Revision 1:815e9ad229ad, committed 2018-01-12

Comitter:

alejandroRL

Date:

Fri Jan 12 18:28:21 2018 +0000

Parent:

0:6432166d0781

Commit message:

Example program that tests the line scan camera, servo, and motors.

Changed in this revision

--- a/FRDM-TFC.lib	Tue Apr 15 02:38:04 2014 +0000
+++ b/FRDM-TFC.lib	Fri Jan 12 18:28:21 2018 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/emh203/code/FRDM-TFC/#fbc2ba3c670a
+https://os.mbed.com/users/alejandroRL/code/frdm-tfc/#9c61b6ebc028

--- a/main.cpp	Tue Apr 15 02:38:04 2014 +0000
+++ b/main.cpp	Fri Jan 12 18:28:21 2018 +0000
@@ -1,172 +1,157 @@
 #include "mbed.h"
 #include "TFC.h"
 
- 
+
 //This macro is to maintain compatibility with Codewarrior version of the sample.   This version uses the MBED libraries for serial port access
 Serial PC(USBTX,USBRX);
 
 #define TERMINAL_PRINTF     PC.printf
 
- 
- //This ticker code is used to maintain compability with the Codewarrior version of the sample.   This code uses an MBED Ticker for background timing.
- 
+
+//This ticker code is used to maintain compability with the Codewarrior version of the sample.   This code uses an MBED Ticker for background timing.
+
 #define NUM_TFC_TICKERS 4
 
 Ticker TFC_TickerObj;
- 
+
 volatile uint32_t TFC_Ticker[NUM_TFC_TICKERS];
- 
+
 void TFC_TickerUpdate()
 {
     int i;
- 
-    for(i=0; i<NUM_TFC_TICKERS; i++)
-     {
-        if(TFC_Ticker[i]<0xFFFFFFFF) 
-        {
+
+    for(i=0; i<NUM_TFC_TICKERS; i++) {
+        if(TFC_Ticker[i]<0xFFFFFFFF) {
             TFC_Ticker[i]++;
         }
     }
 }
- 
- 
- 
- 
+
+int main2()
+{
+    PC.baud(115200);
+    TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
+
+    TFC_Init();
+    //TFC_SetMotorPWM(0,0);
+    for(;;) {
+
+    }
+}
+
+int mainTestCamera()
+{
+    uint32_t i,t = 0;
+
+    PC.baud(115200);
+    TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
+
+    TFC_Init();
+
+    for(;;) {
+        if(TFC_Ticker[0]>1000 && TFC_LineScanImageReady>0) {
+            TFC_Ticker[0] = 0;
+            TFC_LineScanImageReady = 0;
+            // camera 1
+            for(i=0; i<128; i++) {
+                TERMINAL_PRINTF("%X,",TFC_LineScanImage0[i]);
+            }
+            TERMINAL_PRINTF("\r\n");
+        }
+    }
+
+}
+
+
+int mainTestServo()
+{
+    uint32_t i,t = 0;
+
+    PC.baud(115200);
+    TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
+
+    TFC_Init();
+    float val = -1;       //-0.4 is all the way to the right. 0.4 is all the way to the left
+    TFC_SetServo(0,val);
+    for(;;) {
+        val+= 0.5;
+        if(val>1) {
+            val = -1;
+        }
+        TFC_SetServo(0,val);
+        wait(1);
+    }
+}
+
 int main()
 {
-    uint32_t i,t = 0;
-  
     PC.baud(115200);
     TFC_TickerObj.attach_us(&TFC_TickerUpdate,2000);
-   
     TFC_Init();
-    
-    for(;;)
-    {      
-        //TFC_Task must be called in your main loop.  This keeps certain processing happy (I.E. Serial port queue check)
-         //   TFC_Task();
-
-            //This Demo program will look at the middle 2 switch to select one of 4 demo modes.
-            //Let's look at the middle 2 switches
-            switch((TFC_GetDIP_Switch()>>1)&0x03)
-            {
+    for(;;) {
+        PC.printf("Select component to test:\r\n0: Servos\r\n1: Motors\r\n2: Camera (CCD1)\r\n");
+        switch(PC.getc()) {
             default:
-            case 0 :
-                //Demo mode 0 just tests the switches and LED's
-                if(TFC_PUSH_BUTTON_0_PRESSED)
-                    TFC_BAT_LED0_ON;
-                else
-                    TFC_BAT_LED0_OFF;
-                
-                if(TFC_PUSH_BUTTON_1_PRESSED)
-                    TFC_BAT_LED3_ON;
-                else
-                    TFC_BAT_LED3_OFF;
-                
-                
-                if(TFC_GetDIP_Switch()&0x01)
-                    TFC_BAT_LED1_ON;
-                else
-                    TFC_BAT_LED1_OFF;
-                
-                if(TFC_GetDIP_Switch()&0x08)
-                    TFC_BAT_LED2_ON;
-                else
-                    TFC_BAT_LED2_OFF;
-                
-                break;
-                    
-            case 1:
-                
-                //Demo mode 1 will just move the servos with the on-board potentiometers
-                if(TFC_Ticker[0]>=20)
-                {
-                    TFC_Ticker[0] = 0; //reset the Ticker
-                    //Every 20 mSeconds, update the Servos
-                    TFC_SetServo(0,TFC_ReadPot(0));
-                    TFC_SetServo(1,TFC_ReadPot(1));
+            case '0':
+                PC.printf("Testing Servos. Restart the board to stop.\r\n");
+                float val = -1;       //-0.4 is all the way to the right. 0.4 is all the way to the left
+                TFC_SetServo(0,val);
+                while(1) {
+                    val+= 0.5;
+                    if(val>1) {
+                        val = -1;
+                    }
+                    TFC_SetServo(0,val);
+                    wait(1);
                 }
-                //Let's put a pattern on the LEDs
-                if(TFC_Ticker[1] >= 125)
-                {
-                    TFC_Ticker[1] = 0;
-                    t++;
-                    if(t>4)
-                    {
-                        t=0;
-                    }           
-                    TFC_SetBatteryLED_Level(t);
-                }
-                
-                TFC_SetMotorPWM(0,0); //Make sure motors are off
-                TFC_HBRIDGE_DISABLE;
-            
-
                 break;
-                
-            case 2 :
-                
-                //Demo Mode 2 will use the Pots to make the motors move
-                TFC_HBRIDGE_ENABLE;
-               
-                TFC_SetMotorPWM(TFC_ReadPot(0),TFC_ReadPot(1));
-                
-                        
-                //Let's put a pattern on the LEDs
-                if(TFC_Ticker[1] >= 125)
-                    {
-                        TFC_Ticker[1] = 0;
-                            t++;
-                            if(t>4)
-                            {
-                                t=0;
-                            }           
-                        TFC_SetBatteryLED_Level(t);
-                    }
+            case '1' :
+                PC.printf("Testing Motors. Restart the board to stop.\r\n");
+                PC.printf("Enter value between -1 and 1. Format: +xx.xx (must include +/- sign)\r\n");
+                char inString[7];
+                PC.gets(inString, 7);
+                PC.printf(inString);
+                PC.printf("\r\n");
+                float duty = atof(inString);
+                TFC_SetMotorPWM(duty,duty);
+                while(1) {
+                    PC.printf("Enter value between -1 and 1. Format: +xx.xx (must include +/- sign)\r\n");
+                    PC.gets(inString, 7);
+                    PC.printf(inString);
+                    PC.printf("\r\n");
+                    duty = atof(inString);
+                    TFC_SetMotorPWM(duty,duty);
+                }
                 break;
-            
-            case 3 :
-            
-         
-                //Demo Mode 3 will be in Freescale Garage Mode.  It will beam data from the Camera to the 
-                //Labview Application
-                
-                
-                if(TFC_Ticker[0]>50 && TFC_LineScanImageReady>0)
+            case '2' :
+                PC.printf("Testing Camera. Restart the board to stop.\r\n");
+                int t = 0;
+                while(1)
+                {
+                    if(TFC_Ticker[0]>50 && TFC_LineScanImageReady>0)
                     {
-                     TFC_Ticker[0] = 0;
-                     TFC_LineScanImageReady=0;
-                     TERMINAL_PRINTF("\r\n");
-                     TERMINAL_PRINTF("L:");
-                     
+                        TFC_Ticker[0] = 0;
+                        TFC_LineScanImageReady=0;
+                        TERMINAL_PRINTF("\r\n");
+                        TERMINAL_PRINTF("L:");
                         if(t==0)
+                        {
                             t=4;
-                        else
+                        }else{
                             t--;
-                        
-                         TFC_SetBatteryLED_Level(t);
-                        
-                         // camera 1
-                         for(i=0;i<128;i++)
-                         {
-                               TERMINAL_PRINTF("%X,",TFC_LineScanImage0[i]);
-                         }
-                        
-                        // camera 2
-                         for(i=0;i<128;i++)
-                         {
-                                 if(i==127)
-                                     TERMINAL_PRINTF("%X\r\n",TFC_LineScanImage1[i]);
-                                 else
-                                     TERMINAL_PRINTF("%X,",TFC_LineScanImage1[i]);
-                           
-                         }
+                            
+                            // camera 1
+                            for(int i=0; i<128; i++) {
+                                TERMINAL_PRINTF("%X,",TFC_LineScanImage0[i]);
+                            }
+                        }
                     }
-                 
+
+                }
                 break;
-            }
+        }
     }
-    
- 
+
+
 }
- 
+