Nurbol Nurdaulet
/
state_machine_modes_1_12_11_11h
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Dependencies: cmd_io mbed WattBob_TextLCD MCP23017 globals
main.cpp@1:8a1818e89c49, 2011-12-01 (annotated)
- Committer:
- Nurbol
- Date:
- Thu Dec 01 13:24:14 2011 +0000
- Revision:
- 1:8a1818e89c49
- Parent:
- 0:247c337c230a
- Child:
- 2:881ca0a50c9b
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Nurbol | 1:8a1818e89c49 | 1 | #include "mbed.h" |
| Nurbol | 0:247c337c230a | 2 | #include "MCP23017.h" |
| Nurbol | 0:247c337c230a | 3 | #include "WattBob_TextLCD.h" |
| Nurbol | 0:247c337c230a | 4 | #include "cmd_io.h" |
| Nurbol | 0:247c337c230a | 5 | #include "globals.h" |
| Nurbol | 0:247c337c230a | 6 | |
| Nurbol | 0:247c337c230a | 7 | |
| Nurbol | 0:247c337c230a | 8 | //****************************************************************************** |
| Nurbol | 0:247c337c230a | 9 | //declare ticker |
| Nurbol | 0:247c337c230a | 10 | // |
| Nurbol | 0:247c337c230a | 11 | Ticker timersensor; |
| Nurbol | 0:247c337c230a | 12 | Ticker timerstatemachine; |
| Nurbol | 0:247c337c230a | 13 | |
| Nurbol | 0:247c337c230a | 14 | //****************************************************************************** |
| Nurbol | 0:247c337c230a | 15 | //declare Pin |
| Nurbol | 0:247c337c230a | 16 | // |
| Nurbol | 0:247c337c230a | 17 | DigitalIn sensor1(p8); |
| Nurbol | 0:247c337c230a | 18 | DigitalIn sensor2(p7); |
| Nurbol | 0:247c337c230a | 19 | DigitalIn counter1p(p5); // Value when counter 1p = 10 |
| Nurbol | 0:247c337c230a | 20 | DigitalIn counter2p(p6); // Value when counter 2p = 5 |
| Nurbol | 0:247c337c230a | 21 | DigitalIn SW1p(p11); // Switch for the 1p |
| Nurbol | 0:247c337c230a | 22 | DigitalIn SW2p(p12); // Switch for the 2p |
| Nurbol | 0:247c337c230a | 23 | |
| Nurbol | 0:247c337c230a | 24 | DigitalOut valueLED1(p23); // value sensor 2p send to the FPGA |
| Nurbol | 0:247c337c230a | 25 | DigitalOut valueLED2(p25); // value sensor 1p send to the FPGA |
| Nurbol | 0:247c337c230a | 26 | DigitalOut Reset(p27); |
| Nurbol | 0:247c337c230a | 27 | DigitalOut led1(LED1); |
| Nurbol | 0:247c337c230a | 28 | DigitalOut led2(LED2); |
| Nurbol | 0:247c337c230a | 29 | DigitalOut led3(LED3); |
| Nurbol | 0:247c337c230a | 30 | DigitalOut led4(LED4); |
| Nurbol | 0:247c337c230a | 31 | DigitalOut clk(p24); |
| Nurbol | 0:247c337c230a | 32 | |
| Nurbol | 0:247c337c230a | 33 | |
| Nurbol | 0:247c337c230a | 34 | |
| Nurbol | 0:247c337c230a | 35 | //****************************************************************************** |
| Nurbol | 0:247c337c230a | 36 | //declare variable |
| Nurbol | 0:247c337c230a | 37 | // |
| Nurbol | 0:247c337c230a | 38 | bool Position1_1p; // Position 1 for the 1p |
| Nurbol | 0:247c337c230a | 39 | bool Position2_1p; // Position 2 for the 1p |
| Nurbol | 0:247c337c230a | 40 | bool Position1_2p; // Position 1 for the 2p |
| Nurbol | 0:247c337c230a | 41 | bool Position2_2p; // Position 2 for the 2p |
| Nurbol | 0:247c337c230a | 42 | bool Motor; |
| Nurbol | 0:247c337c230a | 43 | |
| Nurbol | 0:247c337c230a | 44 | bool bSort_Mode; //to use in the code to define the mode |
| Nurbol | 0:247c337c230a | 45 | bool bMaint_Mode; //to use in the code to define the mode |
| Nurbol | 0:247c337c230a | 46 | |
| Nurbol | 0:247c337c230a | 47 | int state; |
| Nurbol | 0:247c337c230a | 48 | |
| Nurbol | 0:247c337c230a | 49 | |
| Nurbol | 0:247c337c230a | 50 | |
| Nurbol | 0:247c337c230a | 51 | //****************************************************************************** |
| Nurbol | 0:247c337c230a | 52 | // declare functions |
| Nurbol | 0:247c337c230a | 53 | // |
| Nurbol | 0:247c337c230a | 54 | void sensor (void); // Function to read sensors |
| Nurbol | 0:247c337c230a | 55 | void state_machine (void); // Function to go in the state machine to move the servos and the motor |
| Nurbol | 0:247c337c230a | 56 | |
| Nurbol | 0:247c337c230a | 57 | // |
| Nurbol | 0:247c337c230a | 58 | // 3 servo outputs |
| Nurbol | 0:247c337c230a | 59 | // |
| Nurbol | 0:247c337c230a | 60 | |
| Nurbol | 0:247c337c230a | 61 | PwmOut servo_0(p26); |
| Nurbol | 0:247c337c230a | 62 | PwmOut servo_4(p22); |
| Nurbol | 0:247c337c230a | 63 | PwmOut servo_5(p21); |
| Nurbol | 0:247c337c230a | 64 | |
| Nurbol | 0:247c337c230a | 65 | // |
| Nurbol | 0:247c337c230a | 66 | // objects necessary to use the 2*16 character MBED display |
| Nurbol | 0:247c337c230a | 67 | // |
| Nurbol | 0:247c337c230a | 68 | MCP23017 *par_port; |
| Nurbol | 0:247c337c230a | 69 | WattBob_TextLCD *lcd; |
| Nurbol | 0:247c337c230a | 70 | // |
| Nurbol | 0:247c337c230a | 71 | // Virtual COM port over USB link to laptop/PC |
| Nurbol | 0:247c337c230a | 72 | // |
| Nurbol | 0:247c337c230a | 73 | Serial pc(USBTX, USBRX); |
| Nurbol | 0:247c337c230a | 74 | |
| Nurbol | 0:247c337c230a | 75 | //****************************************************************************** |
| Nurbol | 0:247c337c230a | 76 | // Defined GLOBAL variables and structures |
| Nurbol | 0:247c337c230a | 77 | // |
| Nurbol | 0:247c337c230a | 78 | CMD_STRUCT ext_cmd; // structure to hold command data |
| Nurbol | 0:247c337c230a | 79 | STAT_STRUCT ext_stat; // structure to hold status reply |
| Nurbol | 0:247c337c230a | 80 | |
| Nurbol | 0:247c337c230a | 81 | |
| Nurbol | 0:247c337c230a | 82 | //CMD_STRUCT commandcounter2; |
| Nurbol | 0:247c337c230a | 83 | |
| Nurbol | 0:247c337c230a | 84 | uint32_t last_servo; // store for last servo number |
| Nurbol | 0:247c337c230a | 85 | |
| Nurbol | 0:247c337c230a | 86 | //************************************************************************ |
| Nurbol | 0:247c337c230a | 87 | //************************************************************************ |
| Nurbol | 0:247c337c230a | 88 | // init_sys : initialise the system |
| Nurbol | 0:247c337c230a | 89 | // ======== |
| Nurbol | 0:247c337c230a | 90 | // |
| Nurbol | 0:247c337c230a | 91 | // 1. Configure 2*16 character display |
| Nurbol | 0:247c337c230a | 92 | // 2. Print "COM test" string |
| Nurbol | 0:247c337c230a | 93 | // 3. initialise relevant global variables |
| Nurbol | 0:247c337c230a | 94 | // 4. set COM port baud rate to 19200 bits per second |
| Nurbol | 0:247c337c230a | 95 | // |
| Nurbol | 0:247c337c230a | 96 | void init_sys(void) { |
| Nurbol | 0:247c337c230a | 97 | |
| Nurbol | 0:247c337c230a | 98 | par_port = new MCP23017(p9, p10, 0x40); |
| Nurbol | 0:247c337c230a | 99 | lcd = new WattBob_TextLCD(par_port); |
| Nurbol | 0:247c337c230a | 100 | |
| Nurbol | 0:247c337c230a | 101 | par_port->write_bit(1,BL_BIT); // turn LCD backlight ON |
| Nurbol | 0:247c337c230a | 102 | lcd->cls(); |
| Nurbol | 0:247c337c230a | 103 | lcd->locate(0,7); |
| Nurbol | 0:247c337c230a | 104 | lcd->printf("W3C"); |
| Nurbol | 0:247c337c230a | 105 | |
| Nurbol | 0:247c337c230a | 106 | servo_0.period(0.020); // servo requires a 20ms period, common for all 5 servo objects |
| Nurbol | 0:247c337c230a | 107 | last_servo = SERVO_UNKNOWN; |
| Nurbol | 0:247c337c230a | 108 | pc.baud(19200); |
| Nurbol | 0:247c337c230a | 109 | |
| Nurbol | 0:247c337c230a | 110 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); // Servo 1p initialise in position 1 |
| Nurbol | 0:247c337c230a | 111 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // Servo 2p initialise in position 1 |
| Nurbol | 0:247c337c230a | 112 | servo_4.pulsewidth_us(0); // Motor stop |
| Nurbol | 0:247c337c230a | 113 | |
| Nurbol | 0:247c337c230a | 114 | Position1_1p = 1; |
| Nurbol | 0:247c337c230a | 115 | Position2_1p = 0; |
| Nurbol | 0:247c337c230a | 116 | Position1_2p = 1; |
| Nurbol | 0:247c337c230a | 117 | Position2_2p = 0; |
| Nurbol | 0:247c337c230a | 118 | |
| Nurbol | 0:247c337c230a | 119 | state = 10; |
| Nurbol | 0:247c337c230a | 120 | Reset = 1; |
| Nurbol | 0:247c337c230a | 121 | |
| Nurbol | 0:247c337c230a | 122 | valueLED1=0; |
| Nurbol | 0:247c337c230a | 123 | valueLED2=0; |
| Nurbol | 0:247c337c230a | 124 | |
| Nurbol | 0:247c337c230a | 125 | clk=0; |
| Nurbol | 0:247c337c230a | 126 | Motor = 0; |
| Nurbol | 0:247c337c230a | 127 | return; |
| Nurbol | 0:247c337c230a | 128 | } // end init_sys |
| Nurbol | 0:247c337c230a | 129 | |
| Nurbol | 0:247c337c230a | 130 | //************************************************************************ |
| Nurbol | 0:247c337c230a | 131 | // process_cmd : decode and execute command |
| Nurbol | 0:247c337c230a | 132 | // =========== |
| Nurbol | 0:247c337c230a | 133 | uint32_t process_cmd(CMD_STRUCT *command) |
| Nurbol | 0:247c337c230a | 134 | { |
| Nurbol | 0:247c337c230a | 135 | int32_t pulse_width; |
| Nurbol | 0:247c337c230a | 136 | |
| Nurbol | 0:247c337c230a | 137 | switch (command->cmd_code) { |
| Nurbol | 0:247c337c230a | 138 | // |
| Nurbol | 0:247c337c230a | 139 | // move a servo |
| Nurbol | 0:247c337c230a | 140 | // |
| Nurbol | 0:247c337c230a | 141 | case SERVO_CMD : |
| Nurbol | 0:247c337c230a | 142 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:247c337c230a | 143 | // |
| Nurbol | 0:247c337c230a | 144 | // check that parameters are OK |
| Nurbol | 0:247c337c230a | 145 | // |
| Nurbol | 0:247c337c230a | 146 | if (command->nos_params != 2) { // check for 2 parameters |
| Nurbol | 0:247c337c230a | 147 | command->result_status = CMD_BAD_NUMBER_OF_PARAMETERS; |
| Nurbol | 0:247c337c230a | 148 | break; |
| Nurbol | 0:247c337c230a | 149 | } |
| Nurbol | 0:247c337c230a | 150 | if (command->param[0] > MAX_SERVO_NUMBER ) { // check servo number |
| Nurbol | 0:247c337c230a | 151 | command->result_status = CMD_BAD_SERVO_NUMBER; |
| Nurbol | 0:247c337c230a | 152 | break; |
| Nurbol | 0:247c337c230a | 153 | } |
| Nurbol | 0:247c337c230a | 154 | if ((command->param[1] < MIN_SERVO_ANGLE) || |
| Nurbol | 0:247c337c230a | 155 | (command->param[1] > MAX_SERVO_ANGLE) ) { |
| Nurbol | 0:247c337c230a | 156 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:247c337c230a | 157 | break; |
| Nurbol | 0:247c337c230a | 158 | } |
| Nurbol | 0:247c337c230a | 159 | if ((command->param[0] == 4) && (command->param[1] == 0)) { |
| Nurbol | 0:247c337c230a | 160 | pulse_width = 0; // convert angle to pulse width |
| Nurbol | 0:247c337c230a | 161 | } |
| Nurbol | 0:247c337c230a | 162 | else{ |
| Nurbol | 0:247c337c230a | 163 | pulse_width = 1000 + (command->param[1] * 1000) / 90; // convert angle to pulse width |
| Nurbol | 0:247c337c230a | 164 | } |
| Nurbol | 0:247c337c230a | 165 | |
| Nurbol | 0:247c337c230a | 166 | |
| Nurbol | 0:247c337c230a | 167 | |
| Nurbol | 0:247c337c230a | 168 | // |
| Nurbol | 0:247c337c230a | 169 | // implement servo move to all 5 servos |
| Nurbol | 0:247c337c230a | 170 | // |
| Nurbol | 0:247c337c230a | 171 | switch (command->param[0]) { |
| Nurbol | 0:247c337c230a | 172 | case 0 : servo_0.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:247c337c230a | 173 | case 4 : servo_4.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:247c337c230a | 174 | case 5 : servo_5.pulsewidth_us(pulse_width); break; |
| Nurbol | 0:247c337c230a | 175 | } |
| Nurbol | 0:247c337c230a | 176 | last_servo = command->param[0]; |
| Nurbol | 0:247c337c230a | 177 | break; |
| Nurbol | 0:247c337c230a | 178 | // |
| Nurbol | 0:247c337c230a | 179 | // return data of the value of sensor 1p and sensor 2p |
| Nurbol | 0:247c337c230a | 180 | // |
| Nurbol | 0:247c337c230a | 181 | case READ_CMD : |
| Nurbol | 0:247c337c230a | 182 | if((bSort_Mode == 0)&&(bMaint_Mode == 1)){ // when we are on sort mode |
| Nurbol | 0:247c337c230a | 183 | command->nos_data = 2; |
| Nurbol | 0:247c337c230a | 184 | command->result_data[0] = valueLED1; |
| Nurbol | 0:247c337c230a | 185 | command->result_data[1] = valueLED2; |
| Nurbol | 0:247c337c230a | 186 | } |
| Nurbol | 0:247c337c230a | 187 | break; |
| Nurbol | 0:247c337c230a | 188 | |
| Nurbol | 0:247c337c230a | 189 | // |
| Nurbol | 0:247c337c230a | 190 | // Mode value |
| Nurbol | 0:247c337c230a | 191 | // |
| Nurbol | 0:247c337c230a | 192 | case MAINT_MODE : // Maintenance mode |
| Nurbol | 0:247c337c230a | 193 | bSort_Mode = 0; |
| Nurbol | 0:247c337c230a | 194 | bMaint_Mode = 1; |
| Nurbol | 0:247c337c230a | 195 | Reset = 1; |
| Nurbol | 0:247c337c230a | 196 | servo_4.pulsewidth_us(0); // Motor stop |
| Nurbol | 0:247c337c230a | 197 | servo_0.pulsewidth_us(0); // Servo 1p stop |
| Nurbol | 0:247c337c230a | 198 | servo_5.pulsewidth_us(0); // Servo 2p stop |
| Nurbol | 0:247c337c230a | 199 | lcd->cls(); |
| Nurbol | 0:247c337c230a | 200 | lcd->locate(0,7); |
| Nurbol | 0:247c337c230a | 201 | lcd->printf("W3C"); |
| Nurbol | 0:247c337c230a | 202 | lcd->locate(1,0); |
| Nurbol | 0:247c337c230a | 203 | lcd->printf("maintenance mode"); |
| Nurbol | 0:247c337c230a | 204 | break; |
| Nurbol | 0:247c337c230a | 205 | |
| Nurbol | 0:247c337c230a | 206 | |
| Nurbol | 0:247c337c230a | 207 | case SORT_MODE : // sort mode |
| Nurbol | 0:247c337c230a | 208 | bSort_Mode = 1; |
| Nurbol | 0:247c337c230a | 209 | bMaint_Mode = 0; |
| Nurbol | 0:247c337c230a | 210 | Reset = 0; |
| Nurbol | 0:247c337c230a | 211 | state = 10; |
| Nurbol | 0:247c337c230a | 212 | lcd->cls(); |
| Nurbol | 0:247c337c230a | 213 | lcd->locate(0,7); |
| Nurbol | 0:247c337c230a | 214 | lcd->printf("W3C"); |
| Nurbol | 0:247c337c230a | 215 | lcd->locate(1,0); |
| Nurbol | 0:247c337c230a | 216 | lcd->printf("sort mode"); |
| Nurbol | 0:247c337c230a | 217 | break; |
| Nurbol | 0:247c337c230a | 218 | |
| Nurbol | 0:247c337c230a | 219 | // |
| Nurbol | 0:247c337c230a | 220 | // Urgency mode |
| Nurbol | 0:247c337c230a | 221 | // |
| Nurbol | 0:247c337c230a | 222 | case URGENCY : |
| Nurbol | 0:247c337c230a | 223 | Reset = 1; |
| Nurbol | 0:247c337c230a | 224 | bSort_Mode = 0; |
| Nurbol | 0:247c337c230a | 225 | bMaint_Mode = 0; |
| Nurbol | 0:247c337c230a | 226 | state = 10; |
| Nurbol | 0:247c337c230a | 227 | servo_4.pulsewidth_us(0); // Motor stop |
| Nurbol | 0:247c337c230a | 228 | servo_0.pulsewidth_us(0); // Servo 1p stop |
| Nurbol | 0:247c337c230a | 229 | servo_5.pulsewidth_us(0); // Servo 2p stop |
| Nurbol | 0:247c337c230a | 230 | lcd->cls(); |
| Nurbol | 0:247c337c230a | 231 | lcd->locate(0,7); |
| Nurbol | 0:247c337c230a | 232 | lcd->printf("W3C"); |
| Nurbol | 0:247c337c230a | 233 | lcd->locate(1,0); |
| Nurbol | 0:247c337c230a | 234 | lcd->printf("urgency mode"); |
| Nurbol | 0:247c337c230a | 235 | break; |
| Nurbol | 0:247c337c230a | 236 | // |
| Nurbol | 0:247c337c230a | 237 | // Exit mode |
| Nurbol | 0:247c337c230a | 238 | // |
| Nurbol | 0:247c337c230a | 239 | case EXIT : |
| Nurbol | 0:247c337c230a | 240 | Reset = 1; |
| Nurbol | 0:247c337c230a | 241 | bSort_Mode = 0; |
| Nurbol | 0:247c337c230a | 242 | bMaint_Mode = 0; |
| Nurbol | 0:247c337c230a | 243 | state = 10; |
| Nurbol | 0:247c337c230a | 244 | servo_4.pulsewidth_us(0); // Motor stop |
| Nurbol | 0:247c337c230a | 245 | servo_0.pulsewidth_us(0); // sensor 1p stop |
| Nurbol | 0:247c337c230a | 246 | servo_5.pulsewidth_us(0); // sensor 2p stop |
| Nurbol | 0:247c337c230a | 247 | lcd->cls(); |
| Nurbol | 0:247c337c230a | 248 | lcd->locate(0,7); |
| Nurbol | 0:247c337c230a | 249 | lcd->printf("W3C"); |
| Nurbol | 0:247c337c230a | 250 | break; |
| Nurbol | 0:247c337c230a | 251 | |
| Nurbol | 0:247c337c230a | 252 | // Send data of the value led 2p |
| Nurbol | 0:247c337c230a | 253 | case VALUE_LED1 : |
| Nurbol | 0:247c337c230a | 254 | command->nos_data = 1; |
| Nurbol | 0:247c337c230a | 255 | command->result_data[0] = valueLED1; |
| Nurbol | 0:247c337c230a | 256 | break; |
| Nurbol | 0:247c337c230a | 257 | |
| Nurbol | 0:247c337c230a | 258 | // Send data of the value led 1p |
| Nurbol | 0:247c337c230a | 259 | case VALUE_LED2 : |
| Nurbol | 0:247c337c230a | 260 | command->nos_data = 2; |
| Nurbol | 0:247c337c230a | 261 | command->result_data[1] = valueLED2; |
| Nurbol | 0:247c337c230a | 262 | break; |
| Nurbol | 0:247c337c230a | 263 | |
| Nurbol | 0:247c337c230a | 264 | // Send data of the value counter 1p |
| Nurbol | 0:247c337c230a | 265 | case COUNTER1P : |
| Nurbol | 0:247c337c230a | 266 | command->nos_data = 3; |
| Nurbol | 0:247c337c230a | 267 | command->result_data[2] = counter1p; |
| Nurbol | 0:247c337c230a | 268 | break; |
| Nurbol | 0:247c337c230a | 269 | |
| Nurbol | 0:247c337c230a | 270 | // Send data of the value counter 2p |
| Nurbol | 0:247c337c230a | 271 | case COUNTER2P : |
| Nurbol | 0:247c337c230a | 272 | command->nos_data = 4; |
| Nurbol | 0:247c337c230a | 273 | command->result_data[3] = counter2p; |
| Nurbol | 0:247c337c230a | 274 | break; |
| Nurbol | 0:247c337c230a | 275 | |
| Nurbol | 0:247c337c230a | 276 | // Send data of the value position1 1p |
| Nurbol | 0:247c337c230a | 277 | case POSITION1_1P : |
| Nurbol | 0:247c337c230a | 278 | command->nos_data = 1; |
| Nurbol | 0:247c337c230a | 279 | command->result_data[0] = Position1_1p; |
| Nurbol | 0:247c337c230a | 280 | break; |
| Nurbol | 0:247c337c230a | 281 | |
| Nurbol | 0:247c337c230a | 282 | // Send data of the value position1 2p |
| Nurbol | 0:247c337c230a | 283 | case POSITION1_2P : |
| Nurbol | 0:247c337c230a | 284 | command->nos_data = 2; |
| Nurbol | 0:247c337c230a | 285 | command->result_data[1] = Position1_2p; |
| Nurbol | 0:247c337c230a | 286 | break; |
| Nurbol | 0:247c337c230a | 287 | |
| Nurbol | 0:247c337c230a | 288 | // Send data of the motor |
| Nurbol | 0:247c337c230a | 289 | case MOTOR : |
| Nurbol | 0:247c337c230a | 290 | command->nos_data = 3; |
| Nurbol | 0:247c337c230a | 291 | command->result_data[2] = Motor; |
| Nurbol | 0:247c337c230a | 292 | break; |
| Nurbol | 0:247c337c230a | 293 | |
| Nurbol | 0:247c337c230a | 294 | // |
| Nurbol | 0:247c337c230a | 295 | // catch any problems |
| Nurbol | 0:247c337c230a | 296 | // |
| Nurbol | 0:247c337c230a | 297 | default: |
| Nurbol | 0:247c337c230a | 298 | command->nos_data = 0; // no data to be returned |
| Nurbol | 0:247c337c230a | 299 | command->result_status = CMD_BAD_SERVO_VALUE; |
| Nurbol | 0:247c337c230a | 300 | break; |
| Nurbol | 0:247c337c230a | 301 | } |
| Nurbol | 0:247c337c230a | 302 | return OK; |
| Nurbol | 0:247c337c230a | 303 | } |
| Nurbol | 0:247c337c230a | 304 | |
| Nurbol | 0:247c337c230a | 305 | //************************************************************************ |
| Nurbol | 0:247c337c230a | 306 | |
| Nurbol | 0:247c337c230a | 307 | //function to send value on the FPGA when 1p or 2p are detected |
| Nurbol | 0:247c337c230a | 308 | void sensor (void){ |
| Nurbol | 0:247c337c230a | 309 | sensor1.read(); |
| Nurbol | 0:247c337c230a | 310 | sensor2.read(); |
| Nurbol | 0:247c337c230a | 311 | |
| Nurbol | 0:247c337c230a | 312 | clk = !clk; |
| Nurbol | 0:247c337c230a | 313 | wait(0.01); |
| Nurbol | 0:247c337c230a | 314 | |
| Nurbol | 0:247c337c230a | 315 | if(sensor1 > 0.5) { |
| Nurbol | 0:247c337c230a | 316 | led1 = 1; |
| Nurbol | 0:247c337c230a | 317 | valueLED1 = 1; |
| Nurbol | 0:247c337c230a | 318 | } |
| Nurbol | 0:247c337c230a | 319 | else if(sensor1 < 0.5){ |
| Nurbol | 0:247c337c230a | 320 | led1 = 0; |
| Nurbol | 0:247c337c230a | 321 | valueLED1 = 0; |
| Nurbol | 0:247c337c230a | 322 | } |
| Nurbol | 0:247c337c230a | 323 | if(sensor2 > 0.5) { |
| Nurbol | 0:247c337c230a | 324 | led2 = 1; |
| Nurbol | 0:247c337c230a | 325 | valueLED2 = 1; |
| Nurbol | 0:247c337c230a | 326 | } |
| Nurbol | 0:247c337c230a | 327 | else if(sensor2 < 0.5){ |
| Nurbol | 0:247c337c230a | 328 | led2 = 0; |
| Nurbol | 0:247c337c230a | 329 | valueLED2 = 0; |
| Nurbol | 0:247c337c230a | 330 | } |
| Nurbol | 0:247c337c230a | 331 | } |
| Nurbol | 0:247c337c230a | 332 | |
| Nurbol | 0:247c337c230a | 333 | |
| Nurbol | 0:247c337c230a | 334 | //function for the state machine to move servos between 2 positions |
| Nurbol | 0:247c337c230a | 335 | void state_machine (){ |
| Nurbol | 0:247c337c230a | 336 | if((bSort_Mode == 1)&&(bMaint_Mode == 0)){ |
| Nurbol | 0:247c337c230a | 337 | |
| Nurbol | 0:247c337c230a | 338 | |
| Nurbol | 0:247c337c230a | 339 | |
| Nurbol | 0:247c337c230a | 340 | switch(state) |
| Nurbol | 0:247c337c230a | 341 | { |
| Nurbol | 0:247c337c230a | 342 | case 10 : |
| Nurbol | 0:247c337c230a | 343 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run |
| Nurbol | 0:247c337c230a | 344 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 1p go to position 1 |
| Nurbol | 0:247c337c230a | 345 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 2p go to position 1 |
| Nurbol | 0:247c337c230a | 346 | Position1_1p = 1; |
| Nurbol | 0:247c337c230a | 347 | Position2_1p = 0; |
| Nurbol | 0:247c337c230a | 348 | Position1_2p = 1; |
| Nurbol | 0:247c337c230a | 349 | Position2_2p = 0; |
| Nurbol | 0:247c337c230a | 350 | Motor = 1; |
| Nurbol | 0:247c337c230a | 351 | led3 = 0; |
| Nurbol | 0:247c337c230a | 352 | led4 = 0; |
| Nurbol | 0:247c337c230a | 353 | state = 0; |
| Nurbol | 0:247c337c230a | 354 | break; |
| Nurbol | 0:247c337c230a | 355 | |
| Nurbol | 0:247c337c230a | 356 | |
| Nurbol | 0:247c337c230a | 357 | case 0: // initial state |
| Nurbol | 0:247c337c230a | 358 | Motor = 1; |
| Nurbol | 0:247c337c230a | 359 | led3 = 0; |
| Nurbol | 0:247c337c230a | 360 | led4 = 0; |
| Nurbol | 0:247c337c230a | 361 | counter1p.read(); |
| Nurbol | 0:247c337c230a | 362 | counter2p.read(); |
| Nurbol | 0:247c337c230a | 363 | if(SW1p == 0){ |
| Nurbol | 0:247c337c230a | 364 | if(counter1p > 0.5){ |
| Nurbol | 0:247c337c230a | 365 | state = 1; |
| Nurbol | 0:247c337c230a | 366 | } |
| Nurbol | 0:247c337c230a | 367 | } |
| Nurbol | 0:247c337c230a | 368 | if(SW2p == 0){ |
| Nurbol | 0:247c337c230a | 369 | if(counter2p > 0.5){ |
| Nurbol | 0:247c337c230a | 370 | state = 4; |
| Nurbol | 0:247c337c230a | 371 | } |
| Nurbol | 0:247c337c230a | 372 | } |
| Nurbol | 0:247c337c230a | 373 | break; |
| Nurbol | 0:247c337c230a | 374 | case 1: // state 1 if counter1p = 1 |
| Nurbol | 0:247c337c230a | 375 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 0:247c337c230a | 376 | wait(2); |
| Nurbol | 0:247c337c230a | 377 | servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 1p go to position 2 |
| Nurbol | 0:247c337c230a | 378 | wait(1); |
| Nurbol | 0:247c337c230a | 379 | Position1_1p = 0; |
| Nurbol | 0:247c337c230a | 380 | Position2_1p = 1; |
| Nurbol | 0:247c337c230a | 381 | Motor = 0; |
| Nurbol | 0:247c337c230a | 382 | if((Position2_1p == 1)&&(counter1p < 0.5)){ |
| Nurbol | 0:247c337c230a | 383 | state = 2; |
| Nurbol | 0:247c337c230a | 384 | } |
| Nurbol | 0:247c337c230a | 385 | break; |
| Nurbol | 0:247c337c230a | 386 | case 2: // state 2 if servo 1p is in position 2 |
| Nurbol | 0:247c337c230a | 387 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run |
| Nurbol | 0:247c337c230a | 388 | Motor = 1; |
| Nurbol | 0:247c337c230a | 389 | counter1p.read(); |
| Nurbol | 0:247c337c230a | 390 | counter2p.read(); |
| Nurbol | 0:247c337c230a | 391 | if(counter1p > 0.5){ |
| Nurbol | 0:247c337c230a | 392 | state = 3; |
| Nurbol | 0:247c337c230a | 393 | } |
| Nurbol | 0:247c337c230a | 394 | else if((counter2p > 0.5)&&(Position1_2p == 1)){ |
| Nurbol | 0:247c337c230a | 395 | state = 4; |
| Nurbol | 0:247c337c230a | 396 | } |
| Nurbol | 0:247c337c230a | 397 | else if((counter2p > 0.5)&&(Position2_2p == 1)){ |
| Nurbol | 0:247c337c230a | 398 | state = 6; |
| Nurbol | 0:247c337c230a | 399 | } |
| Nurbol | 0:247c337c230a | 400 | break; |
| Nurbol | 0:247c337c230a | 401 | case 3: // state 3 if counter 1p = 1 |
| Nurbol | 0:247c337c230a | 402 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 0:247c337c230a | 403 | Motor = 0; |
| Nurbol | 0:247c337c230a | 404 | led3 = 1; |
| Nurbol | 0:247c337c230a | 405 | if(SW1p == 1){ // wait SW 1p to go to the initial state |
| Nurbol | 0:247c337c230a | 406 | servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:247c337c230a | 407 | state = 0; |
| Nurbol | 0:247c337c230a | 408 | } |
| Nurbol | 0:247c337c230a | 409 | break; |
| Nurbol | 0:247c337c230a | 410 | case 4: // state 4 if counter 2p = 1 |
| Nurbol | 0:247c337c230a | 411 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 0:247c337c230a | 412 | wait(2); |
| Nurbol | 0:247c337c230a | 413 | servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 2p go to position 2 |
| Nurbol | 0:247c337c230a | 414 | wait(1); |
| Nurbol | 0:247c337c230a | 415 | Position1_2p = 0; |
| Nurbol | 0:247c337c230a | 416 | Position2_2p = 1; |
| Nurbol | 0:247c337c230a | 417 | Motor = 0; |
| Nurbol | 0:247c337c230a | 418 | if((Position2_2p == 1)&&(counter2p < 0.5)){ |
| Nurbol | 0:247c337c230a | 419 | state = 5; |
| Nurbol | 0:247c337c230a | 420 | } |
| Nurbol | 0:247c337c230a | 421 | break; |
| Nurbol | 0:247c337c230a | 422 | case 5: // state 5 if servo 2p is in position 2 |
| Nurbol | 0:247c337c230a | 423 | servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor run |
| Nurbol | 0:247c337c230a | 424 | Motor = 1; |
| Nurbol | 0:247c337c230a | 425 | counter2p.read(); |
| Nurbol | 0:247c337c230a | 426 | counter1p.read(); |
| Nurbol | 0:247c337c230a | 427 | if(counter2p > 0.5){ |
| Nurbol | 0:247c337c230a | 428 | state = 6; |
| Nurbol | 0:247c337c230a | 429 | } |
| Nurbol | 0:247c337c230a | 430 | else if((counter1p > 0.5)&&(Position1_1p == 1)){ |
| Nurbol | 0:247c337c230a | 431 | state = 0; |
| Nurbol | 0:247c337c230a | 432 | } |
| Nurbol | 0:247c337c230a | 433 | else if((counter1p > 0.5)&&(Position2_1p == 1)){ |
| Nurbol | 0:247c337c230a | 434 | state = 3; |
| Nurbol | 0:247c337c230a | 435 | } |
| Nurbol | 0:247c337c230a | 436 | break; |
| Nurbol | 0:247c337c230a | 437 | case 6: // state 6 if counter 2p = 1 |
| Nurbol | 0:247c337c230a | 438 | servo_4.pulsewidth_us(0); // motor stop |
| Nurbol | 0:247c337c230a | 439 | Motor = 0; |
| Nurbol | 0:247c337c230a | 440 | led4 = 1; |
| Nurbol | 0:247c337c230a | 441 | if(SW2p == 1){ // wait SW 2p to go to the initial state |
| Nurbol | 0:247c337c230a | 442 | servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); |
| Nurbol | 0:247c337c230a | 443 | state = 0; |
| Nurbol | 0:247c337c230a | 444 | } |
| Nurbol | 0:247c337c230a | 445 | break; |
| Nurbol | 0:247c337c230a | 446 | } |
| Nurbol | 0:247c337c230a | 447 | } |
| Nurbol | 0:247c337c230a | 448 | } |
| Nurbol | 0:247c337c230a | 449 | |
| Nurbol | 0:247c337c230a | 450 | // |
| Nurbol | 0:247c337c230a | 451 | //************************************************************************ |
| Nurbol | 0:247c337c230a | 452 | // Main Program |
| Nurbol | 0:247c337c230a | 453 | // |
| Nurbol | 0:247c337c230a | 454 | int main() { |
| Nurbol | 0:247c337c230a | 455 | |
| Nurbol | 0:247c337c230a | 456 | init_sys(); |
| Nurbol | 0:247c337c230a | 457 | Reset = 0; |
| Nurbol | 0:247c337c230a | 458 | |
| Nurbol | 0:247c337c230a | 459 | FOREVER { |
| Nurbol | 0:247c337c230a | 460 | |
| Nurbol | 0:247c337c230a | 461 | timersensor.attach(&sensor, 0.02); //function sensor is reading all the 20 ms |
| Nurbol | 0:247c337c230a | 462 | |
| Nurbol | 0:247c337c230a | 463 | counter1p.read(); |
| Nurbol | 0:247c337c230a | 464 | counter2p.read(); |
| Nurbol | 0:247c337c230a | 465 | |
| Nurbol | 0:247c337c230a | 466 | timerstatemachine.attach(&state_machine, 0.1); // function state machine is readinf all the 100 ms |
| Nurbol | 0:247c337c230a | 467 | |
| Nurbol | 0:247c337c230a | 468 | clk = !clk; |
| Nurbol | 0:247c337c230a | 469 | wait(0.001); |
| Nurbol | 0:247c337c230a | 470 | |
| Nurbol | 0:247c337c230a | 471 | get_cmd(&ext_cmd); |
| Nurbol | 0:247c337c230a | 472 | // |
| Nurbol | 0:247c337c230a | 473 | // Check status of read command activity and return an error status if there was a problem |
| Nurbol | 0:247c337c230a | 474 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:247c337c230a | 475 | // |
| Nurbol | 0:247c337c230a | 476 | if (ext_cmd.result_status != OK){ |
| Nurbol | 0:247c337c230a | 477 | send_status(ext_cmd.result_status); |
| Nurbol | 0:247c337c230a | 478 | continue; |
| Nurbol | 0:247c337c230a | 479 | } |
| Nurbol | 0:247c337c230a | 480 | // |
| Nurbol | 0:247c337c230a | 481 | // Parse command and return an error staus if there is a problem |
| Nurbol | 0:247c337c230a | 482 | // If there is a problem, then return status code only and wait for next command. |
| Nurbol | 0:247c337c230a | 483 | // |
| Nurbol | 0:247c337c230a | 484 | parse_cmd(&ext_cmd); |
| Nurbol | 0:247c337c230a | 485 | // lcd->locate(1,0); lcd->printf(ext_cmd.cmd_str); |
| Nurbol | 0:247c337c230a | 486 | if ((ext_cmd.result_status != OK) && (ext_cmd.cmd_code != TEXT_CMD)){ |
| Nurbol | 0:247c337c230a | 487 | lcd->cls(); lcd->locate(0,0); lcd->printf("W3C"); lcd->locate(1,0); lcd->printf("parse : error"); |
| Nurbol | 0:247c337c230a | 488 | send_status(ext_cmd.result_status); |
| Nurbol | 0:247c337c230a | 489 | continue; |
| Nurbol | 0:247c337c230a | 490 | } |
| Nurbol | 0:247c337c230a | 491 | // |
| Nurbol | 0:247c337c230a | 492 | // Execute command and return an error staus if there is a problem |
| Nurbol | 0:247c337c230a | 493 | // |
| Nurbol | 0:247c337c230a | 494 | process_cmd(&ext_cmd); |
| Nurbol | 0:247c337c230a | 495 | reply_to_cmd(&ext_cmd); |
| Nurbol | 0:247c337c230a | 496 | } |
| Nurbol | 0:247c337c230a | 497 | |
| Nurbol | 0:247c337c230a | 498 | } |
| Nurbol | 0:247c337c230a | 499 | |
| Nurbol | 0:247c337c230a | 500 | |
| Nurbol | 0:247c337c230a | 501 | |
| Nurbol | 0:247c337c230a | 502 | |
| Nurbol | 0:247c337c230a | 503 | |
| Nurbol | 0:247c337c230a | 504 | |
| Nurbol | 0:247c337c230a | 505 | |
| Nurbol | 0:247c337c230a | 506 | |
| Nurbol | 0:247c337c230a | 507 |