Nathan Stathis / Mbed 2 deprecated Nucleo_WiFi_turntable

This project will enable remote control of a motorised turntable via a WiFi enabled TCP link using ACKme's (http://ack.me/) Wi-Fi enablement platform

Dependencies:   mbed

main.cpp@1:7b420a2ea7db, 2014-08-26 (annotated)

Committer:
Stathisn
Date:
Tue Aug 26 12:33:27 2014 +0000
Revision:
1:7b420a2ea7db
Parent:
0:01fd80c0a524
Child:
2:a73037a7d85d
End of day progress. Requires clean up.; Added interrupt code to handle encoder rising/falling edges and limit switch falling edge (active low signal); Added code to handle initialisation and calibration of the turntable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stathisn 0:01fd80c0a524 1 #include "mbed.h"
Stathisn 0:01fd80c0a524 2
Stathisn 0:01fd80c0a524 3 enum calib_state_t {
Stathisn 0:01fd80c0a524 4 UNCALIBRATED,
Stathisn 1:7b420a2ea7db 5 INITIALISING,
Stathisn 0:01fd80c0a524 6 CALIBRATING,
Stathisn 1:7b420a2ea7db 7 CALIBRATED};
Stathisn 0:01fd80c0a524 8
Stathisn 0:01fd80c0a524 9 DigitalOut my_led(LED1); // Sanity LED
Stathisn 0:01fd80c0a524 10 DigitalOut ttDrive(PA_14); // the drive signal for the turntable
Stathisn 0:01fd80c0a524 11 InterruptIn encoder(PA_13); // Signal from encoder
Stathisn 0:01fd80c0a524 12 InterruptIn limitSwitch(PA_15); // Signal from limit switch
Stathisn 0:01fd80c0a524 13
Stathisn 1:7b420a2ea7db 14 calib_state_t calib_state = UNCALIBRATED; // Flag for calibration state
Stathisn 0:01fd80c0a524 15 int encoderMax = 0; // Calibrated maximum value for the encoder
Stathisn 1:7b420a2ea7db 16 int encoderCurrent = 0; // Keeps track of the current position of the turn table
Stathisn 1:7b420a2ea7db 17 bool limitFlag = 0;
Stathisn 0:01fd80c0a524 18
Stathisn 1:7b420a2ea7db 19 void calibrate(); // synchronises and calibrates MCU to turntable
Stathisn 1:7b420a2ea7db 20 void incrementEncoder(); // increments value i, used as an interrupt target
Stathisn 1:7b420a2ea7db 21 void resetEncoder();
Stathisn 1:7b420a2ea7db 22
Stathisn 1:7b420a2ea7db 23
Stathisn 1:7b420a2ea7db 24 ConsoleSerial consoleSerial(SERIAL_TX, SERIAL_RX);
Stathisn 0:01fd80c0a524 25
Stathisn 0:01fd80c0a524 26
Stathisn 0:01fd80c0a524 27 int main() {
Stathisn 0:01fd80c0a524 28
Stathisn 0:01fd80c0a524 29
Stathisn 1:7b420a2ea7db 30 consoleSerial.setBaud(CONSOLE_BAUD);
Stathisn 1:7b420a2ea7db 31
Stathisn 1:7b420a2ea7db 32 my_led = 0;
Stathisn 1:7b420a2ea7db 33
Stathisn 0:01fd80c0a524 34 // Step 1: Attach interrupt signals to appropriate functions
Stathisn 1:7b420a2ea7db 35
Stathisn 1:7b420a2ea7db 36 limitSwitch.mode(PullUp);
Stathisn 1:7b420a2ea7db 37 limitSwitch.fall(&resetEncoder); //****Ask someone about correct handling of interrupts, including; naming convention (resetEncoder also handles calib_state), potential coupling realted to having a function perform two tasks
Stathisn 1:7b420a2ea7db 38 encoder.mode(PullDown);
Stathisn 1:7b420a2ea7db 39 encoder.fall(&incrementEncoder);
Stathisn 1:7b420a2ea7db 40 encoder.rise(&incrementEncoder);
Stathisn 1:7b420a2ea7db 41
Stathisn 0:01fd80c0a524 42 // Step 2: Calibrate MCU to the turn table
Stathisn 1:7b420a2ea7db 43 calibrate();
Stathisn 0:01fd80c0a524 44 // Step 3: Control turntable using hard coded commands
Stathisn 0:01fd80c0a524 45 // Step 4: Include WiConnect Library
Stathisn 0:01fd80c0a524 46 // Step 5: Interpret commands sent over TCP
Stathisn 0:01fd80c0a524 47
Stathisn 0:01fd80c0a524 48
Stathisn 0:01fd80c0a524 49 // Configure sanity LED to blink
Stathisn 0:01fd80c0a524 50 while(1) {
Stathisn 1:7b420a2ea7db 51 //my_led = !my_led;
Stathisn 0:01fd80c0a524 52 wait(0.5);
Stathisn 0:01fd80c0a524 53 }
Stathisn 0:01fd80c0a524 54 }
Stathisn 0:01fd80c0a524 55
Stathisn 1:7b420a2ea7db 56 void calibrate()
Stathisn 0:01fd80c0a524 57 {
Stathisn 1:7b420a2ea7db 58 // Step 1: Set status to uncalibrated
Stathisn 1:7b420a2ea7db 59 calib_state = UNCALIBRATED;
Stathisn 1:7b420a2ea7db 60 // Step 2: Get the motor turning
Stathisn 1:7b420a2ea7db 61 ttDrive = 1;
Stathisn 1:7b420a2ea7db 62 calib_state = INITIALISING;
Stathisn 1:7b420a2ea7db 63 encoderMax = 0; // reset the maximum encoder value
Stathisn 1:7b420a2ea7db 64
Stathisn 0:01fd80c0a524 65 // Step 2: Continue turning until calibration state is "CALIBRATED"
Stathisn 0:01fd80c0a524 66 // the actual calibration will be handled by interrupts
Stathisn 1:7b420a2ea7db 67
Stathisn 1:7b420a2ea7db 68 while (calib_state != CALIBRATED)
Stathisn 1:7b420a2ea7db 69 {
Stathisn 1:7b420a2ea7db 70 // run time reaches here....my_led = 1;
Stathisn 1:7b420a2ea7db 71 my_led = limitFlag;
Stathisn 1:7b420a2ea7db 72 if(limitFlag == 1)
Stathisn 1:7b420a2ea7db 73 {
Stathisn 1:7b420a2ea7db 74 my_led = 1;
Stathisn 1:7b420a2ea7db 75 // run time does not reach here
Stathisn 1:7b420a2ea7db 76 // Step 2: Process the calibration state
Stathisn 1:7b420a2ea7db 77 limitFlag = 0;
Stathisn 1:7b420a2ea7db 78 switch(calib_state)
Stathisn 1:7b420a2ea7db 79 {
Stathisn 1:7b420a2ea7db 80 case (UNCALIBRATED):
Stathisn 1:7b420a2ea7db 81 calib_state = INITIALISING;
Stathisn 1:7b420a2ea7db 82 break;
Stathisn 1:7b420a2ea7db 83 case (INITIALISING):
Stathisn 1:7b420a2ea7db 84 calib_state = CALIBRATING;
Stathisn 1:7b420a2ea7db 85 break;
Stathisn 1:7b420a2ea7db 86 case (CALIBRATING):
Stathisn 1:7b420a2ea7db 87 calib_state = CALIBRATED;
Stathisn 1:7b420a2ea7db 88 break;
Stathisn 1:7b420a2ea7db 89 case (CALIBRATED):
Stathisn 1:7b420a2ea7db 90 break;
Stathisn 1:7b420a2ea7db 91 default:
Stathisn 1:7b420a2ea7db 92 calib_state = UNCALIBRATED;
Stathisn 1:7b420a2ea7db 93 }
Stathisn 1:7b420a2ea7db 94 }
Stathisn 1:7b420a2ea7db 95 }
Stathisn 0:01fd80c0a524 96 }
Stathisn 0:01fd80c0a524 97
Stathisn 1:7b420a2ea7db 98 void incrementEncoder()
Stathisn 0:01fd80c0a524 99 {
Stathisn 0:01fd80c0a524 100 // Step 1: De-refference pointer and increment the value
Stathisn 1:7b420a2ea7db 101 if (calib_state == CALIBRATING)
Stathisn 1:7b420a2ea7db 102 ++encoderMax;
Stathisn 1:7b420a2ea7db 103 else
Stathisn 1:7b420a2ea7db 104 ++encoderCurrent;
Stathisn 1:7b420a2ea7db 105 }
Stathisn 1:7b420a2ea7db 106
Stathisn 1:7b420a2ea7db 107 void resetEncoder()
Stathisn 1:7b420a2ea7db 108 {
Stathisn 1:7b420a2ea7db 109 // code reaches here...my_led = 1;
Stathisn 1:7b420a2ea7db 110 // Step 1: Set encoderCurrent value to zero
Stathisn 1:7b420a2ea7db 111 encoderCurrent = 0;
Stathisn 1:7b420a2ea7db 112
Stathisn 1:7b420a2ea7db 113 // Show that the limit switch has been pressed
Stathisn 1:7b420a2ea7db 114 limitFlag = 1;
Stathisn 1:7b420a2ea7db 115 my_led = limitFlag;
Stathisn 0:01fd80c0a524 116 }