Revision 5:e6536d2d5aba, committed 2016-10-10

Comitter:

fewerhy

Date:

Mon Oct 10 20:40:05 2016 +0000

Parent:

4:351236622c35

Commit message:

stable

Changed in this revision

diff -r 351236622c35 -r e6536d2d5aba main.cpp
--- a/main.cpp	Fri Mar 27 18:30:13 2015 +0000
+++ b/main.cpp	Mon Oct 10 20:40:05 2016 +0000
@@ -1,36 +1,10 @@
-/* mbed Example Program
- * Copyright (c) 2006-2015 ARM Limited
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "mbed.h"
-
-// Initialize a pins to perform analog and digital output fucntions
-AnalogOut  aout(p18);
-DigitalOut dout(LED1);
-
-int main(void)
-{
-    while (1) {
-        // change the voltage on the digital output pin by 0.1 * VCC
-        //  and print what the measured voltage should be (assuming VCC = 3.3v)
-        for (float i = 0.0f; i < 1.0f; i += 0.1f) {
-            aout = i;
-            printf("aout = %1.2f volts\n", aout.read() * 3.3f);
-            // turn on the led if the voltage is greater than 0.5f * VCC
-            dout = (aout > 0.5f) ? 1 : 0;
-            wait(1.0f);
-        }
+#include "mdeviceCtrl.h" 
+ 
+int main() {
+    printf("Press 'g' to turn LED1 brightness up, 'd' to turn it down\n");
+    mdeviceCtrl *myApp = new mdeviceCtrl();
+    while(1) 
+    {
+        myApp->run();
     }
 }

diff -r 351236622c35 -r e6536d2d5aba mdevice.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mdevice.cpp	Mon Oct 10 20:40:05 2016 +0000
@@ -0,0 +1,144 @@
+#include "mdevice.h"
+
+mdevice::mdevice()
+{
+    mSpeedPort0.period(0.00002857142f);
+    mSpeedPort1.period(0.00002857142f);   
+    mIndexSig0=true;
+    mIndexSig1=true;
+    mPos0=0;
+    mPos1=0;
+    mDir0=1;
+    mDir1=1;
+    mButton=0;
+    mPreButton=0;
+    mButtonEdge=0;
+}
+
+void mdevice::updateButton()
+{
+    if (buttonPort>0.3f)
+    {
+        mButton=1;
+    }
+    else
+    {
+        mButton=0;
+    }
+    
+    //detect up edge
+    if (mPreButton==0&& mButton==1)
+    {
+        mButtonEdge=1;
+    }  
+    //detect down edge
+    else if (mPreButton==1&& mButton==0)
+    {
+        mButtonEdge=-1;
+    }
+    else
+    {
+        mButtonEdge=0;
+    }     
+    mPreButton=mButton;
+}
+
+void mdevice::runMotor0(float s)
+{
+    if (s>0.001)
+    {
+        mDir0=1;
+        mDirPort0=1;
+        mSpeedPort0.write(s);
+    }
+    else if (s<-0.001)
+    {
+        mDir0=-1;
+        mDirPort0=0;
+        mSpeedPort0.write(-s);
+    }
+    else
+    {
+        mSpeedPort0.write(0.0f);
+    }
+}
+
+void mdevice::runMotor1(float s)
+{
+    if (s>0.001)
+    {
+        mDir1=1;
+        mDirPort1=1;
+        mSpeedPort1.write(s);
+    }
+    else if (s<-0.001)
+    {
+        mDir1=-1;
+        mDirPort1=0;
+        mSpeedPort1.write(-s);
+    }
+    else
+    {
+        mSpeedPort1.write(0.0f);
+    }
+}
+
+void mdevice::updateEncoder0()
+{
+    if (encoderPort0<0.3f )
+    {
+        if (mIndexSig0==true)
+        {
+            mIndexSig0=false;
+            mPos0=mPos0+mDir0;
+        }
+    }
+    else
+    {
+       mIndexSig0=true;
+    }
+}
+
+void mdevice::updateEncoder1()
+{
+    if (encoderPort1<0.3f )
+    {
+        if (mIndexSig1==true)
+        {
+            mIndexSig1=false;
+            mPos1=mPos1+mDir1;
+        }
+    }
+    else
+    {
+       mIndexSig1=true;
+    }
+}
+
+void mdevice::updateDeviceStatus()
+{
+    updateEncoder0();
+    updateEncoder1();
+    updateButton();
+}
+
+int mdevice::getButton()
+{
+    return mButton;
+}
+
+int mdevice::getMotorPos0()
+{
+    return mPos0;
+}
+
+int mdevice::getMotorPos1()
+{
+    return mPos1;
+}
+
+int mdevice::getButtonEdge()
+{
+    return mButtonEdge;
+}
+

diff -r 351236622c35 -r e6536d2d5aba mdevice.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mdevice.h	Mon Oct 10 20:40:05 2016 +0000
@@ -0,0 +1,41 @@
+#ifndef DEVICE_H
+#define DEVICE_H
+
+#include "mbed.h"
+
+static AnalogIn     buttonPort(p18);
+static AnalogIn     encoderPort0(p20);
+static AnalogIn     encoderPort1(p19);
+static DigitalOut   mDirPort0(p30);
+static DigitalOut   mDirPort1(p29);
+static PwmOut       mSpeedPort0(p21);
+static PwmOut       mSpeedPort1(p22);
+
+class mdevice
+{
+public:
+    mdevice ();
+    void updateDeviceStatus();
+    int  getButton();
+    int  getMotorPos0();
+    int  getMotorPos1();
+    void runMotor0(float s);
+    void runMotor1(float s);
+    int  getButtonEdge();
+private:
+    bool mIndexSig0;
+    bool mIndexSig1;
+    int  mPos0;
+    int  mPos1;
+    int  mDir0;
+    int  mDir1;
+    int  mButton;
+    int  mPreButton;
+    int  mButtonEdge;
+    void updateButton();
+    void updateEncoder0();
+    void updateEncoder1();
+
+};
+
+#endif
\ No newline at end of file

diff -r 351236622c35 -r e6536d2d5aba mdeviceCtrl.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mdeviceCtrl.cpp	Mon Oct 10 20:40:05 2016 +0000
@@ -0,0 +1,87 @@
+#include "mdeviceCtrl.h"
+
+mdeviceCtrl::mdeviceCtrl()
+{
+    myDevice= new mdevice();
+    needleStatus=0;
+}
+
+void mdeviceCtrl::run()
+{
+    myDevice->updateDeviceStatus();
+    int tempB=myDevice->getButtonEdge();
+    
+    int mp0=myDevice->getMotorPos0();
+    int mp1=myDevice->getMotorPos1();
+    
+    cout<< mp0 <<"    "<< mp1<<endl;
+    if (tempB==1)
+    {
+       myDevice->runMotor0(0.2); 
+       myDevice->runMotor1(-0.02); 
+    }
+    else if (tempB==-1)
+    {
+       myDevice->runMotor0(0.0); 
+       myDevice->runMotor1(0.0); 
+    } 
+}
+
+bool mdeviceCtrl::inserNeedle( )
+{
+    myDevice->runMotor0(1.0);
+    int tempPos=myDevice->getMotorPos0();
+    if (tempPos>200)
+    {
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+bool mdeviceCtrl::retractNeedle( )
+{
+    myDevice->runMotor0(-1.0);
+    int tempPos=myDevice->getMotorPos0();
+    if ( tempPos<10)
+    {
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+bool mdeviceCtrl::switchNeedle1()
+{
+   needleStatus++;
+   if (needleStatus%2==0)
+   {
+       myDevice->runMotor1(-0.2);
+       int tempPos=myDevice->getMotorPos1();
+       if (tempPos>1)
+       {
+           return true;
+       }
+       else
+       {
+           return false;
+      }
+   }
+   else
+   {
+       myDevice->runMotor1(0.2);
+       int tempPos=myDevice->getMotorPos1();
+       if (tempPos<0)
+       {
+           return true;
+       }
+       else
+       {
+           return false;
+       }
+   }
+}

diff -r 351236622c35 -r e6536d2d5aba mdeviceCtrl.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mdeviceCtrl.h	Mon Oct 10 20:40:05 2016 +0000
@@ -0,0 +1,20 @@
+#ifndef DEVICECTRL_H
+#define DEVICECTRL_H
+#include <iostream>
+#include "mdevice.h"
+using namespace std;
+
+class mdeviceCtrl
+{
+public:
+    mdeviceCtrl();
+    void run();
+private:
+    bool switchNeedle1();
+    bool retractNeedle();
+    bool inserNeedle();
+    mdevice *myDevice;
+    int needleStatus;
+};
+
+#endif
\ No newline at end of file