Revision 1:f72ac77b34f3, committed 2019-04-23

Comitter:

csggreen

Date:

Tue Apr 23 05:35:31 2019 +0000

Parent:

0:f4444dfcd74c

Commit message:

green

Changed in this revision

--- a/main.cpp	Mon Apr 22 02:30:12 2019 +0000
+++ b/main.cpp	Tue Apr 23 05:35:31 2019 +0000
@@ -1,14 +1,245 @@
 #include "mbed.h"
 #include "AX12.h"
+#include <math.h>
+Serial device(D1, D0);
+DigitalOut led1(LED2);
 
-Serial pc(D1,D0);
-AX12 ax12(PA_9,PA_10,0x01,1000000);
+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
 
-DigitalOut TxEn (D4);
+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() {
-    TxEn = 1;
-    ax12.SetCRSpeed(0.1);
-    ax12.SetGoal(200, 1);
-    
+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;
+    }
 }
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