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Dependencies: mbed WattBob_TextLCD
main.cpp@0:99ea9a842829, 2011-11-24 (annotated)
- Committer:
- Nurbol
- Date:
- Thu Nov 24 00:01:43 2011 +0000
- Revision:
- 0:99ea9a842829
- Child:
- 1:05b399616fcd
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 | 0:99ea9a842829 | 29 | |
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 | 0:99ea9a842829 | 54 | static int state(0); |
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 | 0:99ea9a842829 | 65 | |
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 | 0:99ea9a842829 | 132 | return; |
Nurbol | 0:99ea9a842829 | 133 | } // end init_sys |
Nurbol | 0:99ea9a842829 | 134 | |
Nurbol | 0:99ea9a842829 | 135 | //************************************************************************ |
Nurbol | 0:99ea9a842829 | 136 | // process_cmd : decode and execute command |
Nurbol | 0:99ea9a842829 | 137 | // =========== |
Nurbol | 0:99ea9a842829 | 138 | uint32_t process_cmd(CMD_STRUCT *command) |
Nurbol | 0:99ea9a842829 | 139 | { |
Nurbol | 0:99ea9a842829 | 140 | int32_t pulse_width; |
Nurbol | 0:99ea9a842829 | 141 | |
Nurbol | 0:99ea9a842829 | 142 | switch (command->cmd_code) { |
Nurbol | 0:99ea9a842829 | 143 | // |
Nurbol | 0:99ea9a842829 | 144 | // move a servo |
Nurbol | 0:99ea9a842829 | 145 | // |
Nurbol | 0:99ea9a842829 | 146 | case SERVO_CMD : |
Nurbol | 0:99ea9a842829 | 147 | command->nos_data = 0; // no data to be returned |
Nurbol | 0:99ea9a842829 | 148 | // |
Nurbol | 0:99ea9a842829 | 149 | // check that parameters are OK |
Nurbol | 0:99ea9a842829 | 150 | // |
Nurbol | 0:99ea9a842829 | 151 | if (command->nos_params != 2) { // check for 2 parameters |
Nurbol | 0:99ea9a842829 | 152 | command->result_status = CMD_BAD_NUMBER_OF_PARAMETERS; |
Nurbol | 0:99ea9a842829 | 153 | break; |
Nurbol | 0:99ea9a842829 | 154 | } |
Nurbol | 0:99ea9a842829 | 155 | if (command->param[0] > MAX_SERVO_NUMBER ) { // check servo number |
Nurbol | 0:99ea9a842829 | 156 | command->result_status = CMD_BAD_SERVO_NUMBER; |
Nurbol | 0:99ea9a842829 | 157 | break; |
Nurbol | 0:99ea9a842829 | 158 | } |
Nurbol | 0:99ea9a842829 | 159 | if ((command->param[1] < MIN_SERVO_ANGLE) || |
Nurbol | 0:99ea9a842829 | 160 | (command->param[1] > MAX_SERVO_ANGLE) ) { |
Nurbol | 0:99ea9a842829 | 161 | command->result_status = CMD_BAD_SERVO_VALUE; |
Nurbol | 0:99ea9a842829 | 162 | break; |
Nurbol | 0:99ea9a842829 | 163 | } |
Nurbol | 0:99ea9a842829 | 164 | if ((command->param[0] == 4) && (command->param[1] == 0)) { |
Nurbol | 0:99ea9a842829 | 165 | pulse_width = 0; // convert angle to pulse width |
Nurbol | 0:99ea9a842829 | 166 | } |
Nurbol | 0:99ea9a842829 | 167 | else{ |
Nurbol | 0:99ea9a842829 | 168 | pulse_width = 1000 + (command->param[1] * 1000) / MAX_SERVO_ANGLE; // convert angle to pulse width |
Nurbol | 0:99ea9a842829 | 169 | } |
Nurbol | 0:99ea9a842829 | 170 | |
Nurbol | 0:99ea9a842829 | 171 | |
Nurbol | 0:99ea9a842829 | 172 | |
Nurbol | 0:99ea9a842829 | 173 | // |
Nurbol | 0:99ea9a842829 | 174 | // implement servo move to all 5 servos |
Nurbol | 0:99ea9a842829 | 175 | // |
Nurbol | 0:99ea9a842829 | 176 | switch (command->param[0]) { |
Nurbol | 0:99ea9a842829 | 177 | case 0 : servo_0.pulsewidth_us(pulse_width); break; |
Nurbol | 0:99ea9a842829 | 178 | // case 1 : servo_1.pulsewidth_us(pulse_width); break; |
Nurbol | 0:99ea9a842829 | 179 | // case 2 : servo_2.pulsewidth_us(pulse_width); break; |
Nurbol | 0:99ea9a842829 | 180 | // case 3 : servo_3.pulsewidth_us(pulse_width); break; |
Nurbol | 0:99ea9a842829 | 181 | case 4 : servo_4.pulsewidth_us(pulse_width); break; |
Nurbol | 0:99ea9a842829 | 182 | // case 5 : servo_5.pulsewidth_us(pulse_width); break; |
Nurbol | 0:99ea9a842829 | 183 | |
Nurbol | 0:99ea9a842829 | 184 | } |
Nurbol | 0:99ea9a842829 | 185 | last_servo = command->param[0]; |
Nurbol | 0:99ea9a842829 | 186 | break; |
Nurbol | 0:99ea9a842829 | 187 | // |
Nurbol | 0:99ea9a842829 | 188 | // return last servo number |
Nurbol | 0:99ea9a842829 | 189 | // |
Nurbol | 0:99ea9a842829 | 190 | case READ_CMD : |
Nurbol | 0:99ea9a842829 | 191 | command->nos_data = 2; // no data to be returned |
Nurbol | 0:99ea9a842829 | 192 | command->result_data[0] = valueLED1; |
Nurbol | 0:99ea9a842829 | 193 | command->result_data[1] = valueLED2; |
Nurbol | 0:99ea9a842829 | 194 | break; |
Nurbol | 0:99ea9a842829 | 195 | // |
Nurbol | 0:99ea9a842829 | 196 | // catch any problems |
Nurbol | 0:99ea9a842829 | 197 | // |
Nurbol | 0:99ea9a842829 | 198 | default: |
Nurbol | 0:99ea9a842829 | 199 | command->nos_data = 0; // no data to be returned |
Nurbol | 0:99ea9a842829 | 200 | command->result_status = CMD_BAD_SERVO_VALUE; |
Nurbol | 0:99ea9a842829 | 201 | break; |
Nurbol | 0:99ea9a842829 | 202 | } |
Nurbol | 0:99ea9a842829 | 203 | return OK; |
Nurbol | 0:99ea9a842829 | 204 | } |
Nurbol | 0:99ea9a842829 | 205 | |
Nurbol | 0:99ea9a842829 | 206 | //************************************************************************ |
Nurbol | 0:99ea9a842829 | 207 | |
Nurbol | 0:99ea9a842829 | 208 | //function to send value on the FPGA when 1p is detected |
Nurbol | 0:99ea9a842829 | 209 | void sensor1p (void){ |
Nurbol | 0:99ea9a842829 | 210 | clk = !clk; |
Nurbol | 0:99ea9a842829 | 211 | wait(0.01); |
Nurbol | 0:99ea9a842829 | 212 | sensor1.read(); |
Nurbol | 0:99ea9a842829 | 213 | if(sensor1 > 0.5) { |
Nurbol | 0:99ea9a842829 | 214 | led1 = 1; |
Nurbol | 0:99ea9a842829 | 215 | valueLED1 = 1; |
Nurbol | 0:99ea9a842829 | 216 | } |
Nurbol | 0:99ea9a842829 | 217 | else if(sensor1 < 0.5){ |
Nurbol | 0:99ea9a842829 | 218 | led1 = 0; |
Nurbol | 0:99ea9a842829 | 219 | valueLED1 = 0; |
Nurbol | 0:99ea9a842829 | 220 | } |
Nurbol | 0:99ea9a842829 | 221 | } |
Nurbol | 0:99ea9a842829 | 222 | |
Nurbol | 0:99ea9a842829 | 223 | //function to send value on the FPGA when 2p is detected |
Nurbol | 0:99ea9a842829 | 224 | void sensor2p (){ |
Nurbol | 0:99ea9a842829 | 225 | sensor2.read(); |
Nurbol | 0:99ea9a842829 | 226 | if(sensor2 > 0.5) { |
Nurbol | 0:99ea9a842829 | 227 | led2 = 1; |
Nurbol | 0:99ea9a842829 | 228 | valueLED2 = 1; |
Nurbol | 0:99ea9a842829 | 229 | } |
Nurbol | 0:99ea9a842829 | 230 | else if(sensor2 < 0.5){ |
Nurbol | 0:99ea9a842829 | 231 | led2 = 0; |
Nurbol | 0:99ea9a842829 | 232 | valueLED2 = 0; |
Nurbol | 0:99ea9a842829 | 233 | } |
Nurbol | 0:99ea9a842829 | 234 | } |
Nurbol | 0:99ea9a842829 | 235 | |
Nurbol | 0:99ea9a842829 | 236 | //function to move servo when we have counter1p equal to 10 |
Nurbol | 0:99ea9a842829 | 237 | /* |
Nurbol | 0:99ea9a842829 | 238 | void counter1 (){ |
Nurbol | 0:99ea9a842829 | 239 | if((counter1p > 0.5)&&(Position1_1p == 1)&&(SW1p == 0)){ |
Nurbol | 0:99ea9a842829 | 240 | led3 = 1; |
Nurbol | 0:99ea9a842829 | 241 | servo_4.pulsewidth_us(0); |
Nurbol | 0:99ea9a842829 | 242 | wait(1); |
Nurbol | 0:99ea9a842829 | 243 | servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); |
Nurbol | 0:99ea9a842829 | 244 | wait(1); |
Nurbol | 0:99ea9a842829 | 245 | if(SW1p == 1){ |
Nurbol | 0:99ea9a842829 | 246 | Position2_1p = 1; |
Nurbol | 0:99ea9a842829 | 247 | Position1_1p = 0; |
Nurbol | 0:99ea9a842829 | 248 | } |
Nurbol | 0:99ea9a842829 | 249 | } |
Nurbol | 0:99ea9a842829 | 250 | else if ((counter1p > 0.5)&&(Position2_1p == 1)&&(SW1p == 0)){ |
Nurbol | 0:99ea9a842829 | 251 | led3 = 1; |
Nurbol | 0:99ea9a842829 | 252 | servo_4.pulsewidth_us(0); |
Nurbol | 0:99ea9a842829 | 253 | wait(1); |
Nurbol | 0:99ea9a842829 | 254 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); |
Nurbol | 0:99ea9a842829 | 255 | wait(1); |
Nurbol | 0:99ea9a842829 | 256 | if(SW1p == 1){ |
Nurbol | 0:99ea9a842829 | 257 | Position2_1p = 0; |
Nurbol | 0:99ea9a842829 | 258 | Position1_1p = 1; |
Nurbol | 0:99ea9a842829 | 259 | } |
Nurbol | 0:99ea9a842829 | 260 | } |
Nurbol | 0:99ea9a842829 | 261 | else if ((counter1p < 0.5)&&(Position1_1p == 1)&&(SW1p == 0)){ |
Nurbol | 0:99ea9a842829 | 262 | led3 = 0; |
Nurbol | 0:99ea9a842829 | 263 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); |
Nurbol | 0:99ea9a842829 | 264 | if(counter2p < 0.5){ |
Nurbol | 0:99ea9a842829 | 265 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
Nurbol | 0:99ea9a842829 | 266 | } |
Nurbol | 0:99ea9a842829 | 267 | } |
Nurbol | 0:99ea9a842829 | 268 | else if ((counter1p < 0.5)&&(Position2_1p == 1)&&(SW1p == 0)){ |
Nurbol | 0:99ea9a842829 | 269 | led3 = 0; |
Nurbol | 0:99ea9a842829 | 270 | servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); |
Nurbol | 0:99ea9a842829 | 271 | if(counter2p < 0.5){ |
Nurbol | 0:99ea9a842829 | 272 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
Nurbol | 0:99ea9a842829 | 273 | } |
Nurbol | 0:99ea9a842829 | 274 | } |
Nurbol | 0:99ea9a842829 | 275 | } |
Nurbol | 0:99ea9a842829 | 276 | */ |
Nurbol | 0:99ea9a842829 | 277 | //function to move servo when we have counter2p equal to 5 |
Nurbol | 0:99ea9a842829 | 278 | |
Nurbol | 0:99ea9a842829 | 279 | /*void counter2(){ |
Nurbol | 0:99ea9a842829 | 280 | if((counter2p > 0.5)&&(Position1_1p == 1)&&(SW2p == 0)){ |
Nurbol | 0:99ea9a842829 | 281 | led3 = 1; |
Nurbol | 0:99ea9a842829 | 282 | servo_4.pulsewidth_us(0); |
Nurbol | 0:99ea9a842829 | 283 | wait(1); |
Nurbol | 0:99ea9a842829 | 284 | servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); |
Nurbol | 0:99ea9a842829 | 285 | wait(1); |
Nurbol | 0:99ea9a842829 | 286 | if(SW2p == 1){ |
Nurbol | 0:99ea9a842829 | 287 | Position2_1p = 1; |
Nurbol | 0:99ea9a842829 | 288 | Position1_1p = 0; |
Nurbol | 0:99ea9a842829 | 289 | } |
Nurbol | 0:99ea9a842829 | 290 | } |
Nurbol | 0:99ea9a842829 | 291 | else if ((counter2p > 0.5)&&(Position2_1p == 1)&&(SW2p == 0)){ |
Nurbol | 0:99ea9a842829 | 292 | led3 = 1; |
Nurbol | 0:99ea9a842829 | 293 | servo_4.pulsewidth_us(0); |
Nurbol | 0:99ea9a842829 | 294 | wait(1); |
Nurbol | 0:99ea9a842829 | 295 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); |
Nurbol | 0:99ea9a842829 | 296 | wait(1); |
Nurbol | 0:99ea9a842829 | 297 | if(SW2p == 1){ |
Nurbol | 0:99ea9a842829 | 298 | Position2_1p = 0; |
Nurbol | 0:99ea9a842829 | 299 | Position1_1p = 1; |
Nurbol | 0:99ea9a842829 | 300 | } |
Nurbol | 0:99ea9a842829 | 301 | } |
Nurbol | 0:99ea9a842829 | 302 | else if ((counter2p < 0.5)&&(Position1_1p == 1)&&(SW2p == 0)){ |
Nurbol | 0:99ea9a842829 | 303 | led3 = 0; |
Nurbol | 0:99ea9a842829 | 304 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); |
Nurbol | 0:99ea9a842829 | 305 | if(counter1p < 0.5){ |
Nurbol | 0:99ea9a842829 | 306 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
Nurbol | 0:99ea9a842829 | 307 | } |
Nurbol | 0:99ea9a842829 | 308 | } |
Nurbol | 0:99ea9a842829 | 309 | else if ((counter2p < 0.5)&&(Position2_1p == 1)&&(SW2p == 0)){ |
Nurbol | 0:99ea9a842829 | 310 | led3 = 0; |
Nurbol | 0:99ea9a842829 | 311 | servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); |
Nurbol | 0:99ea9a842829 | 312 | if(counter1p < 0.5){ |
Nurbol | 0:99ea9a842829 | 313 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); |
Nurbol | 0:99ea9a842829 | 314 | } |
Nurbol | 0:99ea9a842829 | 315 | } |
Nurbol | 0:99ea9a842829 | 316 | } |
Nurbol | 0:99ea9a842829 | 317 | |
Nurbol | 0:99ea9a842829 | 318 | */ |
Nurbol | 0:99ea9a842829 | 319 | |
Nurbol | 0:99ea9a842829 | 320 | |
Nurbol | 0:99ea9a842829 | 321 | //************************************************************************ |
Nurbol | 0:99ea9a842829 | 322 | // |
Nurbol | 0:99ea9a842829 | 323 | int main() { |
Nurbol | 0:99ea9a842829 | 324 | |
Nurbol | 0:99ea9a842829 | 325 | valueLED1=0; |
Nurbol | 0:99ea9a842829 | 326 | valueLED2=0; |
Nurbol | 0:99ea9a842829 | 327 | clk=0; |
Nurbol | 0:99ea9a842829 | 328 | init_sys(); |
Nurbol | 0:99ea9a842829 | 329 | |
Nurbol | 0:99ea9a842829 | 330 | FOREVER { |
Nurbol | 0:99ea9a842829 | 331 | |
Nurbol | 0:99ea9a842829 | 332 | timer2p.attach(&sensor2p, 0.1); //function sensor2p is reading all the 0.1 ms |
Nurbol | 0:99ea9a842829 | 333 | timer1p.attach(&sensor1p, 0.1); //function sensor1p is reading all the 0.1 ms |
Nurbol | 0:99ea9a842829 | 334 | |
Nurbol | 0:99ea9a842829 | 335 | |
Nurbol | 0:99ea9a842829 | 336 | //state_machine |
Nurbol | 0:99ea9a842829 | 337 | switch(state) |
Nurbol | 0:99ea9a842829 | 338 | { |
Nurbol | 0:99ea9a842829 | 339 | case 0: // initial state |
Nurbol | 0:99ea9a842829 | 340 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run |
Nurbol | 0:99ea9a842829 | 341 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 1p go to position 1 |
Nurbol | 0:99ea9a842829 | 342 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 2p go to position 1 |
Nurbol | 0:99ea9a842829 | 343 | Position1_1p = 1; |
Nurbol | 0:99ea9a842829 | 344 | Position2_1p = 0; |
Nurbol | 0:99ea9a842829 | 345 | Position1_2p = 1; |
Nurbol | 0:99ea9a842829 | 346 | Position2_2p = 0; |
Nurbol | 0:99ea9a842829 | 347 | led3 = 0; |
Nurbol | 0:99ea9a842829 | 348 | led4 = 0; |
Nurbol | 0:99ea9a842829 | 349 | if(counter1p == 1){ |
Nurbol | 0:99ea9a842829 | 350 | state = 1; |
Nurbol | 0:99ea9a842829 | 351 | } |
Nurbol | 0:99ea9a842829 | 352 | if(counter2p == 1){ |
Nurbol | 0:99ea9a842829 | 353 | state = 4; |
Nurbol | 0:99ea9a842829 | 354 | } |
Nurbol | 0:99ea9a842829 | 355 | break; |
Nurbol | 0:99ea9a842829 | 356 | case 1: // state 1 if counter1p = 1 |
Nurbol | 0:99ea9a842829 | 357 | servo_4.pulsewidth_us(0); // motor stop |
Nurbol | 0:99ea9a842829 | 358 | servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 1p go to position 2 |
Nurbol | 0:99ea9a842829 | 359 | wait(1); |
Nurbol | 0:99ea9a842829 | 360 | Position1_1p = 0; |
Nurbol | 0:99ea9a842829 | 361 | Position2_1p = 1; |
Nurbol | 0:99ea9a842829 | 362 | if(Position2_1p == 1){ |
Nurbol | 0:99ea9a842829 | 363 | state = 2; |
Nurbol | 0:99ea9a842829 | 364 | } |
Nurbol | 0:99ea9a842829 | 365 | break; |
Nurbol | 0:99ea9a842829 | 366 | case 2: // state 2 if servo 1p is in position 2 |
Nurbol | 0:99ea9a842829 | 367 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run |
Nurbol | 0:99ea9a842829 | 368 | if(counter1p == 1){ |
Nurbol | 0:99ea9a842829 | 369 | state = 3; |
Nurbol | 0:99ea9a842829 | 370 | } |
Nurbol | 0:99ea9a842829 | 371 | break; |
Nurbol | 0:99ea9a842829 | 372 | case 3: // state 3 if counter 1p = 1 |
Nurbol | 0:99ea9a842829 | 373 | servo_4.pulsewidth_us(0); // motor stop |
Nurbol | 0:99ea9a842829 | 374 | led3 = 1; |
Nurbol | 0:99ea9a842829 | 375 | if(SW1p == 1){ // wait SW 1p to go to the initial state |
Nurbol | 0:99ea9a842829 | 376 | state = 0; |
Nurbol | 0:99ea9a842829 | 377 | } |
Nurbol | 0:99ea9a842829 | 378 | break; |
Nurbol | 0:99ea9a842829 | 379 | case 4: // state 4 if counter 2p = 1 |
Nurbol | 0:99ea9a842829 | 380 | servo_4.pulsewidth_us(0); // motor stop |
Nurbol | 0:99ea9a842829 | 381 | servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 2p go to position 2 |
Nurbol | 0:99ea9a842829 | 382 | wait(1); |
Nurbol | 0:99ea9a842829 | 383 | Position1_2p = 0; |
Nurbol | 0:99ea9a842829 | 384 | Position2_2p = 1; |
Nurbol | 0:99ea9a842829 | 385 | if(Position2_2p == 1){ |
Nurbol | 0:99ea9a842829 | 386 | state = 5; |
Nurbol | 0:99ea9a842829 | 387 | } |
Nurbol | 0:99ea9a842829 | 388 | break; |
Nurbol | 0:99ea9a842829 | 389 | case 5: // state 5 if servo 2p is in position 2 |
Nurbol | 0:99ea9a842829 | 390 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor run |
Nurbol | 0:99ea9a842829 | 391 | if(counter2p == 1){ |
Nurbol | 0:99ea9a842829 | 392 | state = 6; |
Nurbol | 0:99ea9a842829 | 393 | } |
Nurbol | 0:99ea9a842829 | 394 | break; |
Nurbol | 0:99ea9a842829 | 395 | case 6: // state 6 if counter 2p = 1 |
Nurbol | 0:99ea9a842829 | 396 | servo_4.pulsewidth_us(0); // motor stop |
Nurbol | 0:99ea9a842829 | 397 | led4 = 1; |
Nurbol | 0:99ea9a842829 | 398 | if(SW2p == 1){ // wait SW 2p to go to the initial state |
Nurbol | 0:99ea9a842829 | 399 | state = 0; |
Nurbol | 0:99ea9a842829 | 400 | } |
Nurbol | 0:99ea9a842829 | 401 | break; |
Nurbol | 0:99ea9a842829 | 402 | } |
Nurbol | 0:99ea9a842829 | 403 | //end of the state machine |
Nurbol | 0:99ea9a842829 | 404 | |
Nurbol | 0:99ea9a842829 | 405 | |
Nurbol | 0:99ea9a842829 | 406 | // timercounter2p.attach(&counter2, 0.1); //function counter2 is reading all the 0.1 ms |
Nurbol | 0:99ea9a842829 | 407 | // timercounter1p.attach(&counter1, 0.1); //function counter1 is reading all the 0.1 ms |
Nurbol | 0:99ea9a842829 | 408 | |
Nurbol | 0:99ea9a842829 | 409 | clk = !clk; |
Nurbol | 0:99ea9a842829 | 410 | wait(0.01); |
Nurbol | 0:99ea9a842829 | 411 | |
Nurbol | 0:99ea9a842829 | 412 | get_cmd(&ext_cmd); |
Nurbol | 0:99ea9a842829 | 413 | // |
Nurbol | 0:99ea9a842829 | 414 | // Check status of read command activity and return an error status if there was a problem |
Nurbol | 0:99ea9a842829 | 415 | // If there is a problem, then return status code only and wait for next command. |
Nurbol | 0:99ea9a842829 | 416 | // |
Nurbol | 0:99ea9a842829 | 417 | if (ext_cmd.result_status != OK){ |
Nurbol | 0:99ea9a842829 | 418 | send_status(ext_cmd.result_status); |
Nurbol | 0:99ea9a842829 | 419 | continue; |
Nurbol | 0:99ea9a842829 | 420 | } |
Nurbol | 0:99ea9a842829 | 421 | // |
Nurbol | 0:99ea9a842829 | 422 | // Parse command and return an error staus if there is a problem |
Nurbol | 0:99ea9a842829 | 423 | // If there is a problem, then return status code only and wait for next command. |
Nurbol | 0:99ea9a842829 | 424 | // |
Nurbol | 0:99ea9a842829 | 425 | parse_cmd(&ext_cmd); |
Nurbol | 0:99ea9a842829 | 426 | lcd->locate(1,0); lcd->printf(ext_cmd.cmd_str); |
Nurbol | 0:99ea9a842829 | 427 | if ((ext_cmd.result_status != OK) && (ext_cmd.cmd_code != TEXT_CMD)){ |
Nurbol | 0:99ea9a842829 | 428 | lcd->locate(1,0); lcd->printf("parse : error"); |
Nurbol | 0:99ea9a842829 | 429 | send_status(ext_cmd.result_status); |
Nurbol | 0:99ea9a842829 | 430 | continue; |
Nurbol | 0:99ea9a842829 | 431 | } |
Nurbol | 0:99ea9a842829 | 432 | // |
Nurbol | 0:99ea9a842829 | 433 | // Execute command and return an error staus if there is a problem |
Nurbol | 0:99ea9a842829 | 434 | // |
Nurbol | 0:99ea9a842829 | 435 | process_cmd(&ext_cmd); |
Nurbol | 0:99ea9a842829 | 436 | reply_to_cmd(&ext_cmd); |
Nurbol | 0:99ea9a842829 | 437 | |
Nurbol | 0:99ea9a842829 | 438 | |
Nurbol | 0:99ea9a842829 | 439 | |
Nurbol | 0:99ea9a842829 | 440 | } |
Nurbol | 0:99ea9a842829 | 441 | |
Nurbol | 0:99ea9a842829 | 442 | } |
Nurbol | 0:99ea9a842829 | 443 | |
Nurbol | 0:99ea9a842829 | 444 | |
Nurbol | 0:99ea9a842829 | 445 | |
Nurbol | 0:99ea9a842829 | 446 | |
Nurbol | 0:99ea9a842829 | 447 | |
Nurbol | 0:99ea9a842829 | 448 | |
Nurbol | 0:99ea9a842829 | 449 | |
Nurbol | 0:99ea9a842829 | 450 | |
Nurbol | 0:99ea9a842829 | 451 |