Nurbol Nurdaulet
/
state_machine_24_11_11
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Dependencies: mbed WattBob_TextLCD
main.cpp@1:05b399616fcd, 2011-11-24 (annotated)
- Committer:
- Nurbol
- Date:
- Thu Nov 24 12:10:17 2011 +0000
- Revision:
- 1:05b399616fcd
- Parent:
- 0:99ea9a842829
- Child:
- 2:0d0ec8aa4605
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Nurbol | 0:99ea9a842829 | 1 | // |
| Nurbol | 0:99ea9a842829 | 2 | // COM_test : program to communicate via a COM port to a PC/laptop |
| Nurbol | 0:99ea9a842829 | 3 | // ======== |
| Nurbol | 0:99ea9a842829 | 4 | // |
| Nurbol | 0:99ea9a842829 | 5 | // Description |
| Nurbol | 0:99ea9a842829 | 6 | // Program to receive ASCII format commands through a virtual COM port and |
| Nurbol | 0:99ea9a842829 | 7 | // after executing the command return some data (optional, depending on |
| Nurbol | 0:99ea9a842829 | 8 | // the command) and a status value. |
| Nurbol | 0:99ea9a842829 | 9 | // The program understands two possible commands : |
| Nurbol | 0:99ea9a842829 | 10 | // "s i j" : move servo 'i (0 to 5) to postion 'j' (0 to 90) |
| Nurbol | 0:99ea9a842829 | 11 | // "r" : read the 'i' parameter of the last "s" command |
| Nurbol | 0:99ea9a842829 | 12 | // |
| Nurbol | 0:99ea9a842829 | 13 | // Version : 1.0 |
| Nurbol | 0:99ea9a842829 | 14 | // Author : Jim Herd |
| Nurbol | 0:99ea9a842829 | 15 | // Date : 5th Oct 2011 |
| Nurbol | 0:99ea9a842829 | 16 | // |
| Nurbol | 0:99ea9a842829 | 17 | #include "mbed.h" |
| Nurbol | 0:99ea9a842829 | 18 | #include "MCP23017.h" |
| Nurbol | 0:99ea9a842829 | 19 | #include "WattBob_TextLCD.h" |
| Nurbol | 0:99ea9a842829 | 20 | #include "cmd_io.h" |
| Nurbol | 0:99ea9a842829 | 21 | #include "globals.h" |
| Nurbol | 0:99ea9a842829 | 22 | |
| Nurbol | 0:99ea9a842829 | 23 | |
| Nurbol | 0:99ea9a842829 | 24 | |
| Nurbol | 0:99ea9a842829 | 25 | Ticker timer1p; |
| Nurbol | 0:99ea9a842829 | 26 | Ticker timer2p; |
| Nurbol | 0:99ea9a842829 | 27 | Ticker timercounter1p; |
| Nurbol | 0:99ea9a842829 | 28 | Ticker timercounter2p; |
| Nurbol | 1:05b399616fcd | 29 | Ticker timerstatemachine; |
| Nurbol | 0:99ea9a842829 | 30 | |
| Nurbol | 0:99ea9a842829 | 31 | AnalogIn sensor1(p15); |
| Nurbol | 0:99ea9a842829 | 32 | AnalogIn sensor2(p16); |
| Nurbol | 0:99ea9a842829 | 33 | DigitalOut valueLED1(p23); |
| Nurbol | 0:99ea9a842829 | 34 | DigitalOut valueLED2(p25); |
| Nurbol | 0:99ea9a842829 | 35 | |
| Nurbol | 0:99ea9a842829 | 36 | |
| Nurbol | 0:99ea9a842829 | 37 | DigitalOut led1(LED1); |
| Nurbol | 0:99ea9a842829 | 38 | DigitalOut led2(LED2); |
| Nurbol | 0:99ea9a842829 | 39 | DigitalOut led3(LED3); |
| Nurbol | 0:99ea9a842829 | 40 | DigitalOut led4(LED4); |
| Nurbol | 0:99ea9a842829 | 41 | |
| Nurbol | 0:99ea9a842829 | 42 | DigitalOut clk(p24); |
| Nurbol | 0:99ea9a842829 | 43 | |
| Nurbol | 0:99ea9a842829 | 44 | DigitalIn counter1p(p5); |
| Nurbol | 0:99ea9a842829 | 45 | DigitalIn counter2p(p6); |
| Nurbol | 0:99ea9a842829 | 46 | DigitalIn SW1p(p11); |
| Nurbol | 0:99ea9a842829 | 47 | DigitalIn SW2p(p12); |
| Nurbol | 0:99ea9a842829 | 48 | |
| Nurbol | 0:99ea9a842829 | 49 | bool Position1_1p; |
| Nurbol | 0:99ea9a842829 | 50 | bool Position2_1p; |
| Nurbol | 0:99ea9a842829 | 51 | bool Position1_2p; |
| Nurbol | 0:99ea9a842829 | 52 | bool Position2_2p; |
| Nurbol | 0:99ea9a842829 | 53 | |
| Nurbol | 1:05b399616fcd | 54 | int state; |
| Nurbol | 0:99ea9a842829 | 55 | |
| Nurbol | 0:99ea9a842829 | 56 | |
| Nurbol | 0:99ea9a842829 | 57 | |
| Nurbol | 0:99ea9a842829 | 58 | //****************************************************************************** |
| Nurbol | 0:99ea9a842829 | 59 | // declare functions |
| Nurbol | 0:99ea9a842829 | 60 | // |
| Nurbol | 0:99ea9a842829 | 61 | void sensor1p (void); |
| Nurbol | 0:99ea9a842829 | 62 | void sensor2p (void); |
| Nurbol | 0:99ea9a842829 | 63 | void counter1 (void); |
| Nurbol | 0:99ea9a842829 | 64 | void counter2 (void); |
| Nurbol | 1:05b399616fcd | 65 | void state_machine (void); |
| Nurbol | 0:99ea9a842829 | 66 | // |
| Nurbol | 0:99ea9a842829 | 67 | // |
| Nurbol | 0:99ea9a842829 | 68 | // 2. five servo outputs |
| Nurbol | 0:99ea9a842829 | 69 | // |
| Nurbol | 0:99ea9a842829 | 70 | |
| Nurbol | 0:99ea9a842829 | 71 | PwmOut servo_0(p26); |
| Nurbol | 0:99ea9a842829 | 72 | //PwmOut servo_1(p25); |
| Nurbol | 0:99ea9a842829 | 73 | //PwmOut servo_2(p24); |
| Nurbol | 0:99ea9a842829 | 74 | //PwmOut servo_3(p23); |
| Nurbol | 0:99ea9a842829 | 75 | PwmOut servo_4(p22); |
| Nurbol | 0:99ea9a842829 | 76 | PwmOut servo_5(p21); |
| Nurbol | 0:99ea9a842829 | 77 | |
| Nurbol | 0:99ea9a842829 | 78 | // |
| Nurbol | 0:99ea9a842829 | 79 | // 3. objects necessary to use the 2*16 character MBED display |
| Nurbol | 0:99ea9a842829 | 80 | // |
| Nurbol | 0:99ea9a842829 | 81 | MCP23017 *par_port; |
| Nurbol | 0:99ea9a842829 | 82 | WattBob_TextLCD *lcd; |
| Nurbol | 0:99ea9a842829 | 83 | // |
| Nurbol | 0:99ea9a842829 | 84 | // 4. Virtual COM port over USB link to laptop/PC |
| Nurbol | 0:99ea9a842829 | 85 | // |
| Nurbol | 0:99ea9a842829 | 86 | Serial pc(USBTX, USBRX); |
| Nurbol | 0:99ea9a842829 | 87 | |
| Nurbol | 0:99ea9a842829 | 88 | //****************************************************************************** |
| Nurbol | 0:99ea9a842829 | 89 | // Defined GLOBAL variables and structures |
| Nurbol | 0:99ea9a842829 | 90 | // |
| Nurbol | 0:99ea9a842829 | 91 | CMD_STRUCT ext_cmd, commandcounter2; // structure to hold command data |
| Nurbol | 0:99ea9a842829 | 92 | STAT_STRUCT ext_stat; // structure to hold status reply |
| Nurbol | 0:99ea9a842829 | 93 | |
| Nurbol | 0:99ea9a842829 | 94 | |
| Nurbol | 0:99ea9a842829 | 95 | //CMD_STRUCT commandcounter2; |
| Nurbol | 0:99ea9a842829 | 96 | |
| Nurbol | 0:99ea9a842829 | 97 | uint32_t last_servo; // store for last servo number |
| Nurbol | 0:99ea9a842829 | 98 | |
| Nurbol | 0:99ea9a842829 | 99 | //************************************************************************ |
| Nurbol | 0:99ea9a842829 | 100 | //************************************************************************ |
| Nurbol | 0:99ea9a842829 | 101 | // init_sys : initialise the system |
| Nurbol | 0:99ea9a842829 | 102 | // ======== |
| Nurbol | 0:99ea9a842829 | 103 | // |
| Nurbol | 0:99ea9a842829 | 104 | // 1. Configure 2*16 character display |
| Nurbol | 0:99ea9a842829 | 105 | // 2. Print "COM test" string |
| Nurbol | 0:99ea9a842829 | 106 | // 3. initialise relevant global variables |
| Nurbol | 0:99ea9a842829 | 107 | // 4. set COM port baud rate to 19200 bits per second |
| Nurbol | 0:99ea9a842829 | 108 | // |
| Nurbol | 0:99ea9a842829 | 109 | void init_sys(void) { |
| Nurbol | 0:99ea9a842829 | 110 | |
| Nurbol | 0:99ea9a842829 | 111 | par_port = new MCP23017(p9, p10, 0x40); |
| Nurbol | 0:99ea9a842829 | 112 | lcd = new WattBob_TextLCD(par_port); |
| Nurbol | 0:99ea9a842829 | 113 | |
| Nurbol | 0:99ea9a842829 | 114 | par_port->write_bit(1,BL_BIT); // turn LCD backlight ON |
| Nurbol | 0:99ea9a842829 | 115 | lcd->cls(); |
| Nurbol | 0:99ea9a842829 | 116 | lcd->locate(0,0); |
| Nurbol | 0:99ea9a842829 | 117 | lcd->printf("COM "); |
| Nurbol | 0:99ea9a842829 | 118 | |
| Nurbol | 0:99ea9a842829 | 119 | servo_0.period(0.020); // servo requires a 20ms period, common for all 5 servo objects |
| Nurbol | 0:99ea9a842829 | 120 | last_servo = SERVO_UNKNOWN; |
| Nurbol | 0:99ea9a842829 | 121 | pc.baud(19200); |
| Nurbol | 0:99ea9a842829 | 122 | |
| Nurbol | 0:99ea9a842829 | 123 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 124 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 125 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 126 | |
| Nurbol | 0:99ea9a842829 | 127 | Position1_1p = 1; |
| Nurbol | 0:99ea9a842829 | 128 | Position2_1p = 0; |
| Nurbol | 0:99ea9a842829 | 129 | Position1_2p = 1; |
| Nurbol | 0:99ea9a842829 | 130 | Position2_2p = 0; |
| Nurbol | 0:99ea9a842829 | 131 | |
| Nurbol | 1:05b399616fcd | 132 | state = 0; |
| Nurbol | 1:05b399616fcd | 133 | |
| Nurbol | 0:99ea9a842829 | 134 | return; |
| Nurbol | 0:99ea9a842829 | 135 | } // end init_sys |
| Nurbol | 0:99ea9a842829 | 136 | |
| Nurbol | 0:99ea9a842829 | 137 | //************************************************************************ |
| Nurbol | 0:99ea9a842829 | 138 | // process_cmd : decode and execute command |
| Nurbol | 0:99ea9a842829 | 139 | // =========== |
| Nurbol | 0:99ea9a842829 | 140 | uint32_t process_cmd(CMD_STRUCT *command) |
| Nurbol | 0:99ea9a842829 | 141 | { |
| Nurbol | 0:99ea9a842829 | 142 | int32_t pulse_width; |
| Nurbol | 0:99ea9a842829 | 143 | |
| Nurbol | 0:99ea9a842829 | 144 | switch (command->cmd_code) { |
| Nurbol | 0:99ea9a842829 | 145 | // |
| Nurbol | 0:99ea9a842829 | 146 | // move a servo |
| Nurbol | 0:99ea9a842829 | 147 | // |
| Nurbol | 0:99ea9a842829 | 148 | case SERVO_CMD : |
| Nurbol | 0:99ea9a842829 | 149 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:99ea9a842829 | 150 | // |
| Nurbol | 0:99ea9a842829 | 151 | // check that parameters are OK |
| Nurbol | 0:99ea9a842829 | 152 | // |
| Nurbol | 0:99ea9a842829 | 153 | if (command->nos_params != 2) { // check for 2 parameters |
| Nurbol | 0:99ea9a842829 | 154 | command->result_status = CMD_BAD_NUMBER_OF_PARAMETERS; |
| Nurbol | 0:99ea9a842829 | 155 | break; |
| Nurbol | 0:99ea9a842829 | 156 | } |
| Nurbol | 0:99ea9a842829 | 157 | if (command->param[0] > MAX_SERVO_NUMBER ) { // check servo number |
| Nurbol | 0:99ea9a842829 | 158 | command->result_status = CMD_BAD_SERVO_NUMBER; |
| Nurbol | 0:99ea9a842829 | 159 | break; |
| Nurbol | 0:99ea9a842829 | 160 | } |
| Nurbol | 0:99ea9a842829 | 161 | if ((command->param[1] < MIN_SERVO_ANGLE) || |
| Nurbol | 0:99ea9a842829 | 162 | (command->param[1] > MAX_SERVO_ANGLE) ) { |
| Nurbol | 0:99ea9a842829 | 163 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:99ea9a842829 | 164 | break; |
| Nurbol | 0:99ea9a842829 | 165 | } |
| Nurbol | 0:99ea9a842829 | 166 | if ((command->param[0] == 4) && (command->param[1] == 0)) { |
| Nurbol | 0:99ea9a842829 | 167 | pulse_width = 0; // convert angle to pulse width |
| Nurbol | 0:99ea9a842829 | 168 | } |
| Nurbol | 0:99ea9a842829 | 169 | else{ |
| Nurbol | 0:99ea9a842829 | 170 | pulse_width = 1000 + (command->param[1] * 1000) / MAX_SERVO_ANGLE; // convert angle to pulse width |
| Nurbol | 0:99ea9a842829 | 171 | } |
| Nurbol | 0:99ea9a842829 | 172 | |
| Nurbol | 0:99ea9a842829 | 173 | |
| Nurbol | 0:99ea9a842829 | 174 | |
| Nurbol | 0:99ea9a842829 | 175 | // |
| Nurbol | 0:99ea9a842829 | 176 | // implement servo move to all 5 servos |
| Nurbol | 0:99ea9a842829 | 177 | // |
| Nurbol | 0:99ea9a842829 | 178 | switch (command->param[0]) { |
| Nurbol | 0:99ea9a842829 | 179 | case 0 : servo_0.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:99ea9a842829 | 180 | // case 1 : servo_1.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:99ea9a842829 | 181 | // case 2 : servo_2.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:99ea9a842829 | 182 | // case 3 : servo_3.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:99ea9a842829 | 183 | case 4 : servo_4.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:99ea9a842829 | 184 | // case 5 : servo_5.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:99ea9a842829 | 185 | |
| Nurbol | 0:99ea9a842829 | 186 | } |
| Nurbol | 0:99ea9a842829 | 187 | last_servo = command->param[0]; |
| Nurbol | 0:99ea9a842829 | 188 | break; |
| Nurbol | 0:99ea9a842829 | 189 | // |
| Nurbol | 0:99ea9a842829 | 190 | // return last servo number |
| Nurbol | 0:99ea9a842829 | 191 | // |
| Nurbol | 0:99ea9a842829 | 192 | case READ_CMD : |
| Nurbol | 0:99ea9a842829 | 193 | command->nos_data = 2; // no data to be returned |
| Nurbol | 0:99ea9a842829 | 194 | command->result_data[0] = valueLED1; |
| Nurbol | 0:99ea9a842829 | 195 | command->result_data[1] = valueLED2; |
| Nurbol | 0:99ea9a842829 | 196 | break; |
| Nurbol | 0:99ea9a842829 | 197 | // |
| Nurbol | 0:99ea9a842829 | 198 | // catch any problems |
| Nurbol | 0:99ea9a842829 | 199 | // |
| Nurbol | 0:99ea9a842829 | 200 | default: |
| Nurbol | 0:99ea9a842829 | 201 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:99ea9a842829 | 202 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:99ea9a842829 | 203 | break; |
| Nurbol | 0:99ea9a842829 | 204 | } |
| Nurbol | 0:99ea9a842829 | 205 | return OK; |
| Nurbol | 0:99ea9a842829 | 206 | } |
| Nurbol | 0:99ea9a842829 | 207 | |
| Nurbol | 0:99ea9a842829 | 208 | //************************************************************************ |
| Nurbol | 0:99ea9a842829 | 209 | |
| Nurbol | 0:99ea9a842829 | 210 | //function to send value on the FPGA when 1p is detected |
| Nurbol | 0:99ea9a842829 | 211 | void sensor1p (void){ |
| Nurbol | 0:99ea9a842829 | 212 | clk = !clk; |
| Nurbol | 0:99ea9a842829 | 213 | wait(0.01); |
| Nurbol | 0:99ea9a842829 | 214 | sensor1.read(); |
| Nurbol | 0:99ea9a842829 | 215 | if(sensor1 > 0.5) { |
| Nurbol | 0:99ea9a842829 | 216 | led1 = 1; |
| Nurbol | 0:99ea9a842829 | 217 | valueLED1 = 1; |
| Nurbol | 0:99ea9a842829 | 218 | } |
| Nurbol | 0:99ea9a842829 | 219 | else if(sensor1 < 0.5){ |
| Nurbol | 0:99ea9a842829 | 220 | led1 = 0; |
| Nurbol | 0:99ea9a842829 | 221 | valueLED1 = 0; |
| Nurbol | 0:99ea9a842829 | 222 | } |
| Nurbol | 0:99ea9a842829 | 223 | } |
| Nurbol | 0:99ea9a842829 | 224 | |
| Nurbol | 0:99ea9a842829 | 225 | //function to send value on the FPGA when 2p is detected |
| Nurbol | 0:99ea9a842829 | 226 | void sensor2p (){ |
| Nurbol | 0:99ea9a842829 | 227 | sensor2.read(); |
| Nurbol | 0:99ea9a842829 | 228 | if(sensor2 > 0.5) { |
| Nurbol | 0:99ea9a842829 | 229 | led2 = 1; |
| Nurbol | 0:99ea9a842829 | 230 | valueLED2 = 1; |
| Nurbol | 0:99ea9a842829 | 231 | } |
| Nurbol | 0:99ea9a842829 | 232 | else if(sensor2 < 0.5){ |
| Nurbol | 0:99ea9a842829 | 233 | led2 = 0; |
| Nurbol | 0:99ea9a842829 | 234 | valueLED2 = 0; |
| Nurbol | 0:99ea9a842829 | 235 | } |
| Nurbol | 0:99ea9a842829 | 236 | } |
| Nurbol | 0:99ea9a842829 | 237 | |
| Nurbol | 1:05b399616fcd | 238 | |
| Nurbol | 1:05b399616fcd | 239 | |
| Nurbol | 1:05b399616fcd | 240 | void state_machine (){ |
| Nurbol | 1:05b399616fcd | 241 | switch(state) |
| Nurbol | 1:05b399616fcd | 242 | { |
| Nurbol | 1:05b399616fcd | 243 | case 0: // initial state |
| Nurbol | 1:05b399616fcd | 244 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run |
| Nurbol | 1:05b399616fcd | 245 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 1p go to position 1 |
| Nurbol | 1:05b399616fcd | 246 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 2p go to position 1 |
| Nurbol | 1:05b399616fcd | 247 | Position1_1p = 1; |
| Nurbol | 1:05b399616fcd | 248 | Position2_1p = 0; |
| Nurbol | 1:05b399616fcd | 249 | Position1_2p = 1; |
| Nurbol | 1:05b399616fcd | 250 | Position2_2p = 0; |
| Nurbol | 1:05b399616fcd | 251 | led3 = 0; |
| Nurbol | 1:05b399616fcd | 252 | led4 = 0; |
| Nurbol | 1:05b399616fcd | 253 | counter1p.read(); |
| Nurbol | 1:05b399616fcd | 254 | counter2p.read(); |
| Nurbol | 1:05b399616fcd | 255 | if(counter1p > 0.5){ |
| Nurbol | 1:05b399616fcd | 256 | state = 1; |
| Nurbol | 1:05b399616fcd | 257 | } |
| Nurbol | 1:05b399616fcd | 258 | if(counter2p > 0.5){ |
| Nurbol | 1:05b399616fcd | 259 | state = 4; |
| Nurbol | 1:05b399616fcd | 260 | } |
| Nurbol | 1:05b399616fcd | 261 | break; |
| Nurbol | 1:05b399616fcd | 262 | case 1: // state 1 if counter1p = 1 |
| Nurbol | 1:05b399616fcd | 263 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 1:05b399616fcd | 264 | servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 1p go to position 2 |
| Nurbol | 1:05b399616fcd | 265 | wait(1); |
| Nurbol | 1:05b399616fcd | 266 | Position1_1p = 0; |
| Nurbol | 1:05b399616fcd | 267 | Position2_1p = 1; |
| Nurbol | 1:05b399616fcd | 268 | if(Position2_1p == 1){ |
| Nurbol | 1:05b399616fcd | 269 | state = 2; |
| Nurbol | 1:05b399616fcd | 270 | } |
| Nurbol | 1:05b399616fcd | 271 | break; |
| Nurbol | 1:05b399616fcd | 272 | case 2: // state 2 if servo 1p is in position 2 |
| Nurbol | 1:05b399616fcd | 273 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run |
| Nurbol | 1:05b399616fcd | 274 | if(counter1p > 0.5){ |
| Nurbol | 1:05b399616fcd | 275 | state = 3; |
| Nurbol | 1:05b399616fcd | 276 | } |
| Nurbol | 1:05b399616fcd | 277 | break; |
| Nurbol | 1:05b399616fcd | 278 | case 3: // state 3 if counter 1p = 1 |
| Nurbol | 1:05b399616fcd | 279 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 1:05b399616fcd | 280 | led3 = 1; |
| Nurbol | 1:05b399616fcd | 281 | if(SW1p == 1){ // wait SW 1p to go to the initial state |
| Nurbol | 1:05b399616fcd | 282 | state = 0; |
| Nurbol | 1:05b399616fcd | 283 | } |
| Nurbol | 1:05b399616fcd | 284 | break; |
| Nurbol | 1:05b399616fcd | 285 | case 4: // state 4 if counter 2p = 1 |
| Nurbol | 1:05b399616fcd | 286 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 1:05b399616fcd | 287 | servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 2p go to position 2 |
| Nurbol | 1:05b399616fcd | 288 | wait(1); |
| Nurbol | 1:05b399616fcd | 289 | Position1_2p = 0; |
| Nurbol | 1:05b399616fcd | 290 | Position2_2p = 1; |
| Nurbol | 1:05b399616fcd | 291 | if((Position2_2p == 1)&&(counter2p < 0.5)){ |
| Nurbol | 1:05b399616fcd | 292 | state = 5; |
| Nurbol | 1:05b399616fcd | 293 | } |
| Nurbol | 1:05b399616fcd | 294 | break; |
| Nurbol | 1:05b399616fcd | 295 | case 5: // state 5 if servo 2p is in position 2 |
| Nurbol | 1:05b399616fcd | 296 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor run |
| Nurbol | 1:05b399616fcd | 297 | counter2p.read(); |
| Nurbol | 1:05b399616fcd | 298 | if(counter2p > 0.5){ |
| Nurbol | 1:05b399616fcd | 299 | state = 6; |
| Nurbol | 1:05b399616fcd | 300 | } |
| Nurbol | 1:05b399616fcd | 301 | break; |
| Nurbol | 1:05b399616fcd | 302 | case 6: // state 6 if counter 2p = 1 |
| Nurbol | 1:05b399616fcd | 303 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 1:05b399616fcd | 304 | led4 = 1; |
| Nurbol | 1:05b399616fcd | 305 | if(SW2p == 1){ // wait SW 2p to go to the initial state |
| Nurbol | 1:05b399616fcd | 306 | state = 0; |
| Nurbol | 1:05b399616fcd | 307 | } |
| Nurbol | 1:05b399616fcd | 308 | break; |
| Nurbol | 1:05b399616fcd | 309 | } |
| Nurbol | 1:05b399616fcd | 310 | } |
| Nurbol | 1:05b399616fcd | 311 | |
| Nurbol | 1:05b399616fcd | 312 | |
| Nurbol | 0:99ea9a842829 | 313 | //function to move servo when we have counter1p equal to 10 |
| Nurbol | 0:99ea9a842829 | 314 | /* |
| Nurbol | 0:99ea9a842829 | 315 | void counter1 (){ |
| Nurbol | 0:99ea9a842829 | 316 | if((counter1p > 0.5)&&(Position1_1p == 1)&&(SW1p == 0)){ |
| Nurbol | 0:99ea9a842829 | 317 | led3 = 1; |
| Nurbol | 0:99ea9a842829 | 318 | servo_4.pulsewidth_us(0); |
| Nurbol | 0:99ea9a842829 | 319 | wait(1); |
| Nurbol | 0:99ea9a842829 | 320 | servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 321 | wait(1); |
| Nurbol | 0:99ea9a842829 | 322 | if(SW1p == 1){ |
| Nurbol | 0:99ea9a842829 | 323 | Position2_1p = 1; |
| Nurbol | 0:99ea9a842829 | 324 | Position1_1p = 0; |
| Nurbol | 0:99ea9a842829 | 325 | } |
| Nurbol | 0:99ea9a842829 | 326 | } |
| Nurbol | 0:99ea9a842829 | 327 | else if ((counter1p > 0.5)&&(Position2_1p == 1)&&(SW1p == 0)){ |
| Nurbol | 0:99ea9a842829 | 328 | led3 = 1; |
| Nurbol | 0:99ea9a842829 | 329 | servo_4.pulsewidth_us(0); |
| Nurbol | 0:99ea9a842829 | 330 | wait(1); |
| Nurbol | 0:99ea9a842829 | 331 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 332 | wait(1); |
| Nurbol | 0:99ea9a842829 | 333 | if(SW1p == 1){ |
| Nurbol | 0:99ea9a842829 | 334 | Position2_1p = 0; |
| Nurbol | 0:99ea9a842829 | 335 | Position1_1p = 1; |
| Nurbol | 0:99ea9a842829 | 336 | } |
| Nurbol | 0:99ea9a842829 | 337 | } |
| Nurbol | 0:99ea9a842829 | 338 | else if ((counter1p < 0.5)&&(Position1_1p == 1)&&(SW1p == 0)){ |
| Nurbol | 0:99ea9a842829 | 339 | led3 = 0; |
| Nurbol | 0:99ea9a842829 | 340 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 341 | if(counter2p < 0.5){ |
| Nurbol | 0:99ea9a842829 | 342 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 343 | } |
| Nurbol | 0:99ea9a842829 | 344 | } |
| Nurbol | 0:99ea9a842829 | 345 | else if ((counter1p < 0.5)&&(Position2_1p == 1)&&(SW1p == 0)){ |
| Nurbol | 0:99ea9a842829 | 346 | led3 = 0; |
| Nurbol | 0:99ea9a842829 | 347 | servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 348 | if(counter2p < 0.5){ |
| Nurbol | 0:99ea9a842829 | 349 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 350 | } |
| Nurbol | 0:99ea9a842829 | 351 | } |
| Nurbol | 0:99ea9a842829 | 352 | } |
| Nurbol | 0:99ea9a842829 | 353 | */ |
| Nurbol | 0:99ea9a842829 | 354 | //function to move servo when we have counter2p equal to 5 |
| Nurbol | 0:99ea9a842829 | 355 | |
| Nurbol | 0:99ea9a842829 | 356 | /*void counter2(){ |
| Nurbol | 0:99ea9a842829 | 357 | if((counter2p > 0.5)&&(Position1_1p == 1)&&(SW2p == 0)){ |
| Nurbol | 0:99ea9a842829 | 358 | led3 = 1; |
| Nurbol | 0:99ea9a842829 | 359 | servo_4.pulsewidth_us(0); |
| Nurbol | 0:99ea9a842829 | 360 | wait(1); |
| Nurbol | 0:99ea9a842829 | 361 | servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 362 | wait(1); |
| Nurbol | 0:99ea9a842829 | 363 | if(SW2p == 1){ |
| Nurbol | 0:99ea9a842829 | 364 | Position2_1p = 1; |
| Nurbol | 0:99ea9a842829 | 365 | Position1_1p = 0; |
| Nurbol | 0:99ea9a842829 | 366 | } |
| Nurbol | 0:99ea9a842829 | 367 | } |
| Nurbol | 0:99ea9a842829 | 368 | else if ((counter2p > 0.5)&&(Position2_1p == 1)&&(SW2p == 0)){ |
| Nurbol | 0:99ea9a842829 | 369 | led3 = 1; |
| Nurbol | 0:99ea9a842829 | 370 | servo_4.pulsewidth_us(0); |
| Nurbol | 0:99ea9a842829 | 371 | wait(1); |
| Nurbol | 0:99ea9a842829 | 372 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 373 | wait(1); |
| Nurbol | 0:99ea9a842829 | 374 | if(SW2p == 1){ |
| Nurbol | 0:99ea9a842829 | 375 | Position2_1p = 0; |
| Nurbol | 0:99ea9a842829 | 376 | Position1_1p = 1; |
| Nurbol | 0:99ea9a842829 | 377 | } |
| Nurbol | 0:99ea9a842829 | 378 | } |
| Nurbol | 0:99ea9a842829 | 379 | else if ((counter2p < 0.5)&&(Position1_1p == 1)&&(SW2p == 0)){ |
| Nurbol | 0:99ea9a842829 | 380 | led3 = 0; |
| Nurbol | 0:99ea9a842829 | 381 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 382 | if(counter1p < 0.5){ |
| Nurbol | 0:99ea9a842829 | 383 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 384 | } |
| Nurbol | 0:99ea9a842829 | 385 | } |
| Nurbol | 0:99ea9a842829 | 386 | else if ((counter2p < 0.5)&&(Position2_1p == 1)&&(SW2p == 0)){ |
| Nurbol | 0:99ea9a842829 | 387 | led3 = 0; |
| Nurbol | 0:99ea9a842829 | 388 | servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 389 | if(counter1p < 0.5){ |
| Nurbol | 0:99ea9a842829 | 390 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
| Nurbol | 0:99ea9a842829 | 391 | } |
| Nurbol | 0:99ea9a842829 | 392 | } |
| Nurbol | 0:99ea9a842829 | 393 | } |
| Nurbol | 0:99ea9a842829 | 394 | |
| Nurbol | 0:99ea9a842829 | 395 | */ |
| Nurbol | 0:99ea9a842829 | 396 | |
| Nurbol | 0:99ea9a842829 | 397 | |
| Nurbol | 0:99ea9a842829 | 398 | //************************************************************************ |
| Nurbol | 0:99ea9a842829 | 399 | // |
| Nurbol | 0:99ea9a842829 | 400 | int main() { |
| Nurbol | 0:99ea9a842829 | 401 | |
| Nurbol | 0:99ea9a842829 | 402 | valueLED1=0; |
| Nurbol | 0:99ea9a842829 | 403 | valueLED2=0; |
| Nurbol | 0:99ea9a842829 | 404 | clk=0; |
| Nurbol | 0:99ea9a842829 | 405 | init_sys(); |
| Nurbol | 0:99ea9a842829 | 406 | |
| Nurbol | 0:99ea9a842829 | 407 | FOREVER { |
| Nurbol | 0:99ea9a842829 | 408 | |
| Nurbol | 0:99ea9a842829 | 409 | timer2p.attach(&sensor2p, 0.1); //function sensor2p is reading all the 0.1 ms |
| Nurbol | 0:99ea9a842829 | 410 | timer1p.attach(&sensor1p, 0.1); //function sensor1p is reading all the 0.1 ms |
| Nurbol | 0:99ea9a842829 | 411 | |
| Nurbol | 1:05b399616fcd | 412 | counter1p.read(); |
| Nurbol | 1:05b399616fcd | 413 | counter2p.read(); |
| Nurbol | 1:05b399616fcd | 414 | |
| Nurbol | 1:05b399616fcd | 415 | timerstatemachine.attach(&state_machine, 0.1); |
| Nurbol | 0:99ea9a842829 | 416 | |
| Nurbol | 0:99ea9a842829 | 417 | //state_machine |
| Nurbol | 1:05b399616fcd | 418 | |
| Nurbol | 0:99ea9a842829 | 419 | //end of the state machine |
| Nurbol | 0:99ea9a842829 | 420 | |
| Nurbol | 0:99ea9a842829 | 421 | |
| Nurbol | 0:99ea9a842829 | 422 | // timercounter2p.attach(&counter2, 0.1); //function counter2 is reading all the 0.1 ms |
| Nurbol | 0:99ea9a842829 | 423 | // timercounter1p.attach(&counter1, 0.1); //function counter1 is reading all the 0.1 ms |
| Nurbol | 0:99ea9a842829 | 424 | |
| Nurbol | 0:99ea9a842829 | 425 | clk = !clk; |
| Nurbol | 0:99ea9a842829 | 426 | wait(0.01); |
| Nurbol | 0:99ea9a842829 | 427 | |
| Nurbol | 0:99ea9a842829 | 428 | get_cmd(&ext_cmd); |
| Nurbol | 0:99ea9a842829 | 429 | // |
| Nurbol | 0:99ea9a842829 | 430 | // Check status of read command activity and return an error status if there was a problem |
| Nurbol | 0:99ea9a842829 | 431 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:99ea9a842829 | 432 | // |
| Nurbol | 0:99ea9a842829 | 433 | if (ext_cmd.result_status != OK){ |
| Nurbol | 0:99ea9a842829 | 434 | send_status(ext_cmd.result_status); |
| Nurbol | 0:99ea9a842829 | 435 | continue; |
| Nurbol | 0:99ea9a842829 | 436 | } |
| Nurbol | 0:99ea9a842829 | 437 | // |
| Nurbol | 0:99ea9a842829 | 438 | // Parse command and return an error staus if there is a problem |
| Nurbol | 0:99ea9a842829 | 439 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:99ea9a842829 | 440 | // |
| Nurbol | 0:99ea9a842829 | 441 | parse_cmd(&ext_cmd); |
| Nurbol | 0:99ea9a842829 | 442 | lcd->locate(1,0); lcd->printf(ext_cmd.cmd_str); |
| Nurbol | 0:99ea9a842829 | 443 | if ((ext_cmd.result_status != OK) && (ext_cmd.cmd_code != TEXT_CMD)){ |
| Nurbol | 0:99ea9a842829 | 444 | lcd->locate(1,0); lcd->printf("parse : error"); |
| Nurbol | 0:99ea9a842829 | 445 | send_status(ext_cmd.result_status); |
| Nurbol | 0:99ea9a842829 | 446 | continue; |
| Nurbol | 0:99ea9a842829 | 447 | } |
| Nurbol | 0:99ea9a842829 | 448 | // |
| Nurbol | 0:99ea9a842829 | 449 | // Execute command and return an error staus if there is a problem |
| Nurbol | 0:99ea9a842829 | 450 | // |
| Nurbol | 0:99ea9a842829 | 451 | process_cmd(&ext_cmd); |
| Nurbol | 0:99ea9a842829 | 452 | reply_to_cmd(&ext_cmd); |
| Nurbol | 0:99ea9a842829 | 453 | |
| Nurbol | 0:99ea9a842829 | 454 | |
| Nurbol | 0:99ea9a842829 | 455 | |
| Nurbol | 0:99ea9a842829 | 456 | } |
| Nurbol | 0:99ea9a842829 | 457 | |
| Nurbol | 0:99ea9a842829 | 458 | } |
| Nurbol | 0:99ea9a842829 | 459 | |
| Nurbol | 0:99ea9a842829 | 460 | |
| Nurbol | 0:99ea9a842829 | 461 | |
| Nurbol | 0:99ea9a842829 | 462 | |
| Nurbol | 0:99ea9a842829 | 463 | |
| Nurbol | 0:99ea9a842829 | 464 | |
| Nurbol | 0:99ea9a842829 | 465 | |
| Nurbol | 0:99ea9a842829 | 466 | |
| Nurbol | 0:99ea9a842829 | 467 |