Nurbol Nurdaulet
/
state_machine_modes29_11_11
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Dependencies: mbed WattBob_TextLCD globals
Revision 2:1549900755ba, committed 2011-11-30
- Comitter:
- Nurbol
- Date:
- Wed Nov 30 19:17:21 2011 +0000
- Parent:
- 1:fc3a5c5100d2
- Commit message:
Changed in this revision
--- a/cmd_io.cpp Wed Nov 30 04:12:04 2011 +0000
+++ b/cmd_io.cpp Wed Nov 30 19:17:21 2011 +0000
@@ -148,10 +148,10 @@
if (command->nos_data == 2) {
sprintf(buffer, "%u %u\n", (int)command->result_data[0], (int)command->result_data[1]);
}
- if (command->nos_data == 7) {
+/* if (command->nos_data == 7) {
sprintf(buffer, "%u %u %u %u %u %u %u\n", (int)command->result_data[0], (int)command->result_data[1], (int)command->result_data[2], (int)command->result_data[3],
(int)command->result_data[4], (int)command->result_data[5], (int)command->result_data[6]);
- }
+ }*/
//
// send string
//
--- a/cmd_io.lib Wed Nov 30 04:12:04 2011 +0000 +++ b/cmd_io.lib Wed Nov 30 19:17:21 2011 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/Nurbol/code/cmd_io/#ee6b303c2868 +http://mbed.org/users/Nurbol/code/cmd_io/#17fdd31d90cf
--- a/main.cpp Wed Nov 30 04:12:04 2011 +0000
+++ b/main.cpp Wed Nov 30 19:17:21 2011 +0000
@@ -39,6 +39,7 @@
DigitalOut valueLED1(p23);
DigitalOut valueLED2(p25);
+DigitalOut Reset(p27);
DigitalOut led1(LED1);
DigitalOut led2(LED2);
@@ -135,6 +136,7 @@
servo_0.pulsewidth_us(1000 + (0 * 1000) / 90);
servo_5.pulsewidth_us(1000 + (0 * 1000) / 90);
+ servo_4.pulsewidth_us(0);
Position1_1p = 1;
Position2_1p = 0;
@@ -142,7 +144,11 @@
Position2_2p = 0;
state = 0;
+ Reset = 1;
+ valueLED1=0;
+ valueLED2=0;
+ clk=0;
return;
} // end init_sys
@@ -206,15 +212,15 @@
command->result_data[1] = valueLED2;
}
else if((bSort_Mode == 1)&&(bMaint_Mode == 0)){
- command->nos_data = 7;// no data to be returned
+ command->nos_data = 2;// no data to be returned
command->result_data[0] = valueLED1;// counter1p;
command->result_data[1] = valueLED2;// counter2p;
- command->result_data[2] = Motor;
+ /* command->result_data[2] = Motor;
command->result_data[3] = Position1_1p;
command->result_data[4] = Position2_1p;
command->result_data[5] = Position1_2p;
- command->result_data[6] = Position2_2p;
- send_data(&ext_cmd);
+ command->result_data[6] = Position2_2p;*/
+ //send_data(&ext_cmd);
}
break;
@@ -224,6 +230,7 @@
case MAINT_MODE :
bSort_Mode = 0;
bMaint_Mode = 1;
+ Reset = 1;
servo_4.pulsewidth_us(0);
servo_0.pulsewidth_us(0);
servo_5.pulsewidth_us(0);
@@ -238,17 +245,24 @@
case SORT_MODE :
bSort_Mode = 1;
bMaint_Mode = 0;
- lcd->cls();
+ Reset = 0;
+ state = 0;
+ lcd->cls();
lcd->locate(0,0);
lcd->printf("W3C");
lcd->locate(1,0);
lcd->printf("sort mode");
+
break;
//
// Urgency mode
//
case URGENCY :
+ Reset = 1;
+ bSort_Mode = 0;
+ bMaint_Mode = 0;
+ state = 0;
servo_4.pulsewidth_us(0);
servo_0.pulsewidth_us(0);
servo_5.pulsewidth_us(0);
@@ -262,6 +276,10 @@
// Exit mode
//
case EXIT :
+ Reset = 1;
+ bSort_Mode = 0;
+ bMaint_Mode = 0;
+ state = 0;
servo_4.pulsewidth_us(0);
servo_0.pulsewidth_us(0);
servo_5.pulsewidth_us(0);
@@ -284,31 +302,44 @@
//function to send value on the FPGA when 1p is detected
void sensor1p (void){
+ sensor1.read();
+ sensor2.read();
+
clk = !clk;
wait(0.01);
- sensor1.read();
- if(sensor1 > 0.8) {
+
+ if(sensor1 > 0.5) {
led1 = 1;
- if((bSort_Mode == 1)&&(bMaint_Mode == 0)){
+ //if((bSort_Mode == 1)&&(bMaint_Mode == 0)){
valueLED1 = 1;
- }
+ //}
}
- else if(sensor1 < 0.8){
+ else if(sensor1 < 0.5){
led1 = 0;
- if((bSort_Mode == 1)&&(bMaint_Mode == 0)){
+ //if((bSort_Mode == 1)&&(bMaint_Mode == 0)){
valueLED1 = 0;
- }
+ //}
}
+
+ if(sensor2 > 0.5) {
+ led2 = 1;
+ valueLED2 = 1;
+ }
+ else if(sensor2 < 0.5){
+ led2 = 0;
+ valueLED2 = 0;
+ }
+
}
//function to send value on the FPGA when 2p is detected
void sensor2p (){
sensor2.read();
- if(sensor2 > 0.8) {
+ if(sensor2 > 0.5) {
led2 = 1;
valueLED2 = 1;
}
- else if(sensor2 < 0.8){
+ else if(sensor2 < 0.5){
led2 = 0;
valueLED2 = 0;
}
@@ -346,6 +377,7 @@
break;
case 1: // state 1 if counter1p = 1
servo_4.pulsewidth_us(0); // motor stop
+ wait(2);
servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 1p go to position 2
wait(1);
Position1_1p = 0;
@@ -373,6 +405,7 @@
break;
case 4: // state 4 if counter 2p = 1
servo_4.pulsewidth_us(0); // motor stop
+ wait(2);
servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 2p go to position 2
wait(1);
Position1_2p = 0;
@@ -406,16 +439,15 @@
//************************************************************************
//
int main() {
-
- valueLED1=0;
- valueLED2=0;
- clk=0;
+
init_sys();
+ Reset = 0;
FOREVER {
- timer2p.attach(&sensor2p, 0.1); //function sensor2p is reading all the 0.1 ms
- timer1p.attach(&sensor1p, 0.1); //function sensor1p is reading all the 0.1 ms
+ timer1p.attach(&sensor1p, 0.02); //function sensor1p is reading all the 30 ms
+ // timer2p.attach(&sensor2p, 0.05); //function sensor2p is reading all the 100 ms
+
counter1p.read();
@@ -426,7 +458,7 @@
clk = !clk;
- wait(0.01);
+ wait(0.001);
get_cmd(&ext_cmd);
//