Proyecto de Tesis en Mecatrónica. Universidad Técnica del Norte. Ernesto Palacios <mecatronica.mid@gmail.com>
Dependencies: EthernetNetIf HTTPServer QEI_hw RPCInterface mbed
setup.cpp@32:4483d6c225e5, 2014-05-07 (annotated)
- Committer:
- Yo_Robot
- Date:
- Wed May 07 01:05:05 2014 +0000
- Revision:
- 32:4483d6c225e5
- Parent:
- 31:7e2cdd547cb2
- Child:
- 33:e6ff02c3e0f5
Funciona falta arreglar el c?lculo de las RPM con el encoder
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Yo_Robot | 4:552beeda4722 | 1 | /** |
Yo_Robot | 4:552beeda4722 | 2 | * @file setup.cpp |
Yo_Robot | 4:552beeda4722 | 3 | * @author Ernesto Palacios |
Yo_Robot | 20:4b154134ab20 | 4 | * @brief Codigo Fuente de las funciones para el deslizador. |
Yo_Robot | 4:552beeda4722 | 5 | * |
Yo_Robot | 4:552beeda4722 | 6 | * Created on 25 de Marzo de 2012 |
Yo_Robot | 4:552beeda4722 | 7 | * |
Yo_Robot | 4:552beeda4722 | 8 | * Licencia GPL v3.0 |
Yo_Robot | 4:552beeda4722 | 9 | * http://www.gnu.org/licenses/gpl-3.0.html |
Yo_Robot | 4:552beeda4722 | 10 | */ |
Yo_Robot | 4:552beeda4722 | 11 | |
Yo_Robot | 25:1910a55ff0a3 | 12 | #include "mbed.h" |
Yo_Robot | 25:1910a55ff0a3 | 13 | #include "qeihw.h" |
Yo_Robot | 3:8d5a9e3cd680 | 14 | #include "setup.h" |
Yo_Robot | 18:cf1e07d82630 | 15 | #include "EthernetNetIf.h" |
Yo_Robot | 25:1910a55ff0a3 | 16 | |
Yo_Robot | 3:8d5a9e3cd680 | 17 | |
Yo_Robot | 24:a1d16835201c | 18 | extern Serial pc; // Salida Serial de mbed |
Yo_Robot | 24:a1d16835201c | 19 | extern Serial RS_232; // Salida Serial a MAX232 |
Yo_Robot | 25:1910a55ff0a3 | 20 | extern QEIHW encoder; |
Yo_Robot | 24:a1d16835201c | 21 | extern Timer crono; // Cronometro interno del microcontrolador |
Yo_Robot | 24:a1d16835201c | 22 | extern DigitalIn isPC; // Bit de configuracion serial en la placa |
Yo_Robot | 12:c02b08dacc45 | 23 | extern DigitalOut pin_son; // SON |
Yo_Robot | 12:c02b08dacc45 | 24 | extern DigitalOut pin_dir; // SIGN+ |
Yo_Robot | 12:c02b08dacc45 | 25 | extern InterruptIn pin_alm; // ALM |
Yo_Robot | 12:c02b08dacc45 | 26 | extern AnalogOut aout; // +-10V |
Yo_Robot | 22:d5431fff164b | 27 | extern DigitalOut led_verde; // Led verde del conector Ethernet |
Yo_Robot | 24:a1d16835201c | 28 | extern DigitalOut led_rojo; // Led naranja del conector Ethernet |
Yo_Robot | 30:413d1a6648b5 | 29 | extern InterruptIn limite_1; |
Yo_Robot | 30:413d1a6648b5 | 30 | extern InterruptIn limite_2; |
Yo_Robot | 30:413d1a6648b5 | 31 | extern InterruptIn limite_3; |
Yo_Robot | 30:413d1a6648b5 | 32 | extern InterruptIn limite_4; |
Yo_Robot | 20:4b154134ab20 | 33 | |
Yo_Robot | 15:a1ffa32ce9d1 | 34 | int fq_posicion = 10000; // Variable global donde se almacenara |
Yo_Robot | 15:a1ffa32ce9d1 | 35 | // la velocidad de posicionamiento en Hz |
Yo_Robot | 24:a1d16835201c | 36 | float t_alto; // para el posicionamiento del motor |
Yo_Robot | 23:2126e38bb48c | 37 | |
Yo_Robot | 26:dad0b2031173 | 38 | int fq_actual = 0; // Ultimo valor seteado para el tren de pulsos |
Yo_Robot | 22:d5431fff164b | 39 | |
Yo_Robot | 32:4483d6c225e5 | 40 | int bandera_inicio = 0; |
Yo_Robot | 32:4483d6c225e5 | 41 | |
Yo_Robot | 29:52932326c45a | 42 | int velocidad_rpm() |
Yo_Robot | 22:d5431fff164b | 43 | { |
Yo_Robot | 32:4483d6c225e5 | 44 | return encoder.CalculateRPM( encoder.GetVelocityCap(), 360 ); |
Yo_Robot | 22:d5431fff164b | 45 | } |
Yo_Robot | 22:d5431fff164b | 46 | |
Yo_Robot | 22:d5431fff164b | 47 | void clear_encoder() |
Yo_Robot | 22:d5431fff164b | 48 | { |
Yo_Robot | 25:1910a55ff0a3 | 49 | encoder.Reset( QEI_RESET_POS ); // reset position |
Yo_Robot | 22:d5431fff164b | 50 | } |
Yo_Robot | 22:d5431fff164b | 51 | |
Yo_Robot | 4:552beeda4722 | 52 | void setTimer2() |
Yo_Robot | 3:8d5a9e3cd680 | 53 | { |
Yo_Robot | 3:8d5a9e3cd680 | 54 | // Encender Timer2 (PCONP[22]) |
Yo_Robot | 3:8d5a9e3cd680 | 55 | LPC_SC->PCONP |= 1 << 22; |
Yo_Robot | 3:8d5a9e3cd680 | 56 | |
Yo_Robot | 3:8d5a9e3cd680 | 57 | // Resetear y parar el Timer |
Yo_Robot | 3:8d5a9e3cd680 | 58 | LPC_TIM2->TCR = 0x2; |
Yo_Robot | 3:8d5a9e3cd680 | 59 | LPC_TIM2->CTCR = 0x0; |
Yo_Robot | 3:8d5a9e3cd680 | 60 | |
Yo_Robot | 4:552beeda4722 | 61 | // Establecer el Preescaler en cero |
Yo_Robot | 4:552beeda4722 | 62 | // SIn Preesclaer |
Yo_Robot | 4:552beeda4722 | 63 | LPC_TIM2->PR = 0; |
Yo_Robot | 3:8d5a9e3cd680 | 64 | |
Yo_Robot | 4:552beeda4722 | 65 | // Calcular el periodo Inicial |
Yo_Robot | 4:552beeda4722 | 66 | uint32_t periodo = ( SystemCoreClock / 400 ); |
Yo_Robot | 3:8d5a9e3cd680 | 67 | |
Yo_Robot | 3:8d5a9e3cd680 | 68 | // Establecer los Registros de Coincidencia |
Yo_Robot | 3:8d5a9e3cd680 | 69 | // ( Match Register ) |
Yo_Robot | 3:8d5a9e3cd680 | 70 | LPC_TIM2->MR2 = periodo; |
Yo_Robot | 4:552beeda4722 | 71 | LPC_TIM2->MR3 = periodo; // Legacy, salidas identicas |
Yo_Robot | 3:8d5a9e3cd680 | 72 | |
Yo_Robot | 4:552beeda4722 | 73 | LPC_TIM2->MCR |= 1 << 7; // Resetear Timer en MR2 |
Yo_Robot | 3:8d5a9e3cd680 | 74 | |
Yo_Robot | 3:8d5a9e3cd680 | 75 | LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2 |
Yo_Robot | 3:8d5a9e3cd680 | 76 | // y MAT2.3 |
Yo_Robot | 3:8d5a9e3cd680 | 77 | |
Yo_Robot | 3:8d5a9e3cd680 | 78 | LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2 |
Yo_Robot | 8:958dfe5052b9 | 79 | // y MAT2.3 como salidas |
Yo_Robot | 8:958dfe5052b9 | 80 | |
Yo_Robot | 6:b4dae934e1ea | 81 | } |
Yo_Robot | 6:b4dae934e1ea | 82 | |
Yo_Robot | 12:c02b08dacc45 | 83 | void ISR_Serial() |
Yo_Robot | 12:c02b08dacc45 | 84 | { |
Yo_Robot | 12:c02b08dacc45 | 85 | int value; // Nuevo Valor |
Yo_Robot | 12:c02b08dacc45 | 86 | char command; // Comando al que aplicar el nuevo valor |
Yo_Robot | 23:2126e38bb48c | 87 | |
Yo_Robot | 12:c02b08dacc45 | 88 | |
Yo_Robot | 19:c26cf8a48986 | 89 | if( isPC ) |
Yo_Robot | 23:2126e38bb48c | 90 | pc.scanf( "%d-%c", &value, &command ); |
Yo_Robot | 19:c26cf8a48986 | 91 | else |
Yo_Robot | 23:2126e38bb48c | 92 | RS_232.scanf( "%d-%c", &value, &command ); |
Yo_Robot | 23:2126e38bb48c | 93 | |
Yo_Robot | 23:2126e38bb48c | 94 | switch( command ) |
Yo_Robot | 23:2126e38bb48c | 95 | { |
Yo_Robot | 19:c26cf8a48986 | 96 | |
Yo_Robot | 29:52932326c45a | 97 | case 'E': // Leer el contador del encoder. |
Yo_Robot | 24:a1d16835201c | 98 | { |
Yo_Robot | 23:2126e38bb48c | 99 | |
Yo_Robot | 27:b8254b76ec57 | 100 | //Leer la posición del encoder |
Yo_Robot | 23:2126e38bb48c | 101 | |
Yo_Robot | 26:dad0b2031173 | 102 | if( isPC ) |
Yo_Robot | 29:52932326c45a | 103 | pc.printf("%d\n\r",encoder.GetPosition()); |
Yo_Robot | 26:dad0b2031173 | 104 | else |
Yo_Robot | 29:52932326c45a | 105 | RS_232.printf("%d\n\r",encoder.GetPosition()); |
Yo_Robot | 23:2126e38bb48c | 106 | break; |
Yo_Robot | 24:a1d16835201c | 107 | } |
Yo_Robot | 27:b8254b76ec57 | 108 | |
Yo_Robot | 23:2126e38bb48c | 109 | case 'H': // Establecer nueva frecuencia |
Yo_Robot | 24:a1d16835201c | 110 | { |
Yo_Robot | 23:2126e38bb48c | 111 | setPTO( value ); |
Yo_Robot | 26:dad0b2031173 | 112 | fq_actual = value; |
Yo_Robot | 32:4483d6c225e5 | 113 | bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar |
Yo_Robot | 26:dad0b2031173 | 114 | |
Yo_Robot | 26:dad0b2031173 | 115 | // Envia un OK de comando recibido |
Yo_Robot | 26:dad0b2031173 | 116 | if( isPC ) |
Yo_Robot | 26:dad0b2031173 | 117 | pc.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 118 | else |
Yo_Robot | 26:dad0b2031173 | 119 | RS_232.printf("OK\r\n"); |
Yo_Robot | 23:2126e38bb48c | 120 | break; |
Yo_Robot | 24:a1d16835201c | 121 | } |
Yo_Robot | 27:b8254b76ec57 | 122 | |
Yo_Robot | 23:2126e38bb48c | 123 | case 'K': |
Yo_Robot | 24:a1d16835201c | 124 | { |
Yo_Robot | 23:2126e38bb48c | 125 | setPTO( value * 1000 ); |
Yo_Robot | 26:dad0b2031173 | 126 | fq_actual = value; |
Yo_Robot | 32:4483d6c225e5 | 127 | bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar |
Yo_Robot | 32:4483d6c225e5 | 128 | |
Yo_Robot | 26:dad0b2031173 | 129 | // Envia un OK de comando recibido |
Yo_Robot | 26:dad0b2031173 | 130 | if( isPC ) |
Yo_Robot | 26:dad0b2031173 | 131 | pc.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 132 | else |
Yo_Robot | 26:dad0b2031173 | 133 | RS_232.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 134 | |
Yo_Robot | 23:2126e38bb48c | 135 | break; |
Yo_Robot | 24:a1d16835201c | 136 | } |
Yo_Robot | 23:2126e38bb48c | 137 | case 'A': // Cambiar voltaje de salida |
Yo_Robot | 24:a1d16835201c | 138 | { |
Yo_Robot | 23:2126e38bb48c | 139 | aout = (float)( value + 10000.0 ) / 20000.0; |
Yo_Robot | 26:dad0b2031173 | 140 | |
Yo_Robot | 26:dad0b2031173 | 141 | // Envia un OK de comando recibido |
Yo_Robot | 26:dad0b2031173 | 142 | if( isPC ) |
Yo_Robot | 26:dad0b2031173 | 143 | pc.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 144 | else |
Yo_Robot | 26:dad0b2031173 | 145 | RS_232.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 146 | |
Yo_Robot | 23:2126e38bb48c | 147 | break; |
Yo_Robot | 24:a1d16835201c | 148 | } |
Yo_Robot | 23:2126e38bb48c | 149 | case 'D': // Cambiar la direccion |
Yo_Robot | 24:a1d16835201c | 150 | { |
Yo_Robot | 26:dad0b2031173 | 151 | |
Yo_Robot | 23:2126e38bb48c | 152 | stopTimer2(); |
Yo_Robot | 23:2126e38bb48c | 153 | pin_dir = value; |
Yo_Robot | 23:2126e38bb48c | 154 | wait_us( 2 ); |
Yo_Robot | 32:4483d6c225e5 | 155 | bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar |
Yo_Robot | 26:dad0b2031173 | 156 | |
Yo_Robot | 26:dad0b2031173 | 157 | if ( fq_actual != 0 ) |
Yo_Robot | 26:dad0b2031173 | 158 | { |
Yo_Robot | 26:dad0b2031173 | 159 | startTimer2(); |
Yo_Robot | 26:dad0b2031173 | 160 | } |
Yo_Robot | 26:dad0b2031173 | 161 | |
Yo_Robot | 26:dad0b2031173 | 162 | // Envia un OK de comando recibido |
Yo_Robot | 26:dad0b2031173 | 163 | if( isPC ) |
Yo_Robot | 26:dad0b2031173 | 164 | pc.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 165 | else |
Yo_Robot | 26:dad0b2031173 | 166 | RS_232.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 167 | |
Yo_Robot | 23:2126e38bb48c | 168 | break; |
Yo_Robot | 24:a1d16835201c | 169 | } |
Yo_Robot | 23:2126e38bb48c | 170 | case 'V': //Setear la velocidad de Posicionamiento |
Yo_Robot | 24:a1d16835201c | 171 | { |
Yo_Robot | 23:2126e38bb48c | 172 | fq_posicion = value; |
Yo_Robot | 26:dad0b2031173 | 173 | |
Yo_Robot | 26:dad0b2031173 | 174 | // Envia un OK de comando recibido |
Yo_Robot | 26:dad0b2031173 | 175 | if( isPC ) |
Yo_Robot | 26:dad0b2031173 | 176 | pc.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 177 | else |
Yo_Robot | 26:dad0b2031173 | 178 | RS_232.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 179 | |
Yo_Robot | 23:2126e38bb48c | 180 | break; |
Yo_Robot | 24:a1d16835201c | 181 | } |
Yo_Robot | 27:b8254b76ec57 | 182 | |
Yo_Robot | 27:b8254b76ec57 | 183 | // Generar un numero definido de pulsos a la velocidad de posicionamiento |
Yo_Robot | 29:52932326c45a | 184 | case 'P': |
Yo_Robot | 24:a1d16835201c | 185 | { |
Yo_Robot | 28:b7ded82ee7da | 186 | float pulsos = value; //Numero de pulsos a generar |
Yo_Robot | 28:b7ded82ee7da | 187 | t_alto = (float)(pulsos / fq_posicion); //Tiempo que debe ser generado el tren de pulsos. |
Yo_Robot | 27:b8254b76ec57 | 188 | |
Yo_Robot | 32:4483d6c225e5 | 189 | bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar |
Yo_Robot | 32:4483d6c225e5 | 190 | |
Yo_Robot | 27:b8254b76ec57 | 191 | //DEBUG |
Yo_Robot | 32:4483d6c225e5 | 192 | //pc.printf("Tiempo en timer en seg = %f", t_alto); |
Yo_Robot | 27:b8254b76ec57 | 193 | |
Yo_Robot | 23:2126e38bb48c | 194 | stopTimer2(); //Deten el tren de pulsos |
Yo_Robot | 23:2126e38bb48c | 195 | setPTO( fq_posicion ); //Nueva frecuencia de salida |
Yo_Robot | 23:2126e38bb48c | 196 | startTimer2(); //Inicia el tren de pulsos |
Yo_Robot | 23:2126e38bb48c | 197 | wait( t_alto ); //Espera hasta llegar a la posicion |
Yo_Robot | 23:2126e38bb48c | 198 | stopTimer2(); //Posicion alcanzada ALTO. |
Yo_Robot | 26:dad0b2031173 | 199 | |
Yo_Robot | 26:dad0b2031173 | 200 | |
Yo_Robot | 26:dad0b2031173 | 201 | // Envia un OK de comando recibido |
Yo_Robot | 26:dad0b2031173 | 202 | if( isPC ) |
Yo_Robot | 26:dad0b2031173 | 203 | pc.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 204 | else |
Yo_Robot | 26:dad0b2031173 | 205 | RS_232.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 206 | |
Yo_Robot | 26:dad0b2031173 | 207 | |
Yo_Robot | 23:2126e38bb48c | 208 | break; |
Yo_Robot | 24:a1d16835201c | 209 | } |
Yo_Robot | 27:b8254b76ec57 | 210 | |
Yo_Robot | 27:b8254b76ec57 | 211 | // Generar un numero definido de MILES de pulsos a la velocidad de posicionamiento |
Yo_Robot | 29:52932326c45a | 212 | case 'M': |
Yo_Robot | 27:b8254b76ec57 | 213 | { |
Yo_Robot | 28:b7ded82ee7da | 214 | float pulsos = value * 1000; //Numero de pulsos a generar |
Yo_Robot | 28:b7ded82ee7da | 215 | t_alto = (float)(pulsos / fq_posicion); //Tiempo que debe ser generado el tren de pulsos. |
Yo_Robot | 32:4483d6c225e5 | 216 | bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar |
Yo_Robot | 32:4483d6c225e5 | 217 | |
Yo_Robot | 27:b8254b76ec57 | 218 | //DEBUG |
Yo_Robot | 32:4483d6c225e5 | 219 | //pc.printf("Tiempo en timer en seg = %f", t_alto); |
Yo_Robot | 27:b8254b76ec57 | 220 | |
Yo_Robot | 27:b8254b76ec57 | 221 | stopTimer2(); //Deten el tren de pulsos |
Yo_Robot | 27:b8254b76ec57 | 222 | setPTO( fq_posicion ); //Nueva frecuencia de salida |
Yo_Robot | 27:b8254b76ec57 | 223 | startTimer2(); //Inicia el tren de pulsos |
Yo_Robot | 27:b8254b76ec57 | 224 | wait( t_alto ); //Espera hasta llegar a la posicion |
Yo_Robot | 27:b8254b76ec57 | 225 | stopTimer2(); //Posicion alcanzada ALTO. |
Yo_Robot | 27:b8254b76ec57 | 226 | |
Yo_Robot | 27:b8254b76ec57 | 227 | |
Yo_Robot | 27:b8254b76ec57 | 228 | // Envia un OK de comando recibido |
Yo_Robot | 27:b8254b76ec57 | 229 | if( isPC ) |
Yo_Robot | 27:b8254b76ec57 | 230 | pc.printf("OK\r\n"); |
Yo_Robot | 27:b8254b76ec57 | 231 | else |
Yo_Robot | 27:b8254b76ec57 | 232 | RS_232.printf("OK\r\n"); |
Yo_Robot | 27:b8254b76ec57 | 233 | |
Yo_Robot | 27:b8254b76ec57 | 234 | |
Yo_Robot | 27:b8254b76ec57 | 235 | break; |
Yo_Robot | 27:b8254b76ec57 | 236 | } |
Yo_Robot | 27:b8254b76ec57 | 237 | |
Yo_Robot | 27:b8254b76ec57 | 238 | // Generar un numero definido de MILLONES pulsos a la velocidad de posicionamiento |
Yo_Robot | 29:52932326c45a | 239 | case 'N': |
Yo_Robot | 27:b8254b76ec57 | 240 | { |
Yo_Robot | 28:b7ded82ee7da | 241 | float pulsos = value * 1000000; //Numero de pulsos a generar |
Yo_Robot | 28:b7ded82ee7da | 242 | t_alto = (float)(pulsos / fq_posicion); //Tiempo que debe ser generado el tren de pulsos. |
Yo_Robot | 32:4483d6c225e5 | 243 | bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar |
Yo_Robot | 32:4483d6c225e5 | 244 | |
Yo_Robot | 27:b8254b76ec57 | 245 | //DEBUG |
Yo_Robot | 32:4483d6c225e5 | 246 | //pc.printf("Tiempo en timer en seg = %f", t_alto); |
Yo_Robot | 27:b8254b76ec57 | 247 | |
Yo_Robot | 27:b8254b76ec57 | 248 | stopTimer2(); //Deten el tren de pulsos |
Yo_Robot | 27:b8254b76ec57 | 249 | setPTO( fq_posicion ); //Nueva frecuencia de salida |
Yo_Robot | 27:b8254b76ec57 | 250 | startTimer2(); //Inicia el tren de pulsos |
Yo_Robot | 27:b8254b76ec57 | 251 | wait( t_alto ); //Espera hasta llegar a la posicion |
Yo_Robot | 27:b8254b76ec57 | 252 | stopTimer2(); //Posicion alcanzada ALTO. |
Yo_Robot | 27:b8254b76ec57 | 253 | |
Yo_Robot | 27:b8254b76ec57 | 254 | |
Yo_Robot | 27:b8254b76ec57 | 255 | // Envia un OK de comando recibido |
Yo_Robot | 27:b8254b76ec57 | 256 | if( isPC ) |
Yo_Robot | 27:b8254b76ec57 | 257 | pc.printf("OK\r\n"); |
Yo_Robot | 27:b8254b76ec57 | 258 | else |
Yo_Robot | 27:b8254b76ec57 | 259 | RS_232.printf("OK\r\n"); |
Yo_Robot | 27:b8254b76ec57 | 260 | |
Yo_Robot | 27:b8254b76ec57 | 261 | |
Yo_Robot | 27:b8254b76ec57 | 262 | break; |
Yo_Robot | 27:b8254b76ec57 | 263 | } |
Yo_Robot | 27:b8254b76ec57 | 264 | |
Yo_Robot | 27:b8254b76ec57 | 265 | |
Yo_Robot | 29:52932326c45a | 266 | case 'R': // Leer la velocidd del encoder en RPM's |
Yo_Robot | 24:a1d16835201c | 267 | { |
Yo_Robot | 23:2126e38bb48c | 268 | if( isPC ) |
Yo_Robot | 29:52932326c45a | 269 | pc.printf( "%d",velocidad_rpm() ); |
Yo_Robot | 23:2126e38bb48c | 270 | else |
Yo_Robot | 29:52932326c45a | 271 | RS_232.printf( "%d",velocidad_rpm() ); |
Yo_Robot | 23:2126e38bb48c | 272 | break; |
Yo_Robot | 24:a1d16835201c | 273 | } |
Yo_Robot | 26:dad0b2031173 | 274 | |
Yo_Robot | 23:2126e38bb48c | 275 | case 'Z': //Limpiar contador encoder |
Yo_Robot | 29:52932326c45a | 276 | encoder.Reset(QEI_RESET_POS); |
Yo_Robot | 29:52932326c45a | 277 | encoder.Reset(QEI_RESET_VEL); |
Yo_Robot | 26:dad0b2031173 | 278 | |
Yo_Robot | 26:dad0b2031173 | 279 | // Envia un OK de comando recibido |
Yo_Robot | 26:dad0b2031173 | 280 | if( isPC ) |
Yo_Robot | 26:dad0b2031173 | 281 | pc.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 282 | else |
Yo_Robot | 26:dad0b2031173 | 283 | RS_232.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 284 | |
Yo_Robot | 23:2126e38bb48c | 285 | break; |
Yo_Robot | 23:2126e38bb48c | 286 | |
Yo_Robot | 23:2126e38bb48c | 287 | case 'S': //Encender el Servo |
Yo_Robot | 26:dad0b2031173 | 288 | |
Yo_Robot | 23:2126e38bb48c | 289 | pin_son = value; |
Yo_Robot | 32:4483d6c225e5 | 290 | bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar |
Yo_Robot | 32:4483d6c225e5 | 291 | |
Yo_Robot | 32:4483d6c225e5 | 292 | // Envia un OK de comando recibido |
Yo_Robot | 32:4483d6c225e5 | 293 | if( isPC ) |
Yo_Robot | 32:4483d6c225e5 | 294 | pc.printf("OK\r\n"); |
Yo_Robot | 32:4483d6c225e5 | 295 | else |
Yo_Robot | 32:4483d6c225e5 | 296 | RS_232.printf("OK\r\n"); |
Yo_Robot | 32:4483d6c225e5 | 297 | |
Yo_Robot | 32:4483d6c225e5 | 298 | break; |
Yo_Robot | 32:4483d6c225e5 | 299 | |
Yo_Robot | 32:4483d6c225e5 | 300 | case 'I': //Ir al inicio del recorrido |
Yo_Robot | 32:4483d6c225e5 | 301 | |
Yo_Robot | 32:4483d6c225e5 | 302 | pin_dir = 1; //Mover hacia el motor |
Yo_Robot | 32:4483d6c225e5 | 303 | bandera_inicio = 1; // Informar a ISR_Adv_motor() acerca del Homing |
Yo_Robot | 32:4483d6c225e5 | 304 | setPTO( value ); // a la velocidad seteada |
Yo_Robot | 26:dad0b2031173 | 305 | |
Yo_Robot | 26:dad0b2031173 | 306 | // Envia un OK de comando recibido |
Yo_Robot | 26:dad0b2031173 | 307 | if( isPC ) |
Yo_Robot | 26:dad0b2031173 | 308 | pc.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 309 | else |
Yo_Robot | 26:dad0b2031173 | 310 | RS_232.printf("OK\r\n"); |
Yo_Robot | 26:dad0b2031173 | 311 | |
Yo_Robot | 23:2126e38bb48c | 312 | break; |
Yo_Robot | 28:b7ded82ee7da | 313 | |
Yo_Robot | 28:b7ded82ee7da | 314 | default: |
Yo_Robot | 28:b7ded82ee7da | 315 | |
Yo_Robot | 28:b7ded82ee7da | 316 | // EL COMANDO NO SE RECONOCE: No Aplica |
Yo_Robot | 28:b7ded82ee7da | 317 | if( isPC ) |
Yo_Robot | 28:b7ded82ee7da | 318 | pc.printf("NA\r\n"); |
Yo_Robot | 28:b7ded82ee7da | 319 | else |
Yo_Robot | 28:b7ded82ee7da | 320 | RS_232.printf("NA\r\n"); |
Yo_Robot | 28:b7ded82ee7da | 321 | |
Yo_Robot | 28:b7ded82ee7da | 322 | break; |
Yo_Robot | 32:4483d6c225e5 | 323 | |
Yo_Robot | 18:cf1e07d82630 | 324 | } |
Yo_Robot | 23:2126e38bb48c | 325 | |
Yo_Robot | 12:c02b08dacc45 | 326 | } |
Yo_Robot | 12:c02b08dacc45 | 327 | |
Yo_Robot | 12:c02b08dacc45 | 328 | |
Yo_Robot | 12:c02b08dacc45 | 329 | void setPTO( int freq ) |
Yo_Robot | 12:c02b08dacc45 | 330 | { |
Yo_Robot | 12:c02b08dacc45 | 331 | if( freq != 0 ) |
Yo_Robot | 12:c02b08dacc45 | 332 | { |
Yo_Robot | 12:c02b08dacc45 | 333 | LPC_TIM2->TC = 0x00; //Resetear Timer |
Yo_Robot | 12:c02b08dacc45 | 334 | setMR2( getMRvalue( freq ) ); |
Yo_Robot | 12:c02b08dacc45 | 335 | startTimer2(); |
Yo_Robot | 12:c02b08dacc45 | 336 | |
Yo_Robot | 12:c02b08dacc45 | 337 | }else{ |
Yo_Robot | 12:c02b08dacc45 | 338 | |
Yo_Robot | 12:c02b08dacc45 | 339 | stopTimer2(); |
Yo_Robot | 12:c02b08dacc45 | 340 | LPC_TIM2->TC = 0x00; //Resetear Timer |
Yo_Robot | 12:c02b08dacc45 | 341 | } |
Yo_Robot | 12:c02b08dacc45 | 342 | } |
Yo_Robot | 12:c02b08dacc45 | 343 | |
Yo_Robot | 22:d5431fff164b | 344 | |
Yo_Robot | 22:d5431fff164b | 345 | |
Yo_Robot | 22:d5431fff164b | 346 | void ISR_Alarm() |
Yo_Robot | 22:d5431fff164b | 347 | { |
Yo_Robot | 22:d5431fff164b | 348 | pin_son = 0 ; |
Yo_Robot | 22:d5431fff164b | 349 | stopTimer2(); |
Yo_Robot | 22:d5431fff164b | 350 | aout = 0.5 ; |
Yo_Robot | 22:d5431fff164b | 351 | |
Yo_Robot | 22:d5431fff164b | 352 | if(isPC) |
Yo_Robot | 31:7e2cdd547cb2 | 353 | pc.printf( "AL\r\n" ); //ALARMA! solo es AL para que |
Yo_Robot | 31:7e2cdd547cb2 | 354 | //sea conciso con el modo ETH y funcione |
Yo_Robot | 31:7e2cdd547cb2 | 355 | //bien en LabVIEW. |
Yo_Robot | 22:d5431fff164b | 356 | else |
Yo_Robot | 26:dad0b2031173 | 357 | RS_232.printf( "AL\r\n" ); |
Yo_Robot | 22:d5431fff164b | 358 | } |
Yo_Robot | 22:d5431fff164b | 359 | |
Yo_Robot | 30:413d1a6648b5 | 360 | |
Yo_Robot | 30:413d1a6648b5 | 361 | |
Yo_Robot | 30:413d1a6648b5 | 362 | |
Yo_Robot | 30:413d1a6648b5 | 363 | /** @brief: Esta es la rutina que maneja las interrupciones |
Yo_Robot | 30:413d1a6648b5 | 364 | * del sensor óptico, al recibir una ALARMA de proximidad al encoder |
Yo_Robot | 30:413d1a6648b5 | 365 | */ |
Yo_Robot | 31:7e2cdd547cb2 | 366 | void ISR_Alm_encoder() |
Yo_Robot | 31:7e2cdd547cb2 | 367 | { |
Yo_Robot | 31:7e2cdd547cb2 | 368 | if( isPC ) |
Yo_Robot | 32:4483d6c225e5 | 369 | pc.printf("A3\r\n"); |
Yo_Robot | 31:7e2cdd547cb2 | 370 | else |
Yo_Robot | 32:4483d6c225e5 | 371 | RS_232.printf("A3\r\n"); |
Yo_Robot | 31:7e2cdd547cb2 | 372 | } |
Yo_Robot | 30:413d1a6648b5 | 373 | |
Yo_Robot | 30:413d1a6648b5 | 374 | |
Yo_Robot | 30:413d1a6648b5 | 375 | /** @brief: Esta es la rutina que maneja las interrupciones |
Yo_Robot | 30:413d1a6648b5 | 376 | * del sensor óptico, al recibir una ALARMA de proximidad al motor |
Yo_Robot | 30:413d1a6648b5 | 377 | */ |
Yo_Robot | 31:7e2cdd547cb2 | 378 | void ISR_Alm_motor() |
Yo_Robot | 31:7e2cdd547cb2 | 379 | { |
Yo_Robot | 32:4483d6c225e5 | 380 | wait_us( 50 ); |
Yo_Robot | 32:4483d6c225e5 | 381 | if ( limite_4 == 1) |
Yo_Robot | 32:4483d6c225e5 | 382 | { |
Yo_Robot | 32:4483d6c225e5 | 383 | if( isPC ) |
Yo_Robot | 32:4483d6c225e5 | 384 | pc.printf("A0\r\n"); |
Yo_Robot | 32:4483d6c225e5 | 385 | else |
Yo_Robot | 32:4483d6c225e5 | 386 | RS_232.printf("A0\r\n"); |
Yo_Robot | 32:4483d6c225e5 | 387 | } |
Yo_Robot | 31:7e2cdd547cb2 | 388 | } |
Yo_Robot | 30:413d1a6648b5 | 389 | |
Yo_Robot | 30:413d1a6648b5 | 390 | |
Yo_Robot | 30:413d1a6648b5 | 391 | /** @brief: Esta es la rutina que maneja las interrupciones |
Yo_Robot | 30:413d1a6648b5 | 392 | * del sensor óptico, al recibir una advertencia de proximidad al encoder |
Yo_Robot | 30:413d1a6648b5 | 393 | */ |
Yo_Robot | 31:7e2cdd547cb2 | 394 | void ISR_Adv_encoder() |
Yo_Robot | 31:7e2cdd547cb2 | 395 | { |
Yo_Robot | 32:4483d6c225e5 | 396 | wait_ms( 50 ); |
Yo_Robot | 32:4483d6c225e5 | 397 | if ( limite_2 == 1) |
Yo_Robot | 32:4483d6c225e5 | 398 | { |
Yo_Robot | 31:7e2cdd547cb2 | 399 | |
Yo_Robot | 32:4483d6c225e5 | 400 | if( isPC ) |
Yo_Robot | 32:4483d6c225e5 | 401 | pc.printf("A2\r\n"); |
Yo_Robot | 32:4483d6c225e5 | 402 | else |
Yo_Robot | 32:4483d6c225e5 | 403 | RS_232.printf("A2\r\n"); |
Yo_Robot | 32:4483d6c225e5 | 404 | } |
Yo_Robot | 31:7e2cdd547cb2 | 405 | |
Yo_Robot | 31:7e2cdd547cb2 | 406 | } |
Yo_Robot | 30:413d1a6648b5 | 407 | |
Yo_Robot | 30:413d1a6648b5 | 408 | |
Yo_Robot | 30:413d1a6648b5 | 409 | /** @brief: Esta es la rutina que maneja las interrupciones |
Yo_Robot | 30:413d1a6648b5 | 410 | * del sensor óptico, al recibir una advertencia de proximidad al motor |
Yo_Robot | 30:413d1a6648b5 | 411 | */ |
Yo_Robot | 31:7e2cdd547cb2 | 412 | void ISR_Adv_motor() |
Yo_Robot | 31:7e2cdd547cb2 | 413 | { |
Yo_Robot | 32:4483d6c225e5 | 414 | if ( bandera_inicio == 1 ) |
Yo_Robot | 32:4483d6c225e5 | 415 | { |
Yo_Robot | 32:4483d6c225e5 | 416 | setPTO( 0 ); //detener el carro |
Yo_Robot | 32:4483d6c225e5 | 417 | pin_dir = 0; //hacer que se aleje del motor |
Yo_Robot | 32:4483d6c225e5 | 418 | |
Yo_Robot | 32:4483d6c225e5 | 419 | |
Yo_Robot | 32:4483d6c225e5 | 420 | stopTimer2(); //Deten el tren de pulsos |
Yo_Robot | 32:4483d6c225e5 | 421 | setPTO( 20000 ); //Nueva frecuencia de salida |
Yo_Robot | 32:4483d6c225e5 | 422 | startTimer2(); //Inicia el tren de pulsos |
Yo_Robot | 32:4483d6c225e5 | 423 | wait_ms( 100 ); //Espera hasta llegar a la posicion |
Yo_Robot | 32:4483d6c225e5 | 424 | stopTimer2(); //Posicion alcanzada ALTO. |
Yo_Robot | 32:4483d6c225e5 | 425 | |
Yo_Robot | 32:4483d6c225e5 | 426 | setPTO (0); // Detener el carro cuando este en posición valida |
Yo_Robot | 32:4483d6c225e5 | 427 | wait_ms(100); |
Yo_Robot | 32:4483d6c225e5 | 428 | //Encerar el contador de encoder y de velocidad |
Yo_Robot | 32:4483d6c225e5 | 429 | encoder.Reset(QEI_RESET_POS); |
Yo_Robot | 32:4483d6c225e5 | 430 | encoder.Reset(QEI_RESET_VEL); |
Yo_Robot | 32:4483d6c225e5 | 431 | |
Yo_Robot | 32:4483d6c225e5 | 432 | bandera_inicio = 0; //Limpiar la bandera |
Yo_Robot | 32:4483d6c225e5 | 433 | |
Yo_Robot | 32:4483d6c225e5 | 434 | // Envia un IN de proceso terminado |
Yo_Robot | 32:4483d6c225e5 | 435 | if( isPC ) |
Yo_Robot | 32:4483d6c225e5 | 436 | pc.printf("IN\r\n"); |
Yo_Robot | 32:4483d6c225e5 | 437 | else |
Yo_Robot | 32:4483d6c225e5 | 438 | RS_232.printf("IN\r\n"); |
Yo_Robot | 32:4483d6c225e5 | 439 | } |
Yo_Robot | 32:4483d6c225e5 | 440 | |
Yo_Robot | 32:4483d6c225e5 | 441 | else{ |
Yo_Robot | 32:4483d6c225e5 | 442 | |
Yo_Robot | 32:4483d6c225e5 | 443 | if( isPC ) |
Yo_Robot | 32:4483d6c225e5 | 444 | pc.printf("A1\r\n"); |
Yo_Robot | 32:4483d6c225e5 | 445 | else |
Yo_Robot | 32:4483d6c225e5 | 446 | RS_232.printf("A1\r\n"); |
Yo_Robot | 32:4483d6c225e5 | 447 | } |
Yo_Robot | 32:4483d6c225e5 | 448 | |
Yo_Robot | 31:7e2cdd547cb2 | 449 | } |
Yo_Robot | 30:413d1a6648b5 | 450 | |
Yo_Robot | 30:413d1a6648b5 | 451 | |
Yo_Robot | 30:413d1a6648b5 | 452 | |
Yo_Robot | 22:d5431fff164b | 453 | int getMRvalue( int fout ) |
Yo_Robot | 22:d5431fff164b | 454 | { |
Yo_Robot | 22:d5431fff164b | 455 | int toRegister; |
Yo_Robot | 22:d5431fff164b | 456 | |
Yo_Robot | 22:d5431fff164b | 457 | toRegister = (24000000 /(fout*2.0) ) -1; |
Yo_Robot | 22:d5431fff164b | 458 | return toRegister; |
Yo_Robot | 22:d5431fff164b | 459 | } |
Yo_Robot | 22:d5431fff164b | 460 | |
Yo_Robot | 22:d5431fff164b | 461 | |
Yo_Robot | 22:d5431fff164b | 462 | void setMR2( int newValue ) |
Yo_Robot | 22:d5431fff164b | 463 | { |
Yo_Robot | 22:d5431fff164b | 464 | LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas |
Yo_Robot | 22:d5431fff164b | 465 | LPC_TIM2->MR3 = newValue; // Para testear el programa. |
Yo_Robot | 22:d5431fff164b | 466 | } |
Yo_Robot | 22:d5431fff164b | 467 | |
Yo_Robot | 22:d5431fff164b | 468 | |
Yo_Robot | 22:d5431fff164b | 469 | |
Yo_Robot | 22:d5431fff164b | 470 | void startTimer2() |
Yo_Robot | 22:d5431fff164b | 471 | { |
Yo_Robot | 22:d5431fff164b | 472 | // Arrancer el Timer 2 |
Yo_Robot | 22:d5431fff164b | 473 | LPC_TIM2->TCR = 1; |
Yo_Robot | 22:d5431fff164b | 474 | } |
Yo_Robot | 22:d5431fff164b | 475 | |
Yo_Robot | 22:d5431fff164b | 476 | void stopTimer2() |
Yo_Robot | 22:d5431fff164b | 477 | { |
Yo_Robot | 22:d5431fff164b | 478 | // Detener el Timer 2 |
Yo_Robot | 22:d5431fff164b | 479 | LPC_TIM2->TCR = 0x2; |
Yo_Robot | 22:d5431fff164b | 480 | } |
Yo_Robot | 22:d5431fff164b | 481 | |
Yo_Robot | 22:d5431fff164b | 482 | int getBaud() |
Yo_Robot | 22:d5431fff164b | 483 | { |
Yo_Robot | 22:d5431fff164b | 484 | int baudios = 115200; //Valor por defecto |
Yo_Robot | 22:d5431fff164b | 485 | |
Yo_Robot | 22:d5431fff164b | 486 | FILE *fp = fopen("/local/config.mbd", "r"); // Abre el archivo y lo guarda en fp |
Yo_Robot | 22:d5431fff164b | 487 | |
Yo_Robot | 22:d5431fff164b | 488 | if(!fp) // En caso de no encontrarse el archivo |
Yo_Robot | 22:d5431fff164b | 489 | { |
Yo_Robot | 22:d5431fff164b | 490 | printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n"); |
Yo_Robot | 22:d5431fff164b | 491 | printf("Cree un archivo de texto: config.mbd dentro de la unidad Mbed\n"); |
Yo_Robot | 22:d5431fff164b | 492 | printf("que contenga las lineas:\n\n"); |
Yo_Robot | 22:d5431fff164b | 493 | |
Yo_Robot | 22:d5431fff164b | 494 | printf(" 1\n"); |
Yo_Robot | 22:d5431fff164b | 495 | printf(" 2\n"); |
Yo_Robot | 22:d5431fff164b | 496 | printf(" 3\n"); |
Yo_Robot | 22:d5431fff164b | 497 | printf(" 4\n"); |
Yo_Robot | 22:d5431fff164b | 498 | printf(" baudios: 115200\n"); |
Yo_Robot | 22:d5431fff164b | 499 | |
Yo_Robot | 22:d5431fff164b | 500 | printf("Cambie el valor de 115200 por la velocidad a la que desea transmitir:\n"); |
Yo_Robot | 22:d5431fff164b | 501 | printf("luego reinicie el microcontrolador\n"); |
Yo_Robot | 22:d5431fff164b | 502 | exit(1); |
Yo_Robot | 22:d5431fff164b | 503 | |
Yo_Robot | 22:d5431fff164b | 504 | } |
Yo_Robot | 22:d5431fff164b | 505 | else |
Yo_Robot | 22:d5431fff164b | 506 | { |
Yo_Robot | 22:d5431fff164b | 507 | // Cadenas de caracteres desde el Archivo config.mbd |
Yo_Robot | 22:d5431fff164b | 508 | char notstr [04]; // linea vacia |
Yo_Robot | 22:d5431fff164b | 509 | char baud [40]; // valor en baudios |
Yo_Robot | 22:d5431fff164b | 510 | |
Yo_Robot | 22:d5431fff164b | 511 | // Leer linea a linea el archivo |
Yo_Robot | 22:d5431fff164b | 512 | // cuatro primeras lineas no sirven |
Yo_Robot | 22:d5431fff164b | 513 | fgets( notstr, 4, fp ); |
Yo_Robot | 22:d5431fff164b | 514 | fgets( notstr, 4, fp ); |
Yo_Robot | 22:d5431fff164b | 515 | fgets( notstr, 4, fp ); |
Yo_Robot | 22:d5431fff164b | 516 | fgets( notstr, 4, fp ); |
Yo_Robot | 22:d5431fff164b | 517 | fgets( baud, 40, fp ); |
Yo_Robot | 22:d5431fff164b | 518 | fclose(fp); |
Yo_Robot | 23:2126e38bb48c | 519 | |
Yo_Robot | 22:d5431fff164b | 520 | // Extraer los valores numericos |
Yo_Robot | 22:d5431fff164b | 521 | sscanf( baud,"%*s %d",&baudios ); |
Yo_Robot | 22:d5431fff164b | 522 | |
Yo_Robot | 22:d5431fff164b | 523 | |
Yo_Robot | 22:d5431fff164b | 524 | } |
Yo_Robot | 22:d5431fff164b | 525 | |
Yo_Robot | 22:d5431fff164b | 526 | return baudios; |
Yo_Robot | 22:d5431fff164b | 527 | } |
Yo_Robot | 22:d5431fff164b | 528 | |
Yo_Robot | 22:d5431fff164b | 529 | // **** Funciones Liberia Ethernet ***** // |
Yo_Robot | 12:c02b08dacc45 | 530 | void setPTO_eth( char * input, char * output ) |
Yo_Robot | 12:c02b08dacc45 | 531 | { |
Yo_Robot | 12:c02b08dacc45 | 532 | int freq = atoi( input ); |
Yo_Robot | 12:c02b08dacc45 | 533 | |
Yo_Robot | 12:c02b08dacc45 | 534 | if( freq != 0 ){ |
Yo_Robot | 12:c02b08dacc45 | 535 | LPC_TIM2->TC = 0x00; // Resetear Timer |
Yo_Robot | 12:c02b08dacc45 | 536 | setMR2( getMRvalue( freq ) ); // Cambiar frefuencia |
Yo_Robot | 12:c02b08dacc45 | 537 | startTimer2(); // Iniciar Timer |
Yo_Robot | 14:039d070732d5 | 538 | if( pin_alm == 0 ) |
Yo_Robot | 31:7e2cdd547cb2 | 539 | { |
Yo_Robot | 31:7e2cdd547cb2 | 540 | if ( limite_2 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 541 | { |
Yo_Robot | 31:7e2cdd547cb2 | 542 | sprintf( output,"A2\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 543 | } |
Yo_Robot | 31:7e2cdd547cb2 | 544 | if ( limite_3 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 545 | { |
Yo_Robot | 31:7e2cdd547cb2 | 546 | sprintf( output,"A1\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 547 | } |
Yo_Robot | 31:7e2cdd547cb2 | 548 | if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION |
Yo_Robot | 31:7e2cdd547cb2 | 549 | { |
Yo_Robot | 31:7e2cdd547cb2 | 550 | sprintf( output,"A0\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 551 | } |
Yo_Robot | 31:7e2cdd547cb2 | 552 | |
Yo_Robot | 31:7e2cdd547cb2 | 553 | else |
Yo_Robot | 31:7e2cdd547cb2 | 554 | sprintf( output,"OK\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 555 | } |
Yo_Robot | 14:039d070732d5 | 556 | else |
Yo_Robot | 14:039d070732d5 | 557 | sprintf( output,"AL" ); |
Yo_Robot | 12:c02b08dacc45 | 558 | }else{ |
Yo_Robot | 12:c02b08dacc45 | 559 | stopTimer2(); |
Yo_Robot | 12:c02b08dacc45 | 560 | LPC_TIM2->TC = 0x00; // Resetear Timer |
Yo_Robot | 14:039d070732d5 | 561 | if( pin_alm == 0 ) |
Yo_Robot | 31:7e2cdd547cb2 | 562 | { |
Yo_Robot | 31:7e2cdd547cb2 | 563 | if ( limite_2 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 564 | { |
Yo_Robot | 31:7e2cdd547cb2 | 565 | sprintf( output,"A2\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 566 | } |
Yo_Robot | 31:7e2cdd547cb2 | 567 | if ( limite_3 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 568 | { |
Yo_Robot | 31:7e2cdd547cb2 | 569 | sprintf( output,"A1\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 570 | } |
Yo_Robot | 31:7e2cdd547cb2 | 571 | if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION |
Yo_Robot | 31:7e2cdd547cb2 | 572 | { |
Yo_Robot | 31:7e2cdd547cb2 | 573 | sprintf( output,"A0\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 574 | } |
Yo_Robot | 31:7e2cdd547cb2 | 575 | |
Yo_Robot | 31:7e2cdd547cb2 | 576 | else |
Yo_Robot | 31:7e2cdd547cb2 | 577 | sprintf( output,"OK\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 578 | } |
Yo_Robot | 14:039d070732d5 | 579 | else |
Yo_Robot | 14:039d070732d5 | 580 | sprintf( output,"AL" ); |
Yo_Robot | 12:c02b08dacc45 | 581 | } |
Yo_Robot | 12:c02b08dacc45 | 582 | } |
Yo_Robot | 12:c02b08dacc45 | 583 | |
Yo_Robot | 15:a1ffa32ce9d1 | 584 | void setANG_eth( char * input, char * output ) |
Yo_Robot | 15:a1ffa32ce9d1 | 585 | { |
Yo_Robot | 15:a1ffa32ce9d1 | 586 | long int pulsos = atol( input ); //Numero de pulsos a generar |
Yo_Robot | 29:52932326c45a | 587 | float pulsos_f = (float) pulsos; |
Yo_Robot | 29:52932326c45a | 588 | t_alto = pulsos_f / fq_posicion; //Tiempo que debe ser generado el tren de pulsos. |
Yo_Robot | 15:a1ffa32ce9d1 | 589 | |
Yo_Robot | 15:a1ffa32ce9d1 | 590 | stopTimer2(); //Deten el tren de pulsos |
Yo_Robot | 15:a1ffa32ce9d1 | 591 | setPTO( fq_posicion ); //Nueva frecuencia de salida |
Yo_Robot | 15:a1ffa32ce9d1 | 592 | startTimer2(); //Inicia el tren de pulsos |
Yo_Robot | 15:a1ffa32ce9d1 | 593 | wait( t_alto ); //Espera hasta llegar a la posicion |
Yo_Robot | 18:cf1e07d82630 | 594 | stopTimer2(); //Posicion alcanzada ALTO. |
Yo_Robot | 15:a1ffa32ce9d1 | 595 | |
Yo_Robot | 15:a1ffa32ce9d1 | 596 | if( pin_alm == 0 ) |
Yo_Robot | 31:7e2cdd547cb2 | 597 | { |
Yo_Robot | 31:7e2cdd547cb2 | 598 | if ( limite_2 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 599 | { |
Yo_Robot | 31:7e2cdd547cb2 | 600 | sprintf( output,"A2\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 601 | } |
Yo_Robot | 31:7e2cdd547cb2 | 602 | if ( limite_3 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 603 | { |
Yo_Robot | 31:7e2cdd547cb2 | 604 | sprintf( output,"A1\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 605 | } |
Yo_Robot | 31:7e2cdd547cb2 | 606 | if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION |
Yo_Robot | 31:7e2cdd547cb2 | 607 | { |
Yo_Robot | 31:7e2cdd547cb2 | 608 | sprintf( output,"A0\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 609 | } |
Yo_Robot | 31:7e2cdd547cb2 | 610 | |
Yo_Robot | 31:7e2cdd547cb2 | 611 | else |
Yo_Robot | 31:7e2cdd547cb2 | 612 | sprintf( output,"OK\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 613 | } |
Yo_Robot | 15:a1ffa32ce9d1 | 614 | else |
Yo_Robot | 15:a1ffa32ce9d1 | 615 | sprintf( output,"AL" ); |
Yo_Robot | 15:a1ffa32ce9d1 | 616 | |
Yo_Robot | 15:a1ffa32ce9d1 | 617 | } |
Yo_Robot | 21:353b0fe8fc54 | 618 | |
Yo_Robot | 21:353b0fe8fc54 | 619 | |
Yo_Robot | 15:a1ffa32ce9d1 | 620 | void setSPD_eth( char * input, char * output ) |
Yo_Robot | 15:a1ffa32ce9d1 | 621 | { |
Yo_Robot | 15:a1ffa32ce9d1 | 622 | fq_posicion = atoi( input ); |
Yo_Robot | 15:a1ffa32ce9d1 | 623 | // Esta funcion cambia la velocidad con la que se |
Yo_Robot | 15:a1ffa32ce9d1 | 624 | // posicionara el eje del motor en un angulo determinado |
Yo_Robot | 15:a1ffa32ce9d1 | 625 | if( pin_alm == 0 ) |
Yo_Robot | 31:7e2cdd547cb2 | 626 | { |
Yo_Robot | 31:7e2cdd547cb2 | 627 | if ( limite_2 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 628 | { |
Yo_Robot | 31:7e2cdd547cb2 | 629 | sprintf( output,"A2\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 630 | } |
Yo_Robot | 31:7e2cdd547cb2 | 631 | if ( limite_3 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 632 | { |
Yo_Robot | 31:7e2cdd547cb2 | 633 | sprintf( output,"A1\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 634 | } |
Yo_Robot | 31:7e2cdd547cb2 | 635 | if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION |
Yo_Robot | 31:7e2cdd547cb2 | 636 | { |
Yo_Robot | 31:7e2cdd547cb2 | 637 | sprintf( output,"A0\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 638 | } |
Yo_Robot | 31:7e2cdd547cb2 | 639 | |
Yo_Robot | 31:7e2cdd547cb2 | 640 | else |
Yo_Robot | 31:7e2cdd547cb2 | 641 | sprintf( output,"OK\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 642 | } |
Yo_Robot | 15:a1ffa32ce9d1 | 643 | else |
Yo_Robot | 15:a1ffa32ce9d1 | 644 | sprintf( output,"AL" ); |
Yo_Robot | 15:a1ffa32ce9d1 | 645 | |
Yo_Robot | 15:a1ffa32ce9d1 | 646 | } |
Yo_Robot | 21:353b0fe8fc54 | 647 | |
Yo_Robot | 12:c02b08dacc45 | 648 | void setAout_eth( char * input, char * output ) |
Yo_Robot | 12:c02b08dacc45 | 649 | { |
Yo_Robot | 12:c02b08dacc45 | 650 | int vout = atoi( input ); |
Yo_Robot | 14:039d070732d5 | 651 | aout = (float)( vout + 10000 ) / 20000; |
Yo_Robot | 14:039d070732d5 | 652 | if( pin_alm == 0 ) |
Yo_Robot | 31:7e2cdd547cb2 | 653 | { |
Yo_Robot | 31:7e2cdd547cb2 | 654 | if ( limite_2 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 655 | { |
Yo_Robot | 31:7e2cdd547cb2 | 656 | sprintf( output,"A2\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 657 | } |
Yo_Robot | 31:7e2cdd547cb2 | 658 | if ( limite_3 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 659 | { |
Yo_Robot | 31:7e2cdd547cb2 | 660 | sprintf( output,"A1\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 661 | } |
Yo_Robot | 31:7e2cdd547cb2 | 662 | if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION |
Yo_Robot | 31:7e2cdd547cb2 | 663 | { |
Yo_Robot | 31:7e2cdd547cb2 | 664 | sprintf( output,"A0\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 665 | } |
Yo_Robot | 31:7e2cdd547cb2 | 666 | |
Yo_Robot | 31:7e2cdd547cb2 | 667 | else |
Yo_Robot | 31:7e2cdd547cb2 | 668 | sprintf( output,"OK\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 669 | } |
Yo_Robot | 14:039d070732d5 | 670 | else |
Yo_Robot | 14:039d070732d5 | 671 | sprintf( output,"AL" ); |
Yo_Robot | 12:c02b08dacc45 | 672 | } |
Yo_Robot | 12:c02b08dacc45 | 673 | |
Yo_Robot | 12:c02b08dacc45 | 674 | |
Yo_Robot | 12:c02b08dacc45 | 675 | |
Yo_Robot | 12:c02b08dacc45 | 676 | void setDir_eth ( char * input, char * output ) |
Yo_Robot | 12:c02b08dacc45 | 677 | { |
Yo_Robot | 12:c02b08dacc45 | 678 | int value = atoi( input ); |
Yo_Robot | 12:c02b08dacc45 | 679 | |
Yo_Robot | 12:c02b08dacc45 | 680 | pin_dir = value; |
Yo_Robot | 12:c02b08dacc45 | 681 | |
Yo_Robot | 14:039d070732d5 | 682 | if( pin_alm == 0 ) |
Yo_Robot | 31:7e2cdd547cb2 | 683 | { |
Yo_Robot | 31:7e2cdd547cb2 | 684 | if ( limite_2 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 685 | { |
Yo_Robot | 31:7e2cdd547cb2 | 686 | sprintf( output,"A2\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 687 | } |
Yo_Robot | 31:7e2cdd547cb2 | 688 | if ( limite_3 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 689 | { |
Yo_Robot | 31:7e2cdd547cb2 | 690 | sprintf( output,"A1\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 691 | } |
Yo_Robot | 31:7e2cdd547cb2 | 692 | if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION |
Yo_Robot | 31:7e2cdd547cb2 | 693 | { |
Yo_Robot | 31:7e2cdd547cb2 | 694 | sprintf( output,"A0\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 695 | } |
Yo_Robot | 31:7e2cdd547cb2 | 696 | |
Yo_Robot | 31:7e2cdd547cb2 | 697 | else |
Yo_Robot | 31:7e2cdd547cb2 | 698 | sprintf( output,"OK\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 699 | } |
Yo_Robot | 12:c02b08dacc45 | 700 | else |
Yo_Robot | 14:039d070732d5 | 701 | sprintf( output,"AL" ); |
Yo_Robot | 12:c02b08dacc45 | 702 | } |
Yo_Robot | 12:c02b08dacc45 | 703 | |
Yo_Robot | 12:c02b08dacc45 | 704 | |
Yo_Robot | 12:c02b08dacc45 | 705 | |
Yo_Robot | 12:c02b08dacc45 | 706 | void setSON_eth ( char * input, char * output ) |
Yo_Robot | 12:c02b08dacc45 | 707 | { |
Yo_Robot | 12:c02b08dacc45 | 708 | int value = atoi( input ); |
Yo_Robot | 12:c02b08dacc45 | 709 | |
Yo_Robot | 12:c02b08dacc45 | 710 | pin_son = value; |
Yo_Robot | 12:c02b08dacc45 | 711 | |
Yo_Robot | 14:039d070732d5 | 712 | if( pin_alm == 0 ) |
Yo_Robot | 31:7e2cdd547cb2 | 713 | { |
Yo_Robot | 31:7e2cdd547cb2 | 714 | if ( limite_2 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 715 | { |
Yo_Robot | 31:7e2cdd547cb2 | 716 | sprintf( output,"A2\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 717 | } |
Yo_Robot | 31:7e2cdd547cb2 | 718 | if ( limite_3 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 719 | { |
Yo_Robot | 31:7e2cdd547cb2 | 720 | sprintf( output,"A1\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 721 | } |
Yo_Robot | 31:7e2cdd547cb2 | 722 | if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION |
Yo_Robot | 31:7e2cdd547cb2 | 723 | { |
Yo_Robot | 31:7e2cdd547cb2 | 724 | sprintf( output,"A0\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 725 | } |
Yo_Robot | 31:7e2cdd547cb2 | 726 | |
Yo_Robot | 31:7e2cdd547cb2 | 727 | else |
Yo_Robot | 31:7e2cdd547cb2 | 728 | sprintf( output,"OK\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 729 | } |
Yo_Robot | 12:c02b08dacc45 | 730 | else |
Yo_Robot | 14:039d070732d5 | 731 | sprintf( output,"AL" ); |
Yo_Robot | 12:c02b08dacc45 | 732 | |
Yo_Robot | 12:c02b08dacc45 | 733 | } |
Yo_Robot | 12:c02b08dacc45 | 734 | |
Yo_Robot | 12:c02b08dacc45 | 735 | |
Yo_Robot | 22:d5431fff164b | 736 | void getENC_eth( char * input, char * output ) |
Yo_Robot | 20:4b154134ab20 | 737 | { |
Yo_Robot | 22:d5431fff164b | 738 | if( pin_alm == 0 ) |
Yo_Robot | 31:7e2cdd547cb2 | 739 | { |
Yo_Robot | 31:7e2cdd547cb2 | 740 | if ( limite_2 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 741 | { |
Yo_Robot | 31:7e2cdd547cb2 | 742 | sprintf( output,"A2\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 743 | } |
Yo_Robot | 31:7e2cdd547cb2 | 744 | if ( limite_3 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 745 | { |
Yo_Robot | 31:7e2cdd547cb2 | 746 | sprintf( output,"A1\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 747 | } |
Yo_Robot | 31:7e2cdd547cb2 | 748 | if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION |
Yo_Robot | 31:7e2cdd547cb2 | 749 | { |
Yo_Robot | 31:7e2cdd547cb2 | 750 | sprintf( output,"A0\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 751 | } |
Yo_Robot | 31:7e2cdd547cb2 | 752 | |
Yo_Robot | 31:7e2cdd547cb2 | 753 | else |
Yo_Robot | 31:7e2cdd547cb2 | 754 | sprintf( output,"OK\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 755 | } |
Yo_Robot | 22:d5431fff164b | 756 | else |
Yo_Robot | 22:d5431fff164b | 757 | sprintf( output,"AL" ); |
Yo_Robot | 22:d5431fff164b | 758 | } |
Yo_Robot | 21:353b0fe8fc54 | 759 | |
Yo_Robot | 21:353b0fe8fc54 | 760 | |
Yo_Robot | 22:d5431fff164b | 761 | void setENC_eth( char * input, char * output ) |
Yo_Robot | 22:d5431fff164b | 762 | { |
Yo_Robot | 29:52932326c45a | 763 | encoder.Reset(QEI_RESET_POS); |
Yo_Robot | 29:52932326c45a | 764 | encoder.Reset(QEI_RESET_VEL); |
Yo_Robot | 22:d5431fff164b | 765 | |
Yo_Robot | 22:d5431fff164b | 766 | if( pin_alm == 0 ) |
Yo_Robot | 31:7e2cdd547cb2 | 767 | { |
Yo_Robot | 31:7e2cdd547cb2 | 768 | if ( limite_2 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 769 | { |
Yo_Robot | 31:7e2cdd547cb2 | 770 | sprintf( output,"A2\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 771 | } |
Yo_Robot | 31:7e2cdd547cb2 | 772 | if ( limite_3 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 773 | { |
Yo_Robot | 31:7e2cdd547cb2 | 774 | sprintf( output,"A1\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 775 | } |
Yo_Robot | 31:7e2cdd547cb2 | 776 | if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION |
Yo_Robot | 31:7e2cdd547cb2 | 777 | { |
Yo_Robot | 31:7e2cdd547cb2 | 778 | sprintf( output,"A0\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 779 | } |
Yo_Robot | 31:7e2cdd547cb2 | 780 | |
Yo_Robot | 31:7e2cdd547cb2 | 781 | else |
Yo_Robot | 31:7e2cdd547cb2 | 782 | sprintf( output,"OK\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 783 | } |
Yo_Robot | 22:d5431fff164b | 784 | else |
Yo_Robot | 22:d5431fff164b | 785 | sprintf( output,"AL" ); |
Yo_Robot | 22:d5431fff164b | 786 | |
Yo_Robot | 20:4b154134ab20 | 787 | } |
Yo_Robot | 12:c02b08dacc45 | 788 | |
Yo_Robot | 23:2126e38bb48c | 789 | void getRPM_eth( char * input, char * output ) |
Yo_Robot | 23:2126e38bb48c | 790 | { |
Yo_Robot | 29:52932326c45a | 791 | int rpm; |
Yo_Robot | 23:2126e38bb48c | 792 | |
Yo_Robot | 29:52932326c45a | 793 | rpm = encoder.CalculateRPM( encoder.GetVelocityCap(), 360); // ultima velocidad leida desde el encoder |
Yo_Robot | 29:52932326c45a | 794 | // numero de revoluciones por vuelta del encoder |
Yo_Robot | 29:52932326c45a | 795 | |
Yo_Robot | 23:2126e38bb48c | 796 | |
Yo_Robot | 23:2126e38bb48c | 797 | if( pin_alm == 0 ) |
Yo_Robot | 31:7e2cdd547cb2 | 798 | { |
Yo_Robot | 31:7e2cdd547cb2 | 799 | if ( limite_2 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 800 | { |
Yo_Robot | 31:7e2cdd547cb2 | 801 | sprintf( output,"A2\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 802 | } |
Yo_Robot | 31:7e2cdd547cb2 | 803 | if ( limite_3 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 31:7e2cdd547cb2 | 804 | { |
Yo_Robot | 31:7e2cdd547cb2 | 805 | sprintf( output,"A1\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 806 | } |
Yo_Robot | 31:7e2cdd547cb2 | 807 | if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION |
Yo_Robot | 31:7e2cdd547cb2 | 808 | { |
Yo_Robot | 31:7e2cdd547cb2 | 809 | sprintf( output,"A0\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 810 | } |
Yo_Robot | 31:7e2cdd547cb2 | 811 | |
Yo_Robot | 31:7e2cdd547cb2 | 812 | else |
Yo_Robot | 31:7e2cdd547cb2 | 813 | sprintf( output,"OK\r\n" ); |
Yo_Robot | 31:7e2cdd547cb2 | 814 | } |
Yo_Robot | 23:2126e38bb48c | 815 | else |
Yo_Robot | 29:52932326c45a | 816 | sprintf( output,"AL" ); |
Yo_Robot | 23:2126e38bb48c | 817 | |
Yo_Robot | 23:2126e38bb48c | 818 | |
Yo_Robot | 23:2126e38bb48c | 819 | } |
Yo_Robot | 23:2126e38bb48c | 820 | |
Yo_Robot | 21:353b0fe8fc54 | 821 | |
Yo_Robot | 32:4483d6c225e5 | 822 | void setHOME_eth( char * input, char * output ) |
Yo_Robot | 32:4483d6c225e5 | 823 | { |
Yo_Robot | 32:4483d6c225e5 | 824 | int value = atoi( input ); |
Yo_Robot | 32:4483d6c225e5 | 825 | pin_dir = 1; //Mover hacia el motor |
Yo_Robot | 32:4483d6c225e5 | 826 | bandera_inicio = 1; // Informar a ISR_Adv_motor() acerca del Homing |
Yo_Robot | 32:4483d6c225e5 | 827 | setPTO( value * 1000 ); // a la velocidad seteada en KiloHertzios |
Yo_Robot | 32:4483d6c225e5 | 828 | |
Yo_Robot | 32:4483d6c225e5 | 829 | if( pin_alm == 0 ) |
Yo_Robot | 32:4483d6c225e5 | 830 | { |
Yo_Robot | 32:4483d6c225e5 | 831 | if ( limite_2 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 32:4483d6c225e5 | 832 | { |
Yo_Robot | 32:4483d6c225e5 | 833 | sprintf( output,"A2\r\n" ); |
Yo_Robot | 32:4483d6c225e5 | 834 | } |
Yo_Robot | 32:4483d6c225e5 | 835 | |
Yo_Robot | 32:4483d6c225e5 | 836 | if ( limite_3 == 1 ) // Alarma muy cerca al encoder |
Yo_Robot | 32:4483d6c225e5 | 837 | { |
Yo_Robot | 32:4483d6c225e5 | 838 | if (bandera_inicio == 1) |
Yo_Robot | 32:4483d6c225e5 | 839 | { |
Yo_Robot | 32:4483d6c225e5 | 840 | sprintf( output,"IN\r\n" ); |
Yo_Robot | 32:4483d6c225e5 | 841 | } |
Yo_Robot | 32:4483d6c225e5 | 842 | sprintf( output,"A1\r\n" ); |
Yo_Robot | 32:4483d6c225e5 | 843 | } |
Yo_Robot | 32:4483d6c225e5 | 844 | if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION |
Yo_Robot | 32:4483d6c225e5 | 845 | { |
Yo_Robot | 32:4483d6c225e5 | 846 | sprintf( output,"A0\r\n" ); |
Yo_Robot | 32:4483d6c225e5 | 847 | } |
Yo_Robot | 32:4483d6c225e5 | 848 | |
Yo_Robot | 32:4483d6c225e5 | 849 | else |
Yo_Robot | 32:4483d6c225e5 | 850 | sprintf( output,"OK\r\n" ); |
Yo_Robot | 32:4483d6c225e5 | 851 | } |
Yo_Robot | 32:4483d6c225e5 | 852 | else |
Yo_Robot | 32:4483d6c225e5 | 853 | sprintf( output,"AL" ); |
Yo_Robot | 32:4483d6c225e5 | 854 | |
Yo_Robot | 32:4483d6c225e5 | 855 | |
Yo_Robot | 32:4483d6c225e5 | 856 | } |
Yo_Robot | 32:4483d6c225e5 | 857 | |
Yo_Robot | 22:d5431fff164b | 858 | |
Yo_Robot | 22:d5431fff164b | 859 | |
Yo_Robot | 22:d5431fff164b | 860 | |
Yo_Robot | 4:552beeda4722 | 861 | /* LEGACY FUNCTIONS |
Yo_Robot | 4:552beeda4722 | 862 | * |
Yo_Robot | 20:4b154134ab20 | 863 | * El siguiente codigo no es utilizado por el |
Yo_Robot | 20:4b154134ab20 | 864 | * programa. Sin embargo pueden servir como |
Yo_Robot | 20:4b154134ab20 | 865 | * futuras referencias. |
Yo_Robot | 4:552beeda4722 | 866 | */ |
Yo_Robot | 4:552beeda4722 | 867 | void setMR3( int newValue ) |
Yo_Robot | 4:552beeda4722 | 868 | { |
Yo_Robot | 4:552beeda4722 | 869 | LPC_TIM2->MR3 = newValue; |
Yo_Robot | 4:552beeda4722 | 870 | } |
Yo_Robot | 4:552beeda4722 | 871 | |
Yo_Robot | 4:552beeda4722 | 872 | |
Yo_Robot | 4:552beeda4722 | 873 | void setPrescaler( int newValue) |
Yo_Robot | 4:552beeda4722 | 874 | { |
Yo_Robot | 4:552beeda4722 | 875 | LPC_TIM2->PR = newValue; |
Yo_Robot | 4:552beeda4722 | 876 | } |
Yo_Robot | 20:4b154134ab20 | 877 | |
Yo_Robot | 20:4b154134ab20 | 878 | |
Yo_Robot | 20:4b154134ab20 | 879 | EthernetNetIf configurarEthernet() |
Yo_Robot | 20:4b154134ab20 | 880 | { |
Yo_Robot | 20:4b154134ab20 | 881 | //____________ *** ARCHIVO DE CONFIGURACION ***_______________________ // |
Yo_Robot | 20:4b154134ab20 | 882 | |
Yo_Robot | 20:4b154134ab20 | 883 | printf("\n *** CONFIGURACION ETHERNET DE MBED ***\n"); |
Yo_Robot | 20:4b154134ab20 | 884 | printf("Leyendo archivo de configuracion...\n\n"); |
Yo_Robot | 20:4b154134ab20 | 885 | |
Yo_Robot | 20:4b154134ab20 | 886 | FILE *fp = fopen("/local/config.txt", "r"); // Abre el archivo y lo guarda en fp |
Yo_Robot | 20:4b154134ab20 | 887 | |
Yo_Robot | 20:4b154134ab20 | 888 | if(!fp) // En caso de no encontrarse el archivo |
Yo_Robot | 20:4b154134ab20 | 889 | { |
Yo_Robot | 20:4b154134ab20 | 890 | printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n"); |
Yo_Robot | 20:4b154134ab20 | 891 | exit(1); |
Yo_Robot | 20:4b154134ab20 | 892 | |
Yo_Robot | 20:4b154134ab20 | 893 | } |
Yo_Robot | 20:4b154134ab20 | 894 | else |
Yo_Robot | 20:4b154134ab20 | 895 | { |
Yo_Robot | 20:4b154134ab20 | 896 | // Cadenas de caracteres desde el Archivo config.txt |
Yo_Robot | 20:4b154134ab20 | 897 | char isDHCP [15]; //Modo Automatico o Manual |
Yo_Robot | 20:4b154134ab20 | 898 | char empty [2]; // Linea vacia |
Yo_Robot | 20:4b154134ab20 | 899 | char ip [40]; // Direccion IP |
Yo_Robot | 20:4b154134ab20 | 900 | char mask [40]; // Mascara de Subred |
Yo_Robot | 20:4b154134ab20 | 901 | char gate [40]; // Puerta de enlace |
Yo_Robot | 20:4b154134ab20 | 902 | char dns [40]; // Direccion DNS |
Yo_Robot | 20:4b154134ab20 | 903 | |
Yo_Robot | 20:4b154134ab20 | 904 | // Valores 'int' para agregar a la configuracion manual |
Yo_Robot | 20:4b154134ab20 | 905 | int DHCP; |
Yo_Robot | 20:4b154134ab20 | 906 | int n_ip[4]; |
Yo_Robot | 20:4b154134ab20 | 907 | int n_mask[4]; |
Yo_Robot | 20:4b154134ab20 | 908 | int n_gate[4]; |
Yo_Robot | 20:4b154134ab20 | 909 | int n_dns[4]; |
Yo_Robot | 20:4b154134ab20 | 910 | |
Yo_Robot | 20:4b154134ab20 | 911 | |
Yo_Robot | 20:4b154134ab20 | 912 | // Leer linea a linea el archivo |
Yo_Robot | 20:4b154134ab20 | 913 | fgets( isDHCP, 15, fp ); |
Yo_Robot | 20:4b154134ab20 | 914 | fgets( empty, 2, fp ); |
Yo_Robot | 20:4b154134ab20 | 915 | fgets( ip, 40, fp ); |
Yo_Robot | 20:4b154134ab20 | 916 | fgets( mask, 40, fp ); |
Yo_Robot | 20:4b154134ab20 | 917 | fgets( gate, 40, fp ); |
Yo_Robot | 20:4b154134ab20 | 918 | fgets( dns, 40, fp ); |
Yo_Robot | 20:4b154134ab20 | 919 | |
Yo_Robot | 20:4b154134ab20 | 920 | printf("Cerrando archivo...\n"); |
Yo_Robot | 20:4b154134ab20 | 921 | fclose(fp); |
Yo_Robot | 20:4b154134ab20 | 922 | |
Yo_Robot | 20:4b154134ab20 | 923 | // Extraer los valores numericos |
Yo_Robot | 20:4b154134ab20 | 924 | sscanf( isDHCP,"%*s %d",&DHCP ); |
Yo_Robot | 20:4b154134ab20 | 925 | |
Yo_Robot | 20:4b154134ab20 | 926 | sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0],&n_ip[1],&n_ip[2],&n_ip[3] ); |
Yo_Robot | 20:4b154134ab20 | 927 | sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] ); |
Yo_Robot | 20:4b154134ab20 | 928 | sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] ); |
Yo_Robot | 20:4b154134ab20 | 929 | sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0],&n_dns[1],&n_dns[2],&n_dns[3] ); |
Yo_Robot | 20:4b154134ab20 | 930 | |
Yo_Robot | 20:4b154134ab20 | 931 | |
Yo_Robot | 20:4b154134ab20 | 932 | if(DHCP) //En caso de modo DHCP |
Yo_Robot | 20:4b154134ab20 | 933 | { |
Yo_Robot | 20:4b154134ab20 | 934 | printf("\n Configurar red de manera automatica\n"); |
Yo_Robot | 20:4b154134ab20 | 935 | EthernetNetIf eth; //Crea la interfaz |
Yo_Robot | 20:4b154134ab20 | 936 | EthernetErr ethErr = eth.setup(); |
Yo_Robot | 20:4b154134ab20 | 937 | if( ethErr ) |
Yo_Robot | 20:4b154134ab20 | 938 | { |
Yo_Robot | 20:4b154134ab20 | 939 | printf( "Error %d en la configuracion\n", ethErr ); |
Yo_Robot | 20:4b154134ab20 | 940 | exit(1); |
Yo_Robot | 20:4b154134ab20 | 941 | } |
Yo_Robot | 20:4b154134ab20 | 942 | |
Yo_Robot | 20:4b154134ab20 | 943 | printf("Configuracion Correcta\n\n"); |
Yo_Robot | 20:4b154134ab20 | 944 | return eth; |
Yo_Robot | 20:4b154134ab20 | 945 | } |
Yo_Robot | 20:4b154134ab20 | 946 | else |
Yo_Robot | 20:4b154134ab20 | 947 | { |
Yo_Robot | 20:4b154134ab20 | 948 | sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0], &n_ip[1], &n_ip[2], &n_ip[3] ); |
Yo_Robot | 20:4b154134ab20 | 949 | sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] ); |
Yo_Robot | 20:4b154134ab20 | 950 | sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] ); |
Yo_Robot | 20:4b154134ab20 | 951 | sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0], &n_dns[1], &n_dns[2], &n_dns[3] ); |
Yo_Robot | 20:4b154134ab20 | 952 | printf(" %s %s %s %s %s\n " , isDHCP, ip, mask, gate, dns ); |
Yo_Robot | 20:4b154134ab20 | 953 | |
Yo_Robot | 20:4b154134ab20 | 954 | printf("\n Configurar red de manera manual\n"); |
Yo_Robot | 20:4b154134ab20 | 955 | EthernetNetIf eth( |
Yo_Robot | 20:4b154134ab20 | 956 | IpAddr( n_ip[0], n_ip[1], n_ip[2], n_ip[3]), //IP Address |
Yo_Robot | 20:4b154134ab20 | 957 | IpAddr( n_mask[0],n_mask[1],n_mask[2],n_mask[3]), //Network Mask |
Yo_Robot | 20:4b154134ab20 | 958 | IpAddr( n_gate[0],n_gate[1],n_gate[2],n_gate[3]), //Gateway |
Yo_Robot | 20:4b154134ab20 | 959 | IpAddr( n_dns[0], n_dns[1], n_dns[2], n_dns[3] ) //DNS |
Yo_Robot | 20:4b154134ab20 | 960 | ); |
Yo_Robot | 20:4b154134ab20 | 961 | |
Yo_Robot | 20:4b154134ab20 | 962 | EthernetErr ethErr = eth.setup(); |
Yo_Robot | 20:4b154134ab20 | 963 | if( ethErr ) |
Yo_Robot | 20:4b154134ab20 | 964 | { |
Yo_Robot | 20:4b154134ab20 | 965 | printf( "Error %d en la configuracion\n", ethErr ); |
Yo_Robot | 20:4b154134ab20 | 966 | exit(1); |
Yo_Robot | 20:4b154134ab20 | 967 | } |
Yo_Robot | 20:4b154134ab20 | 968 | |
Yo_Robot | 20:4b154134ab20 | 969 | printf("Configuracion Correcta\n\n"); |
Yo_Robot | 20:4b154134ab20 | 970 | return eth; |
Yo_Robot | 20:4b154134ab20 | 971 | } |
Yo_Robot | 20:4b154134ab20 | 972 | |
Yo_Robot | 20:4b154134ab20 | 973 | } |
Yo_Robot | 20:4b154134ab20 | 974 | |
Yo_Robot | 20:4b154134ab20 | 975 | EthernetNetIf eth; |
Yo_Robot | 20:4b154134ab20 | 976 | return eth; |
Yo_Robot | 20:4b154134ab20 | 977 | } |