Revision 0:eaf3f7d442bd, committed 2017-02-03

Comitter:

BETZtechnik

Date:

Fri Feb 03 05:36:03 2017 +0000

Commit message:

V1- for testing

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Feb 03 05:36:03 2017 +0000
@@ -0,0 +1,204 @@
+#include "mbed.h"
+
+// JUMPERS REQUIRED ON MOTOR DRIVER STBY PINS ! PULL TO 3V3.
+// Feeder message is FxxTx(L or R)  F= feeder ID, T= teethRequested, (L for left or R for right)
+// *************************************************
+// FEEDER ID !! Set 10's and 1's (for ID= 13, tens = 1 and ones = 3) USE CHAR!
+char tens = '0';
+char ones = '1';
+
+               
+int teethRequested = 0;      // how many teeth advance has been selected?
+int index = 0;               // for parsing serial
+
+
+Timer timer;
+
+InterruptIn lOpto(P1_31);    
+InterruptIn lButton(P1_25);
+InterruptIn rOpto(P1_29); 
+InterruptIn rButton(P1_26);
+
+//LEDs
+DigitalOut lLed(P0_18);
+DigitalOut rLed(P1_16);
+
+//Left Tape
+DigitalOut lTapeIn1(P1_20);  
+DigitalOut lTapeIn2(P1_21);
+PwmOut lTapePWM(P1_24);
+AnalogIn tapePot(P0_12);          // will be 0 -1024
+int tapePotADC;                   // after math will be 0-9 for PWMwrite
+
+//Left motor
+DigitalOut lMotorIn1(P0_15);  
+DigitalOut lMotorIn2(P0_16);
+PwmOut lMotorPWM(P1_24);
+int lMotorSet = 5;        // use 1-10 (whole numbers) to set PWM, it is /10 in the function to be float (lMotorSet / 10)
+
+// Right Tape
+DigitalOut rTapeIn1(P0_22);  
+DigitalOut rTapeIn2(P0_21);
+PwmOut rTapePWM(P1_24);
+
+//Right motor
+DigitalOut rMotorIn1(P0_23);  
+DigitalOut rMotorIn2(P1_15);
+PwmOut rMotorPWM(P1_24);
+int rMotorSet = 5;        // use 1-10 (whole numbers) to set PWM, it is /10 in the function to be float (lMotorSet / 10)
+
+//////////////////////////////////////////////////////////
+
+void lFeed(){
+    if (teethRequested == 0){    // this is just for the button, if over serial then teethrequested has already been set to > 0
+        teethRequested = 1;     // change to how many teeth you want the button to feed
+        }  
+    
+    //Tape
+    lTapeIn1 = 0;                      // reverse 1's and 0's if rotation is backwards
+    lTapeIn2 = 1;
+    lTapePWM.write((tapePotADC / 10));  // from POT , max 0.9 with this code as ADC value is being divided by 103
+    
+    //Motor                                    
+    lMotorIn1 = 0;
+    lMotorIn2 = 1;
+    lMotorPWM.write(lMotorSet / 10); 
+    }
+    
+void rFeed(){
+    if (teethRequested == 0){    // this is just for the button, if over serial then teethrequested has already been set to > 0
+        teethRequested = 1;     // change to how many teeth you want the button to feed
+        }  
+    
+    //Tape
+    rTapeIn1 = 0;                      // reverse 1's and 0's if rotation is backwards
+    rTapeIn2 = 1;
+    rTapePWM.write((tapePotADC / 10));  // from POT , max 0.9 with this code as ADC value is being divided by 103
+    
+    //Motor                                    
+    rMotorIn1 = 0;
+    rMotorIn2 = 1;
+    rMotorPWM.write(lMotorSet / 10); 
+    }
+            
+void lStop(){
+    if (teethRequested == 1){                        // If only one (or one more) tooth needed to be driven
+                 
+    //tape
+    lTapeIn1 = 0;
+    lTapeIn2 = 0;
+    lTapePWM.write(0.0f); //PWM off
+        
+    //motor
+    lMotorIn1 = 0;
+    lMotorIn2 = 0;
+    lMotorPWM.write(0.0f); //PWM off
+    teethRequested = 0;                               // set teeth requested to zero so it will ignore further opto interrupts.
+    }
+    
+    if (teethRequested <=2){                      // If more than one tooth needs to be driven, skip this interrupt and decrement 
+    teethRequested = (teethRequested - 1);
+    }
+    }
+    
+    void rStop(){
+    if (teethRequested == 1){                        // If only one (or one more) tooth needed to be driven
+                 
+    //tape
+    rTapeIn1 = 0;
+    rTapeIn2 = 0;
+    rTapePWM.write(0.0f); //PWM off
+        
+    //motor
+    rMotorIn1 = 0;
+    rMotorIn2 = 0;
+    rMotorPWM.write(0.0f); //PWM off
+    teethRequested = 0;                               // set teeth requested to zero so it will ignore further opto interrupts.
+    }
+    
+    if (teethRequested <=2){                      // If more than one tooth needs to be driven, skip this interrupt and decrement 
+    teethRequested = (teethRequested - 1);
+    }
+    }
+ 
+ // SERIAL
+ 
+ Serial device(P1_13, P1_14);  // RS 485
+ 
+ 
+int main() {
+    
+lOpto.mode(PullNone);     // external pull up               
+lButton.mode(PullUp);     // button pull up
+rOpto.mode(PullNone);
+    
+lOpto.fall(&lStop);
+lButton.fall(&lFeed);
+
+ uint8_t c = 0;
+device.printf("Hello World\n");
+    
+    while(1) {
+        
+// TODO create timer for USB debug messages 
+
+while (device.readable())
+            {
+                c = device.getc();
+                if (c == 'F'){
+                    index = 1;
+                    }
+                
+                if (index == 1){    
+                    if (c == tens){
+                        index = 2;
+                        }
+                        }
+                
+                if (index == 2){
+                    if (c == ones);{
+                        index = 3;
+                        }
+                        }
+                        
+                if (index == 3){
+                    if (c == '1'){
+                        teethRequested = 1;
+                        }
+                    else if (c == '2'){
+                        teethRequested = 2;
+                        }
+                    else if (c == '3'){
+                        teethRequested = 3;
+                        }
+                    else if (c == '4'){
+                        teethRequested = 4;
+                        }
+                        index = 4;
+                        }
+                        
+                if (index == 4){
+                        if (c == 'L'){
+                            lFeed();
+                            index = 0;
+                            }
+                            }
+                        if (c == 'R'){
+                            rFeed();
+                            index = 0;
+                            }
+                            }
+                        
+                
+tapePotADC = ((tapePot)/ 103);   // covert 1024 to (1 -9) for the PWM setting.
+        
+
+        
+if(lOpto){
+lLed = 0;}
+else{
+lLed = 1;
+}
+}
+    
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Feb 03 05:36:03 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/ad3be0349dc5
\ No newline at end of file