Revision 62:58e846621435, committed 2016-10-26

Comitter:

Generic

Date:

Wed Oct 26 10:40:54 2016 +0000

Parent:

61:d16e5ad857ba

Commit message:

Firmware

Changed in this revision

diff -r d16e5ad857ba -r 58e846621435 CYS8218Controller.lib
--- a/CYS8218Controller.lib	Wed Oct 19 22:13:09 2016 +0200
+++ b/CYS8218Controller.lib	Wed Oct 26 10:40:54 2016 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/Generic/code/CYS8218Controller/#062af0d57175
+http://developer.mbed.org/users/Generic/code/CYS8218Controller/#87b056f6d8ad

diff -r d16e5ad857ba -r 58e846621435 ResistiveTouchController.lib
--- a/ResistiveTouchController.lib	Wed Oct 19 22:13:09 2016 +0200
+++ b/ResistiveTouchController.lib	Wed Oct 26 10:40:54 2016 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/users/Generic/code/ResistiveTouchController/#a4ebeb3ba49c
+https://developer.mbed.org/users/Generic/code/ResistiveTouchController/#140d6bff4860

diff -r d16e5ad857ba -r 58e846621435 Screens/AutomaticControlScreen.cpp
--- a/Screens/AutomaticControlScreen.cpp	Wed Oct 19 22:13:09 2016 +0200
+++ b/Screens/AutomaticControlScreen.cpp	Wed Oct 26 10:40:54 2016 +0000
@@ -8,7 +8,7 @@
   _btStart(0, SCREEN_H-65, SCREEN_W, 30, "Start"),
   _btStop(0, SCREEN_H-65, SCREEN_W, 30, "Stop"),
   _btMore((SCREEN_W/2)-50, SCREEN_H-30, 100, 30, "More"),
-  _nlbTs( SCREEN_W/2, 26, "Cycle Time (us):%d", *Ts, Label::CENTER),
+  _nlbTs( SCREEN_W/2, 26, "Cycle Time (ms):%d", *Ts, Label::CENTER),
   _gXPos( 0, 40, SCREEN_W/2-1,  158, -170, 170, "X Position (mm)"),
   _gYPos( SCREEN_W/2+1, 40, SCREEN_W/2-1,  158, -136, 136, "Y Position (mm)")
 {
@@ -104,7 +104,7 @@
     _gXPos.Update();
     _gYPos.Update();
 
-    _nlbTs.Draw("Cycle time (us):%d",*_Ts);
+    _nlbTs.Draw("Cycle time (ms):%d",*_Ts);
 
     if( *_xSP )
     {

diff -r d16e5ad857ba -r 58e846621435 Screens/AutomaticMoreScreen.cpp
--- a/Screens/AutomaticMoreScreen.cpp	Wed Oct 19 22:13:09 2016 +0200
+++ b/Screens/AutomaticMoreScreen.cpp	Wed Oct 26 10:40:54 2016 +0000
@@ -4,8 +4,8 @@
   Screen(),
   _lbTitle( SCREEN_W/2, 0, "More", Label::CENTER, Font24),
   _btBack(0,SCREEN_H-30,100,30,"Back"),
-  _btManualSP(0, 27, SCREEN_W/2-5, SCREEN_H-35-27, "Manual Tracking"),
-  _btSquare(SCREEN_W/2+5,27, SCREEN_W/2-5, SCREEN_H-35-27, "Square")
+  _btManualSP(0, 27, SCREEN_W/2-5, SCREEN_H-35-27, "Manual Tracking",Font20),
+  _btSquare(SCREEN_W/2+5,27, SCREEN_W/2-5, SCREEN_H-35-27, "4-Point Pattern",Font20)
 {
   _nextScreen = nextScreen;
 }

diff -r d16e5ad857ba -r 58e846621435 Screens/ManualControlScreen.cpp
--- a/Screens/ManualControlScreen.cpp	Wed Oct 19 22:13:09 2016 +0200
+++ b/Screens/ManualControlScreen.cpp	Wed Oct 26 10:40:54 2016 +0000
@@ -30,10 +30,10 @@
 
   if( _btReset.Touched() )
   {
-    _btReset.Draw();
     _tpManual.Reset();
     SetValues();
     Thread::wait(200);
+    _btReset.Draw();
   }
 
   if( _tpManual.Touched() )

diff -r d16e5ad857ba -r 58e846621435 Screens/ManualSetpointScreen.cpp
--- a/Screens/ManualSetpointScreen.cpp	Wed Oct 19 22:13:09 2016 +0200
+++ b/Screens/ManualSetpointScreen.cpp	Wed Oct 26 10:40:54 2016 +0000
@@ -7,8 +7,6 @@
   _tpSetpoint( (SCREEN_W/2)-90 ,57, 180,180, -100.0, 100.0, -100.0 ,100.0),
   _btStart( 110, SCREEN_H-30, SCREEN_W-220, 30, "Start"),
   _btStop( 110, SCREEN_H-30, SCREEN_W-220, 30, "Stop"),
-  _nlbXSP(0,26,"x (mm)=%.0f",*xSP),
-  _nlbYSP(0,40,"y (mm)=%.0f",*ySP),
   _btReset( SCREEN_W-100, SCREEN_H-30, 100, 30, "Reset")
 {
   _nextScreen = nextScreen;
@@ -28,9 +26,7 @@
   _tpSetpoint.Draw();
   _btStop.Inactivate();
   _btStart.Inactivate();
-  _btStart.Draw();
-  _nlbXSP.Draw();
-  _nlbYSP.Draw();
+  _btStart.Draw();  
   _btReset.Draw();
 }
 
@@ -48,8 +44,6 @@
 
     *_ySP = -floor(_tpSetpoint.GetX());
     *_xSP = -floor(_tpSetpoint.GetY());
-    _nlbXSP.Draw("x (mm)=%.0f",*_xSP);
-    _nlbYSP.Draw("y (mm)=%.0f",*_ySP);
   }
 
   if( _btReset.Touched() )

diff -r d16e5ad857ba -r 58e846621435 Screens/ManualSetpointScreen.hpp
--- a/Screens/ManualSetpointScreen.hpp	Wed Oct 19 22:13:09 2016 +0200
+++ b/Screens/ManualSetpointScreen.hpp	Wed Oct 26 10:40:54 2016 +0000
@@ -17,8 +17,6 @@
   Trackpad _tpSetpoint;
   Button _btStart;
   Button _btStop;
-  NumericLabel<float> _nlbXSP;
-  NumericLabel<float> _nlbYSP;
   Button _btReset;
 
   float *_xSP;

diff -r d16e5ad857ba -r 58e846621435 Screens/SquareScreen.cpp
--- a/Screens/SquareScreen.cpp	Wed Oct 19 22:13:09 2016 +0200
+++ b/Screens/SquareScreen.cpp	Wed Oct 26 10:40:54 2016 +0000
@@ -2,7 +2,7 @@
 
 SquareScreen::SquareScreen( int *nextScreen, float *xSP, float *ySP, int *ballOnPlate, bool *started, float *x, float *y) :
   Screen(),
-  _lbTitle( SCREEN_W/2, 0, "Manual Setpoint", Label::CENTER, Font24),
+  _lbTitle( SCREEN_W/2, 0, "4 Point Pattern", Label::CENTER, Font24),
   _btBack( 0, SCREEN_H-30, 100, 30, "Back"),
   _btReset( SCREEN_W-100, SCREEN_H-30, 100, 30, "Reset"),
   _cSquare( (SCREEN_W/2)-90 ,57, 180,180),
@@ -130,6 +130,24 @@
     
     DrawShape();
   }
+  
+  if( _btReset.Touched() )
+  {
+    _xPoints[0] = (SCREEN_W/2)-80;
+  _yPoints[0] = 67;
+  _xPoints[1] = (SCREEN_W/2)-80;
+  _yPoints[1] = 47+180;
+  _xPoints[2] = (SCREEN_W/2)+70;
+  _yPoints[2] = 47+180;
+  _xPoints[3] = (SCREEN_W/2)+70;
+  _yPoints[3] = 67;
+  _currentPoint = 0;
+  *_ySP = -_xMapper.Calculate((float)_xPoints[0]);
+  *_xSP = -_yMapper.Calculate((float)_yPoints[0]);
+  DrawShape();
+  Thread::wait(200);
+  _btReset.Draw();
+ }
 }
 
 void SquareScreen::DrawShape()

diff -r d16e5ad857ba -r 58e846621435 main.cpp
--- a/main.cpp	Wed Oct 19 22:13:09 2016 +0200
+++ b/main.cpp	Wed Oct 26 10:40:54 2016 +0000
@@ -47,11 +47,14 @@
 //-- Controller Variables
 float P = 0.1;
 float I = 0;
-float D = 10;
-float Ts = 0.004;
+float D = 9;
+float Ts = 4;
 Timer cycleTimer;
 //-----------------------
 
+float t[3][2];
+float d[3][2];
+
 
 //-- Sensors and Actuator objects
 ResistiveTouchController plate(A0,A1,A3,A4,A5);
@@ -76,8 +79,6 @@
 
 bool saved = false;
 
-// TODO Delete these variables
-Serial pc(USBTX,USBRX);
 
 int main()
 {
@@ -121,6 +122,8 @@
     if( nextScreen != currentScreen )
     {
       started = false;
+      xSummation = 0;
+      ySummation = 0;
       Thread::wait(100);
 
       if( activeScreen != NULL)
@@ -183,9 +186,16 @@
 
 void Init()
 {
-  // TODO Read values from sd card
+  
+  d[0][0] = 921.6;
+  d[1][0] = 512;
+  d[2][0] = 102.4;
+  
+  d[0][1] = 512;
+  d[1][1] = 921.6;
+  d[2][1] = 102.4;
+  
   ImageFromSD splash("/sd/Splash.txt");
-  pc.baud(57600);
   xMotor.SetZero(28.0);
   yMotor.SetZero(25.0);
   nextScreen = Screen::MAIN_MENU_SCREEN;
@@ -203,7 +213,6 @@
 
   if( saved)
   {
-    // TODO Save zero position on sd card
     xMotor.SetZero(zeroAlpha);
     yMotor.SetZero(-zeroBeta);
     zeroAlpha = 0;
@@ -256,12 +265,11 @@
     beta = ( beta > 10 ? 10 : (beta < -10 ? -10 : beta) );
 
     xMotor.Set(alpha);
-    yMotor.Set(-beta);
+    yMotor.Set(beta);
 
-    if( Ts > 0)
-      Ts /= 1000;
+    float waitTime = Ts/1000.0;
 
-    while( cycleTimer.read() > Ts);
+    while( cycleTimer.read() < waitTime);
 
     cycleTimer.stop();
     measuredTs = cycleTimer.read_ms();
@@ -287,12 +295,15 @@
       {
         calTimer.start();
         calHeldTime = calTimer.read();
+        plate.Measure();
+        
+        t[calPoint][0] = plate.RawX();
+        t[calPoint][1] = plate.RawY();
 
         if( calHeldTime >= 5 )
         {
           while( plate.TouchDetected() );
-
-          //TODO Test calibration function
+          
           calPoint++;
           calTimer.stop();
           calTimer.reset();
@@ -306,6 +317,7 @@
     }
     else
     {
+      plate.Calibrate(t,d);
       calFinished = true;
       calPoint = 0;
       calStarted = false;