Amador Valley High School Robotics Team / Mbed 2 deprecated MiniSSC2

This program contains a class that makes it easy for the mbed to communicate with the Mini SSC II or the Pololu Maestro in SSC compatibility mode. (they are servo/motor controllers)

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 3:5c664d91ba63, committed 2013-07-08

Comitter:
avbotz
Date:
Mon Jul 08 04:02:04 2013 +0000
Parent:
2:e5458113c26b
Commit message:
Initial commit.;

Changed in this revision

.hgignore Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
mbed.lib Show diff for this revision Revisions of this file
minissc.cpp Show annotated file Show diff for this revision Revisions of this file
minissc.h Show annotated file Show diff for this revision Revisions of this file 
--- a/.hgignore	Sun Feb 26 02:03:17 2012 +0000
+++ b/.hgignore	Mon Jul 08 04:02:04 2013 +0000
@@ -1,5 +1,7 @@
 syntax: regexp
+\.hgignore
+\.msub
 \.meta
-\.hgignore
 \.svn
 \.git
+\.ctags

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jul 08 04:02:04 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912
\ No newline at end of file

--- a/mbed.lib	Sun Feb 26 02:03:17 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/projects/libraries/svn/mbed/trunk@28
\ No newline at end of file

--- a/minissc.cpp	Sun Feb 26 02:03:17 2012 +0000
+++ b/minissc.cpp	Mon Jul 08 04:02:04 2013 +0000
@@ -29,8 +29,8 @@
 }
 
 void MiniSSC2::send(int i_motor) {
-    // format: {sync byte, motor id, motor power, newline}
-    // example: {SSC_SYNC_BYTE, 2, 24, '\n'} sets motor 2 to power level 24
+    // format: {sync byte, motor id, motor power}
+    // example: {SSC_SYNC_BYTE, 2, 24} sets motor 2 to power level 24
     p_device->putc(SSC_SYNC_BYTE);
     p_device->putc((unsigned char)i_motor);
     p_device->putc(motors[i_motor]);
@@ -55,25 +55,105 @@
     ssc.send(); // is there a more efficient way to do this?
 }
 
+void led1_on_cb()
+{
+    led1 = 1;
+}
+
+void led1_off_cb()
+{
+    led1 = 0;
+}
+
 /* MAIN FUNCTION */
+// this code is very bad. please do not use it for anything serious.
 int main() {
     led1 = 1;
     wait_ms(500);
     //ssc_to.attach(&ssc_send_cb, 1); // run ssc_send_cb() at 10 Hz (Ticker) (increase if possible)
     PC.baud(115200);
+    PC.printf("\n\r\n\rHello.\n\r");
     
-    PC.printf("\n\r\n\rHello.");
+    led1_on.attach(&led1_on_cb, 1.0f);
+    wait_ms(50);
+    led1_off.attach(&led1_off_cb, 1.0f);
     
-    while (true) {
-        for (int i = 0; i < 4; i++) {
-            unsigned char in = 127;
-            PC.printf("> ");
-            PC.scanf("%d", &in);
-            ssc.set(i, in);
-            PC.printf("\n\rSaved motor %d, power %d\n\r", i, (int)in);
+        ssc.set(1);
+    while (true)
+    {
+        led2 = led3 = led4 = 0;
+        led2 = 1;
+        ssc.send();
+        /*PC.printf("Motors: l = left, r = right, f = forward, b = back.\n\r");
+        PC.printf("Which motor? ");
+        int in = PC.getc();
+        PC.printf("%c\n\r", in);
+        char motorID, motorData;
+        PC.printf("Setting motor ");
+        switch (in)
+        {
+            case 'r':
+                motorID = 0;
+                PC.printf("left.\n\r");
+                break;
+                
+            case 'l':
+                motorID = 1;
+                PC.printf("right.\n\r");
+                break;
+            
+            case 'f':
+                motorID = 2;
+                PC.printf("front.\n\r");
+                break;
+            
+            case 'b':
+                motorID = 3;
+                PC.printf("back.\n\r");
+                break;
+                
+            case 'q':
+                ssc.set(127);
+                ssc.send();
+                break;
+                
+            default:
+                PC.printf("Invalid motor. Try again.\n\r");
+                continue;
+                break;
         }
-        ssc.send();
-        PC.printf("Sent all motors\n\r\n\r");
+        led3 = 1;
+        PC.printf("Power (-100 to 100): ");
+        std::string powerRaw;
+        tryAgain:
+        powerRaw.clear();
+        while (true)
+        {
+            in = PC.getc();
+            PC.putc(in);
+            led4 = 1;
+            if (in == '\r')
+            {
+                PC.putc('\n');
+                break;
+            }
+            powerRaw.push_back(in);
+        }
+        
+        if (sscanf(powerRaw.c_str(), "%d", &in) < 1 || in > 100 || in < -100)
+        {
+            printf("Invalid power. Try again: ");
+            goto tryAgain;
+        }
+        
+        in *= 1.27f;
+        in += 127;
+        
+        //PC.printf("Set motor %d to %d\n\r\n\r", motorID, in);
+        
+        ssc.set(motorID, in);
+        ssc.send(motorID);
+        
+        PC.printf("\n\r--------------------------------\n\r");*/
     }
 }
-// Don't delete this comment

--- a/minissc.h	Sun Feb 26 02:03:17 2012 +0000
+++ b/minissc.h	Mon Jul 08 04:02:04 2013 +0000
@@ -35,10 +35,11 @@
 };
 
 void ssc_send_cb();
+MiniSSC2 ssc(4, 9600, p13, p14); // 4 motors, baud for Mini SSC II is 9600, Mini SSC II is connected to pins 9 and 10
+Ticker ssc_to;
 
-MiniSSC2 ssc(4, 9600, p9, p10); // 4 motors, baud for Mini SSC II is 9600, Mini SSC II is connected to pins 9 and 10
-Ticker ssc_to;
+Ticker led1_on, led1_off;
 
 // debug
 Serial PC(USBTX, USBRX); // tx, rx
-DigitalOut led1(LED1);
\ No newline at end of file
+DigitalOut led1(LED1), led2(LED2), led3(LED3), led4(LED4);
\ No newline at end of file