main.cpp

00001 #include "mbed.h"
00002 
00003 // JUMPERS REQUIRED ON MOTOR DRIVER STBY PINS ! PULL TO 3V3.
00004 // Feeder message is FxxTx(L or R)  F= feeder ID, T= teethRequested, (L for left or R for right)
00005 // *************************************************
00006 // FEEDER ID !! Set 10's and 1's (for ID= 13, tens = 1 and ones = 3) USE CHAR!
00007 char tens = '0';
00008 char ones = '1';
00009 
00010                
00011 int teethRequested = 0;      // how many teeth advance has been selected?
00012 int index = 0;               // for parsing serial
00013 
00014 
00015 Timer timer;
00016 
00017 InterruptIn lOpto(P1_31);    
00018 InterruptIn lButton(P1_25);
00019 InterruptIn rOpto(P1_29); 
00020 InterruptIn rButton(P1_26);
00021 
00022 //LEDs
00023 DigitalOut lLed(P0_18);
00024 DigitalOut rLed(P1_16);
00025 
00026 //Left Tape
00027 DigitalOut lTapeIn1(P1_20);  
00028 DigitalOut lTapeIn2(P1_21);
00029 PwmOut lTapePWM(P1_24);
00030 AnalogIn tapePot(P0_12);          // will be 0 -1024
00031 int tapePotADC;                   // after math will be 0-9 for PWMwrite
00032 
00033 //Left motor
00034 DigitalOut lMotorIn1(P0_15);  
00035 DigitalOut lMotorIn2(P0_16);
00036 PwmOut lMotorPWM(P1_24);
00037 int lMotorSet = 5;        // use 1-10 (whole numbers) to set PWM, it is /10 in the function to be float (lMotorSet / 10)
00038 
00039 // Right Tape
00040 DigitalOut rTapeIn1(P0_22);  
00041 DigitalOut rTapeIn2(P0_21);
00042 PwmOut rTapePWM(P1_24);
00043 
00044 //Right motor
00045 DigitalOut rMotorIn1(P0_23);  
00046 DigitalOut rMotorIn2(P1_15);
00047 PwmOut rMotorPWM(P1_24);
00048 int rMotorSet = 5;        // use 1-10 (whole numbers) to set PWM, it is /10 in the function to be float (lMotorSet / 10)
00049 
00050 //////////////////////////////////////////////////////////
00051 
00052 void lFeed(){
00053     if (teethRequested == 0){    // this is just for the button, if over serial then teethrequested has already been set to > 0
00054         teethRequested = 1;     // change to how many teeth you want the button to feed
00055         }  
00056     
00057     //Tape
00058     lTapeIn1 = 0;                      // reverse 1's and 0's if rotation is backwards
00059     lTapeIn2 = 1;
00060     lTapePWM.write((tapePotADC / 10));  // from POT , max 0.9 with this code as ADC value is being divided by 103
00061     
00062     //Motor                                    
00063     lMotorIn1 = 0;
00064     lMotorIn2 = 1;
00065     lMotorPWM.write(lMotorSet / 10); 
00066     }
00067     
00068 void rFeed(){
00069     if (teethRequested == 0){    // this is just for the button, if over serial then teethrequested has already been set to > 0
00070         teethRequested = 1;     // change to how many teeth you want the button to feed
00071         }  
00072     
00073     //Tape
00074     rTapeIn1 = 0;                      // reverse 1's and 0's if rotation is backwards
00075     rTapeIn2 = 1;
00076     rTapePWM.write((tapePotADC / 10));  // from POT , max 0.9 with this code as ADC value is being divided by 103
00077     
00078     //Motor                                    
00079     rMotorIn1 = 0;
00080     rMotorIn2 = 1;
00081     rMotorPWM.write(lMotorSet / 10); 
00082     }
00083             
00084 void lStop(){
00085     if (teethRequested == 1){                        // If only one (or one more) tooth needed to be driven
00086                  
00087     //tape
00088     lTapeIn1 = 0;
00089     lTapeIn2 = 0;
00090     lTapePWM.write(0.0f); //PWM off
00091         
00092     //motor
00093     lMotorIn1 = 0;
00094     lMotorIn2 = 0;
00095     lMotorPWM.write(0.0f); //PWM off
00096     teethRequested = 0;                               // set teeth requested to zero so it will ignore further opto interrupts.
00097     }
00098     
00099     if (teethRequested <=2){                      // If more than one tooth needs to be driven, skip this interrupt and decrement 
00100     teethRequested = (teethRequested - 1);
00101     }
00102     }
00103     
00104     void rStop(){
00105     if (teethRequested == 1){                        // If only one (or one more) tooth needed to be driven
00106                  
00107     //tape
00108     rTapeIn1 = 0;
00109     rTapeIn2 = 0;
00110     rTapePWM.write(0.0f); //PWM off
00111         
00112     //motor
00113     rMotorIn1 = 0;
00114     rMotorIn2 = 0;
00115     rMotorPWM.write(0.0f); //PWM off
00116     teethRequested = 0;                               // set teeth requested to zero so it will ignore further opto interrupts.
00117     }
00118     
00119     if (teethRequested <=2){                      // If more than one tooth needs to be driven, skip this interrupt and decrement 
00120     teethRequested = (teethRequested - 1);
00121     }
00122     }
00123  
00124  // SERIAL
00125  
00126  Serial device(P1_13, P1_14);  // RS 485
00127  
00128  
00129 int main() {
00130     
00131 lOpto.mode(PullNone);     // external pull up               
00132 lButton.mode(PullUp);     // button pull up
00133 rOpto.mode(PullNone);
00134     
00135 lOpto.fall(&lStop);
00136 lButton.fall(&lFeed);
00137 
00138  uint8_t c = 0;
00139 device.printf("Hello World\n");
00140     
00141     while(1) {
00142         
00143 // TODO create timer for USB debug messages 
00144 
00145 while (device.readable())
00146             {
00147                 c = device.getc();
00148                 if (c == 'F'){
00149                     index = 1;
00150                     }
00151                 
00152                 if (index == 1){    
00153                     if (c == tens){
00154                         index = 2;
00155                         }
00156                         }
00157                 
00158                 if (index == 2){
00159                     if (c == ones);{
00160                         index = 3;
00161                         }
00162                         }
00163                         
00164                 if (index == 3){
00165                     if (c == '1'){
00166                         teethRequested = 1;
00167                         }
00168                     else if (c == '2'){
00169                         teethRequested = 2;
00170                         }
00171                     else if (c == '3'){
00172                         teethRequested = 3;
00173                         }
00174                     else if (c == '4'){
00175                         teethRequested = 4;
00176                         }
00177                         index = 4;
00178                         }
00179                         
00180                 if (index == 4){
00181                         if (c == 'L'){
00182                             lFeed();
00183                             index = 0;
00184                             }
00185                             }
00186                         if (c == 'R'){
00187                             rFeed();
00188                             index = 0;
00189                             }
00190                             }
00191                         
00192                 
00193 tapePotADC = ((tapePot)/ 103);   // covert 1024 to (1 -9) for the PWM setting.
00194         
00195 
00196         
00197 if(lOpto){
00198 lLed = 0;}
00199 else{
00200 lLed = 1;
00201 }
00202 }
00203     
00204 }