File content as of revision 1:f72ac77b34f3:

#include "mbed.h"
#include "AX12.h"
#include <math.h>
Serial device(D1, D0);
DigitalOut led1(LED2);

Timer t1,t2,t3;

void Rx_interrupt();
void SetSerial(int c);

int state_of_ST1 = 0;
int state_of_ST2 = 0;
int state_of_ST3 = 0;

float u_j1=0;
float u_j2=0;
float u_j3=0;

void drive_motor_1();
void drive_motor_2();
void drive_motor_3();
void calculation();

//GREEN-------------------------------------------------------------
//motor set 1
DigitalOut ENA_1(PB_14);
DigitalOut DIR_1(PB_13);
DigitalOut PUL_1(PC_4);

//motor set 2
DigitalOut ENA_2(PB_2);
DigitalOut DIR_2(PB_1);
DigitalOut PUL_2(PB_15);

//motor set 3
DigitalOut ENA_3(PC_8);
DigitalOut DIR_3(PC_6);
DigitalOut PUL_3(PC_5);

//Buzzer
DigitalOut Buzzer(PA_12);

//Vacum
DigitalOut VACUM(PB_12);

//Servo
DigitalOut DYNA(PA_11);

//Limit Switch
DigitalIn LSwitch_1(PC_0);
DigitalIn LSwitch_2(PC_1);
DigitalIn LSwitch_3(PB_0);
DigitalIn Home_Switch(PA_1);

// SET VELOCITY
float VelocityST_1 = 30; // rpm
float VelocityST_2 = 100; // rpm
float VelocityST_3 = 100; // rpm

void open_vacum(){
    VACUM = 1;
}
void close_vacum(){
    VACUM = 0;
}
void open_buzzer(){
    Buzzer = 1;
}
void close_buzzer(){
    Buzzer = 0;
}
void open_servo(){
    DYNA = 1;
}
void close_servo(){
    DYNA = 0;
}
void set_home(){
    if (LSwitch_2.read() != 0){
        state_of_ST2=2;
        u_j1=180;          
        drive_motor_2();
    }
    if (LSwitch_1.read() != 0){    
        u_j1=180;
        state_of_ST1 =2;
        drive_motor_1(); 
    }
    if (LSwitch_3.read() != 0){
        state_of_ST3=2;
        u_j3=180;
        drive_motor_3();       
    }
    }
//GREEN-------------------------------------------------------------

int data_size = 16;
char data[16] = {};
char package = 0;
char num_data = 0;

float q[4] = {};
void ConvertData2q()
{
    char q_mode[4] = {data[3], data[6], data[9], data[12]};
    char q_int[4] = {data[4], data[7], data[10], data[13]};
    char q_dec[4] = {data[5], data[8], data[11], data[14]};
    for(int i=0;i<4;i++)
    {
        if(q_mode[i] == 1)
        {
            q[i] = q_int[i]+q_dec[i]/100;
        }
        else if(q_mode[i] == 2)
        {
            q[i] = (-1)*(q_int[i]+q_dec[i]/100);
        }
    }
}

int main()
{
    device.baud(115200);
    device.attach(&Rx_interrupt);
    close_buzzer();
    close_vacum();
    while(1)
    {
        if (package == 1)
        {
            ConvertData2q();
            package = 0;
            state_of_ST1=data[3];
            u_j1=abs(q[0]);
            state_of_ST2=data[6];
            u_j2=abs(q[1]);
            state_of_ST3=data[9];
            u_j3=abs(q[2]);
            calculation();
            drive_motor_1();
            drive_motor_2();
            drive_motor_3();
        }
        if(Home_Switch.read()==0){
            //set_home();
        }
    }
}

void Rx_interrupt()
{
    char c = device.getc();
    int i = (int)c;
    SetSerial(i);
}
void SetSerial(int c)
{
    if (num_data < 2){
        if (c == 255){
            data[num_data] = c;
            num_data++;
        }else{
            data[num_data] = c;
            num_data = 0;
        }
    }
    else if (num_data < data_size){
        data[num_data] = c;
        num_data++;
        if (num_data >= data_size){
            if (data[data_size-1]==255){
                num_data = 0;
                package = 1;
            }
            else num_data = 0;
        }
    }
}
void drive_motor_1(){
        float round_1 = u_j1 * 8000/360;//1:10 rpm x step pluse u_j1 default 60000
        float pluseforST_1 =(60/(VelocityST_1*800))/2;
        ENA_1 = 1;
            for (int i=0; i< round_1; i++){
                PUL_1 = 1;
                wait(pluseforST_1);//default 0.0005
                PUL_1 = 0;
                wait(pluseforST_1);//default 0.0005
                if (LSwitch_1.read() == 0&&state_of_ST1==2)
                {
                    break;
                }
            }
        }
void drive_motor_2(){
            float round_2 = u_j2 * 40000/360;// 1:20rpm x step pluse u_j1 default 60000
            float pluseforST_2 =(60/(VelocityST_2*800))/2;
            ENA_2 = 1;
                for (int i=0; i< round_2; i++){
                    PUL_2 = 1;
                    wait(pluseforST_2);//default 0.0005
                    PUL_2 = 0;
                    wait(pluseforST_2);//default 0.0005
                    if (LSwitch_2.read() == 0&&state_of_ST2==2)
                {
                        break;
                }
            }
        }

void drive_motor_3(){
        float round_3 = u_j3 * 16000 /360;//1:40 rpm x step pluse u_j1 default 60000
        float pluseforST_3 =(60/(VelocityST_3*800))/2;
        ENA_3 = 1;
            for (int i=0; i< round_3; i++){
                PUL_3 = 1;
                wait(pluseforST_3);//default 0.0005
                PUL_3 = 0;
                wait(pluseforST_3);//default 0.0005
                if (LSwitch_3.read() == 0&&state_of_ST3==2)
                {
                    break;
                }
            }
        }
void calculation(){
    if (state_of_ST1==1){
            DIR_1 = 0;
    }
    if (state_of_ST1==2){
            DIR_1 = 1;  
    }
    if (state_of_ST2==1){
            DIR_2 = 1;
    }
    if (state_of_ST2==2){
            DIR_2 = 0;
    }
    if (state_of_ST3==1){
            DIR_3 = 0;
    }
    if (state_of_ST3==2){
            DIR_3 = 1;
    }
}