Hermes Jiang
puma shijiao
Dependencies: SDFileSystem mbed stepper
Fork of
Nucleo_Ex05_SD
by 
YX ZHANG
Revision 2:676f5b6f9598, committed 2018-07-27
- Comitter:
- AlpS1789
- Date:
- Fri Jul 27 06:20:54 2018 +0000
- Parent:
- 1:d65338ce2e7c
- Commit message:
- puma shijiao
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| stepper.lib | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed Aug 23 03:11:41 2017 +0000
+++ b/main.cpp Fri Jul 27 06:20:54 2018 +0000
@@ -1,40 +1,208 @@
#include "mbed.h"
+#include "stepper.h"
#include "SDFileSystem.h"
// mosi, miso, sclk, name
-SDFileSystem sd(PB_15, PB_14, PB_13, PA_9, "sd");
+SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
+
+
+typedef enum {
+ PointerS,PointerW,PointerX,PointerY,PointerZ,PointerA,PointerL,PointerWW
+} STATE; //定义结构体枚举类型STATE
+
+
+Serial pc(PA_9, PA_10); //定义引脚
+Serial bt(PB_10, PB_11);
+stepperMotor motorX(PC_5, PC_4, PD_2, PC_8, 0.0002);
+stepperMotor motorY(PA_5, PA_4, PA_2, PA_6, 0.0002);
+stepperMotor motorZ(PC_3, PC_2, PC_13, PC_6, 0.0002);
+//DigitalIn swX(PA_6);
+//DigitalIn swY(PA_6);
+//DigitalIn swZ(PA_6);
+float X , Y , Z , A; // 定义浮点数值用以储存返回给机械臂的执行步数
+const char* strX; //定义全局变量X,Y,Z,A字符串指针
+const char* strY;
+const char* strZ;
+const char* strA;
+//stringstream ss;
+char buf[256];
+int cur;
+bool received,start;
+
+void init() //复位函数
+{
+ stepperMotor motorX(PC_5, PC_4, PD_2, PC_8, 0.0005);
+ stepperMotor motorY(PA_5, PA_4, PA_2, PA_6, 0.0005);
+ stepperMotor motorZ(PC_3, PC_2, PC_13, PC_6, 0.0005); //复位速度要变慢
+ int steps = -12000;
+ motorX.enable(steps);
+ while(motorX.remain != 0);
+ motorY.enable(steps);
+ while(motorY.remain != 0);
+ motorZ.enable(steps);
+ while(motorZ.remain != 0);
+}
+
+
+
+void btInterrupt() //中断接收函数
+{
+ if(!bt.readable())
+ return;
+ char strRe1; //定义字符串
+ static STATE State = PointerS; // 初始状态待检查
+ strRe1 = bt.getc(); //读取一个byte数据
+
+ switch(State) {
+ case PointerS:
+ if (strRe1 == (char)'S') {
+ State = PointerW; //准备跳转至数据选择
+ cur = 0;
+ } else
+ State = PointerS;
+ break;
+ case PointerW:
+ switch (strRe1) {
+ case (char)'X':
+ State = PointerX;
+ break;
+ case (char)'Y':
+ State = PointerY;
+ break;
+ case (char)'Z':
+ State = PointerZ;
+ break;
+ case (char)'S':
+ State = PointerS;
+ break;
+ case (char)'L':
+ State = PointerL;
+ break;
+ case (char)'W':
+ State = PointerWW;
+ break;
+ case (char)'A':
+ State = PointerA;
+ break;
+ }
+ case PointerX:
+ if (strRe1 == (char)'\n') {
+ buf[cur]='\0';
+ pc.printf("%s\n",buf);
+ X = atof(buf+1);
+ State = PointerS;
+ pc.printf("%f\n",X);
+ } else {
+ buf[cur++]=strRe1;
+ }
+ break;
+ case PointerY:
+ if (strRe1 == (char)'\n') {
+ buf[cur]='\0';
+ pc.printf("%s\n",buf);
+ Y = atof(buf+1);
+ State = PointerS;
+ pc.printf("%f\n",Y);
+ } else {
+ buf[cur++]=strRe1;
+ }
+ break;
+ case PointerZ:
+ if (strRe1 == (char)'\n') {
+ buf[cur]='\0';
+ pc.printf("%s\n",buf);
+ Z = atof(buf+1);
+ State = PointerS;
+ pc.printf("%f\n",Z);
+ } else {
+ buf[cur++]=strRe1;
+ }
+ break;
+ case PointerA:
+ if (strRe1 == (char)'\n') {
+ buf[cur]='\0';
+ pc.printf("%s\n",buf);
+ A = atof(buf+1);
+ State = PointerS;
+ pc.printf("%f\n",A);
+ } else {
+ buf[cur++]=strRe1;
+ }
+ case PointerL:
+ if (strRe1 == (char)'\n') {
+ buf[cur]='\0';
+ State = PointerS;
+ received = true;
+ } else {
+ buf[cur++]=strRe1;
+ }
+ break;
+ case PointerWW:
+ if (strRe1 == (char)'\n') {
+ State = PointerS;
+ start = true;
+ } else {
+ }
+ break;
+ }
+}
int main()
{
- // 读文件例子
- FILE *fp = fopen("/sd/test.txt", "r"); //打开文件，路径以“/sd/”开头
+
+ // motorX.enable();
+ // motorY.enable();
+ // motorZ.enable();
+ // init();
+ pc.printf("Hello World !\n");
+ bt.attach(btInterrupt);
+// int i = 1;
+
+
+ while(1) {
+
+
+ if(received) {
+ pc.printf("save %s to file\r\n",buf);
- if (fp == NULL) //打开失败，原因可能是文件不存在，或卡没有连接好
- {
- printf("open error!!\r\n");
- return 1;
- }
- printf("file opened for read\r\n");
- char buf[64];
- while (fgets(buf, sizeof(buf), fp) != NULL) //读入一行的C函数
- {
- printf("read '%s'\r\n", buf);
- }
- fclose(fp); //关闭文件，释放资源
+ // 写文件例子
+ FILE *fp2 = fopen("/sd/test.txt", "w");
+ if (fp2 == NULL)
+ {
+ printf("open error2!!\r\n");
+ return 1;
+ }
+ fprintf(fp2, "%s", buf);
+ fclose(fp2); //写完文件要记得关闭，不然可能没保存上
+ pc.printf("saved\r\n");
+ received = false;
+ }
+ if(start){
+
+
+ FILE *fp = fopen("/sd/test.txt", "r"); //打开文件，路径以“/sd/”开头
+
+ if (fp == NULL) //打开失败，原因可能是文件不存在，或卡没有连接好
+ {
+ printf("open error!!\r\n");
+ return 1;
+ }
+ fgets(buf, sizeof(buf), fp); //读入一行的C函数
+ pc.printf("read\r\n");
+ fclose(fp); //关闭文件，释放资源
- //printf("card type is 0x%x\r\n" , sd.card_type());
-
- // 写文件例子
- FILE *fp2 = fopen("/sd/write.txt", "w");
- if (fp2 == NULL)
- {
- printf("open error2!!\r\n");
- return 1;
+ pc.printf("%s\r\n",buf);
+ char *p = buf;
+ float a,x,y,z;
+ while(true) {
+ p = strchr(p, '(');
+ if(!p) break;
+ p++;
+ sscanf(p, "%f%f%f%f",&x,&y,&z,&a);
+ pc.printf("%f %f %f %f\r\n",x,y,z,a);
+ }
+ start = false;
+ }
}
- printf("file opened for write\r\n");
- fprintf(fp2, "hello\r\n");
- fprintf(fp2, "%d", 23333);
- fclose(fp2); //写完文件要记得关闭，不然可能没保存上
-
return 0;
-}
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/stepper.lib Fri Jul 27 06:20:54 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/Dennis_Yu/code/stepper/#9cd8e7a7041e