Ahmed HADDAD
lcd lib
Dependencies: mbed LCD_DISCO_F469NI TS_DISCO_F469NI BSP_DISCO_F469NI EasyCAT_lib
Revision 4:186727e0bdea, committed 2022-04-25
- Comitter:
- haddad1995
- Date:
- Mon Apr 25 12:22:12 2022 +0000
- Parent:
- 3:fbb74833f4ee
- Commit message:
- update;
Changed in this revision
| EasyCAT_lib.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r fbb74833f4ee -r 186727e0bdea EasyCAT_lib.lib --- a/EasyCAT_lib.lib Fri Mar 11 09:21:36 2022 +0000 +++ b/EasyCAT_lib.lib Mon Apr 25 12:22:12 2022 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/haddad1995/code/EasyCAT_lib/#1e68e0c4fd50 +https://os.mbed.com/users/haddad1995/code/EasyCAT_lib/#8a0711631f0a
diff -r fbb74833f4ee -r 186727e0bdea main.cpp
--- a/main.cpp Fri Mar 11 09:21:36 2022 +0000
+++ b/main.cpp Mon Apr 25 12:22:12 2022 +0000
@@ -1,5 +1,5 @@
//---------------------------------------------------------------
-//
+// Motion Touch Screen
//---------------------------------------------------------------
#include "mbed.h"
#include "F469_BUTTON.hpp"
@@ -25,40 +25,42 @@
UWORD ContaUp; // used for sawthoot test generation
UWORD ContaDown; //
-unsigned long Millis = 0;
-unsigned long Millis2 = 0;
-unsigned long PreviousSaw = 0;
-unsigned long PreviousCycle = 0;
+unsigned long Millis = 0; // Time counter
+unsigned long Millis2 = 0; // Time counter 2
+unsigned long PreviousSaw = 0; // Time counter
+unsigned long PreviousCycle = 0; // Time counter
-int8_t stand = 0; // data to test
-int8_t start = 0; // data to test
-int8_t stepping = 0; // data to test
-int8_t endStep = 0; // data to test
+int8_t stand = 0; // data to Send
+int8_t start = 0; // data to Send
+int8_t stepping = 0; // data to Send
+int8_t endStep = 0; // data to Send
-int8_t enable = 0; // data to test
-int8_t enable_Lateral = 0; // data to test
-int8_t quick_Stop = 0; // data to test
-int8_t clear_Fault = 0; // data to test
+int8_t enable = 0; // data to Send
+char enable_S[10]; // TO print Data
+int8_t enable_Lateral = 0; // data to Send
+char enable_Lateral_S[10]; // TO print Data
+int8_t quick_Stop = 0; // data to Send
+int8_t clear_Fault = 0; // data to Send
-float Standing_Time = 2.0 ;
-char Standing_Time_S[10];
-float Step_Time = 2.0 ;
-char Step_Time_S[10];
-float Wait_COM_Tr_Time = 0.5 ;
-char Wait_COM_Tr_Time_S[10];
-int COM_Tr_Threshold = 20 ;
-char COM_Tr_Threshold_S[10];
+float Standing_Time = 2.0 ; // data to Send
+char Standing_Time_S[10]; // TO print Data
+float Step_Time = 2.0 ; // data to Send
+char Step_Time_S[10]; // TO print Data
+float Wait_COM_Tr_Time = 0.5 ; // data to Send
+char Wait_COM_Tr_Time_S[10]; // TO print Data
+float COM_Tr_Threshold = 20 ; // data to Send
+char COM_Tr_Threshold_S[10]; // TO print Data
-int8_t Ethercat = 0 ;
-char Ethercat_S[10];
-float Running_Time = 0.0 ;
-char Running_Time_S[20];
-int State_Step = 0 ;
-char State_Step_S[10];
-int Status_Driver = 0 ;
-char Status_Driver_S[10];
-int END = 0 ;
-char END_S[10];
+uint8_t Ethercat = 0 ; // data to Receive
+char Ethercat_S[10]; // TO print Data
+float Running_Time = 0.0 ; // data to Receive
+char Running_Time_S[20]; // TO print Data
+uint8_t State_Step = 0 ; // data to Receive
+char State_Step_S[10]; // TO print Data
+uint8_t Status_Driver = 0 ;// data to Receive
+char Status_Driver_S[10]; // TO print Data
+uint8_t END = 0 ;// data to Receive
+char END_S[10]; // TO print Data
//---- declarations for Arduino "millis()" emulation -----------------------
@@ -82,7 +84,7 @@
led_orange = 1;
led_red = 1;
led_blue = 1;
-
+ EASYCAT.Init();
lcd_.Clear(LCD_COLOR_WHITE); // Set LCD Background colour
// Set Text colour to Black
@@ -107,18 +109,28 @@
Button btn1(lcd_, ts_, 20, 160, 160, 70,
LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, "Enable", Font20); // Define btn1 button
- btn1.Render(); // Draw btn1 button
+ btn1.Render();
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ sprintf(enable_S, "%d", enable);
+ lcd_.DisplayStringAt(90, 136, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(90, 136, (uint8_t *)enable_S, LEFT_MODE); // Draw Enable button
Button btn2(lcd_, ts_, 220, 160, 160, 70,
LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, "Lateral", Font20); // Define test button
- btn2.Render(); // Draw btn2 button
+ btn2.Render();
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ sprintf(enable_Lateral_S, "%d", enable_Lateral);
+ lcd_.DisplayStringAt(290, 136, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(290, 136, (uint8_t *)enable_Lateral_S, LEFT_MODE); // Draw Lateral button
Button btn3(lcd_, ts_, 420, 160, 160, 70,
- LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "Quick Stop", Font20); // Define btn3 button
- btn3.Render(); // Draw btn3 button
+ LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "Quick Stop", Font20); // Define Quick Stop button
+ btn3.Render(); // Draw Quick Stop button
Button btn4(lcd_, ts_, 620, 160, 160, 70,
- LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "Clear Fault", Font20); // Define btn4 button
- btn4.Render(); // Draw btn3 button
+ LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "Clear Fault", Font20); // Define Clear Fault button
+ btn4.Render(); // Draw Clear Fault button
lcd_.SetTextColor(LCD_COLOR_RED);
lcd_.SetFont(&Font24); // Font size 24
@@ -126,18 +138,18 @@
Button button3D1(lcd_, ts_, 20, 300, 160, 70,
- LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Stand", Font20); // Define button3D1 button
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Stand", Font20); // Define Stand button
button3D1.Render();
Button button3D2(lcd_, ts_, 220, 300, 160, 70,
- LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Start", Font20); // Define button3D2 button
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Start", Font20); // Define Start button
button3D2.Render();
Button button3D3(lcd_, ts_, 420, 300, 160, 70,
- LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Stepping", Font20); // Define button3D3 button
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Stepping", Font20); // Define Stepping button
button3D3.Render();
Button button3D4(lcd_, ts_, 620, 300, 160, 70,
- LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "EndStep", Font20); // Define button3D3 button
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "EndStep", Font20); // Define EndStep button
button3D4.Render();
lcd_.SetTextColor(LCD_COLOR_RED);
@@ -145,12 +157,11 @@
lcd_.DisplayStringAt(280, 440, (uint8_t *)" MOTION PROJECT ", LEFT_MODE); // Display main header text
Button btn5(lcd_, ts_, 660, 410, 120, 60,
- LCD_COLOR_ORANGE, LCD_COLOR_GRAY, 1, "Next", Font20); // Define btn4 button
+ LCD_COLOR_ORANGE, LCD_COLOR_GRAY, 1, "Next", Font20); // Define Next button
btn5.Render();
-
- // printf ("\nEasyCAT - Generic EtherCAT slave\n"); // print the banner
+
- InitMillis(); // init Arduino "millis()" emulation
+ InitMillis(); // init "millis()" emulation
ContaDown.Word = 0x0000;
ContaUp.Word = 0x0000;
@@ -162,13 +173,18 @@
led_red = 1;
led_blue = 1;
- if (btn1.Press() ) // Check if btn1 button was touched and run instructions if true
+ if (btn1.Press() ) // Check if Enable button was touched and run instructions if true
{
if (enable==0)
{
enable=1;
}
else enable=0;
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ sprintf(enable_S, "%d", enable);
+ lcd_.DisplayStringAt(90, 136, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(90, 136, (uint8_t *)enable_S, LEFT_MODE);
lcd_.SetFont(&Font16);
lcd_.SetTextColor(LCD_COLOR_BLACK);
lcd_.DisplayStringAt(5, 460, (uint8_t *)"Enable pressed - switch on orange LED", LEFT_MODE);
@@ -177,14 +193,19 @@
lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
}
- // End btn1 button instructions
- if (btn2.Press()) // Check if test button was touched and run instructions if true
+ // End Enable button instructions
+ if (btn2.Press()) // Check if Enable Lateral button was touched and run instructions if true
{
if (enable_Lateral==0)
{
enable_Lateral=1;
}
else enable_Lateral=0;
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ sprintf(enable_Lateral_S, "%d", enable_Lateral);
+ lcd_.DisplayStringAt(290, 136, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(290, 136, (uint8_t *)enable_Lateral_S, LEFT_MODE);
lcd_.SetFont(&Font16);
lcd_.SetTextColor(LCD_COLOR_BLACK);
lcd_.DisplayStringAt(5, 460, (uint8_t *)"Enable Lateral pressed - switch on red LED", LEFT_MODE);
@@ -192,9 +213,9 @@
wait(0.2);
lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
- } // End test button instructions
+ } // End Enable Lateral button instructions
- if (btn3.Press()) // Check if 3Dbutton button was touched and run instructions if true
+ if (btn3.Press()) // Check if Quick Stop button was touched and run instructions if true
{
if (quick_Stop==0)
{
@@ -207,8 +228,8 @@
led_blue = 0;
wait(0.2);
lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
- } // End 3D button instructions
- if (btn4.Press()) // Check if test button was touched and run instructions if true
+ } // End Quick Stop button instructions
+ if (btn4.Press()) // Check if Clear Fault button was touched and run instructions if true
{
if (clear_Fault==0)
{
@@ -225,7 +246,7 @@
}
- if (button3D1.Press() ) // Check if btn1 button was touched and run instructions if true
+ if (button3D1.Press() ) // Check if Stand button was touched and run instructions if true
{
if (stand==0)
{
@@ -240,9 +261,9 @@
lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
}
- // End btn1 button instructions
+ // End Stand button instructions
- if (button3D2.Press()) // Check if test button was touched and run instructions if true
+ if (button3D2.Press()) // Check if Start button was touched and run instructions if true
{
if (start==0)
{
@@ -256,9 +277,9 @@
wait(0.2);
lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
- } // End test button instructions
+ } // End Start button instructions
- if (button3D3.Press()) // Check if 3Dbutton button was touched and run instructions if true
+ if (button3D3.Press()) // Check if Stepping button was touched and run instructions if true
{
if (stepping==0)
{
@@ -273,7 +294,7 @@
lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
}
- if (button3D4.Press()) // Check if 3Dbutton button was touched and run instructions if true
+ if (button3D4.Press()) // Check if EndStep button was touched and run instructions if true
{
if (endStep==0)
{
@@ -288,7 +309,7 @@
lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
}
- if ( btn5.Press() ) // Check if btn1 button was touched and run instructions if true
+ if ( btn5.Press() ) // Check if next button was touched and run instructions if true
{ menu = 1 ;
lcd_.Clear(LCD_COLOR_WHITE);
led_orange = 0;
@@ -297,155 +318,205 @@
lcd_.SetTextColor(LCD_COLOR_BLACK);
lcd_.SetFont(&Font24); // Font size 24
- lcd_.DisplayStringAt(20, 65, (uint8_t *)"Standing Time", LEFT_MODE); // Display main header text
+ lcd_.DisplayStringAt(20, 45, (uint8_t *)"Standing Time", LEFT_MODE); // Display main header text
sprintf(Standing_Time_S, "%0.2f", Standing_Time);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(320, 65, (uint8_t *)Standing_Time_S, LEFT_MODE);
- Button btn11(lcd_, ts_, 400, 40, 160, 70,
- LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, " + ", Font24); // Define btn1 button
+ lcd_.DisplayStringAt(320, 45, (uint8_t *)Standing_Time_S, LEFT_MODE);
+
+ Button btn11(lcd_, ts_, 400, 20, 150, 60,
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, " + ", Font24); // Define + button
btn11.Render();
- Button btn12(lcd_, ts_, 600, 40, 160, 70,
- LCD_COLOR_RED , LCD_COLOR_DARKBLUE, 1, " - ", Font24); // Define btn1 button
+ Button btn12(lcd_, ts_, 600, 20, 150, 60,
+ LCD_COLOR_RED , LCD_COLOR_DARKBLUE, 1, " - ", Font24); // Define - button
btn12.Render();
lcd_.SetTextColor(LCD_COLOR_BLACK);
lcd_.SetFont(&Font24); // Font size 24
- lcd_.DisplayStringAt(20, 165, (uint8_t *)"Step Time", LEFT_MODE); // Display main header text
+ lcd_.DisplayStringAt(20, 145, (uint8_t *)"Step Time", LEFT_MODE); // Display main header text
sprintf(Step_Time_S, "%0.2f", Step_Time);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(320, 165, (uint8_t *)Step_Time_S, LEFT_MODE);
- Button btn13(lcd_, ts_, 400, 140, 160, 70,
- LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, " + ", Font24); // Define btn1 button
+ lcd_.DisplayStringAt(320, 145, (uint8_t *)Step_Time_S, LEFT_MODE);
+ Button btn13(lcd_, ts_, 400, 120, 150, 60,
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, " + ", Font24); // Define + button
btn13.Render();
- Button btn14(lcd_, ts_, 600, 140, 160, 70,
- LCD_COLOR_RED , LCD_COLOR_DARKBLUE, 1, " - ", Font24); // Define btn1 button
+ Button btn14(lcd_, ts_, 600, 120, 150, 60,
+ LCD_COLOR_RED , LCD_COLOR_DARKBLUE, 1, " - ", Font24); // Define - button
btn14.Render();
lcd_.SetTextColor(LCD_COLOR_BLACK);
lcd_.SetFont(&Font24); // Font size 24
- lcd_.DisplayStringAt(20, 265, (uint8_t *)"Wait COM Tr Time", LEFT_MODE); // Display main header text
+ lcd_.DisplayStringAt(20, 245, (uint8_t *)"Wait COM Tr Time", LEFT_MODE); // Display main header text
sprintf(Wait_COM_Tr_Time_S, "%0.2f", Wait_COM_Tr_Time);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(320, 265, (uint8_t *)Wait_COM_Tr_Time_S, LEFT_MODE);
- Button btn15(lcd_, ts_, 400, 240, 160, 70,
- LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, " + ", Font24); // Define btn1 button
+ lcd_.DisplayStringAt(320, 245, (uint8_t *)Wait_COM_Tr_Time_S, LEFT_MODE);
+ Button btn15(lcd_, ts_, 400, 220, 150, 60,
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, " + ", Font24); // Define + button
btn15.Render();
- Button btn16(lcd_, ts_, 600, 240, 160, 70,
- LCD_COLOR_RED , LCD_COLOR_DARKBLUE, 1, " - ", Font24); // Define btn1 button
+ Button btn16(lcd_, ts_, 600, 220, 150, 60,
+ LCD_COLOR_RED , LCD_COLOR_DARKBLUE, 1, " - ", Font24); // Define - button
btn16.Render();
lcd_.SetTextColor(LCD_COLOR_BLACK);
lcd_.SetFont(&Font24); // Font size 24
- lcd_.DisplayStringAt(20, 365, (uint8_t *)"COM Tr Threshold", LEFT_MODE); // Display main header text
- sprintf(COM_Tr_Threshold_S, "%d", COM_Tr_Threshold);
+ lcd_.DisplayStringAt(20, 345, (uint8_t *)"COM Tr Threshold", LEFT_MODE); // Display main header text
+ sprintf(COM_Tr_Threshold_S, "%0.1f", COM_Tr_Threshold);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(320, 365, (uint8_t *)COM_Tr_Threshold_S, LEFT_MODE);
- lcd_.DisplayStringAt(370, 365, (uint8_t *)"%", LEFT_MODE);
- Button btn17(lcd_, ts_, 400, 340, 160, 70,
- LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, " + ", Font24); // Define btn1 button
+ lcd_.DisplayStringAt(320, 345, (uint8_t *)COM_Tr_Threshold_S, LEFT_MODE);
+ lcd_.DisplayStringAt(360, 345, (uint8_t *)" %", LEFT_MODE);
+ Button btn17(lcd_, ts_, 400, 320, 150, 60,
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, " + ", Font24); // Define + button
btn17.Render();
- Button btn18(lcd_, ts_, 600, 340, 160, 70,
- LCD_COLOR_RED , LCD_COLOR_DARKBLUE, 1, " - ", Font24); // Define btn1 button
+ Button btn18(lcd_, ts_, 600, 320, 150, 60,
+ LCD_COLOR_RED , LCD_COLOR_DARKBLUE, 1, " - ", Font24); // Define - button
btn18.Render();
Button btn6(lcd_, ts_, 20, 410, 120, 60,
- LCD_COLOR_ORANGE, LCD_COLOR_GRAY, 1, "Back", Font20); // Define btn4 button
+ LCD_COLOR_ORANGE, LCD_COLOR_GRAY, 1, "Back", Font20); // Define Back button
btn6.Render();
+
+ Button btn7(lcd_, ts_, 650, 400, 140, 70,
+ LCD_COLOR_ORANGE, LCD_COLOR_GRAY, 1, "Reset", Font20); // Define Reset button
+ btn7.Render();
lcd_.SetTextColor(LCD_COLOR_RED);
lcd_.SetFont(&Font24); // Font size 24
lcd_.DisplayStringAt(280, 440, (uint8_t *)" MOTION PROJECT ", LEFT_MODE); // Display main header text
while (menu==1)
- { if (btn11.Press() ) // Check if btn1 button was touched and run instructions if true
+ { if (btn11.Press() ) // Check if + button was touched and run instructions if true
{
Standing_Time = Standing_Time + 0.5 ;
sprintf(Standing_Time_S, "%0.2f", Standing_Time);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(320, 65, (uint8_t *)" ", LEFT_MODE);
- lcd_.DisplayStringAt(320, 65, (uint8_t *)Standing_Time_S, LEFT_MODE);
+ lcd_.DisplayStringAt(320, 45, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 45, (uint8_t *)Standing_Time_S, LEFT_MODE);
}
- if (btn12.Press() ) // Check if btn1 button was touched and run instructions if true
+ if (btn12.Press() ) // Check if - button was touched and run instructions if true
{ if (Standing_Time>0)
{
Standing_Time = Standing_Time - 0.5 ;
sprintf(Standing_Time_S, "%0.2f", Standing_Time);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(320, 65, (uint8_t *)" ", LEFT_MODE);
- lcd_.DisplayStringAt(320, 65, (uint8_t *)Standing_Time_S, LEFT_MODE);
+ lcd_.DisplayStringAt(320, 45, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 45, (uint8_t *)Standing_Time_S, LEFT_MODE);
}
}
- if (btn13.Press() ) // Check if btn1 button was touched and run instructions if true
+ if (btn13.Press() ) // Check if + button was touched and run instructions if true
{
Step_Time = Step_Time + 0.5 ;
sprintf(Step_Time_S, "%0.2f", Step_Time);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(320, 165, (uint8_t *)" ", LEFT_MODE);
- lcd_.DisplayStringAt(320, 165, (uint8_t *)Step_Time_S, LEFT_MODE);
+ lcd_.DisplayStringAt(320, 145, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 145, (uint8_t *)Step_Time_S, LEFT_MODE);
}
- if (btn14.Press() ) // Check if btn1 button was touched and run instructions if true
+ if (btn14.Press() ) // Check if - button was touched and run instructions if true
{ if (Step_Time>0)
{
Step_Time = Step_Time - 0.5 ;
sprintf(Step_Time_S, "%0.2f", Step_Time);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(320, 165, (uint8_t *)" ", LEFT_MODE);
- lcd_.DisplayStringAt(320, 165, (uint8_t *)Step_Time_S, LEFT_MODE);
+ lcd_.DisplayStringAt(320, 145, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 145, (uint8_t *)Step_Time_S, LEFT_MODE);
}
}
- if (btn15.Press() ) // Check if btn1 button was touched and run instructions if true
+ if (btn15.Press() ) // Check if + button was touched and run instructions if true
{
Wait_COM_Tr_Time = Wait_COM_Tr_Time + 0.5 ;
sprintf(Wait_COM_Tr_Time_S, "%0.2f", Wait_COM_Tr_Time);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(320, 265, (uint8_t *)" ", LEFT_MODE);
- lcd_.DisplayStringAt(320, 265, (uint8_t *)Wait_COM_Tr_Time_S, LEFT_MODE);
+ lcd_.DisplayStringAt(320, 245, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 245, (uint8_t *)Wait_COM_Tr_Time_S, LEFT_MODE);
}
- if (btn16.Press() ) // Check if btn1 button was touched and run instructions if true
+ if (btn16.Press() ) // Check if - button was touched and run instructions if true
{ if (Wait_COM_Tr_Time>0)
{
Wait_COM_Tr_Time = Wait_COM_Tr_Time - 0.5 ;
sprintf(Wait_COM_Tr_Time_S, "%0.2f", Wait_COM_Tr_Time);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(320, 265, (uint8_t *)" ", LEFT_MODE);
- lcd_.DisplayStringAt(320, 265, (uint8_t *)Wait_COM_Tr_Time_S, LEFT_MODE);
+ lcd_.DisplayStringAt(320, 245, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 245, (uint8_t *)Wait_COM_Tr_Time_S, LEFT_MODE);
}
}
- if (btn17.Press() ) // Check if btn1 button was touched and run instructions if true
+ if (btn17.Press() ) // Check if + button was touched and run instructions if true
{
COM_Tr_Threshold = COM_Tr_Threshold + 5 ;
- sprintf(COM_Tr_Threshold_S, "%d", COM_Tr_Threshold);
+ sprintf(COM_Tr_Threshold_S, "%0.1f", COM_Tr_Threshold);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(320, 365, (uint8_t *)" ", LEFT_MODE);
- lcd_.DisplayStringAt(320, 365, (uint8_t *)COM_Tr_Threshold_S, LEFT_MODE);
+ lcd_.DisplayStringAt(320, 345, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 345, (uint8_t *)COM_Tr_Threshold_S, LEFT_MODE);
+ lcd_.DisplayStringAt(360, 345, (uint8_t *)" %", LEFT_MODE);
}
- if (btn18.Press() ) // Check if btn1 button was touched and run instructions if true
+ if (btn18.Press() ) // Check if - button was touched and run instructions if true
{ if (COM_Tr_Threshold>0)
{
COM_Tr_Threshold = COM_Tr_Threshold - 5 ;
- sprintf(COM_Tr_Threshold_S, "%d", COM_Tr_Threshold);
+ sprintf(COM_Tr_Threshold_S, "%0.1f", COM_Tr_Threshold);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(320, 365, (uint8_t *)" ", LEFT_MODE);
- lcd_.DisplayStringAt(320, 365, (uint8_t *)COM_Tr_Threshold_S, LEFT_MODE);
+ lcd_.DisplayStringAt(320, 345, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 345, (uint8_t *)COM_Tr_Threshold_S, LEFT_MODE);
+ lcd_.DisplayStringAt(360, 345, (uint8_t *)" %", LEFT_MODE);
}
}
- if (btn6.Press() ) // Check if btn1 button was touched and run instructions if true
+ if (btn7.Press() ) // Check if Reset button was touched and run instructions if true
+ {
+ Standing_Time = 2.0 ;
+ Step_Time = 2.0 ;
+ Wait_COM_Tr_Time = 0.5 ;
+ COM_Tr_Threshold = 20 ;
+
+ stand = 0;
+ start = 0;
+ stepping = 0;
+ endStep = 0;
+
+ enable=0;
+ enable_Lateral = 0;
+ quick_Stop = 0;
+ clear_Fault = 0;
+
+ Ethercat=0;
+ Running_Time=0;
+ State_Step=0;
+ Status_Driver=0;
+ END=0;
+
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+
+ sprintf(Standing_Time_S, "%0.2f", Standing_Time);
+ lcd_.DisplayStringAt(320, 45, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 45, (uint8_t *)Standing_Time_S, LEFT_MODE);
+
+ sprintf(Step_Time_S, "%0.2f", Step_Time);
+ lcd_.DisplayStringAt(320, 145, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 145, (uint8_t *)Step_Time_S, LEFT_MODE);
+
+ sprintf(Wait_COM_Tr_Time_S, "%0.2f", Wait_COM_Tr_Time);
+ lcd_.DisplayStringAt(320, 245, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 245, (uint8_t *)Wait_COM_Tr_Time_S, LEFT_MODE);
+
+ sprintf(COM_Tr_Threshold_S, "%0.1f", COM_Tr_Threshold);
+ lcd_.DisplayStringAt(320, 345, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 345, (uint8_t *)COM_Tr_Threshold_S, LEFT_MODE);
+ lcd_.DisplayStringAt(360, 345, (uint8_t *)" %", LEFT_MODE);
+ }
+ if (btn6.Press() ) // Check if btn back button was touched and run instructions if true
{
menu=0;
led_orange = 0;
@@ -469,19 +540,30 @@
lcd_.DisplayStringAt(10, 110, (uint8_t *)" Driver Controle ", LEFT_MODE); // Display main header text
Button btn1(lcd_, ts_, 20, 160, 160, 70,
- LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, "Enable", Font20); // Define btn1 button
- btn1.Render(); // Draw btn1 button
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, "Enable", Font20); // Define Enable button
+ btn1.Render();
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ sprintf(enable_S, "%d", enable);
+ lcd_.DisplayStringAt(90, 136, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(90, 136, (uint8_t *)enable_S, LEFT_MODE); // Draw btn1 button
Button btn2(lcd_, ts_, 220, 160, 160, 70,
- LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, "Lateral", Font20); // Define test button
- btn2.Render(); // Draw btn2 button
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, "Lateral", Font20); // Define Lateral button
+ btn2.Render(); // Draw Lateral button
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ sprintf(enable_Lateral_S, "%d", enable_Lateral);
+ lcd_.DisplayStringAt(290, 136, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(290, 136, (uint8_t *)enable_Lateral_S, LEFT_MODE);
+
Button btn3(lcd_, ts_, 420, 160, 160, 70,
- LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "Quick Stop", Font20); // Define btn3 button
- btn3.Render(); // Draw btn3 button
+ LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "Quick Stop", Font20); // Define Quick Stop button
+ btn3.Render(); // Draw Quick Stop button
Button btn4(lcd_, ts_, 620, 160, 160, 70,
- LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "Clear Fault", Font20); // Define btn4 button
- btn4.Render(); // Draw btn3 button
+ LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "Clear Fault", Font20); // Define Clear Fault button
+ btn4.Render(); // Draw Clear Fault button
lcd_.SetTextColor(LCD_COLOR_RED);
lcd_.SetFont(&Font24); // Font size 24
@@ -489,18 +571,18 @@
Button button3D1(lcd_, ts_, 20, 300, 160, 70,
- LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Stand", Font20); // Define button3D1 button
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Stand", Font20); // Define Stand button
button3D1.Render();
Button button3D2(lcd_, ts_, 220, 300, 160, 70,
- LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Start", Font20); // Define button3D2 button
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Start", Font20); // Define Start button
button3D2.Render();
Button button3D3(lcd_, ts_, 420, 300, 160, 70,
- LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Stepping", Font20); // Define button3D3 button
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Stepping", Font20); // Define Stepping button
button3D3.Render();
Button button3D4(lcd_, ts_, 620, 300, 160, 70,
- LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "EndStep", Font20); // Define button3D3 button
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "EndStep", Font20); // Define EndStep button
button3D4.Render();
lcd_.SetTextColor(LCD_COLOR_RED);
@@ -508,7 +590,7 @@
lcd_.DisplayStringAt(280, 440, (uint8_t *)" MOTION PROJECT ", LEFT_MODE); // Display main header text
Button btn5(lcd_, ts_, 660, 410, 120, 60,
- LCD_COLOR_ORANGE, LCD_COLOR_GRAY, 1, "Next", Font20); // Define btn4 button
+ LCD_COLOR_ORANGE, LCD_COLOR_GRAY, 1, "Next", Font20); // Define Next button
btn5.Render();
wait(0.2);
@@ -520,7 +602,7 @@
wait(0.02f);
Millis = millis(); //
- if (Millis - PreviousCycle >= 10) // each 10 mS
+ if (Millis - PreviousCycle >= 10) // each 10 mS Send Data to SpeedGoat
{ //
PreviousCycle = Millis; //
@@ -554,16 +636,15 @@
EASYCAT.BufferIn.Cust.ClearFault = clear_Fault;
- //Ethercat = EASYCAT.BufferOut.Cust.EtherCAT;
+ Ethercat = EASYCAT.BufferOut.Cust.EtherCAT;
- //Running_Time = EASYCAT.BufferOut.Cust.Running_Time_T ;
+ Running_Time = EASYCAT.BufferOut.Cust.Running_Time_T ;
- //State_Step = EASYCAT.BufferOut.Cust.State_Step_T ;
+ State_Step = EASYCAT.BufferOut.Cust.State_Step_T ;
- //Status_Driver = EASYCAT.BufferOut.Cust.Status_Driver_T ;
+ Status_Driver = EASYCAT.BufferOut.Cust.Status_Driver_T ;
- //END = EASYCAT.BufferOut.Cust.END_T ;
-
+ END = EASYCAT.BufferOut.Cust.END_T ;
}
sprintf(Ethercat_S, "%d", Ethercat);
@@ -572,10 +653,10 @@
lcd_.DisplayStringAt(320, 20, (uint8_t *)Ethercat_S, LEFT_MODE); // Display main header text
- sprintf(Running_Time_S, "%0.2f", Running_Time);
+ sprintf(Running_Time_S, "%0.1f", Running_Time);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(700, 20, (uint8_t *)Running_Time_S, LEFT_MODE); // Display main header text
+ lcd_.DisplayStringAt(680, 20, (uint8_t *)Running_Time_S, LEFT_MODE); // Display main header text
sprintf(State_Step_S, "%d", State_Step);
lcd_.SetFont(&Font24);
@@ -585,7 +666,7 @@
sprintf(Status_Driver_S, "%d", Status_Driver);
lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(700, 60, (uint8_t *)Status_Driver_S, LEFT_MODE); // Display main header text
+ lcd_.DisplayStringAt(680, 60, (uint8_t *)Status_Driver_S, LEFT_MODE); // Display main header text
sprintf(END_S, "%d", END);
lcd_.SetFont(&Font24);
@@ -595,7 +676,7 @@
} // End Main program
-//--- functions for Arduino "millis()" emulation -------------------------------------
+//--- functions "millis()" emulation -------------------------------------
void InitMillis(void)