Dependencies: Servo TextLCD mbed
main.cpp
- Committer:
- clementb
- Date:
- 2016-06-16
- Revision:
- 2:2728901fd798
- Parent:
- 1:c3a33d9372f5
- Child:
- 3:dd4efdfbbf01
File content as of revision 2:2728901fd798:
/*
Program created in June, 2016 by Clément BALLOT
This program is for a robotic arm for demonstrates the Bixi capacities, with 2 axes. The Bixi is a Bluetooth module for touch-free control
Bluetooth devices, like a smartphone or a tablet. It is develloped by Bluemint Labs.
To make this project, you need :
- a STM32 Nucleo board (ST);
- 2x servomotors (5V);
- 2x LEDs : 1x red, 1x green;
- 3 pushbuttons;
- 4x 10K potentiometers;
- a 2 rows 16 columns alphanumeric LCD screen;
- a USB A to micro cable;
- a breadboard;
- 2x 100K resistors.
*/
#include "mbed.h"
#include "TextLCD.h"
#include "Servo.h"
TextLCD lcd(D2, D3, D4, D5, D6, D7);
enum LCDType{LCD16x2B};
Servo servoRL(D10); //Righ-left servo : x axe
Servo servoHL(D9); //Up-down servo : y axe
DigitalIn menuL(D11); //"Back" button
DigitalIn menuR(D12); //"Next" button
DigitalOut ledY(D8); //"Please wait" LED
DigitalOut ledV(D13); //"In progress" and "press a button" LED
AnalogIn analogX(A1); //Analog in for x potentiometer
AnalogIn analogY(A3); //Analog in for y potentiometer
int vitesse = 0.05; //------------------a------------- CHANGE IT TO REDUCE/INCREASE SERVOMOTORS SPEED ----------------------------
int page;
int i = 0;
int xPos = 0;
int yPos = 0;
int main(){
page = 1;
lcd.cls();
lcd.locate(0,0);
lcd.printf("BIXI Rob'Arm :by");
lcd.locate(0,1);
lcd.printf("Clement BALLOT");
servoRL = 0;
servoHL = 0;
while(i != 50){
ledY = 1;
ledV = 0;
wait(0.05);
ledY = 0;
ledV = 1;
wait(0.05);
i = i++;
}
ledY = 0;
ledV = 0;
while(1) {
ledY = 1;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Reset servo pos");
wait(2);
lcd.locate(0, 1);
lcd.printf("Please wait...");
wait(3);
lcd.cls();
lcd.locate(3, 0);
lcd.printf(" : x servo");
lcd.locate(3, 1);
lcd.printf(" : y servo");
lcd.locate(0,0);
lcd.printf("%3d", xPos);
lcd.locate(0, 1);
lcd.printf("%3d", yPos);
if(xPos !=0){
while(yPos != 120){
yPos = yPos + 1;
lcd.locate(0, 1);
lcd.printf("%3d", yPos);
servoHL = yPos;
wait(vitesse);
}
}
while(xPos != 0){
xPos = xPos - 0.01;
lcd.locate(0,0);
lcd.printf("%3d", xPos);
servoRL = xPos;
wait(vitesse);
}
while(yPos !=0){
yPos = yPos - 1;
lcd.locate(0, 1);
lcd.printf("%3d", yPos);
servoHL = yPos;
wait(vitesse);
}
servoRL = 0;
servoHL = 0;
wait(1);
lcd.cls();
lcd.locate(0,0);
lcd.printf("The program will");
lcd.locate(0, 1);
lcd.printf("read the button");
wait(2);
lcd.cls();
lcd.locate(0,0);
lcd.printf("read the button");
lcd.locate(0, 1);
lcd.printf("states. When");
wait(2);
lcd.cls();
lcd.locate(0,0);
lcd.printf("states. When");
lcd.locate(0, 1);
lcd.printf("the light turn");
wait(2);
lcd.cls();
lcd.locate(0,0);
lcd.printf("the light turn");
lcd.locate(0, 1);
lcd.printf("green, press a");
wait(2);
lcd.cls();
lcd.locate(0, 0);
lcd.printf("green, press a");
lcd.locate(0, 1);
lcd.printf("button to change");
wait(2);
lcd.cls();
lcd.locate(0, 0);
lcd.printf("button to change");
lcd.locate(0, 1);
lcd.printf("the programm,");
wait(2);
lcd.cls();
lcd.locate(0, 0);
lcd.printf("the programm,");
lcd.locate(0, 1);
lcd.printf("from 1 to 5.");
wait(2);
ledV = 1;
ledY = 0;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Reading states..");
lcd.locate(0, 1);
lcd.printf("Currentrly : P%d ", page);
wait(5);
if(menuR == 1) {
page = page++;
}
else if(menuL == 1){
page = page--;
}
if(page >5){
page = 1;
}
else if(page<1){
page = 5;
}
ledV = 0;
ledY = 1;
lcd.locate(0, 1);
lcd.printf("OK ! Next : P%d ", page);
wait(3);
/*------------------------------------------- P4 : down > up --------------------------------------------------------------*/
if(page == 4) {
ledY = 1;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Loading P4... ");
lcd.locate(0,1);
lcd.printf("P4 : down > up ");
servoHL = 0;
i = 0;
wait(3);
lcd.locate(3, 1);
lcd.printf(": y servo ");
while(i !=50){
lcd.locate(0, 1);
xPos = xPos++;
servoRL = xPos;
lcd.printf("%3d", xPos);
i = i++;
wait(vitesse);
}
wait(1);
ledY = 0;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Running P4... ");
lcd.locate(0, 1);
lcd.printf(" 0 degrees");
i = 0;
ledV = 1;
wait(2);
lcd.locate(0,1);
while(i!=100){
i = i+1;
lcd.locate(0,1);
lcd.printf("%3d",i);
servoHL = i;
wait(vitesse);
}
yPos = 100;
wait(3);
ledV = 0;
}
/*---------------------------------------------------- P3 : righ > left -----------------------------------------------------------------*/
else if(page == 3) {
ledY = 1;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Loading P3... ");
lcd.locate(0,1);
lcd.printf("P3: right > left");
i = 0;
wait(3);
lcd.locate(3, 1);
lcd.printf(": y servo ");
while(i !=120){
lcd.locate(0, 1);
yPos = yPos++;
servoHL = yPos;
lcd.printf("%3d", yPos);
i = i++;
wait(vitesse);
}
i = 0;
wait(1);
lcd.locate(5, 1);
lcd.printf("x");
while(i !=100){
lcd.locate(0, 1);
xPos = xPos++;
servoRL = xPos;
lcd.printf("%3d", xPos);
i = i++;
wait(vitesse);
}
i = 100;
wait(1);
lcd.locate(5, 1);
lcd.printf("y");
while(i != 0){
lcd.locate(0, 1);
yPos = yPos--;
servoHL = yPos;
lcd.printf("%3d", yPos);
i = i--;
wait(vitesse);
}
wait(1);
ledY = 0;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Running P3... ");
lcd.locate(0, 1);
lcd.printf("100 degrees");
ledV = 1;
wait(2);
i = 100;
while(i!=0){
i = i-1;
lcd.locate(0,1);
lcd.printf("%3d",i);
servoRL = i;
wait(vitesse);
}
xPos = 0;
wait(3);
ledV = 0;
}
/*---------------------------------------------------- P2 : up > down ----------------------------------------------------------------*/
else if(page == 2) { //home screen
ledY = 1;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Loading P2...");
lcd.locate(0,1);
lcd.printf("P2 : up > down ");
wait(3);
i = 0; //loading
lcd.locate(3, 1);
lcd.printf(": y servo ");
while(i != 120){
lcd.locate(0, 1);
yPos = yPos++;
servoHL = yPos;
lcd.printf("%3d", yPos);
i = i++;
wait(vitesse);
}
i = 0;
wait(1);
lcd.locate(5, 1);
lcd.printf("x");
while(i != 50){
lcd.locate(0, 1);
xPos = xPos++;
servoRL = xPos;
lcd.printf("%3d", xPos);
i = i++;
wait(vitesse);
}
i = 120;
wait(1);
lcd.locate(5, 1);
lcd.printf("y");
while(i!= 100){
lcd.locate(0, 1);
yPos = yPos--;
servoHL = yPos;
lcd.printf("%3d", yPos);
i = i--;
wait(vitesse);
}
wait(1);
ledY = 0; //running
lcd.cls();
lcd.locate(0,0);
lcd.printf("Running P2... ");
lcd.locate(0, 1);
lcd.printf("100 : y degrees");
ledV = 1;
wait(2);
i = 100;
while(i!=0){
i = i-1;
lcd.locate(0,1);
lcd.printf("%3d", i);
servoHL = i;
wait(vitesse);
}
yPos = 0;
wait(3);
ledV = 0;
}
/*---------------------------------------------- P1 : left > righ ------------------------------------------------------------------*/
else if(page == 1) { //home screen
ledY = 1;
lcd.cls();
lcd.locate(0,0);
lcd.printf("Loading P1... ");
lcd.locate(0,1);
lcd.printf("P1: left > right");
wait(2);
ledY = 0; //running
lcd.cls();
lcd.locate(0,0);
lcd.printf("Running P1... ");
lcd.locate(0, 1);
lcd.printf(" 0 : x degrees");
ledV = 1;
wait(2);
i = 0;
while(i!=100){
i = i+1;
lcd.locate(0, 1);
lcd.printf("%3d", i);
servoRL = i;
wait(vitesse);
}
xPos = 100;
wait(3);
ledV = 0;
}
/*------------------------------------------------ P5 : manual mode ----------------------------------------------------------------*/
if(page == 5){ //home screen
ledY = 1;
lcd.cls();
lcd.locate(0, 0);
lcd.printf("P5 : manual mode");
lcd.locate(0,1);
lcd.printf("Button : exit");
wait(3);
lcd.cls(); //loading
lcd.locate(0, 0);
lcd.printf("Servomotors will");
lcd.locate(0, 1);
lcd.printf("be as ");
wait(3);
lcd.locate(0, 0);
lcd.printf("be as ");
lcd.locate(0, 1);
lcd.printf("potentiometers, ");
wait(3);
lcd.locate(0, 0);
lcd.printf("potentiometers, ");
lcd.locate(0, 1);
lcd.printf("please wait. ");
wait(3);
lcd.cls();
lcd.locate(4, 0);
lcd.printf(": x servo");
lcd.locate(4, 1);
lcd.printf(": y servo");
float mesure = analogX.read();
mesure = mesure*100;
mesure = 1.2*mesure;
xPos = (int) mesure;
int i =0;
while(xPos != i){
lcd.locate(0, 0);
lcd.printf("%3d", i);
i = i++;
servoRL = i;
wait(vitesse);
}
mesure = analogY.read();
mesure = mesure*100;
mesure = 1.2*mesure;
yPos = (int) mesure;
i =0;
while(i != yPos){
lcd.locate(0, 1);
lcd.printf("%3d", i);
i = i++;
servoHL = i;
wait(vitesse);
}
wait(1);
ledY = 0; //running
ledV = 1;
while(menuR == 0 && menuL == 0){
float mesure = analogX.read();
mesure = mesure*100;
mesure = 1.2*mesure;
xPos = (int) mesure;
lcd.locate(0,0);
lcd.printf("%3d", xPos);
servoRL = xPos;
mesure = analogY.read();
mesure = mesure*100;
mesure = 1.2*mesure;
yPos = (int) mesure;
lcd.locate(0,1);
lcd.printf("%3d", yPos);
servoHL = yPos;
wait(vitesse);
}
ledV = 0;
}
}
}