Nurbol Nurdaulet
/
state_machine_modes29_11_11
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Dependencies: mbed WattBob_TextLCD globals
main.cpp@0:af612d827a23, 2011-11-30 (annotated)
- Committer:
- Nurbol
- Date:
- Wed Nov 30 00:53:17 2011 +0000
- Revision:
- 0:af612d827a23
- Child:
- 1:fc3a5c5100d2
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Nurbol | 0:af612d827a23 | 1 | // |
| Nurbol | 0:af612d827a23 | 2 | // COM_test : program to communicate via a COM port to a PC/laptop |
| Nurbol | 0:af612d827a23 | 3 | // ======== |
| Nurbol | 0:af612d827a23 | 4 | // |
| Nurbol | 0:af612d827a23 | 5 | // Description |
| Nurbol | 0:af612d827a23 | 6 | // Program to receive ASCII format commands through a virtual COM port and |
| Nurbol | 0:af612d827a23 | 7 | // after executing the command return some data (optional, depending on |
| Nurbol | 0:af612d827a23 | 8 | // the command) and a status value. |
| Nurbol | 0:af612d827a23 | 9 | // The program understands two possible commands : |
| Nurbol | 0:af612d827a23 | 10 | // "s i j" : move servo 'i (0 to 5) to postion 'j' (0 to 90) |
| Nurbol | 0:af612d827a23 | 11 | // "r" : read the 'i' parameter of the last "s" command |
| Nurbol | 0:af612d827a23 | 12 | // |
| Nurbol | 0:af612d827a23 | 13 | // Version : 1.0 |
| Nurbol | 0:af612d827a23 | 14 | // Author : Jim Herd |
| Nurbol | 0:af612d827a23 | 15 | // Date : 5th Oct 2011 |
| Nurbol | 0:af612d827a23 | 16 | // |
| Nurbol | 0:af612d827a23 | 17 | #include "mbed.h" |
| Nurbol | 0:af612d827a23 | 18 | #include "MCP23017.h" |
| Nurbol | 0:af612d827a23 | 19 | #include "WattBob_TextLCD.h" |
| Nurbol | 0:af612d827a23 | 20 | #include "cmd_io.h" |
| Nurbol | 0:af612d827a23 | 21 | #include "globals.h" |
| Nurbol | 0:af612d827a23 | 22 | |
| Nurbol | 0:af612d827a23 | 23 | |
| Nurbol | 0:af612d827a23 | 24 | |
| Nurbol | 0:af612d827a23 | 25 | //****************************************************************************** |
| Nurbol | 0:af612d827a23 | 26 | //declare ticker |
| Nurbol | 0:af612d827a23 | 27 | // |
| Nurbol | 0:af612d827a23 | 28 | Ticker timer1p; |
| Nurbol | 0:af612d827a23 | 29 | Ticker timer2p; |
| Nurbol | 0:af612d827a23 | 30 | Ticker timercounter1p; |
| Nurbol | 0:af612d827a23 | 31 | Ticker timercounter2p; |
| Nurbol | 0:af612d827a23 | 32 | Ticker timerstatemachine; |
| Nurbol | 0:af612d827a23 | 33 | |
| Nurbol | 0:af612d827a23 | 34 | //****************************************************************************** |
| Nurbol | 0:af612d827a23 | 35 | //declare Pin |
| Nurbol | 0:af612d827a23 | 36 | // |
| Nurbol | 0:af612d827a23 | 37 | AnalogIn sensor1(p15); |
| Nurbol | 0:af612d827a23 | 38 | AnalogIn sensor2(p16); |
| Nurbol | 0:af612d827a23 | 39 | DigitalOut valueLED1(p23); |
| Nurbol | 0:af612d827a23 | 40 | DigitalOut valueLED2(p25); |
| Nurbol | 0:af612d827a23 | 41 | |
| Nurbol | 0:af612d827a23 | 42 | |
| Nurbol | 0:af612d827a23 | 43 | DigitalOut led1(LED1); |
| Nurbol | 0:af612d827a23 | 44 | DigitalOut led2(LED2); |
| Nurbol | 0:af612d827a23 | 45 | DigitalOut led3(LED3); |
| Nurbol | 0:af612d827a23 | 46 | DigitalOut led4(LED4); |
| Nurbol | 0:af612d827a23 | 47 | |
| Nurbol | 0:af612d827a23 | 48 | DigitalOut clk(p24); |
| Nurbol | 0:af612d827a23 | 49 | |
| Nurbol | 0:af612d827a23 | 50 | DigitalIn counter1p(p5); |
| Nurbol | 0:af612d827a23 | 51 | DigitalIn counter2p(p6); |
| Nurbol | 0:af612d827a23 | 52 | DigitalIn SW1p(p11); |
| Nurbol | 0:af612d827a23 | 53 | DigitalIn SW2p(p12); |
| Nurbol | 0:af612d827a23 | 54 | |
| Nurbol | 0:af612d827a23 | 55 | //****************************************************************************** |
| Nurbol | 0:af612d827a23 | 56 | //declare variable |
| Nurbol | 0:af612d827a23 | 57 | // |
| Nurbol | 0:af612d827a23 | 58 | bool Position1_1p; |
| Nurbol | 0:af612d827a23 | 59 | bool Position2_1p; |
| Nurbol | 0:af612d827a23 | 60 | bool Position1_2p; |
| Nurbol | 0:af612d827a23 | 61 | bool Position2_2p; |
| Nurbol | 0:af612d827a23 | 62 | bool Motor; |
| Nurbol | 0:af612d827a23 | 63 | |
| Nurbol | 0:af612d827a23 | 64 | bool bSort_Mode; //to use in the code to define the mode |
| Nurbol | 0:af612d827a23 | 65 | bool bMaint_Mode;//to use in the code to define the mode |
| Nurbol | 0:af612d827a23 | 66 | |
| Nurbol | 0:af612d827a23 | 67 | int state; |
| Nurbol | 0:af612d827a23 | 68 | |
| Nurbol | 0:af612d827a23 | 69 | |
| Nurbol | 0:af612d827a23 | 70 | |
| Nurbol | 0:af612d827a23 | 71 | //****************************************************************************** |
| Nurbol | 0:af612d827a23 | 72 | // declare functions |
| Nurbol | 0:af612d827a23 | 73 | // |
| Nurbol | 0:af612d827a23 | 74 | void sensor1p (void); |
| Nurbol | 0:af612d827a23 | 75 | void sensor2p (void); |
| Nurbol | 0:af612d827a23 | 76 | void counter1 (void); |
| Nurbol | 0:af612d827a23 | 77 | void counter2 (void); |
| Nurbol | 0:af612d827a23 | 78 | void state_machine (void); |
| Nurbol | 0:af612d827a23 | 79 | // |
| Nurbol | 0:af612d827a23 | 80 | // |
| Nurbol | 0:af612d827a23 | 81 | // 2. five servo outputs |
| Nurbol | 0:af612d827a23 | 82 | // |
| Nurbol | 0:af612d827a23 | 83 | |
| Nurbol | 0:af612d827a23 | 84 | PwmOut servo_0(p26); |
| Nurbol | 0:af612d827a23 | 85 | //PwmOut servo_1(p25); |
| Nurbol | 0:af612d827a23 | 86 | //PwmOut servo_2(p24); |
| Nurbol | 0:af612d827a23 | 87 | //PwmOut servo_3(p23); |
| Nurbol | 0:af612d827a23 | 88 | PwmOut servo_4(p22); |
| Nurbol | 0:af612d827a23 | 89 | PwmOut servo_5(p21); |
| Nurbol | 0:af612d827a23 | 90 | |
| Nurbol | 0:af612d827a23 | 91 | // |
| Nurbol | 0:af612d827a23 | 92 | // 3. objects necessary to use the 2*16 character MBED display |
| Nurbol | 0:af612d827a23 | 93 | // |
| Nurbol | 0:af612d827a23 | 94 | MCP23017 *par_port; |
| Nurbol | 0:af612d827a23 | 95 | WattBob_TextLCD *lcd; |
| Nurbol | 0:af612d827a23 | 96 | // |
| Nurbol | 0:af612d827a23 | 97 | // 4. Virtual COM port over USB link to laptop/PC |
| Nurbol | 0:af612d827a23 | 98 | // |
| Nurbol | 0:af612d827a23 | 99 | Serial pc(USBTX, USBRX); |
| Nurbol | 0:af612d827a23 | 100 | |
| Nurbol | 0:af612d827a23 | 101 | //****************************************************************************** |
| Nurbol | 0:af612d827a23 | 102 | // Defined GLOBAL variables and structures |
| Nurbol | 0:af612d827a23 | 103 | // |
| Nurbol | 0:af612d827a23 | 104 | CMD_STRUCT ext_cmd; // structure to hold command data |
| Nurbol | 0:af612d827a23 | 105 | STAT_STRUCT ext_stat; // structure to hold status reply |
| Nurbol | 0:af612d827a23 | 106 | |
| Nurbol | 0:af612d827a23 | 107 | |
| Nurbol | 0:af612d827a23 | 108 | //CMD_STRUCT commandcounter2; |
| Nurbol | 0:af612d827a23 | 109 | |
| Nurbol | 0:af612d827a23 | 110 | uint32_t last_servo; // store for last servo number |
| Nurbol | 0:af612d827a23 | 111 | |
| Nurbol | 0:af612d827a23 | 112 | //************************************************************************ |
| Nurbol | 0:af612d827a23 | 113 | //************************************************************************ |
| Nurbol | 0:af612d827a23 | 114 | // init_sys : initialise the system |
| Nurbol | 0:af612d827a23 | 115 | // ======== |
| Nurbol | 0:af612d827a23 | 116 | // |
| Nurbol | 0:af612d827a23 | 117 | // 1. Configure 2*16 character display |
| Nurbol | 0:af612d827a23 | 118 | // 2. Print "COM test" string |
| Nurbol | 0:af612d827a23 | 119 | // 3. initialise relevant global variables |
| Nurbol | 0:af612d827a23 | 120 | // 4. set COM port baud rate to 19200 bits per second |
| Nurbol | 0:af612d827a23 | 121 | // |
| Nurbol | 0:af612d827a23 | 122 | void init_sys(void) { |
| Nurbol | 0:af612d827a23 | 123 | |
| Nurbol | 0:af612d827a23 | 124 | par_port = new MCP23017(p9, p10, 0x40); |
| Nurbol | 0:af612d827a23 | 125 | lcd = new WattBob_TextLCD(par_port); |
| Nurbol | 0:af612d827a23 | 126 | |
| Nurbol | 0:af612d827a23 | 127 | par_port->write_bit(1,BL_BIT); // turn LCD backlight ON |
| Nurbol | 0:af612d827a23 | 128 | lcd->cls(); |
| Nurbol | 0:af612d827a23 | 129 | lcd->locate(0,0); |
| Nurbol | 0:af612d827a23 | 130 | lcd->printf("W3C"); |
| Nurbol | 0:af612d827a23 | 131 | |
| Nurbol | 0:af612d827a23 | 132 | servo_0.period(0.020); // servo requires a 20ms period, common for all 5 servo objects |
| Nurbol | 0:af612d827a23 | 133 | last_servo = SERVO_UNKNOWN; |
| Nurbol | 0:af612d827a23 | 134 | pc.baud(19200); |
| Nurbol | 0:af612d827a23 | 135 | |
| Nurbol | 0:af612d827a23 | 136 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:af612d827a23 | 137 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:af612d827a23 | 138 | |
| Nurbol | 0:af612d827a23 | 139 | Position1_1p = 1; |
| Nurbol | 0:af612d827a23 | 140 | Position2_1p = 0; |
| Nurbol | 0:af612d827a23 | 141 | Position1_2p = 1; |
| Nurbol | 0:af612d827a23 | 142 | Position2_2p = 0; |
| Nurbol | 0:af612d827a23 | 143 | |
| Nurbol | 0:af612d827a23 | 144 | state = 0; |
| Nurbol | 0:af612d827a23 | 145 | |
| Nurbol | 0:af612d827a23 | 146 | return; |
| Nurbol | 0:af612d827a23 | 147 | } // end init_sys |
| Nurbol | 0:af612d827a23 | 148 | |
| Nurbol | 0:af612d827a23 | 149 | //************************************************************************ |
| Nurbol | 0:af612d827a23 | 150 | // process_cmd : decode and execute command |
| Nurbol | 0:af612d827a23 | 151 | // =========== |
| Nurbol | 0:af612d827a23 | 152 | uint32_t process_cmd(CMD_STRUCT *command) |
| Nurbol | 0:af612d827a23 | 153 | { |
| Nurbol | 0:af612d827a23 | 154 | int32_t pulse_width; |
| Nurbol | 0:af612d827a23 | 155 | |
| Nurbol | 0:af612d827a23 | 156 | switch (command->cmd_code) { |
| Nurbol | 0:af612d827a23 | 157 | // |
| Nurbol | 0:af612d827a23 | 158 | // move a servo |
| Nurbol | 0:af612d827a23 | 159 | // |
| Nurbol | 0:af612d827a23 | 160 | case SERVO_CMD : |
| Nurbol | 0:af612d827a23 | 161 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:af612d827a23 | 162 | // |
| Nurbol | 0:af612d827a23 | 163 | // check that parameters are OK |
| Nurbol | 0:af612d827a23 | 164 | // |
| Nurbol | 0:af612d827a23 | 165 | if (command->nos_params != 2) { // check for 2 parameters |
| Nurbol | 0:af612d827a23 | 166 | command->result_status = CMD_BAD_NUMBER_OF_PARAMETERS; |
| Nurbol | 0:af612d827a23 | 167 | break; |
| Nurbol | 0:af612d827a23 | 168 | } |
| Nurbol | 0:af612d827a23 | 169 | if (command->param[0] > MAX_SERVO_NUMBER ) { // check servo number |
| Nurbol | 0:af612d827a23 | 170 | command->result_status = CMD_BAD_SERVO_NUMBER; |
| Nurbol | 0:af612d827a23 | 171 | break; |
| Nurbol | 0:af612d827a23 | 172 | } |
| Nurbol | 0:af612d827a23 | 173 | if ((command->param[1] < MIN_SERVO_ANGLE) || |
| Nurbol | 0:af612d827a23 | 174 | (command->param[1] > MAX_SERVO_ANGLE) ) { |
| Nurbol | 0:af612d827a23 | 175 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:af612d827a23 | 176 | break; |
| Nurbol | 0:af612d827a23 | 177 | } |
| Nurbol | 0:af612d827a23 | 178 | if ((command->param[0] == 4) && (command->param[1] == 0)) { |
| Nurbol | 0:af612d827a23 | 179 | pulse_width = 0; // convert angle to pulse width |
| Nurbol | 0:af612d827a23 | 180 | } |
| Nurbol | 0:af612d827a23 | 181 | else{ |
| Nurbol | 0:af612d827a23 | 182 | pulse_width = 1000 + (command->param[1] * 1000) / 90; // convert angle to pulse width |
| Nurbol | 0:af612d827a23 | 183 | } |
| Nurbol | 0:af612d827a23 | 184 | |
| Nurbol | 0:af612d827a23 | 185 | |
| Nurbol | 0:af612d827a23 | 186 | |
| Nurbol | 0:af612d827a23 | 187 | // |
| Nurbol | 0:af612d827a23 | 188 | // implement servo move to all 5 servos |
| Nurbol | 0:af612d827a23 | 189 | // |
| Nurbol | 0:af612d827a23 | 190 | switch (command->param[0]) { |
| Nurbol | 0:af612d827a23 | 191 | case 0 : servo_0.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:af612d827a23 | 192 | case 4 : servo_4.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:af612d827a23 | 193 | case 5 : servo_5.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:af612d827a23 | 194 | |
| Nurbol | 0:af612d827a23 | 195 | } |
| Nurbol | 0:af612d827a23 | 196 | last_servo = command->param[0]; |
| Nurbol | 0:af612d827a23 | 197 | break; |
| Nurbol | 0:af612d827a23 | 198 | // |
| Nurbol | 0:af612d827a23 | 199 | // return last servo number |
| Nurbol | 0:af612d827a23 | 200 | // |
| Nurbol | 0:af612d827a23 | 201 | case READ_CMD : |
| Nurbol | 0:af612d827a23 | 202 | |
| Nurbol | 0:af612d827a23 | 203 | if((bSort_Mode == 0)&&(bMaint_Mode == 1)){ |
| Nurbol | 0:af612d827a23 | 204 | command->nos_data = 2;// no data to be returned |
| Nurbol | 0:af612d827a23 | 205 | command->result_data[0] = valueLED1; |
| Nurbol | 0:af612d827a23 | 206 | command->result_data[1] = valueLED2; |
| Nurbol | 0:af612d827a23 | 207 | } |
| Nurbol | 0:af612d827a23 | 208 | else if((bSort_Mode == 1)&&(bMaint_Mode == 0)){ |
| Nurbol | 0:af612d827a23 | 209 | command->nos_data = 7;// no data to be returned |
| Nurbol | 0:af612d827a23 | 210 | command->result_data[0] = valueLED1;// counter1p; |
| Nurbol | 0:af612d827a23 | 211 | command->result_data[1] = valueLED2;// counter2p; |
| Nurbol | 0:af612d827a23 | 212 | command->result_data[2] = Motor; |
| Nurbol | 0:af612d827a23 | 213 | command->result_data[3] = Position1_1p; |
| Nurbol | 0:af612d827a23 | 214 | command->result_data[4] = Position2_1p; |
| Nurbol | 0:af612d827a23 | 215 | command->result_data[5] = Position1_2p; |
| Nurbol | 0:af612d827a23 | 216 | command->result_data[6] = Position2_2p; |
| Nurbol | 0:af612d827a23 | 217 | send_data(&ext_cmd); |
| Nurbol | 0:af612d827a23 | 218 | } |
| Nurbol | 0:af612d827a23 | 219 | break; |
| Nurbol | 0:af612d827a23 | 220 | |
| Nurbol | 0:af612d827a23 | 221 | // |
| Nurbol | 0:af612d827a23 | 222 | // Mode value |
| Nurbol | 0:af612d827a23 | 223 | // |
| Nurbol | 0:af612d827a23 | 224 | case MAINT_MODE : |
| Nurbol | 0:af612d827a23 | 225 | bSort_Mode = 0; |
| Nurbol | 0:af612d827a23 | 226 | bMaint_Mode = 1; |
| Nurbol | 0:af612d827a23 | 227 | servo_4.pulsewidth_us(0); |
| Nurbol | 0:af612d827a23 | 228 | servo_0.pulsewidth_us(0); |
| Nurbol | 0:af612d827a23 | 229 | servo_5.pulsewidth_us(0); |
| Nurbol | 0:af612d827a23 | 230 | lcd->cls(); |
| Nurbol | 0:af612d827a23 | 231 | lcd->locate(0,0); |
| Nurbol | 0:af612d827a23 | 232 | lcd->printf("W3C"); |
| Nurbol | 0:af612d827a23 | 233 | lcd->locate(1,0); |
| Nurbol | 0:af612d827a23 | 234 | lcd->printf("maintenance mode"); |
| Nurbol | 0:af612d827a23 | 235 | break; |
| Nurbol | 0:af612d827a23 | 236 | |
| Nurbol | 0:af612d827a23 | 237 | |
| Nurbol | 0:af612d827a23 | 238 | case SORT_MODE : |
| Nurbol | 0:af612d827a23 | 239 | bSort_Mode = 1; |
| Nurbol | 0:af612d827a23 | 240 | bMaint_Mode = 0; |
| Nurbol | 0:af612d827a23 | 241 | lcd->cls(); |
| Nurbol | 0:af612d827a23 | 242 | lcd->locate(0,0); |
| Nurbol | 0:af612d827a23 | 243 | lcd->printf("W3C"); |
| Nurbol | 0:af612d827a23 | 244 | lcd->locate(1,0); |
| Nurbol | 0:af612d827a23 | 245 | lcd->printf("sort mode"); |
| Nurbol | 0:af612d827a23 | 246 | break; |
| Nurbol | 0:af612d827a23 | 247 | |
| Nurbol | 0:af612d827a23 | 248 | // |
| Nurbol | 0:af612d827a23 | 249 | // Urgency mode |
| Nurbol | 0:af612d827a23 | 250 | // |
| Nurbol | 0:af612d827a23 | 251 | case URGENCY : |
| Nurbol | 0:af612d827a23 | 252 | servo_4.pulsewidth_us(0); |
| Nurbol | 0:af612d827a23 | 253 | servo_0.pulsewidth_us(0); |
| Nurbol | 0:af612d827a23 | 254 | servo_5.pulsewidth_us(0); |
| Nurbol | 0:af612d827a23 | 255 | lcd->cls(); |
| Nurbol | 0:af612d827a23 | 256 | lcd->locate(0,0); |
| Nurbol | 0:af612d827a23 | 257 | lcd->printf("W3C"); |
| Nurbol | 0:af612d827a23 | 258 | lcd->locate(1,0); |
| Nurbol | 0:af612d827a23 | 259 | lcd->printf("urgency mode"); |
| Nurbol | 0:af612d827a23 | 260 | break; |
| Nurbol | 0:af612d827a23 | 261 | |
| Nurbol | 0:af612d827a23 | 262 | // |
| Nurbol | 0:af612d827a23 | 263 | // catch any problems |
| Nurbol | 0:af612d827a23 | 264 | // |
| Nurbol | 0:af612d827a23 | 265 | default: |
| Nurbol | 0:af612d827a23 | 266 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:af612d827a23 | 267 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:af612d827a23 | 268 | break; |
| Nurbol | 0:af612d827a23 | 269 | } |
| Nurbol | 0:af612d827a23 | 270 | return OK; |
| Nurbol | 0:af612d827a23 | 271 | } |
| Nurbol | 0:af612d827a23 | 272 | |
| Nurbol | 0:af612d827a23 | 273 | //************************************************************************ |
| Nurbol | 0:af612d827a23 | 274 | |
| Nurbol | 0:af612d827a23 | 275 | //function to send value on the FPGA when 1p is detected |
| Nurbol | 0:af612d827a23 | 276 | void sensor1p (void){ |
| Nurbol | 0:af612d827a23 | 277 | clk = !clk; |
| Nurbol | 0:af612d827a23 | 278 | wait(0.01); |
| Nurbol | 0:af612d827a23 | 279 | sensor1.read(); |
| Nurbol | 0:af612d827a23 | 280 | if(sensor1 > 0.8) { |
| Nurbol | 0:af612d827a23 | 281 | led1 = 1; |
| Nurbol | 0:af612d827a23 | 282 | if((bSort_Mode == 1)&&(bMaint_Mode == 0)){ |
| Nurbol | 0:af612d827a23 | 283 | valueLED1 = 1; |
| Nurbol | 0:af612d827a23 | 284 | } |
| Nurbol | 0:af612d827a23 | 285 | } |
| Nurbol | 0:af612d827a23 | 286 | else if(sensor1 < 0.8){ |
| Nurbol | 0:af612d827a23 | 287 | led1 = 0; |
| Nurbol | 0:af612d827a23 | 288 | if((bSort_Mode == 1)&&(bMaint_Mode == 0)){ |
| Nurbol | 0:af612d827a23 | 289 | valueLED1 = 0; |
| Nurbol | 0:af612d827a23 | 290 | } |
| Nurbol | 0:af612d827a23 | 291 | } |
| Nurbol | 0:af612d827a23 | 292 | } |
| Nurbol | 0:af612d827a23 | 293 | |
| Nurbol | 0:af612d827a23 | 294 | //function to send value on the FPGA when 2p is detected |
| Nurbol | 0:af612d827a23 | 295 | void sensor2p (){ |
| Nurbol | 0:af612d827a23 | 296 | sensor2.read(); |
| Nurbol | 0:af612d827a23 | 297 | if(sensor2 > 0.8) { |
| Nurbol | 0:af612d827a23 | 298 | led2 = 1; |
| Nurbol | 0:af612d827a23 | 299 | valueLED2 = 1; |
| Nurbol | 0:af612d827a23 | 300 | } |
| Nurbol | 0:af612d827a23 | 301 | else if(sensor2 < 0.8){ |
| Nurbol | 0:af612d827a23 | 302 | led2 = 0; |
| Nurbol | 0:af612d827a23 | 303 | valueLED2 = 0; |
| Nurbol | 0:af612d827a23 | 304 | } |
| Nurbol | 0:af612d827a23 | 305 | } |
| Nurbol | 0:af612d827a23 | 306 | |
| Nurbol | 0:af612d827a23 | 307 | |
| Nurbol | 0:af612d827a23 | 308 | //function for the state machine to move servos between 2 positions |
| Nurbol | 0:af612d827a23 | 309 | void state_machine (){ |
| Nurbol | 0:af612d827a23 | 310 | if((bSort_Mode == 1)&&(bMaint_Mode == 0)){ |
| Nurbol | 0:af612d827a23 | 311 | switch(state) |
| Nurbol | 0:af612d827a23 | 312 | { |
| Nurbol | 0:af612d827a23 | 313 | case 0: // initial state |
| Nurbol | 0:af612d827a23 | 314 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run |
| Nurbol | 0:af612d827a23 | 315 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 1p go to position 1 |
| Nurbol | 0:af612d827a23 | 316 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 2p go to position 1 |
| Nurbol | 0:af612d827a23 | 317 | Position1_1p = 1; |
| Nurbol | 0:af612d827a23 | 318 | Position2_1p = 0; |
| Nurbol | 0:af612d827a23 | 319 | Position1_2p = 1; |
| Nurbol | 0:af612d827a23 | 320 | Position2_2p = 0; |
| Nurbol | 0:af612d827a23 | 321 | Motor = 1; |
| Nurbol | 0:af612d827a23 | 322 | led3 = 0; |
| Nurbol | 0:af612d827a23 | 323 | led4 = 0; |
| Nurbol | 0:af612d827a23 | 324 | counter1p.read(); |
| Nurbol | 0:af612d827a23 | 325 | counter2p.read(); |
| Nurbol | 0:af612d827a23 | 326 | if(SW1p == 0){ |
| Nurbol | 0:af612d827a23 | 327 | if(counter1p > 0.5){ |
| Nurbol | 0:af612d827a23 | 328 | state = 1; |
| Nurbol | 0:af612d827a23 | 329 | } |
| Nurbol | 0:af612d827a23 | 330 | } |
| Nurbol | 0:af612d827a23 | 331 | if(SW2p == 0){ |
| Nurbol | 0:af612d827a23 | 332 | if(counter2p > 0.5){ |
| Nurbol | 0:af612d827a23 | 333 | state = 4; |
| Nurbol | 0:af612d827a23 | 334 | } |
| Nurbol | 0:af612d827a23 | 335 | } |
| Nurbol | 0:af612d827a23 | 336 | break; |
| Nurbol | 0:af612d827a23 | 337 | case 1: // state 1 if counter1p = 1 |
| Nurbol | 0:af612d827a23 | 338 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 0:af612d827a23 | 339 | servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 1p go to position 2 |
| Nurbol | 0:af612d827a23 | 340 | wait(1); |
| Nurbol | 0:af612d827a23 | 341 | Position1_1p = 0; |
| Nurbol | 0:af612d827a23 | 342 | Position2_1p = 1; |
| Nurbol | 0:af612d827a23 | 343 | Motor = 0; |
| Nurbol | 0:af612d827a23 | 344 | if((Position2_1p == 1)&&(counter1p < 0.5)){ |
| Nurbol | 0:af612d827a23 | 345 | state = 2; |
| Nurbol | 0:af612d827a23 | 346 | } |
| Nurbol | 0:af612d827a23 | 347 | break; |
| Nurbol | 0:af612d827a23 | 348 | case 2: // state 2 if servo 1p is in position 2 |
| Nurbol | 0:af612d827a23 | 349 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run |
| Nurbol | 0:af612d827a23 | 350 | Motor = 1; |
| Nurbol | 0:af612d827a23 | 351 | counter1p.read(); |
| Nurbol | 0:af612d827a23 | 352 | if(counter1p > 0.5){ |
| Nurbol | 0:af612d827a23 | 353 | state = 3; |
| Nurbol | 0:af612d827a23 | 354 | } |
| Nurbol | 0:af612d827a23 | 355 | break; |
| Nurbol | 0:af612d827a23 | 356 | case 3: // state 3 if counter 1p = 1 |
| Nurbol | 0:af612d827a23 | 357 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 0:af612d827a23 | 358 | Motor = 0; |
| Nurbol | 0:af612d827a23 | 359 | led3 = 1; |
| Nurbol | 0:af612d827a23 | 360 | if(SW1p == 1){ // wait SW 1p to go to the initial state |
| Nurbol | 0:af612d827a23 | 361 | state = 0; |
| Nurbol | 0:af612d827a23 | 362 | } |
| Nurbol | 0:af612d827a23 | 363 | break; |
| Nurbol | 0:af612d827a23 | 364 | case 4: // state 4 if counter 2p = 1 |
| Nurbol | 0:af612d827a23 | 365 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 0:af612d827a23 | 366 | servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 2p go to position 2 |
| Nurbol | 0:af612d827a23 | 367 | wait(1); |
| Nurbol | 0:af612d827a23 | 368 | Position1_2p = 0; |
| Nurbol | 0:af612d827a23 | 369 | Position2_2p = 1; |
| Nurbol | 0:af612d827a23 | 370 | Motor = 0; |
| Nurbol | 0:af612d827a23 | 371 | if((Position2_2p == 1)&&(counter2p < 0.5)){ |
| Nurbol | 0:af612d827a23 | 372 | state = 5; |
| Nurbol | 0:af612d827a23 | 373 | } |
| Nurbol | 0:af612d827a23 | 374 | break; |
| Nurbol | 0:af612d827a23 | 375 | case 5: // state 5 if servo 2p is in position 2 |
| Nurbol | 0:af612d827a23 | 376 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor run |
| Nurbol | 0:af612d827a23 | 377 | Motor = 1; |
| Nurbol | 0:af612d827a23 | 378 | counter2p.read(); |
| Nurbol | 0:af612d827a23 | 379 | if(counter2p > 0.5){ |
| Nurbol | 0:af612d827a23 | 380 | state = 6; |
| Nurbol | 0:af612d827a23 | 381 | } |
| Nurbol | 0:af612d827a23 | 382 | break; |
| Nurbol | 0:af612d827a23 | 383 | case 6: // state 6 if counter 2p = 1 |
| Nurbol | 0:af612d827a23 | 384 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 0:af612d827a23 | 385 | Motor = 0; |
| Nurbol | 0:af612d827a23 | 386 | led4 = 1; |
| Nurbol | 0:af612d827a23 | 387 | if(SW2p == 1){ // wait SW 2p to go to the initial state |
| Nurbol | 0:af612d827a23 | 388 | state = 0; |
| Nurbol | 0:af612d827a23 | 389 | } |
| Nurbol | 0:af612d827a23 | 390 | break; |
| Nurbol | 0:af612d827a23 | 391 | } |
| Nurbol | 0:af612d827a23 | 392 | } |
| Nurbol | 0:af612d827a23 | 393 | } |
| Nurbol | 0:af612d827a23 | 394 | |
| Nurbol | 0:af612d827a23 | 395 | |
| Nurbol | 0:af612d827a23 | 396 | //************************************************************************ |
| Nurbol | 0:af612d827a23 | 397 | // |
| Nurbol | 0:af612d827a23 | 398 | int main() { |
| Nurbol | 0:af612d827a23 | 399 | |
| Nurbol | 0:af612d827a23 | 400 | valueLED1=0; |
| Nurbol | 0:af612d827a23 | 401 | valueLED2=0; |
| Nurbol | 0:af612d827a23 | 402 | clk=0; |
| Nurbol | 0:af612d827a23 | 403 | init_sys(); |
| Nurbol | 0:af612d827a23 | 404 | |
| Nurbol | 0:af612d827a23 | 405 | FOREVER { |
| Nurbol | 0:af612d827a23 | 406 | |
| Nurbol | 0:af612d827a23 | 407 | timer2p.attach(&sensor2p, 0.1); //function sensor2p is reading all the 0.1 ms |
| Nurbol | 0:af612d827a23 | 408 | timer1p.attach(&sensor1p, 0.1); //function sensor1p is reading all the 0.1 ms |
| Nurbol | 0:af612d827a23 | 409 | |
| Nurbol | 0:af612d827a23 | 410 | |
| Nurbol | 0:af612d827a23 | 411 | counter1p.read(); |
| Nurbol | 0:af612d827a23 | 412 | counter2p.read(); |
| Nurbol | 0:af612d827a23 | 413 | |
| Nurbol | 0:af612d827a23 | 414 | timerstatemachine.attach(&state_machine, 0.1); |
| Nurbol | 0:af612d827a23 | 415 | |
| Nurbol | 0:af612d827a23 | 416 | |
| Nurbol | 0:af612d827a23 | 417 | |
| Nurbol | 0:af612d827a23 | 418 | clk = !clk; |
| Nurbol | 0:af612d827a23 | 419 | wait(0.01); |
| Nurbol | 0:af612d827a23 | 420 | |
| Nurbol | 0:af612d827a23 | 421 | get_cmd(&ext_cmd); |
| Nurbol | 0:af612d827a23 | 422 | // |
| Nurbol | 0:af612d827a23 | 423 | // Check status of read command activity and return an error status if there was a problem |
| Nurbol | 0:af612d827a23 | 424 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:af612d827a23 | 425 | // |
| Nurbol | 0:af612d827a23 | 426 | if (ext_cmd.result_status != OK){ |
| Nurbol | 0:af612d827a23 | 427 | send_status(ext_cmd.result_status); |
| Nurbol | 0:af612d827a23 | 428 | continue; |
| Nurbol | 0:af612d827a23 | 429 | } |
| Nurbol | 0:af612d827a23 | 430 | // |
| Nurbol | 0:af612d827a23 | 431 | // Parse command and return an error staus if there is a problem |
| Nurbol | 0:af612d827a23 | 432 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:af612d827a23 | 433 | // |
| Nurbol | 0:af612d827a23 | 434 | parse_cmd(&ext_cmd); |
| Nurbol | 0:af612d827a23 | 435 | // lcd->locate(1,0); lcd->printf(ext_cmd.cmd_str); |
| Nurbol | 0:af612d827a23 | 436 | if ((ext_cmd.result_status != OK) && (ext_cmd.cmd_code != TEXT_CMD)){ |
| Nurbol | 0:af612d827a23 | 437 | lcd->cls(); lcd->locate(0,0); lcd->printf("W3C"); lcd->locate(1,0); lcd->printf("parse : error"); |
| Nurbol | 0:af612d827a23 | 438 | send_status(ext_cmd.result_status); |
| Nurbol | 0:af612d827a23 | 439 | continue; |
| Nurbol | 0:af612d827a23 | 440 | } |
| Nurbol | 0:af612d827a23 | 441 | // |
| Nurbol | 0:af612d827a23 | 442 | // Execute command and return an error staus if there is a problem |
| Nurbol | 0:af612d827a23 | 443 | // |
| Nurbol | 0:af612d827a23 | 444 | process_cmd(&ext_cmd); |
| Nurbol | 0:af612d827a23 | 445 | reply_to_cmd(&ext_cmd); |
| Nurbol | 0:af612d827a23 | 446 | |
| Nurbol | 0:af612d827a23 | 447 | |
| Nurbol | 0:af612d827a23 | 448 | |
| Nurbol | 0:af612d827a23 | 449 | |
| Nurbol | 0:af612d827a23 | 450 | } |
| Nurbol | 0:af612d827a23 | 451 | |
| Nurbol | 0:af612d827a23 | 452 | } |
| Nurbol | 0:af612d827a23 | 453 | |
| Nurbol | 0:af612d827a23 | 454 | |
| Nurbol | 0:af612d827a23 | 455 | |
| Nurbol | 0:af612d827a23 | 456 | |
| Nurbol | 0:af612d827a23 | 457 | |
| Nurbol | 0:af612d827a23 | 458 | |
| Nurbol | 0:af612d827a23 | 459 | |
| Nurbol | 0:af612d827a23 | 460 | |
| Nurbol | 0:af612d827a23 | 461 |