Alejandro Rodriguez / TFC-TEST_UPDATED_HW

Example program that tests CCD1, Servo 1, and both motors.

Dependencies:   FRDM-TFC

Fork of TFC-TEST by Daniel Hadad

main.cpp@1:815e9ad229ad, 2018-01-12 (annotated)

Committer:
alejandroRL
Date:
Fri Jan 12 18:28:21 2018 +0000
Revision:
1:815e9ad229ad
Parent:
0:6432166d0781 
Example program that tests the line scan camera, servo, and motors.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
redxeth 0:6432166d0781 1 #include "mbed.h"
redxeth 0:6432166d0781 2 #include "TFC.h"
redxeth 0:6432166d0781 3
alejandroRL 1:815e9ad229ad 4
redxeth 0:6432166d0781 5 //This macro is to maintain compatibility with Codewarrior version of the sample. This version uses the MBED libraries for serial port access
redxeth 0:6432166d0781 6 Serial PC(USBTX,USBRX);
redxeth 0:6432166d0781 7
redxeth 0:6432166d0781 8 #define TERMINAL_PRINTF PC.printf
redxeth 0:6432166d0781 9
alejandroRL 1:815e9ad229ad 10
alejandroRL 1:815e9ad229ad 11 //This ticker code is used to maintain compability with the Codewarrior version of the sample. This code uses an MBED Ticker for background timing.
alejandroRL 1:815e9ad229ad 12
redxeth 0:6432166d0781 13 #define NUM_TFC_TICKERS 4
redxeth 0:6432166d0781 14
redxeth 0:6432166d0781 15 Ticker TFC_TickerObj;
alejandroRL 1:815e9ad229ad 16
redxeth 0:6432166d0781 17 volatile uint32_t TFC_Ticker[NUM_TFC_TICKERS];
alejandroRL 1:815e9ad229ad 18
redxeth 0:6432166d0781 19 void TFC_TickerUpdate()
redxeth 0:6432166d0781 20 {
redxeth 0:6432166d0781 21 int i;
alejandroRL 1:815e9ad229ad 22
alejandroRL 1:815e9ad229ad 23 for(i=0; i<NUM_TFC_TICKERS; i++) {
alejandroRL 1:815e9ad229ad 24 if(TFC_Ticker[i]<0xFFFFFFFF) {
redxeth 0:6432166d0781 25 TFC_Ticker[i]++;
redxeth 0:6432166d0781 26 }
redxeth 0:6432166d0781 27 }
redxeth 0:6432166d0781 28 }
alejandroRL 1:815e9ad229ad 29
alejandroRL 1:815e9ad229ad 30 int main2()
alejandroRL 1:815e9ad229ad 31 {
alejandroRL 1:815e9ad229ad 32 PC.baud(115200);
alejandroRL 1:815e9ad229ad 33 TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
alejandroRL 1:815e9ad229ad 34
alejandroRL 1:815e9ad229ad 35 TFC_Init();
alejandroRL 1:815e9ad229ad 36 //TFC_SetMotorPWM(0,0);
alejandroRL 1:815e9ad229ad 37 for(;;) {
alejandroRL 1:815e9ad229ad 38
alejandroRL 1:815e9ad229ad 39 }
alejandroRL 1:815e9ad229ad 40 }
alejandroRL 1:815e9ad229ad 41
alejandroRL 1:815e9ad229ad 42 int mainTestCamera()
alejandroRL 1:815e9ad229ad 43 {
alejandroRL 1:815e9ad229ad 44 uint32_t i,t = 0;
alejandroRL 1:815e9ad229ad 45
alejandroRL 1:815e9ad229ad 46 PC.baud(115200);
alejandroRL 1:815e9ad229ad 47 TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
alejandroRL 1:815e9ad229ad 48
alejandroRL 1:815e9ad229ad 49 TFC_Init();
alejandroRL 1:815e9ad229ad 50
alejandroRL 1:815e9ad229ad 51 for(;;) {
alejandroRL 1:815e9ad229ad 52 if(TFC_Ticker[0]>1000 && TFC_LineScanImageReady>0) {
alejandroRL 1:815e9ad229ad 53 TFC_Ticker[0] = 0;
alejandroRL 1:815e9ad229ad 54 TFC_LineScanImageReady = 0;
alejandroRL 1:815e9ad229ad 55 // camera 1
alejandroRL 1:815e9ad229ad 56 for(i=0; i<128; i++) {
alejandroRL 1:815e9ad229ad 57 TERMINAL_PRINTF("%X,",TFC_LineScanImage0[i]);
alejandroRL 1:815e9ad229ad 58 }
alejandroRL 1:815e9ad229ad 59 TERMINAL_PRINTF("\r\n");
alejandroRL 1:815e9ad229ad 60 }
alejandroRL 1:815e9ad229ad 61 }
alejandroRL 1:815e9ad229ad 62
alejandroRL 1:815e9ad229ad 63 }
alejandroRL 1:815e9ad229ad 64
alejandroRL 1:815e9ad229ad 65
alejandroRL 1:815e9ad229ad 66 int mainTestServo()
alejandroRL 1:815e9ad229ad 67 {
alejandroRL 1:815e9ad229ad 68 uint32_t i,t = 0;
alejandroRL 1:815e9ad229ad 69
alejandroRL 1:815e9ad229ad 70 PC.baud(115200);
alejandroRL 1:815e9ad229ad 71 TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
alejandroRL 1:815e9ad229ad 72
alejandroRL 1:815e9ad229ad 73 TFC_Init();
alejandroRL 1:815e9ad229ad 74 float val = -1; //-0.4 is all the way to the right. 0.4 is all the way to the left
alejandroRL 1:815e9ad229ad 75 TFC_SetServo(0,val);
alejandroRL 1:815e9ad229ad 76 for(;;) {
alejandroRL 1:815e9ad229ad 77 val+= 0.5;
alejandroRL 1:815e9ad229ad 78 if(val>1) {
alejandroRL 1:815e9ad229ad 79 val = -1;
alejandroRL 1:815e9ad229ad 80 }
alejandroRL 1:815e9ad229ad 81 TFC_SetServo(0,val);
alejandroRL 1:815e9ad229ad 82 wait(1);
alejandroRL 1:815e9ad229ad 83 }
alejandroRL 1:815e9ad229ad 84 }
alejandroRL 1:815e9ad229ad 85
redxeth 0:6432166d0781 86 int main()
redxeth 0:6432166d0781 87 {
redxeth 0:6432166d0781 88 PC.baud(115200);
redxeth 0:6432166d0781 89 TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
redxeth 0:6432166d0781 90 TFC_Init();
alejandroRL 1:815e9ad229ad 91 for(;;) {
alejandroRL 1:815e9ad229ad 92 PC.printf("Select component to test:\r\n0: Servos\r\n1: Motors\r\n2: Camera (CCD1)\r\n");
alejandroRL 1:815e9ad229ad 93 switch(PC.getc()) {
redxeth 0:6432166d0781 94 default:
alejandroRL 1:815e9ad229ad 95 case '0':
alejandroRL 1:815e9ad229ad 96 PC.printf("Testing Servos. Restart the board to stop.\r\n");
alejandroRL 1:815e9ad229ad 97 float val = -1; //-0.4 is all the way to the right. 0.4 is all the way to the left
alejandroRL 1:815e9ad229ad 98 TFC_SetServo(0,val);
alejandroRL 1:815e9ad229ad 99 while(1) {
alejandroRL 1:815e9ad229ad 100 val+= 0.5;
alejandroRL 1:815e9ad229ad 101 if(val>1) {
alejandroRL 1:815e9ad229ad 102 val = -1;
alejandroRL 1:815e9ad229ad 103 }
alejandroRL 1:815e9ad229ad 104 TFC_SetServo(0,val);
alejandroRL 1:815e9ad229ad 105 wait(1);
redxeth 0:6432166d0781 106 }
redxeth 0:6432166d0781 107 break;
alejandroRL 1:815e9ad229ad 108 case '1' :
alejandroRL 1:815e9ad229ad 109 PC.printf("Testing Motors. Restart the board to stop.\r\n");
alejandroRL 1:815e9ad229ad 110 PC.printf("Enter value between -1 and 1. Format: +xx.xx (must include +/- sign)\r\n");
alejandroRL 1:815e9ad229ad 111 char inString[7];
alejandroRL 1:815e9ad229ad 112 PC.gets(inString, 7);
alejandroRL 1:815e9ad229ad 113 PC.printf(inString);
alejandroRL 1:815e9ad229ad 114 PC.printf("\r\n");
alejandroRL 1:815e9ad229ad 115 float duty = atof(inString);
alejandroRL 1:815e9ad229ad 116 TFC_SetMotorPWM(duty,duty);
alejandroRL 1:815e9ad229ad 117 while(1) {
alejandroRL 1:815e9ad229ad 118 PC.printf("Enter value between -1 and 1. Format: +xx.xx (must include +/- sign)\r\n");
alejandroRL 1:815e9ad229ad 119 PC.gets(inString, 7);
alejandroRL 1:815e9ad229ad 120 PC.printf(inString);
alejandroRL 1:815e9ad229ad 121 PC.printf("\r\n");
alejandroRL 1:815e9ad229ad 122 duty = atof(inString);
alejandroRL 1:815e9ad229ad 123 TFC_SetMotorPWM(duty,duty);
alejandroRL 1:815e9ad229ad 124 }
redxeth 0:6432166d0781 125 break;
alejandroRL 1:815e9ad229ad 126 case '2' :
alejandroRL 1:815e9ad229ad 127 PC.printf("Testing Camera. Restart the board to stop.\r\n");
alejandroRL 1:815e9ad229ad 128 int t = 0;
alejandroRL 1:815e9ad229ad 129 while(1)
alejandroRL 1:815e9ad229ad 130 {
alejandroRL 1:815e9ad229ad 131 if(TFC_Ticker[0]>50 && TFC_LineScanImageReady>0)
redxeth 0:6432166d0781 132 {
alejandroRL 1:815e9ad229ad 133 TFC_Ticker[0] = 0;
alejandroRL 1:815e9ad229ad 134 TFC_LineScanImageReady=0;
alejandroRL 1:815e9ad229ad 135 TERMINAL_PRINTF("\r\n");
alejandroRL 1:815e9ad229ad 136 TERMINAL_PRINTF("L:");
redxeth 0:6432166d0781 137 if(t==0)
alejandroRL 1:815e9ad229ad 138 {
redxeth 0:6432166d0781 139 t=4;
alejandroRL 1:815e9ad229ad 140 }else{
redxeth 0:6432166d0781 141 t--;
alejandroRL 1:815e9ad229ad 142
alejandroRL 1:815e9ad229ad 143 // camera 1
alejandroRL 1:815e9ad229ad 144 for(int i=0; i<128; i++) {
alejandroRL 1:815e9ad229ad 145 TERMINAL_PRINTF("%X,",TFC_LineScanImage0[i]);
alejandroRL 1:815e9ad229ad 146 }
alejandroRL 1:815e9ad229ad 147 }
redxeth 0:6432166d0781 148 }
alejandroRL 1:815e9ad229ad 149
alejandroRL 1:815e9ad229ad 150 }
redxeth 0:6432166d0781 151 break;
alejandroRL 1:815e9ad229ad 152 }
redxeth 0:6432166d0781 153 }
alejandroRL 1:815e9ad229ad 154
alejandroRL 1:815e9ad229ad 155
redxeth 0:6432166d0781 156 }
alejandroRL 1:815e9ad229ad 157