Ahmed Masud Chowdhury
Blind flap motion emulator using stepper motor. Different input methods are used including Light Dependent Resistors, Bluetooth, Voice command, Hand Gesture, and on-board switches. FRDM-K64F board is used to develop the system.
Diff: main.cpp
- Revision:
- 0:b27dea26e7e6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu May 07 02:22:10 2020 +0000
@@ -0,0 +1,450 @@
+#include "mbed.h"
+#include "platform/mbed_thread.h"
+
+//Pin Declaration
+DigitalOut In1(D2); //Connection to In1 of L298N
+DigitalOut In2(D3); //Connection to In2 of L298N
+DigitalOut In3(D4); //Connection to In3 of L298N
+DigitalOut In4(D5); //Connection to In4 of L298N
+DigitalIn SW_Next_State(SW2); // Takes motor to next state, when SW2 is pushed. PTC6 --> SW2
+DigitalIn SW_Prev_State(SW3); // Takes motor to previous state, when SW2 is pushed. PTA4 --> SW3
+Serial BT(D1, D0); // Tx, Rx, Baudrate
+AnalogIn LDR1 (PTB2); //Conntection for LDR1 for hand motion reading -->A0
+AnalogIn LDR2 (PTB3); //Conntection for LDR2 for hand motion reading -->A1
+AnalogIn LDR3 (PTB10); // Connection for daylight LDR -->A2
+
+
+//Function Prototyping
+int motor_state_zero(); //Initializes the digital output for L298N input pins
+int motor_state_one(); //Sets L298N input pin configurations to state 1
+int motor_state_two(); //Sets L298N input pin configurations to state 2
+int motor_state_three(); //Sets L298N input pin configurations to state 3
+int motor_state_four(); //Sets L298N input pin configurations to state 4
+void RotateCW_1step(); //Rotates the stepper motor 1 step, clockwise
+void RotateCCW_1step(); //Rotates the stepper motor 1 step, counter-clockwise
+int Retrieve_BT_State(char); //Gets the Bluetooth state in int data type
+void check_handGesture(); //Retrieve hand gesture
+void check_DayLight(); //Check daylight for automatic actuation
+
+//Global Variable Declaration & Initialization
+int motor_state=0;
+int Desired_Pos=0;
+int Current_Pos=1;
+float wait_delay=0.05; //wait for 0.05 seconds
+char BT_state;
+char BT_state_current;
+char BT_AutoMode;
+char AutomaticMode;
+float ldr1_reading;
+float ldr2_reading;
+float ldr1_threshold=0.05; //Threshold value of LDR1 in hand gesture module
+float ldr2_threshold=0.05; //Threshold value of LDR2 in hand gesture module
+int LDR1_interrupted;
+int LDR2_interrupted;
+
+int main(){
+ // Initialise the digital output for L298N input pins
+ motor_state_zero();
+ BT.printf("Reading data stream...\n\r");
+ BT_state = 'z';
+ BT_state_current;
+ while (BT.readable()==0);
+
+ while(true){
+ while (BT.readable()) {
+
+ BT_state_current = BT.putc(BT.getc());
+ printf("inside readable. BT_state_current = %c BT_state = %c\r\n",BT_state_current,BT_state);
+
+ if (BT_state_current != BT_state){
+ if((BT_state_current == 'x')||(BT_state_current == 'y')){
+ if(BT_state_current == 'y'){
+ AutomaticMode=1;
+ }
+ }
+ else{
+ printf("%c \r\n", BT_state_current);
+ BT_state = BT_state_current;
+ Desired_Pos = Retrieve_BT_State(BT_state);
+ }
+ }
+ }
+
+
+
+
+ if (Current_Pos != Desired_Pos){
+
+ printf("---> Desired Position = %d\r\n", Desired_Pos);
+ printf("---> Current Position = %d\r\n", Current_Pos);
+
+ while (Current_Pos > Desired_Pos){
+ RotateCCW_1step(); //Rotate CCW 1 step
+ Current_Pos -= 1; //Decrement of Current_Pos by 1
+ printf("Current Position = %d\r\n", Current_Pos);
+ }
+
+ while (Current_Pos < Desired_Pos){
+ RotateCW_1step(); //Rotate CW 1 step
+ Current_Pos += 1; //Increment of Current_POS by 1
+ printf("Current Position = %d\r\n", Current_Pos);
+ }
+ }
+
+ if ((SW_Next_State != 1) && (Desired_Pos<26)){
+ wait_ms(500);
+ if ((SW_Prev_State != 1) && (SW_Next_State != 1)){
+ printf("Initializing Current Position as Initial Position\r\n");
+ Current_Pos = 1; //Increment of Current_POS by 1
+ Desired_Pos = 1; //Increment of Current_POS by 1
+ BT_state_current = '1';
+ BT_state = '1';
+ wait_ms(500);
+ }
+ else{
+ RotateCW_1step(); //Use of on-board switch (SW2) to turn the stepper motor by one step, in the clockwise direction.
+ Current_Pos += 1; //Increment of Current_POS by 1
+ Desired_Pos += 1; //Increment of Current_POS by 1
+ printf("---> Desired Position = %d\r\n", Desired_Pos);
+ printf("---> Current Position = %d\r\n", Current_Pos);
+ wait(wait_delay);
+ }
+ }
+
+ if ((SW_Prev_State != 1) && (Desired_Pos>1)){
+ wait_ms(500);
+ if ((SW_Prev_State != 1) && (SW_Next_State != 1)){
+ printf("Initializing Current Position as Initial Position\r\n");
+ Current_Pos = 1; //Increment of Current_POS by 1
+ Desired_Pos = 1; //Increment of Current_POS by 1
+ BT_state_current = '1';
+ BT_state = '1';
+ wait_ms(500);
+ }
+ else{
+ RotateCCW_1step(); //Use of on-board switch (SW3) to turn the stepper motor by one step, in the counterclockwise direction.
+ Current_Pos -= 1; //Increment of Current_POS by 1
+ Desired_Pos -= 1; //Increment of Current_POS by 1
+ printf("---> Desired Position = %d\r\n", Desired_Pos);
+ printf("---> Current Position = %d\r\n", Current_Pos);
+ wait(wait_delay);
+ }
+ }
+
+ if ((SW_Prev_State != 1) && (SW_Next_State != 1)){
+ printf("Initializing Current Position as Initial Position\r\n");
+ Current_Pos = 1; //Increment of Current_POS by 1
+ Desired_Pos = 1; //Increment of Current_POS by 1
+ BT_state_current = '1';
+ BT_state = '1';
+ wait_ms(500);
+ }
+
+ check_handGesture();
+
+ if (AutomaticMode==1){
+ printf("Automatic mode ON\r\n");
+ while(true){
+ while (BT.readable()){
+ BT_AutoMode = BT.putc(BT.getc());
+ }
+
+ check_DayLight();
+
+ if(BT_AutoMode == 'x'){
+ printf("Automatic mode OFF\r\n");
+ AutomaticMode=0;
+ BT_AutoMode='y';
+ break;
+ }
+ }
+ }
+ }
+}
+
+
+//FUNCTION DEFINITION
+int motor_state_zero(){
+ In1=0;
+ In2=0;
+ In3=0;
+ In4=0;
+ motor_state=0;
+ //printf("motor_state = %d\r\n",motor_state);
+ return motor_state;
+}
+
+int motor_state_one(){
+ In1=1;
+ In2=0;
+ In3=0;
+ In4=0;
+ motor_state=1;
+ //printf("motor_state = %d\r\n",motor_state);
+ return motor_state;
+}
+
+int motor_state_two(){
+ In1=0;
+ In2=0;
+ In3=1;
+ In4=0;
+ motor_state=2;
+ //printf("motor_state = %d\r\n",motor_state);
+ return motor_state;
+}
+
+int motor_state_three(){
+ In1=0;
+ In2=1;
+ In3=0;
+ In4=0;
+ motor_state=3;
+ //printf("motor_state = %d\r\n",motor_state);
+ return motor_state;
+}
+
+int motor_state_four(){
+ In1=0;
+ In2=0;
+ In3=0;
+ In4=1;
+ motor_state=4;
+ //printf("motor_state = %d\r\n",motor_state);
+ return motor_state;
+}
+
+void RotateCW_1step(){
+ printf("Rotating Clockwise 1 step\r\n");
+ if (motor_state==0){
+ motor_state_one();
+ wait(wait_delay);
+ }
+ else if (motor_state==1){
+ motor_state_two();
+ wait(wait_delay);
+ }
+ else if (motor_state==2){
+ motor_state_three();
+ wait(wait_delay);
+ }
+ else if (motor_state==3){
+ motor_state_four();
+ wait(wait_delay);
+ }
+ else if (motor_state==4){
+ motor_state_one();
+ wait(wait_delay);
+ }
+}
+
+void RotateCCW_1step(){
+ printf("Rotating CounterClockwise 1 step\r\n");
+ if (motor_state==0){
+ motor_state_four();
+ wait(wait_delay);
+ }
+ else if (motor_state==1){
+ motor_state_four();
+ wait(wait_delay);
+ }
+ else if (motor_state==2){
+ motor_state_one();
+ wait(wait_delay);
+ }
+ else if (motor_state==3){
+ motor_state_two();
+ wait(wait_delay);
+ }
+ else if (motor_state==4){
+ motor_state_three();
+ wait(wait_delay);
+ }
+}
+
+int Retrieve_BT_State(char BT_state){
+ if (BT_state == '0'){
+ Desired_Pos = 0;
+ }
+ else if (BT_state == '1'){
+ Desired_Pos = 1;
+ }
+ else if (BT_state == '2'){
+ Desired_Pos = 2;
+ }
+ else if (BT_state == '3'){
+ Desired_Pos = 3;
+ }
+ else if (BT_state == '4'){
+ Desired_Pos = 4;
+ }
+ else if (BT_state == '5'){
+ Desired_Pos = 5;
+ }
+ else if (BT_state == '6'){
+ Desired_Pos = 6;
+ }
+ else if (BT_state == '7'){
+ Desired_Pos = 7;
+ }
+ else if (BT_state == '8'){
+ Desired_Pos = 8;
+ }
+ else if (BT_state == '9'){
+ Desired_Pos = 9;
+ }
+ else if (BT_state == 'a'){
+ Desired_Pos = 10;
+ }
+ else if (BT_state == 'b'){
+ Desired_Pos = 11;
+ }
+ else if (BT_state == 'c'){
+ Desired_Pos = 12;
+ }
+ else if (BT_state == 'd'){
+ Desired_Pos = 13;
+ }
+ else if (BT_state == 'e'){
+ Desired_Pos = 14;
+ }
+ else if (BT_state == 'f'){
+ Desired_Pos = 15;
+ }
+ else if (BT_state == 'g'){
+ Desired_Pos = 16;
+ }
+ else if (BT_state == 'h'){
+ Desired_Pos = 17;
+ }
+ else if (BT_state == 'i'){
+ Desired_Pos = 18;
+ }
+ else if (BT_state == 'j'){
+ Desired_Pos = 19;
+ }
+ else if (BT_state == 'k'){
+ Desired_Pos = 20;
+ }
+ else if (BT_state == 'l'){
+ Desired_Pos = 21;
+ }
+ else if (BT_state == 'm'){
+ Desired_Pos = 22;
+ }
+ else if (BT_state == 'n'){
+ Desired_Pos = 23;
+ }
+ else if (BT_state == 'o'){
+ Desired_Pos = 24;
+ }
+ else if (BT_state == 'p'){
+ Desired_Pos = 25;
+ }
+ else if (BT_state == 'q'){
+ Desired_Pos = 26;
+ }
+
+ return Desired_Pos;
+}
+
+void check_handGesture(){
+
+ int i,loop_time;
+
+ Timer loop;
+ ldr1_reading= LDR1;
+ ldr2_reading= LDR2;
+
+ if (ldr1_reading < ldr1_threshold){
+ if (Current_Pos<26){
+ if(ldr2_reading > ldr2_threshold){
+ for(i=0;i<50;i++){
+ wait_ms(10);
+ ldr2_reading= LDR2;
+ //printf("LDR1 = %f LDR2 = %f\n\r",ldr1_reading,ldr2_reading);
+ if(ldr2_reading < ldr2_threshold){
+ if (Current_Pos<13){
+ Desired_Pos=13;
+ BT_state='d';
+ }
+ else if(Current_Pos>=13){
+ Desired_Pos=26;
+ BT_state='q';
+ }
+ i=0;
+ break;
+ }
+ }
+ }
+ }
+ else{
+ printf("Motor in Position 26. No More Clockwise Rotation... \r\n");
+ }
+ wait_ms(500);
+ }
+
+ if (ldr2_reading < ldr2_threshold){
+ if (Current_Pos>1){
+ if(ldr1_reading > ldr1_threshold){
+ for(i=0;i<50;i++){
+ wait_ms(10);
+ ldr1_reading= LDR1;
+ if(ldr1_reading < ldr1_threshold){
+ if (Current_Pos>13){
+ Desired_Pos=13;
+ BT_state='d';
+ }
+ else if(Current_Pos<=13){
+ Desired_Pos=1;
+ BT_state='1';
+ }
+ i=0;
+ break;
+ }
+ }
+ }
+ }
+ else{
+ printf("Motor in Position 1. No More Counter-Clockwise Rotation... \r\n");
+ }
+ wait_ms(500);
+ }
+}
+
+void check_DayLight(){
+ static float LDR_daylightThreshold = 0.15;
+ static float LDR_daylightReading;
+ LDR_daylightReading = LDR3;
+
+ //printf("LDR_daylightReading = %f\r\n", LDR_daylightReading);
+
+ if (LDR_daylightReading<LDR_daylightThreshold){ //it's night/dark
+ Desired_Pos=1; //close flap get state 1
+ BT_state='1';
+
+ }
+ if (LDR_daylightReading>LDR_daylightThreshold){ //it's day
+ Desired_Pos=13; //open flaps get state 13
+ BT_state='d';
+ }
+
+ if (Current_Pos != Desired_Pos){
+
+ printf("---> Desired Position = %d\r\n", Desired_Pos);
+ printf("---> Current Position = %d\r\n", Current_Pos);
+
+ while (Current_Pos > Desired_Pos){
+ RotateCCW_1step(); //Rotate CCW 1 step
+ Current_Pos -= 1; //Decrement of Current_Pos by 1
+ printf("Current Position = %d\r\n", Current_Pos);
+ }
+
+ while (Current_Pos < Desired_Pos){
+ RotateCW_1step(); //Rotate CW 1 step
+ Current_Pos += 1; //Increment of Current_POS by 1
+ printf("Current Position = %d\r\n", Current_Pos);
+ }
+ }
+
+}
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