Revision 4:434586084857, committed 2016-02-05

Comitter:

JordanWisdom

Date:

Fri Feb 05 16:45:01 2016 +0000

Parent:

3:0efaad3251a8

Commit message:

PAIN

Changed in this revision

--- a/main.cpp	Wed Feb 03 23:22:01 2016 +0000
+++ b/main.cpp	Fri Feb 05 16:45:01 2016 +0000
@@ -1,8 +1,11 @@
 // C.P. Diduch
 // EE4333 Robotics Lab-3, January 18, 2014.
 // Template for implementation of a PI Speed Control System
+#include "InterruptIn.h"
 #include "rtos.h"
 #include "mbed.h"
+#include "Serial.h"
+
 // Function prototypes
 void PiControllerISR(void);
 void WdtFaultISR(void);
@@ -14,15 +17,16 @@
 
 // Global variables for interrupt handler
 int Position;
+signed int u; //On Time Int
 
 // Processes and threads
-int32_t SignalPi, SignalWdt, SignalExtCollision;
+int32_t SignalPi, SignalWdt, SignalExtCollision; //Semaphores
 
 osThreadId PiControl,WdtFault,ExtCollision;
 osThreadDef(PiControlThread, osPriorityRealtime, DEFAULT_STACK_SIZE); // Declare Control as a thread/process
 osThreadDef(ExtCollisionThread, osPriorityHigh, DEFAULT_STACK_SIZE); // Declare External Collision as a thread/process
 osTimerDef(Wdtimer, Watchdog); // Declare a watch dog timer
-osTimerId OneShot = osTimerCreate(osTimer(Wdtimer), osTimerOnce, (void *)0);//OneShot Timer
+//typedef enum{
 // osPriorityIdle = -3, ///< priority: idle (lowest)
 // osPriorityLow = -2, ///< priority: low
 // osPriorityBelowNormal = -1, ///< priority: below normal
@@ -30,21 +34,48 @@
 // osPriorityAboveNormal = +1, ///< priority: above normal
 // osPriorityHigh = +2, ///< priority: high
 // osPriorityRealtime = +3, ///< priority: realtime (highest)
+//}osPriority;
 
 // IO Port Configuration
+// Digital
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
+
+DigitalOut BR1(p9); //Brake 1
+DigitalOut DIR1(p10); //Direction 1
+
+//PWM
+PwmOut PW1(p22);
+
+//Serial
 Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel
 Serial BluetoothSerial(p28,p27);
-Ticker PeriodicInt; // Declare a timer interrupt: PeriodicInt
+
+//Interrupts
 InterruptIn Bumper(p8); // External interrupt pin declared as Bumper
+Ticker PeriodicInt; // Declare a timer interrupt: PeriodicInt
 
+signed DisplayMenu(){
+signed x = 0;
+char Key[7] = "+00000";
+        printf("\n\rEnter a Pulse Width in microSeconds (max +/-30000, include leading zeroes):");
+        pc.gets(Key,7);
+        x = strtol(Key,NULL,10);
+        printf("\n\r Selected Pulse Width = %d us", x);
+        //pc.printf("\r\n%6d", Position); // The terminal emulator may be configured to
+        // store received data to a file
+        Thread::wait(100); // Go to sleep for 500 ms
+        return x;
+}
 
 // ******** Main Thread ********
 int main() { // This thread executes first upon reset or power-on.
-    char x;
+    PW1.period_us(20);
+    BR1.write(1);
+    DIR1.write(1);
+    
     // Attach the address of the ExtCollisionISR to the rising edge of Bumper:
     Bumper.rise(&ExtCollisionISR);
     
@@ -60,29 +91,34 @@
     // Specify address of the PeriodicInt ISR as PiControllerISR, specify the interval
     // in seconds between interrupts, and start interrupt generation:
     PeriodicInt.attach(&PiControllerISR, .05);
-    do {
-            if (pc.readable()){
-            x=pc.getc();
-            pc.putc(x); // Echo keyboard entry
-            // Start or restart the watchdog timer interrupt and set to 2000ms.
-            osTimerStart(OneShot, 2000);
-            led3=0; // Clear watch dog led3 status
-            led4=0;
-        }
-    // Display variables at the terminal emulator for logging:
-    pc.printf("\r\n%6d", Position); // The terminal emulator may be configured to
-    // store received data to a file
-    Thread::wait(500); // Go to sleep for 500 ms
+    do {  
+        u = DisplayMenu();
+        printf("\n\r Memory Pulse Width: %d", u);
     }
     while(1);
+    
 }
 
+
 // ******** Control Thread ********
 void PiControlThread(void const *argument) {
     while (true) {
         osSignalWait(SignalPi, osWaitForever); // Go to sleep until, SignalPi, is received.
-        led2 = !led2; // Alive status - led2 toggles each time PiControlThread is signaled.
+        //led2 = !led2; // Alive status - led2 toggles each time PiControlThread is signaled.
+        if(u >= 0)
+        {
+            if(u>=131071) u = 131071; //Overflow protection
+            PW1.pulsewidth_us(u);
+            DIR1.write(1);
+            }
+        else if(u < 0)
+        {
+            if(u<-131071) u = -131071; //Overflow protection
+            PW1.pulsewidth_us(u);
+            DIR1.write(0);
+            }
         Position = Position + 1;
+        printf("\n\r Memory Pulse Width = %d", u);    
     }
 }
 
@@ -91,28 +127,28 @@
     while (true) {
         // Go to sleep until signal, SignalExtCollision, is received:
         osSignalWait(SignalExtCollision, osWaitForever);
-        led4 = 1;
+        led4 = 0;
     }
 }
 
 // ******** Watchdog Interrupt Handler ********
 void Watchdog(void const *n) {
-    led3=1; // led3 is activated when the watchdog timer times out
+    led3=0; // led3 is activated when the watchdog timer times out
 }
 
 // ******** Period Timer Interrupt Handler ********
 void PiControllerISR(void) {
     // Activate the signal, PiControl, with each periodic timer interrupt.
-    osSignalSet(PiControl,0x1); 
+    //osSignalSet(PiControl,0x1); 
 }
 
 // ******** Collision Interrupt Handler ********
 void ExtCollisionISR(void) {
     // Activate the signal, ExtCollision, with each pexternal interrupt.
-    osSignalSet(ExtCollision,0x1);
+    //osSignalSet(ExtCollision,0x1);
 }
 
-// ******** User Interface *********
+/*/ ******** User Interface *********
 void UserInterface(void) {
     char x;
     do{
@@ -121,14 +157,14 @@
             osTimerStart(OneShot, 2000); // Set WDT interrupt to 2s.
             led3 = 0;
         }
-        if (BluetoothSerial.readable()) {
+         (BluetoothSerial.readable()) {
             x = BluetoothSerial.getc();
-            if(x == 'w'){ 
+            (x == 'w'){ 
                 pc.printf("\r\n w pressed");
             }
             // Display variables at the terminal emulator for logging:
             pc.printf("\r\n blah blah");
             Thread::wait(500); // Wait 500 ms
             }
- }while(1);
-}
+    }while(1);
+}*/