Actuator::shot,durinsec);
+ if(actuator4.getM()) actuator4.getTo().attach(&actuator4,&Actuator::shot,durinsec);
+ if(actuator5.getM()) actuator5.getTo().attach(&actuator5,&Actuator::shot,durinsec);
+ if(actuator6.getM()) actuator6.getTo().attach(&actuator6,&Actuator::shot,durinsec);
+}
+
+
+int main() {
+ myled = 0;
+ pc.baud(115200);
+
+ pc.printf("Client Vest\r\n");
+ while(1){
+ // Check if any data was received.
+ rxLen = rf_receive(rxBuffer,64);
+ if(rxLen)
+ {
+ pc.printf("Received string %s \r\n",rxBuffer);
+ std::vector<std::string> msg;
+ /*split the buffer based on the delimiter ',' and save into extract*/
+ msg = split(std::string(rxBuffer),'/',msg);
+
+ if(msg[0]=="all"||msg[0]=="vest")
+ {
+ std::vector<std::string> extract;
+ extract = split(msg[3],',',extract); //vest is the second part of the msg
+
+ if(!extract[0].compare("V")) {
+
+ if(!extract[1].compare("A")) {
+
+ const char* control = extract[2].c_str();
+ duration = std::atoi(extract[3].c_str()); // duration
+ viberation = std::atoi(extract[4].c_str()); // viberation
+
+ if(strlen(control)==6)
+ {
+ if(control[0]=='1'){
+ actuator1.setMotor(viberation);
+ actuator1.setM(1);
+ //updateMotors(duration);
+ }
+ if(control[1]=='1'){
+ actuator2.setMotor(viberation);
+ actuator2.setM(1);
+ //updateMotors(duration);
+ }
+ if(control[2]=='1'){
+ actuator3.setMotor(viberation);
+ actuator3.setM(1);
+ //updateMotors(duration);
+ }
+ if(control[3]=='1'){
+ actuator4.setMotor(viberation);
+ actuator4.setM(1);
+ updateMotors(duration);
+ }
+ if(control[4]=='1'){
+ actuator5.setMotor(viberation);
+ actuator5.setM(1);
+ //updateMotors(duration);
+ }
+ if(control[5]=='1'){
+ actuator6.setMotor(viberation);
+ actuator6.setM(1);
+ //updateMotors(duration);
+ }
+ updateMotors(duration);
+ }
+ else pc.printf("error!\r\n");
+
+ }
+
+ if(!extract[1].compare("C")){
+ actuator1.setMotor(0);
+ actuator1.setM(0);
+ actuator2.setMotor(0);
+ actuator2.setM(0);
+ actuator3.setMotor(0);
+ actuator3.setM(0);
+ actuator4.setMotor(0);
+ actuator4.setM(0);
+ actuator5.setMotor(0);
+ actuator5.setM(0);
+ actuator6.setMotor(0);
+ actuator6.setM(0);
+ viberation = 0;
+ updateMotors(duration);
+ }
+ }
+ else{
+ pc.printf("error!\r\n");
+ }
+
+
+
+ }
+
+ }
+ }
+}
diff -r 000000000000 -r ef293aec3a85 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Sat Mar 21 02:52:43 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#9387d4c49609
diff -r 000000000000 -r ef293aec3a85 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Mar 21 02:52:43 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9327015d4013 \ No newline at end of file