Nurbol Nurdaulet
/
state_machine_modes_1_12_11
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Dependencies: mbed WattBob_TextLCD MCP23017 globals
main.cpp@1:7cb0ee7f57b6, 2011-12-01 (annotated)
- Committer:
- Nurbol
- Date:
- Thu Dec 01 08:40:29 2011 +0000
- Revision:
- 1:7cb0ee7f57b6
- Parent:
- 0:485df37a69ec
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Nurbol | 0:485df37a69ec | 1 | #include "mbed.h" |
| Nurbol | 0:485df37a69ec | 2 | #include "MCP23017.h" |
| Nurbol | 0:485df37a69ec | 3 | #include "WattBob_TextLCD.h" |
| Nurbol | 0:485df37a69ec | 4 | #include "cmd_io.h" |
| Nurbol | 0:485df37a69ec | 5 | #include "globals.h" |
| Nurbol | 0:485df37a69ec | 6 | |
| Nurbol | 0:485df37a69ec | 7 | |
| Nurbol | 0:485df37a69ec | 8 | //****************************************************************************** |
| Nurbol | 0:485df37a69ec | 9 | //declare ticker |
| Nurbol | 0:485df37a69ec | 10 | // |
| Nurbol | 0:485df37a69ec | 11 | Ticker timersensor; |
| Nurbol | 0:485df37a69ec | 12 | Ticker timerstatemachine; |
| Nurbol | 0:485df37a69ec | 13 | |
| Nurbol | 0:485df37a69ec | 14 | //****************************************************************************** |
| Nurbol | 0:485df37a69ec | 15 | //declare Pin |
| Nurbol | 0:485df37a69ec | 16 | // |
| Nurbol | 0:485df37a69ec | 17 | DigitalIn sensor1(p8); |
| Nurbol | 0:485df37a69ec | 18 | DigitalIn sensor2(p7); |
| Nurbol | 0:485df37a69ec | 19 | DigitalIn counter1p(p5); // Value when counter 1p = 10 |
| Nurbol | 0:485df37a69ec | 20 | DigitalIn counter2p(p6); // Value when counter 2p = 5 |
| Nurbol | 0:485df37a69ec | 21 | DigitalIn SW1p(p11); // Switch for the 1p |
| Nurbol | 0:485df37a69ec | 22 | DigitalIn SW2p(p12); // Switch for the 2p |
| Nurbol | 0:485df37a69ec | 23 | |
| Nurbol | 0:485df37a69ec | 24 | DigitalOut valueLED1(p23); // value sensor 2p send to the FPGA |
| Nurbol | 0:485df37a69ec | 25 | DigitalOut valueLED2(p25); // value sensor 1p send to the FPGA |
| Nurbol | 0:485df37a69ec | 26 | DigitalOut Reset(p27); |
| Nurbol | 0:485df37a69ec | 27 | DigitalOut led1(LED1); |
| Nurbol | 0:485df37a69ec | 28 | DigitalOut led2(LED2); |
| Nurbol | 0:485df37a69ec | 29 | DigitalOut led3(LED3); |
| Nurbol | 0:485df37a69ec | 30 | DigitalOut led4(LED4); |
| Nurbol | 0:485df37a69ec | 31 | DigitalOut clk(p24); |
| Nurbol | 0:485df37a69ec | 32 | |
| Nurbol | 0:485df37a69ec | 33 | |
| Nurbol | 0:485df37a69ec | 34 | |
| Nurbol | 0:485df37a69ec | 35 | //****************************************************************************** |
| Nurbol | 0:485df37a69ec | 36 | //declare variable |
| Nurbol | 0:485df37a69ec | 37 | // |
| Nurbol | 0:485df37a69ec | 38 | bool Position1_1p; // Position 1 for the 1p |
| Nurbol | 0:485df37a69ec | 39 | bool Position2_1p; // Position 2 for the 1p |
| Nurbol | 0:485df37a69ec | 40 | bool Position1_2p; // Position 1 for the 2p |
| Nurbol | 0:485df37a69ec | 41 | bool Position2_2p; // Position 2 for the 2p |
| Nurbol | 0:485df37a69ec | 42 | bool Motor; |
| Nurbol | 0:485df37a69ec | 43 | |
| Nurbol | 0:485df37a69ec | 44 | bool bSort_Mode; //to use in the code to define the mode |
| Nurbol | 0:485df37a69ec | 45 | bool bMaint_Mode; //to use in the code to define the mode |
| Nurbol | 0:485df37a69ec | 46 | |
| Nurbol | 0:485df37a69ec | 47 | int state; |
| Nurbol | 0:485df37a69ec | 48 | |
| Nurbol | 0:485df37a69ec | 49 | |
| Nurbol | 0:485df37a69ec | 50 | |
| Nurbol | 0:485df37a69ec | 51 | //****************************************************************************** |
| Nurbol | 0:485df37a69ec | 52 | // declare functions |
| Nurbol | 0:485df37a69ec | 53 | // |
| Nurbol | 0:485df37a69ec | 54 | void sensor (void); // Function to read sensors |
| Nurbol | 0:485df37a69ec | 55 | void state_machine (void); // Function to go in the state machine to move the servos and the motor |
| Nurbol | 0:485df37a69ec | 56 | |
| Nurbol | 0:485df37a69ec | 57 | // |
| Nurbol | 0:485df37a69ec | 58 | // 3 servo outputs |
| Nurbol | 0:485df37a69ec | 59 | // |
| Nurbol | 0:485df37a69ec | 60 | |
| Nurbol | 0:485df37a69ec | 61 | PwmOut servo_0(p26); |
| Nurbol | 0:485df37a69ec | 62 | PwmOut servo_4(p22); |
| Nurbol | 0:485df37a69ec | 63 | PwmOut servo_5(p21); |
| Nurbol | 0:485df37a69ec | 64 | |
| Nurbol | 0:485df37a69ec | 65 | // |
| Nurbol | 0:485df37a69ec | 66 | // objects necessary to use the 2*16 character MBED display |
| Nurbol | 0:485df37a69ec | 67 | // |
| Nurbol | 0:485df37a69ec | 68 | MCP23017 *par_port; |
| Nurbol | 0:485df37a69ec | 69 | WattBob_TextLCD *lcd; |
| Nurbol | 0:485df37a69ec | 70 | // |
| Nurbol | 0:485df37a69ec | 71 | // Virtual COM port over USB link to laptop/PC |
| Nurbol | 0:485df37a69ec | 72 | // |
| Nurbol | 0:485df37a69ec | 73 | Serial pc(USBTX, USBRX); |
| Nurbol | 0:485df37a69ec | 74 | |
| Nurbol | 0:485df37a69ec | 75 | //****************************************************************************** |
| Nurbol | 0:485df37a69ec | 76 | // Defined GLOBAL variables and structures |
| Nurbol | 0:485df37a69ec | 77 | // |
| Nurbol | 0:485df37a69ec | 78 | CMD_STRUCT ext_cmd; // structure to hold command data |
| Nurbol | 0:485df37a69ec | 79 | STAT_STRUCT ext_stat; // structure to hold status reply |
| Nurbol | 0:485df37a69ec | 80 | |
| Nurbol | 0:485df37a69ec | 81 | |
| Nurbol | 0:485df37a69ec | 82 | //CMD_STRUCT commandcounter2; |
| Nurbol | 0:485df37a69ec | 83 | |
| Nurbol | 0:485df37a69ec | 84 | uint32_t last_servo; // store for last servo number |
| Nurbol | 0:485df37a69ec | 85 | |
| Nurbol | 0:485df37a69ec | 86 | //************************************************************************ |
| Nurbol | 0:485df37a69ec | 87 | //************************************************************************ |
| Nurbol | 0:485df37a69ec | 88 | // init_sys : initialise the system |
| Nurbol | 0:485df37a69ec | 89 | // ======== |
| Nurbol | 0:485df37a69ec | 90 | // |
| Nurbol | 0:485df37a69ec | 91 | // 1. Configure 2*16 character display |
| Nurbol | 0:485df37a69ec | 92 | // 2. Print "COM test" string |
| Nurbol | 0:485df37a69ec | 93 | // 3. initialise relevant global variables |
| Nurbol | 0:485df37a69ec | 94 | // 4. set COM port baud rate to 19200 bits per second |
| Nurbol | 0:485df37a69ec | 95 | // |
| Nurbol | 0:485df37a69ec | 96 | void init_sys(void) { |
| Nurbol | 0:485df37a69ec | 97 | |
| Nurbol | 0:485df37a69ec | 98 | par_port = new MCP23017(p9, p10, 0x40); |
| Nurbol | 0:485df37a69ec | 99 | lcd = new WattBob_TextLCD(par_port); |
| Nurbol | 0:485df37a69ec | 100 | |
| Nurbol | 0:485df37a69ec | 101 | par_port->write_bit(1,BL_BIT); // turn LCD backlight ON |
| Nurbol | 0:485df37a69ec | 102 | lcd->cls(); |
| Nurbol | 0:485df37a69ec | 103 | lcd->locate(0,7); |
| Nurbol | 0:485df37a69ec | 104 | lcd->printf("W3C"); |
| Nurbol | 0:485df37a69ec | 105 | |
| Nurbol | 0:485df37a69ec | 106 | servo_0.period(0.020); // servo requires a 20ms period, common for all 5 servo objects |
| Nurbol | 0:485df37a69ec | 107 | last_servo = SERVO_UNKNOWN; |
| Nurbol | 0:485df37a69ec | 108 | pc.baud(19200); |
| Nurbol | 0:485df37a69ec | 109 | |
| Nurbol | 0:485df37a69ec | 110 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); // Servo 1p initialise in position 1 |
| Nurbol | 0:485df37a69ec | 111 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // Servo 2p initialise in position 1 |
| Nurbol | 0:485df37a69ec | 112 | servo_4.pulsewidth_us(0); // Motor stop |
| Nurbol | 0:485df37a69ec | 113 | |
| Nurbol | 0:485df37a69ec | 114 | Position1_1p = 1; |
| Nurbol | 0:485df37a69ec | 115 | Position2_1p = 0; |
| Nurbol | 0:485df37a69ec | 116 | Position1_2p = 1; |
| Nurbol | 0:485df37a69ec | 117 | Position2_2p = 0; |
| Nurbol | 0:485df37a69ec | 118 | |
| Nurbol | 0:485df37a69ec | 119 | state = 0; |
| Nurbol | 0:485df37a69ec | 120 | Reset = 1; |
| Nurbol | 0:485df37a69ec | 121 | |
| Nurbol | 0:485df37a69ec | 122 | valueLED1=0; |
| Nurbol | 0:485df37a69ec | 123 | valueLED2=0; |
| Nurbol | 0:485df37a69ec | 124 | |
| Nurbol | 0:485df37a69ec | 125 | clk=0; |
| Nurbol | 1:7cb0ee7f57b6 | 126 | Motor = 0; |
| Nurbol | 0:485df37a69ec | 127 | return; |
| Nurbol | 0:485df37a69ec | 128 | } // end init_sys |
| Nurbol | 0:485df37a69ec | 129 | |
| Nurbol | 0:485df37a69ec | 130 | //************************************************************************ |
| Nurbol | 0:485df37a69ec | 131 | // process_cmd : decode and execute command |
| Nurbol | 0:485df37a69ec | 132 | // =========== |
| Nurbol | 0:485df37a69ec | 133 | uint32_t process_cmd(CMD_STRUCT *command) |
| Nurbol | 0:485df37a69ec | 134 | { |
| Nurbol | 0:485df37a69ec | 135 | int32_t pulse_width; |
| Nurbol | 0:485df37a69ec | 136 | |
| Nurbol | 0:485df37a69ec | 137 | switch (command->cmd_code) { |
| Nurbol | 0:485df37a69ec | 138 | // |
| Nurbol | 0:485df37a69ec | 139 | // move a servo |
| Nurbol | 0:485df37a69ec | 140 | // |
| Nurbol | 0:485df37a69ec | 141 | case SERVO_CMD : |
| Nurbol | 0:485df37a69ec | 142 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:485df37a69ec | 143 | // |
| Nurbol | 0:485df37a69ec | 144 | // check that parameters are OK |
| Nurbol | 0:485df37a69ec | 145 | // |
| Nurbol | 0:485df37a69ec | 146 | if (command->nos_params != 2) { // check for 2 parameters |
| Nurbol | 0:485df37a69ec | 147 | command->result_status = CMD_BAD_NUMBER_OF_PARAMETERS; |
| Nurbol | 0:485df37a69ec | 148 | break; |
| Nurbol | 0:485df37a69ec | 149 | } |
| Nurbol | 0:485df37a69ec | 150 | if (command->param[0] > MAX_SERVO_NUMBER ) { // check servo number |
| Nurbol | 0:485df37a69ec | 151 | command->result_status = CMD_BAD_SERVO_NUMBER; |
| Nurbol | 0:485df37a69ec | 152 | break; |
| Nurbol | 0:485df37a69ec | 153 | } |
| Nurbol | 0:485df37a69ec | 154 | if ((command->param[1] < MIN_SERVO_ANGLE) || |
| Nurbol | 0:485df37a69ec | 155 | (command->param[1] > MAX_SERVO_ANGLE) ) { |
| Nurbol | 0:485df37a69ec | 156 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:485df37a69ec | 157 | break; |
| Nurbol | 0:485df37a69ec | 158 | } |
| Nurbol | 0:485df37a69ec | 159 | if ((command->param[0] == 4) && (command->param[1] == 0)) { |
| Nurbol | 0:485df37a69ec | 160 | pulse_width = 0; // convert angle to pulse width |
| Nurbol | 0:485df37a69ec | 161 | } |
| Nurbol | 0:485df37a69ec | 162 | else{ |
| Nurbol | 0:485df37a69ec | 163 | pulse_width = 1000 + (command->param[1] * 1000) / 90; // convert angle to pulse width |
| Nurbol | 0:485df37a69ec | 164 | } |
| Nurbol | 0:485df37a69ec | 165 | |
| Nurbol | 0:485df37a69ec | 166 | |
| Nurbol | 0:485df37a69ec | 167 | |
| Nurbol | 0:485df37a69ec | 168 | // |
| Nurbol | 0:485df37a69ec | 169 | // implement servo move to all 5 servos |
| Nurbol | 0:485df37a69ec | 170 | // |
| Nurbol | 0:485df37a69ec | 171 | switch (command->param[0]) { |
| Nurbol | 0:485df37a69ec | 172 | case 0 : servo_0.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:485df37a69ec | 173 | case 4 : servo_4.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:485df37a69ec | 174 | case 5 : servo_5.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:485df37a69ec | 175 | } |
| Nurbol | 0:485df37a69ec | 176 | last_servo = command->param[0]; |
| Nurbol | 0:485df37a69ec | 177 | break; |
| Nurbol | 0:485df37a69ec | 178 | // |
| Nurbol | 1:7cb0ee7f57b6 | 179 | // return data of the value of sensor 1p and sensor 2p |
| Nurbol | 0:485df37a69ec | 180 | // |
| Nurbol | 0:485df37a69ec | 181 | case READ_CMD : |
| Nurbol | 1:7cb0ee7f57b6 | 182 | if((bSort_Mode == 0)&&(bMaint_Mode == 1)){ // when we are on sort mode |
| Nurbol | 1:7cb0ee7f57b6 | 183 | command->nos_data = 2; |
| Nurbol | 0:485df37a69ec | 184 | command->result_data[0] = valueLED1; |
| Nurbol | 0:485df37a69ec | 185 | command->result_data[1] = valueLED2; |
| Nurbol | 0:485df37a69ec | 186 | } |
| Nurbol | 0:485df37a69ec | 187 | break; |
| Nurbol | 0:485df37a69ec | 188 | |
| Nurbol | 0:485df37a69ec | 189 | // |
| Nurbol | 0:485df37a69ec | 190 | // Mode value |
| Nurbol | 0:485df37a69ec | 191 | // |
| Nurbol | 1:7cb0ee7f57b6 | 192 | case MAINT_MODE : // Maintenance mode |
| Nurbol | 0:485df37a69ec | 193 | bSort_Mode = 0; |
| Nurbol | 0:485df37a69ec | 194 | bMaint_Mode = 1; |
| Nurbol | 0:485df37a69ec | 195 | Reset = 1; |
| Nurbol | 1:7cb0ee7f57b6 | 196 | servo_4.pulsewidth_us(0); // Motor stop |
| Nurbol | 1:7cb0ee7f57b6 | 197 | servo_0.pulsewidth_us(0); // Servo 1p stop |
| Nurbol | 1:7cb0ee7f57b6 | 198 | servo_5.pulsewidth_us(0); // Servo 2p stop |
| Nurbol | 0:485df37a69ec | 199 | lcd->cls(); |
| Nurbol | 0:485df37a69ec | 200 | lcd->locate(0,7); |
| Nurbol | 0:485df37a69ec | 201 | lcd->printf("W3C"); |
| Nurbol | 0:485df37a69ec | 202 | lcd->locate(1,0); |
| Nurbol | 0:485df37a69ec | 203 | lcd->printf("maintenance mode"); |
| Nurbol | 0:485df37a69ec | 204 | break; |
| Nurbol | 0:485df37a69ec | 205 | |
| Nurbol | 0:485df37a69ec | 206 | |
| Nurbol | 1:7cb0ee7f57b6 | 207 | case SORT_MODE : // sort mode |
| Nurbol | 0:485df37a69ec | 208 | bSort_Mode = 1; |
| Nurbol | 0:485df37a69ec | 209 | bMaint_Mode = 0; |
| Nurbol | 0:485df37a69ec | 210 | Reset = 0; |
| Nurbol | 0:485df37a69ec | 211 | state = 0; |
| Nurbol | 0:485df37a69ec | 212 | lcd->cls(); |
| Nurbol | 0:485df37a69ec | 213 | lcd->locate(0,7); |
| Nurbol | 0:485df37a69ec | 214 | lcd->printf("W3C"); |
| Nurbol | 0:485df37a69ec | 215 | lcd->locate(1,0); |
| Nurbol | 0:485df37a69ec | 216 | lcd->printf("sort mode"); |
| Nurbol | 0:485df37a69ec | 217 | |
| Nurbol | 0:485df37a69ec | 218 | break; |
| Nurbol | 0:485df37a69ec | 219 | |
| Nurbol | 0:485df37a69ec | 220 | // |
| Nurbol | 0:485df37a69ec | 221 | // Urgency mode |
| Nurbol | 0:485df37a69ec | 222 | // |
| Nurbol | 1:7cb0ee7f57b6 | 223 | case URGENCY : |
| Nurbol | 0:485df37a69ec | 224 | Reset = 1; |
| Nurbol | 0:485df37a69ec | 225 | bSort_Mode = 0; |
| Nurbol | 0:485df37a69ec | 226 | bMaint_Mode = 0; |
| Nurbol | 0:485df37a69ec | 227 | state = 0; |
| Nurbol | 1:7cb0ee7f57b6 | 228 | servo_4.pulsewidth_us(0); // Motor stop |
| Nurbol | 1:7cb0ee7f57b6 | 229 | servo_0.pulsewidth_us(0); // Servo 1p stop |
| Nurbol | 1:7cb0ee7f57b6 | 230 | servo_5.pulsewidth_us(0); // Servo 2p stop |
| Nurbol | 0:485df37a69ec | 231 | lcd->cls(); |
| Nurbol | 0:485df37a69ec | 232 | lcd->locate(0,7); |
| Nurbol | 0:485df37a69ec | 233 | lcd->printf("W3C"); |
| Nurbol | 0:485df37a69ec | 234 | lcd->locate(1,0); |
| Nurbol | 0:485df37a69ec | 235 | lcd->printf("urgency mode"); |
| Nurbol | 0:485df37a69ec | 236 | break; |
| Nurbol | 0:485df37a69ec | 237 | // |
| Nurbol | 0:485df37a69ec | 238 | // Exit mode |
| Nurbol | 0:485df37a69ec | 239 | // |
| Nurbol | 0:485df37a69ec | 240 | case EXIT : |
| Nurbol | 0:485df37a69ec | 241 | Reset = 1; |
| Nurbol | 0:485df37a69ec | 242 | bSort_Mode = 0; |
| Nurbol | 0:485df37a69ec | 243 | bMaint_Mode = 0; |
| Nurbol | 0:485df37a69ec | 244 | state = 0; |
| Nurbol | 1:7cb0ee7f57b6 | 245 | servo_4.pulsewidth_us(0); // Motor stop |
| Nurbol | 1:7cb0ee7f57b6 | 246 | servo_0.pulsewidth_us(0); // sensor 1p stop |
| Nurbol | 1:7cb0ee7f57b6 | 247 | servo_5.pulsewidth_us(0); // sensor 2p stop |
| Nurbol | 0:485df37a69ec | 248 | lcd->cls(); |
| Nurbol | 0:485df37a69ec | 249 | lcd->locate(0,7); |
| Nurbol | 0:485df37a69ec | 250 | lcd->printf("W3C"); |
| Nurbol | 1:7cb0ee7f57b6 | 251 | break; |
| Nurbol | 1:7cb0ee7f57b6 | 252 | |
| Nurbol | 1:7cb0ee7f57b6 | 253 | // Send data of the value led 2p |
| Nurbol | 1:7cb0ee7f57b6 | 254 | case VALUE_LED1 : |
| Nurbol | 1:7cb0ee7f57b6 | 255 | command->nos_data = 1; |
| Nurbol | 1:7cb0ee7f57b6 | 256 | command->result_data[0] = valueLED1; |
| Nurbol | 1:7cb0ee7f57b6 | 257 | break; |
| Nurbol | 1:7cb0ee7f57b6 | 258 | |
| Nurbol | 1:7cb0ee7f57b6 | 259 | // Send data of the value led 1p |
| Nurbol | 1:7cb0ee7f57b6 | 260 | case VALUE_LED2 : |
| Nurbol | 1:7cb0ee7f57b6 | 261 | command->nos_data = 2; |
| Nurbol | 1:7cb0ee7f57b6 | 262 | command->result_data[1] = valueLED2; |
| Nurbol | 1:7cb0ee7f57b6 | 263 | break; |
| Nurbol | 1:7cb0ee7f57b6 | 264 | |
| Nurbol | 1:7cb0ee7f57b6 | 265 | // Send data of the value counter 1p |
| Nurbol | 1:7cb0ee7f57b6 | 266 | case COUNTER1P : |
| Nurbol | 1:7cb0ee7f57b6 | 267 | command->nos_data = 3; |
| Nurbol | 1:7cb0ee7f57b6 | 268 | command->result_data[2] = counter1p; |
| Nurbol | 1:7cb0ee7f57b6 | 269 | break; |
| Nurbol | 1:7cb0ee7f57b6 | 270 | |
| Nurbol | 1:7cb0ee7f57b6 | 271 | // Send data of the value counter 2p |
| Nurbol | 1:7cb0ee7f57b6 | 272 | case COUNTER2P : |
| Nurbol | 1:7cb0ee7f57b6 | 273 | command->nos_data = 4; |
| Nurbol | 1:7cb0ee7f57b6 | 274 | command->result_data[3] = counter2p; |
| Nurbol | 1:7cb0ee7f57b6 | 275 | break; |
| Nurbol | 1:7cb0ee7f57b6 | 276 | |
| Nurbol | 1:7cb0ee7f57b6 | 277 | // Send data of the value position1 1p |
| Nurbol | 1:7cb0ee7f57b6 | 278 | case POSITION1_1P : |
| Nurbol | 1:7cb0ee7f57b6 | 279 | command->nos_data = 1; |
| Nurbol | 1:7cb0ee7f57b6 | 280 | command->result_data[0] = Position1_1p; |
| Nurbol | 1:7cb0ee7f57b6 | 281 | break; |
| Nurbol | 1:7cb0ee7f57b6 | 282 | |
| Nurbol | 1:7cb0ee7f57b6 | 283 | // Send data of the value position1 2p |
| Nurbol | 1:7cb0ee7f57b6 | 284 | case POSITION1_2P : |
| Nurbol | 1:7cb0ee7f57b6 | 285 | command->nos_data = 2; |
| Nurbol | 1:7cb0ee7f57b6 | 286 | command->result_data[1] = Position1_2p; |
| Nurbol | 1:7cb0ee7f57b6 | 287 | break; |
| Nurbol | 1:7cb0ee7f57b6 | 288 | |
| Nurbol | 1:7cb0ee7f57b6 | 289 | // Send data of the motor |
| Nurbol | 1:7cb0ee7f57b6 | 290 | case MOTOR : |
| Nurbol | 1:7cb0ee7f57b6 | 291 | command->nos_data = 3; |
| Nurbol | 1:7cb0ee7f57b6 | 292 | command->result_data[2] = Motor; |
| Nurbol | 1:7cb0ee7f57b6 | 293 | break; |
| Nurbol | 1:7cb0ee7f57b6 | 294 | |
| Nurbol | 0:485df37a69ec | 295 | // |
| Nurbol | 0:485df37a69ec | 296 | // catch any problems |
| Nurbol | 0:485df37a69ec | 297 | // |
| Nurbol | 0:485df37a69ec | 298 | default: |
| Nurbol | 0:485df37a69ec | 299 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:485df37a69ec | 300 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:485df37a69ec | 301 | break; |
| Nurbol | 0:485df37a69ec | 302 | } |
| Nurbol | 0:485df37a69ec | 303 | return OK; |
| Nurbol | 0:485df37a69ec | 304 | } |
| Nurbol | 0:485df37a69ec | 305 | |
| Nurbol | 0:485df37a69ec | 306 | //************************************************************************ |
| Nurbol | 0:485df37a69ec | 307 | |
| Nurbol | 0:485df37a69ec | 308 | //function to send value on the FPGA when 1p or 2p are detected |
| Nurbol | 0:485df37a69ec | 309 | void sensor (void){ |
| Nurbol | 0:485df37a69ec | 310 | sensor1.read(); |
| Nurbol | 0:485df37a69ec | 311 | sensor2.read(); |
| Nurbol | 0:485df37a69ec | 312 | |
| Nurbol | 0:485df37a69ec | 313 | clk = !clk; |
| Nurbol | 0:485df37a69ec | 314 | wait(0.01); |
| Nurbol | 0:485df37a69ec | 315 | |
| Nurbol | 0:485df37a69ec | 316 | if(sensor1 > 0.5) { |
| Nurbol | 0:485df37a69ec | 317 | led1 = 1; |
| Nurbol | 0:485df37a69ec | 318 | valueLED1 = 1; |
| Nurbol | 0:485df37a69ec | 319 | } |
| Nurbol | 0:485df37a69ec | 320 | else if(sensor1 < 0.5){ |
| Nurbol | 0:485df37a69ec | 321 | led1 = 0; |
| Nurbol | 0:485df37a69ec | 322 | valueLED1 = 0; |
| Nurbol | 0:485df37a69ec | 323 | } |
| Nurbol | 0:485df37a69ec | 324 | if(sensor2 > 0.5) { |
| Nurbol | 0:485df37a69ec | 325 | led2 = 1; |
| Nurbol | 0:485df37a69ec | 326 | valueLED2 = 1; |
| Nurbol | 0:485df37a69ec | 327 | } |
| Nurbol | 0:485df37a69ec | 328 | else if(sensor2 < 0.5){ |
| Nurbol | 0:485df37a69ec | 329 | led2 = 0; |
| Nurbol | 0:485df37a69ec | 330 | valueLED2 = 0; |
| Nurbol | 0:485df37a69ec | 331 | } |
| Nurbol | 0:485df37a69ec | 332 | } |
| Nurbol | 0:485df37a69ec | 333 | |
| Nurbol | 0:485df37a69ec | 334 | |
| Nurbol | 0:485df37a69ec | 335 | //function for the state machine to move servos between 2 positions |
| Nurbol | 0:485df37a69ec | 336 | void state_machine (){ |
| Nurbol | 0:485df37a69ec | 337 | if((bSort_Mode == 1)&&(bMaint_Mode == 0)){ |
| Nurbol | 0:485df37a69ec | 338 | switch(state) |
| Nurbol | 0:485df37a69ec | 339 | { |
| Nurbol | 0:485df37a69ec | 340 | case 0: // initial state |
| Nurbol | 0:485df37a69ec | 341 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run |
| Nurbol | 0:485df37a69ec | 342 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 1p go to position 1 |
| Nurbol | 0:485df37a69ec | 343 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 2p go to position 1 |
| Nurbol | 0:485df37a69ec | 344 | Position1_1p = 1; |
| Nurbol | 0:485df37a69ec | 345 | Position2_1p = 0; |
| Nurbol | 0:485df37a69ec | 346 | Position1_2p = 1; |
| Nurbol | 0:485df37a69ec | 347 | Position2_2p = 0; |
| Nurbol | 0:485df37a69ec | 348 | Motor = 1; |
| Nurbol | 0:485df37a69ec | 349 | led3 = 0; |
| Nurbol | 0:485df37a69ec | 350 | led4 = 0; |
| Nurbol | 0:485df37a69ec | 351 | counter1p.read(); |
| Nurbol | 0:485df37a69ec | 352 | counter2p.read(); |
| Nurbol | 0:485df37a69ec | 353 | if(SW1p == 0){ |
| Nurbol | 0:485df37a69ec | 354 | if(counter1p > 0.5){ |
| Nurbol | 0:485df37a69ec | 355 | state = 1; |
| Nurbol | 0:485df37a69ec | 356 | } |
| Nurbol | 0:485df37a69ec | 357 | } |
| Nurbol | 0:485df37a69ec | 358 | if(SW2p == 0){ |
| Nurbol | 0:485df37a69ec | 359 | if(counter2p > 0.5){ |
| Nurbol | 0:485df37a69ec | 360 | state = 4; |
| Nurbol | 0:485df37a69ec | 361 | } |
| Nurbol | 0:485df37a69ec | 362 | } |
| Nurbol | 0:485df37a69ec | 363 | break; |
| Nurbol | 0:485df37a69ec | 364 | case 1: // state 1 if counter1p = 1 |
| Nurbol | 0:485df37a69ec | 365 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 0:485df37a69ec | 366 | wait(2); |
| Nurbol | 0:485df37a69ec | 367 | servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 1p go to position 2 |
| Nurbol | 0:485df37a69ec | 368 | wait(1); |
| Nurbol | 0:485df37a69ec | 369 | Position1_1p = 0; |
| Nurbol | 0:485df37a69ec | 370 | Position2_1p = 1; |
| Nurbol | 0:485df37a69ec | 371 | Motor = 0; |
| Nurbol | 0:485df37a69ec | 372 | if((Position2_1p == 1)&&(counter1p < 0.5)){ |
| Nurbol | 0:485df37a69ec | 373 | state = 2; |
| Nurbol | 0:485df37a69ec | 374 | } |
| Nurbol | 0:485df37a69ec | 375 | break; |
| Nurbol | 0:485df37a69ec | 376 | case 2: // state 2 if servo 1p is in position 2 |
| Nurbol | 0:485df37a69ec | 377 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run |
| Nurbol | 0:485df37a69ec | 378 | Motor = 1; |
| Nurbol | 0:485df37a69ec | 379 | counter1p.read(); |
| Nurbol | 0:485df37a69ec | 380 | if(counter1p > 0.5){ |
| Nurbol | 0:485df37a69ec | 381 | state = 3; |
| Nurbol | 0:485df37a69ec | 382 | } |
| Nurbol | 0:485df37a69ec | 383 | break; |
| Nurbol | 0:485df37a69ec | 384 | case 3: // state 3 if counter 1p = 1 |
| Nurbol | 0:485df37a69ec | 385 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 0:485df37a69ec | 386 | Motor = 0; |
| Nurbol | 0:485df37a69ec | 387 | led3 = 1; |
| Nurbol | 0:485df37a69ec | 388 | if(SW1p == 1){ // wait SW 1p to go to the initial state |
| Nurbol | 0:485df37a69ec | 389 | state = 0; |
| Nurbol | 0:485df37a69ec | 390 | } |
| Nurbol | 0:485df37a69ec | 391 | break; |
| Nurbol | 0:485df37a69ec | 392 | case 4: // state 4 if counter 2p = 1 |
| Nurbol | 0:485df37a69ec | 393 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 0:485df37a69ec | 394 | wait(2); |
| Nurbol | 0:485df37a69ec | 395 | servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 2p go to position 2 |
| Nurbol | 0:485df37a69ec | 396 | wait(1); |
| Nurbol | 0:485df37a69ec | 397 | Position1_2p = 0; |
| Nurbol | 0:485df37a69ec | 398 | Position2_2p = 1; |
| Nurbol | 0:485df37a69ec | 399 | Motor = 0; |
| Nurbol | 0:485df37a69ec | 400 | if((Position2_2p == 1)&&(counter2p < 0.5)){ |
| Nurbol | 0:485df37a69ec | 401 | state = 5; |
| Nurbol | 0:485df37a69ec | 402 | } |
| Nurbol | 0:485df37a69ec | 403 | break; |
| Nurbol | 0:485df37a69ec | 404 | case 5: // state 5 if servo 2p is in position 2 |
| Nurbol | 0:485df37a69ec | 405 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor run |
| Nurbol | 0:485df37a69ec | 406 | Motor = 1; |
| Nurbol | 0:485df37a69ec | 407 | counter2p.read(); |
| Nurbol | 0:485df37a69ec | 408 | if(counter2p > 0.5){ |
| Nurbol | 0:485df37a69ec | 409 | state = 6; |
| Nurbol | 0:485df37a69ec | 410 | } |
| Nurbol | 0:485df37a69ec | 411 | break; |
| Nurbol | 0:485df37a69ec | 412 | case 6: // state 6 if counter 2p = 1 |
| Nurbol | 0:485df37a69ec | 413 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 0:485df37a69ec | 414 | Motor = 0; |
| Nurbol | 0:485df37a69ec | 415 | led4 = 1; |
| Nurbol | 0:485df37a69ec | 416 | if(SW2p == 1){ // wait SW 2p to go to the initial state |
| Nurbol | 0:485df37a69ec | 417 | state = 0; |
| Nurbol | 0:485df37a69ec | 418 | } |
| Nurbol | 0:485df37a69ec | 419 | break; |
| Nurbol | 0:485df37a69ec | 420 | } |
| Nurbol | 0:485df37a69ec | 421 | } |
| Nurbol | 0:485df37a69ec | 422 | } |
| Nurbol | 0:485df37a69ec | 423 | |
| Nurbol | 1:7cb0ee7f57b6 | 424 | // |
| Nurbol | 0:485df37a69ec | 425 | //************************************************************************ |
| Nurbol | 1:7cb0ee7f57b6 | 426 | // Main Program |
| Nurbol | 0:485df37a69ec | 427 | // |
| Nurbol | 0:485df37a69ec | 428 | int main() { |
| Nurbol | 0:485df37a69ec | 429 | |
| Nurbol | 0:485df37a69ec | 430 | init_sys(); |
| Nurbol | 0:485df37a69ec | 431 | Reset = 0; |
| Nurbol | 0:485df37a69ec | 432 | |
| Nurbol | 0:485df37a69ec | 433 | FOREVER { |
| Nurbol | 0:485df37a69ec | 434 | |
| Nurbol | 0:485df37a69ec | 435 | timersensor.attach(&sensor, 0.02); //function sensor is reading all the 20 ms |
| Nurbol | 0:485df37a69ec | 436 | |
| Nurbol | 0:485df37a69ec | 437 | counter1p.read(); |
| Nurbol | 0:485df37a69ec | 438 | counter2p.read(); |
| Nurbol | 0:485df37a69ec | 439 | |
| Nurbol | 1:7cb0ee7f57b6 | 440 | timerstatemachine.attach(&state_machine, 0.1); // function state machine is readinf all the 100 ms |
| Nurbol | 0:485df37a69ec | 441 | |
| Nurbol | 0:485df37a69ec | 442 | clk = !clk; |
| Nurbol | 0:485df37a69ec | 443 | wait(0.001); |
| Nurbol | 0:485df37a69ec | 444 | |
| Nurbol | 0:485df37a69ec | 445 | get_cmd(&ext_cmd); |
| Nurbol | 0:485df37a69ec | 446 | // |
| Nurbol | 0:485df37a69ec | 447 | // Check status of read command activity and return an error status if there was a problem |
| Nurbol | 0:485df37a69ec | 448 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:485df37a69ec | 449 | // |
| Nurbol | 0:485df37a69ec | 450 | if (ext_cmd.result_status != OK){ |
| Nurbol | 0:485df37a69ec | 451 | send_status(ext_cmd.result_status); |
| Nurbol | 0:485df37a69ec | 452 | continue; |
| Nurbol | 0:485df37a69ec | 453 | } |
| Nurbol | 0:485df37a69ec | 454 | // |
| Nurbol | 0:485df37a69ec | 455 | // Parse command and return an error staus if there is a problem |
| Nurbol | 0:485df37a69ec | 456 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:485df37a69ec | 457 | // |
| Nurbol | 0:485df37a69ec | 458 | parse_cmd(&ext_cmd); |
| Nurbol | 0:485df37a69ec | 459 | // lcd->locate(1,0); lcd->printf(ext_cmd.cmd_str); |
| Nurbol | 0:485df37a69ec | 460 | if ((ext_cmd.result_status != OK) && (ext_cmd.cmd_code != TEXT_CMD)){ |
| Nurbol | 0:485df37a69ec | 461 | lcd->cls(); lcd->locate(0,0); lcd->printf("W3C"); lcd->locate(1,0); lcd->printf("parse : error"); |
| Nurbol | 0:485df37a69ec | 462 | send_status(ext_cmd.result_status); |
| Nurbol | 0:485df37a69ec | 463 | continue; |
| Nurbol | 0:485df37a69ec | 464 | } |
| Nurbol | 0:485df37a69ec | 465 | // |
| Nurbol | 0:485df37a69ec | 466 | // Execute command and return an error staus if there is a problem |
| Nurbol | 0:485df37a69ec | 467 | // |
| Nurbol | 0:485df37a69ec | 468 | process_cmd(&ext_cmd); |
| Nurbol | 0:485df37a69ec | 469 | reply_to_cmd(&ext_cmd); |
| Nurbol | 0:485df37a69ec | 470 | } |
| Nurbol | 0:485df37a69ec | 471 | |
| Nurbol | 0:485df37a69ec | 472 | } |
| Nurbol | 0:485df37a69ec | 473 | |
| Nurbol | 0:485df37a69ec | 474 | |
| Nurbol | 0:485df37a69ec | 475 | |
| Nurbol | 0:485df37a69ec | 476 | |
| Nurbol | 0:485df37a69ec | 477 | |
| Nurbol | 0:485df37a69ec | 478 | |
| Nurbol | 0:485df37a69ec | 479 | |
| Nurbol | 0:485df37a69ec | 480 | |
| Nurbol | 0:485df37a69ec | 481 |