Group 3, Year 3 HWU
Dependencies: MCP23017 WattBob_TextLCD mbed
main.cpp@0:717026d23b8e, 2013-12-04 (annotated)
- Committer:
- campbell101
- Date:
- Wed Dec 04 01:52:41 2013 +0000
- Revision:
- 0:717026d23b8e
Group 3 Project;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
campbell101 | 0:717026d23b8e | 1 | #include "mbed.h" |
campbell101 | 0:717026d23b8e | 2 | #include "MCP23017.h" |
campbell101 | 0:717026d23b8e | 3 | #include <string> |
campbell101 | 0:717026d23b8e | 4 | using namespace std; |
campbell101 | 0:717026d23b8e | 5 | |
campbell101 | 0:717026d23b8e | 6 | DigitalOut FPGA1(p8); |
campbell101 | 0:717026d23b8e | 7 | DigitalOut FPGA2(p9); |
campbell101 | 0:717026d23b8e | 8 | DigitalOut FPGA3(p10); |
campbell101 | 0:717026d23b8e | 9 | DigitalOut FPGA4(p11); |
campbell101 | 0:717026d23b8e | 10 | |
campbell101 | 0:717026d23b8e | 11 | DigitalIn sorter_Tube(p5); |
campbell101 | 0:717026d23b8e | 12 | DigitalIn AAA_tube(p6); |
campbell101 | 0:717026d23b8e | 13 | InterruptIn voltage_Checker_Tube(p7); |
campbell101 | 0:717026d23b8e | 14 | |
campbell101 | 0:717026d23b8e | 15 | Ticker AAA_checker; |
campbell101 | 0:717026d23b8e | 16 | AnalogIn diode_bridge(p16); |
campbell101 | 0:717026d23b8e | 17 | Serial pc(USBTX, USBRX); |
campbell101 | 0:717026d23b8e | 18 | |
campbell101 | 0:717026d23b8e | 19 | |
campbell101 | 0:717026d23b8e | 20 | uint8_t mode; |
campbell101 | 0:717026d23b8e | 21 | uint8_t in_Voltage_Checker; |
campbell101 | 0:717026d23b8e | 22 | uint16_t AA_sorted; //Amount of AA sorted |
campbell101 | 0:717026d23b8e | 23 | uint16_t AA_uncharged; //Amount of uncharged AA |
campbell101 | 0:717026d23b8e | 24 | uint16_t AAA_sorted; //Amount of AAA sorted |
campbell101 | 0:717026d23b8e | 25 | uint8_t servo_maintenance; |
campbell101 | 0:717026d23b8e | 26 | float voltage; |
campbell101 | 0:717026d23b8e | 27 | |
campbell101 | 0:717026d23b8e | 28 | void receive() |
campbell101 | 0:717026d23b8e | 29 | { |
campbell101 | 0:717026d23b8e | 30 | char c = pc.getc(); |
campbell101 | 0:717026d23b8e | 31 | if(c == 'S')//Normal Mode |
campbell101 | 0:717026d23b8e | 32 | { |
campbell101 | 0:717026d23b8e | 33 | mode = 1; |
campbell101 | 0:717026d23b8e | 34 | } |
campbell101 | 0:717026d23b8e | 35 | else if(c == 'M')//Maintenance Mode |
campbell101 | 0:717026d23b8e | 36 | { |
campbell101 | 0:717026d23b8e | 37 | mode = 2; |
campbell101 | 0:717026d23b8e | 38 | } |
campbell101 | 0:717026d23b8e | 39 | else if(c == 'A' && mode == 2) |
campbell101 | 0:717026d23b8e | 40 | { |
campbell101 | 0:717026d23b8e | 41 | servo_maintenance = 1; |
campbell101 | 0:717026d23b8e | 42 | } |
campbell101 | 0:717026d23b8e | 43 | |
campbell101 | 0:717026d23b8e | 44 | else if(c == 'B' && mode == 2) |
campbell101 | 0:717026d23b8e | 45 | { |
campbell101 | 0:717026d23b8e | 46 | servo_maintenance = 2; |
campbell101 | 0:717026d23b8e | 47 | |
campbell101 | 0:717026d23b8e | 48 | } |
campbell101 | 0:717026d23b8e | 49 | |
campbell101 | 0:717026d23b8e | 50 | else if(c == 'C' && mode == 2) |
campbell101 | 0:717026d23b8e | 51 | { |
campbell101 | 0:717026d23b8e | 52 | servo_maintenance = 3; |
campbell101 | 0:717026d23b8e | 53 | |
campbell101 | 0:717026d23b8e | 54 | } |
campbell101 | 0:717026d23b8e | 55 | else if(c == 'D' && mode == 2) |
campbell101 | 0:717026d23b8e | 56 | { |
campbell101 | 0:717026d23b8e | 57 | servo_maintenance = 4; |
campbell101 | 0:717026d23b8e | 58 | |
campbell101 | 0:717026d23b8e | 59 | } |
campbell101 | 0:717026d23b8e | 60 | else if(c == 'N')//Emergency Stop |
campbell101 | 0:717026d23b8e | 61 | { |
campbell101 | 0:717026d23b8e | 62 | while(1){;} |
campbell101 | 0:717026d23b8e | 63 | } |
campbell101 | 0:717026d23b8e | 64 | else if (c == 'B')//Safe Stop |
campbell101 | 0:717026d23b8e | 65 | { |
campbell101 | 0:717026d23b8e | 66 | mode = 0; |
campbell101 | 0:717026d23b8e | 67 | } |
campbell101 | 0:717026d23b8e | 68 | } |
campbell101 | 0:717026d23b8e | 69 | |
campbell101 | 0:717026d23b8e | 70 | void AAA_passed() |
campbell101 | 0:717026d23b8e | 71 | { |
campbell101 | 0:717026d23b8e | 72 | if(AAA_tube == 1) |
campbell101 | 0:717026d23b8e | 73 | { |
campbell101 | 0:717026d23b8e | 74 | AAA_sorted++; |
campbell101 | 0:717026d23b8e | 75 | } |
campbell101 | 0:717026d23b8e | 76 | } |
campbell101 | 0:717026d23b8e | 77 | |
campbell101 | 0:717026d23b8e | 78 | void in_Checker() |
campbell101 | 0:717026d23b8e | 79 | { |
campbell101 | 0:717026d23b8e | 80 | in_Voltage_Checker = 1; |
campbell101 | 0:717026d23b8e | 81 | |
campbell101 | 0:717026d23b8e | 82 | } |
campbell101 | 0:717026d23b8e | 83 | |
campbell101 | 0:717026d23b8e | 84 | float average_analog(int no_of_averages) |
campbell101 | 0:717026d23b8e | 85 | { |
campbell101 | 0:717026d23b8e | 86 | int i = 0; |
campbell101 | 0:717026d23b8e | 87 | float average = 0; |
campbell101 | 0:717026d23b8e | 88 | for ( i = 0; i < no_of_averages; i++) |
campbell101 | 0:717026d23b8e | 89 | { |
campbell101 | 0:717026d23b8e | 90 | average += diode_bridge.read(); |
campbell101 | 0:717026d23b8e | 91 | wait(0.001); // wait 1mS between reading inputs |
campbell101 | 0:717026d23b8e | 92 | } |
campbell101 | 0:717026d23b8e | 93 | return average/i; |
campbell101 | 0:717026d23b8e | 94 | } |
campbell101 | 0:717026d23b8e | 95 | |
campbell101 | 0:717026d23b8e | 96 | void update_pc() |
campbell101 | 0:717026d23b8e | 97 | { |
campbell101 | 0:717026d23b8e | 98 | AAA_checker.detach(); |
campbell101 | 0:717026d23b8e | 99 | |
campbell101 | 0:717026d23b8e | 100 | string serial_out; |
campbell101 | 0:717026d23b8e | 101 | |
campbell101 | 0:717026d23b8e | 102 | |
campbell101 | 0:717026d23b8e | 103 | char voltage_buffer[4]; |
campbell101 | 0:717026d23b8e | 104 | sprintf(voltage_buffer, "%0.3f", voltage); |
campbell101 | 0:717026d23b8e | 105 | |
campbell101 | 0:717026d23b8e | 106 | char AA_sorted_buffer[2]; |
campbell101 | 0:717026d23b8e | 107 | sprintf(AA_sorted_buffer, "%d", AA_sorted); |
campbell101 | 0:717026d23b8e | 108 | |
campbell101 | 0:717026d23b8e | 109 | |
campbell101 | 0:717026d23b8e | 110 | char AA_uncharged_buffer[2]; |
campbell101 | 0:717026d23b8e | 111 | sprintf(AA_uncharged_buffer , "%d", AA_uncharged); |
campbell101 | 0:717026d23b8e | 112 | |
campbell101 | 0:717026d23b8e | 113 | char AAA_sorted_buffer[2]; |
campbell101 | 0:717026d23b8e | 114 | sprintf(AAA_sorted_buffer , "%d", AAA_sorted); |
campbell101 | 0:717026d23b8e | 115 | |
campbell101 | 0:717026d23b8e | 116 | |
campbell101 | 0:717026d23b8e | 117 | |
campbell101 | 0:717026d23b8e | 118 | |
campbell101 | 0:717026d23b8e | 119 | if(mode == 2) |
campbell101 | 0:717026d23b8e | 120 | { |
campbell101 | 0:717026d23b8e | 121 | char sorter_tube_sensor = sorter_Tube.read(); |
campbell101 | 0:717026d23b8e | 122 | char AAA_tube_sensor = AAA_tube.read(); |
campbell101 | 0:717026d23b8e | 123 | |
campbell101 | 0:717026d23b8e | 124 | char sorter_tube_buffer[2]; |
campbell101 | 0:717026d23b8e | 125 | sprintf(sorter_tube_buffer , "%d", sorter_tube_sensor); |
campbell101 | 0:717026d23b8e | 126 | |
campbell101 | 0:717026d23b8e | 127 | char AAA_tube_buffer[2]; |
campbell101 | 0:717026d23b8e | 128 | sprintf(AAA_tube_buffer , "%d", AAA_tube_sensor); |
campbell101 | 0:717026d23b8e | 129 | |
campbell101 | 0:717026d23b8e | 130 | pc.putc('A'); |
campbell101 | 0:717026d23b8e | 131 | pc.putc(sorter_tube_buffer[0]); |
campbell101 | 0:717026d23b8e | 132 | pc.putc('B'); |
campbell101 | 0:717026d23b8e | 133 | pc.putc(AAA_tube_buffer[0]); |
campbell101 | 0:717026d23b8e | 134 | pc.putc('C'); |
campbell101 | 0:717026d23b8e | 135 | pc.putc(in_Voltage_Checker); |
campbell101 | 0:717026d23b8e | 136 | } |
campbell101 | 0:717026d23b8e | 137 | |
campbell101 | 0:717026d23b8e | 138 | |
campbell101 | 0:717026d23b8e | 139 | pc.putc('W'); |
campbell101 | 0:717026d23b8e | 140 | pc.putc(voltage_buffer[0]); |
campbell101 | 0:717026d23b8e | 141 | pc.putc(voltage_buffer[1]); |
campbell101 | 0:717026d23b8e | 142 | pc.putc(voltage_buffer[2]); |
campbell101 | 0:717026d23b8e | 143 | pc.putc(voltage_buffer[3]); |
campbell101 | 0:717026d23b8e | 144 | |
campbell101 | 0:717026d23b8e | 145 | pc.putc('X'); |
campbell101 | 0:717026d23b8e | 146 | pc.putc(AA_sorted_buffer[0]); |
campbell101 | 0:717026d23b8e | 147 | pc.putc(AA_sorted_buffer[1]); |
campbell101 | 0:717026d23b8e | 148 | pc.putc('Y'); |
campbell101 | 0:717026d23b8e | 149 | pc.putc(AA_uncharged_buffer[0]); |
campbell101 | 0:717026d23b8e | 150 | pc.putc(AA_uncharged_buffer[1]); |
campbell101 | 0:717026d23b8e | 151 | pc.putc('Z'); |
campbell101 | 0:717026d23b8e | 152 | pc.putc(AAA_sorted_buffer[0]); |
campbell101 | 0:717026d23b8e | 153 | pc.putc(AAA_sorted_buffer[1]); |
campbell101 | 0:717026d23b8e | 154 | pc.putc(';'); |
campbell101 | 0:717026d23b8e | 155 | pc.putc('\0'); |
campbell101 | 0:717026d23b8e | 156 | pc.putc('\r'); |
campbell101 | 0:717026d23b8e | 157 | pc.putc('\n'); |
campbell101 | 0:717026d23b8e | 158 | wait(0.5); |
campbell101 | 0:717026d23b8e | 159 | AAA_checker.attach(&AAA_passed, 0.1); |
campbell101 | 0:717026d23b8e | 160 | } |
campbell101 | 0:717026d23b8e | 161 | |
campbell101 | 0:717026d23b8e | 162 | |
campbell101 | 0:717026d23b8e | 163 | void voltage_checker() |
campbell101 | 0:717026d23b8e | 164 | { |
campbell101 | 0:717026d23b8e | 165 | AA_sorted++; |
campbell101 | 0:717026d23b8e | 166 | in_Voltage_Checker = 0; |
campbell101 | 0:717026d23b8e | 167 | FPGA4 = 1; |
campbell101 | 0:717026d23b8e | 168 | wait(0.5); |
campbell101 | 0:717026d23b8e | 169 | FPGA4 = 0; |
campbell101 | 0:717026d23b8e | 170 | voltage = average_analog(100); |
campbell101 | 0:717026d23b8e | 171 | |
campbell101 | 0:717026d23b8e | 172 | //pc.printf("%f\n", voltage); |
campbell101 | 0:717026d23b8e | 173 | wait(1); |
campbell101 | 0:717026d23b8e | 174 | if (voltage < 0.2) |
campbell101 | 0:717026d23b8e | 175 | { |
campbell101 | 0:717026d23b8e | 176 | AA_uncharged++; |
campbell101 | 0:717026d23b8e | 177 | FPGA2 = 1; |
campbell101 | 0:717026d23b8e | 178 | wait(2); |
campbell101 | 0:717026d23b8e | 179 | FPGA2 = 0; |
campbell101 | 0:717026d23b8e | 180 | } |
campbell101 | 0:717026d23b8e | 181 | else |
campbell101 | 0:717026d23b8e | 182 | { |
campbell101 | 0:717026d23b8e | 183 | FPGA3 = 1; |
campbell101 | 0:717026d23b8e | 184 | wait(2); |
campbell101 | 0:717026d23b8e | 185 | FPGA3 = 0; |
campbell101 | 0:717026d23b8e | 186 | } |
campbell101 | 0:717026d23b8e | 187 | } |
campbell101 | 0:717026d23b8e | 188 | int main() { |
campbell101 | 0:717026d23b8e | 189 | pc.attach(&receive); //Attach PC receive interrupt |
campbell101 | 0:717026d23b8e | 190 | voltage_Checker_Tube.rise(&in_Checker); |
campbell101 | 0:717026d23b8e | 191 | AAA_checker.attach(&AAA_passed, 0.1); |
campbell101 | 0:717026d23b8e | 192 | while(1) { |
campbell101 | 0:717026d23b8e | 193 | if(mode == 1) |
campbell101 | 0:717026d23b8e | 194 | { |
campbell101 | 0:717026d23b8e | 195 | if(sorter_Tube == 1) |
campbell101 | 0:717026d23b8e | 196 | { |
campbell101 | 0:717026d23b8e | 197 | FPGA1 = 1; |
campbell101 | 0:717026d23b8e | 198 | wait(1); |
campbell101 | 0:717026d23b8e | 199 | FPGA1 = 0; |
campbell101 | 0:717026d23b8e | 200 | wait(3); |
campbell101 | 0:717026d23b8e | 201 | |
campbell101 | 0:717026d23b8e | 202 | if(in_Voltage_Checker == 1) |
campbell101 | 0:717026d23b8e | 203 | { |
campbell101 | 0:717026d23b8e | 204 | voltage_checker(); |
campbell101 | 0:717026d23b8e | 205 | update_pc(); |
campbell101 | 0:717026d23b8e | 206 | } |
campbell101 | 0:717026d23b8e | 207 | |
campbell101 | 0:717026d23b8e | 208 | } |
campbell101 | 0:717026d23b8e | 209 | } |
campbell101 | 0:717026d23b8e | 210 | else if(mode == 2) |
campbell101 | 0:717026d23b8e | 211 | { |
campbell101 | 0:717026d23b8e | 212 | |
campbell101 | 0:717026d23b8e | 213 | |
campbell101 | 0:717026d23b8e | 214 | switch(servo_maintenance) |
campbell101 | 0:717026d23b8e | 215 | { |
campbell101 | 0:717026d23b8e | 216 | case 1: |
campbell101 | 0:717026d23b8e | 217 | FPGA1 = 1; |
campbell101 | 0:717026d23b8e | 218 | wait(1); |
campbell101 | 0:717026d23b8e | 219 | FPGA1 = 0; |
campbell101 | 0:717026d23b8e | 220 | break; |
campbell101 | 0:717026d23b8e | 221 | |
campbell101 | 0:717026d23b8e | 222 | case 2: |
campbell101 | 0:717026d23b8e | 223 | FPGA2 = 1; |
campbell101 | 0:717026d23b8e | 224 | wait(2); |
campbell101 | 0:717026d23b8e | 225 | FPGA2 = 0; |
campbell101 | 0:717026d23b8e | 226 | break; |
campbell101 | 0:717026d23b8e | 227 | |
campbell101 | 0:717026d23b8e | 228 | case 3: |
campbell101 | 0:717026d23b8e | 229 | FPGA3 = 1; |
campbell101 | 0:717026d23b8e | 230 | wait(2); |
campbell101 | 0:717026d23b8e | 231 | FPGA3 = 0; |
campbell101 | 0:717026d23b8e | 232 | break; |
campbell101 | 0:717026d23b8e | 233 | |
campbell101 | 0:717026d23b8e | 234 | case 4: |
campbell101 | 0:717026d23b8e | 235 | FPGA4 = 1; |
campbell101 | 0:717026d23b8e | 236 | wait(1); |
campbell101 | 0:717026d23b8e | 237 | FPGA4 = 0; |
campbell101 | 0:717026d23b8e | 238 | wait(0.5); |
campbell101 | 0:717026d23b8e | 239 | voltage_checker(); |
campbell101 | 0:717026d23b8e | 240 | break; |
campbell101 | 0:717026d23b8e | 241 | } |
campbell101 | 0:717026d23b8e | 242 | update_pc(); |
campbell101 | 0:717026d23b8e | 243 | servo_maintenance = 0; |
campbell101 | 0:717026d23b8e | 244 | wait(4); |
campbell101 | 0:717026d23b8e | 245 | } |
campbell101 | 0:717026d23b8e | 246 | } |
campbell101 | 0:717026d23b8e | 247 | |
campbell101 | 0:717026d23b8e | 248 | } |