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
Diff: main.cpp
- Revision:
- 2:a73037a7d85d
- Parent:
- 1:7b420a2ea7db
--- a/main.cpp Tue Aug 26 12:33:27 2014 +0000 +++ b/main.cpp Wed Aug 27 12:28:48 2014 +0000 @@ -1,116 +1,45 @@ #include "mbed.h" +#include "TurntableControl.h" +#include "ConsoleSerial.h" -enum calib_state_t { - UNCALIBRATED, - INITIALISING, - CALIBRATING, - CALIBRATED}; +#define CONSOLE_BAUD 115200 + + DigitalOut my_led(LED1); // Sanity LED -DigitalOut ttDrive(PA_14); // the drive signal for the turntable -InterruptIn encoder(PA_13); // Signal from encoder -InterruptIn limitSwitch(PA_15); // Signal from limit switch - -calib_state_t calib_state = UNCALIBRATED; // Flag for calibration state -int encoderMax = 0; // Calibrated maximum value for the encoder -int encoderCurrent = 0; // Keeps track of the current position of the turn table -bool limitFlag = 0; - -void calibrate(); // synchronises and calibrates MCU to turntable -void incrementEncoder(); // increments value i, used as an interrupt target -void resetEncoder(); +TurntableControl tc; // Turntable controller -ConsoleSerial consoleSerial(SERIAL_TX, SERIAL_RX); +ConsoleSerial cs(SERIAL_TX, SERIAL_RX); int main() { - consoleSerial.setBaud(CONSOLE_BAUD); + cs.setBaud(CONSOLE_BAUD); + + cs.printf("resetting\n\r"); - my_led = 0; - - // Step 1: Attach interrupt signals to appropriate functions + // Step 1: reset the turntable + tc.reset(); + cs.printf("reset\n\rcalibrating\n\r"); - limitSwitch.mode(PullUp); - 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 - encoder.mode(PullDown); - encoder.fall(&incrementEncoder); - encoder.rise(&incrementEncoder); + // Step 2: calibrate the turntable + cs.printf("Max encoder = %d\n\r", tc.calibrate()); - // Step 2: Calibrate MCU to the turn table - calibrate(); - // Step 3: Control turntable using hard coded commands + // Step 3: rotate to a specified quarter + tc.quarterTurns(4); + + cs.printf("Done incrementing\r\n"); + cs.printf("Encoder Current = %d\r\n", tc.getEncoderCurrent()); + // Step 4: Include WiConnect Library // Step 5: Interpret commands sent over TCP // Configure sanity LED to blink while(1) { - //my_led = !my_led; + my_led = !my_led; wait(0.5); } } - -void calibrate() -{ - // Step 1: Set status to uncalibrated - calib_state = UNCALIBRATED; - // Step 2: Get the motor turning - ttDrive = 1; - calib_state = INITIALISING; - encoderMax = 0; // reset the maximum encoder value - - // Step 2: Continue turning until calibration state is "CALIBRATED" - // the actual calibration will be handled by interrupts - - while (calib_state != CALIBRATED) - { - // run time reaches here....my_led = 1; - my_led = limitFlag; - if(limitFlag == 1) - { - my_led = 1; - // run time does not reach here - // Step 2: Process the calibration state - limitFlag = 0; - switch(calib_state) - { - case (UNCALIBRATED): - calib_state = INITIALISING; - break; - case (INITIALISING): - calib_state = CALIBRATING; - break; - case (CALIBRATING): - calib_state = CALIBRATED; - break; - case (CALIBRATED): - break; - default: - calib_state = UNCALIBRATED; - } - } - } -} - -void incrementEncoder() -{ - // Step 1: De-refference pointer and increment the value - if (calib_state == CALIBRATING) - ++encoderMax; - else - ++encoderCurrent; -} - -void resetEncoder() -{ - // code reaches here...my_led = 1; - // Step 1: Set encoderCurrent value to zero - encoderCurrent = 0; - - // Show that the limit switch has been pressed - limitFlag = 1; - my_led = limitFlag; -} \ No newline at end of file