Huseyin Erdem / Mbed 2 deprecated PiSwarmTableController

Table controller for piswarm-office

Dependencies:   mbed

Fork of PiSwarmTableController by piswarm

main.cpp@1:e4a0d424ac8d, 2014-05-21 (annotated)

Committer:
jah128
Date:
Wed May 21 12:47:29 2014 +0000
Revision:
1:e4a0d424ac8d
Parent:
0:d88fd55a27a6
Child:
2:c81f4ef63132
Pi Swarm Table Controller Draft (no RF)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:d88fd55a27a6 1 /* University of York Robot Lab
jah128 0:d88fd55a27a6 2 *
jah128 1:e4a0d424ac8d 3 * Pi Swarm Table Controller Demo Code
jah128 0:d88fd55a27a6 4 *
jah128 1:e4a0d424ac8d 5 * This file is intended for use exclusively with the Pi Swarm Table Controller (PCB 1.0)
jah128 0:d88fd55a27a6 6 *
jah128 0:d88fd55a27a6 7 * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
jah128 0:d88fd55a27a6 8 *
jah128 1:e4a0d424ac8d 9 * May 2014
jah128 0:d88fd55a27a6 10 *
jah128 0:d88fd55a27a6 11 */
jah128 0:d88fd55a27a6 12
jah128 0:d88fd55a27a6 13 #include "mbed.h"
jah128 0:d88fd55a27a6 14 #include "display.h" //Display driver for the Midas 16x2 I2C Display
jah128 0:d88fd55a27a6 15
jah128 1:e4a0d424ac8d 16 PwmOut ir_pwm_out(p21); //PWM Output for the IR LED driver
jah128 1:e4a0d424ac8d 17 DigitalOut ir_led(LED1);
jah128 1:e4a0d424ac8d 18 DigitalOut pir_led(LED4);
jah128 1:e4a0d424ac8d 19 AnalogIn input_1(p20);
jah128 1:e4a0d424ac8d 20 AnalogIn input_2(p19);
jah128 1:e4a0d424ac8d 21 DigitalIn input_3(p18);
jah128 1:e4a0d424ac8d 22 DigitalIn input_4(p17);
jah128 1:e4a0d424ac8d 23 DigitalIn input_5(p16);
jah128 1:e4a0d424ac8d 24 DigitalIn input_6(p15);
jah128 0:d88fd55a27a6 25
jah128 0:d88fd55a27a6 26 Display display;
jah128 0:d88fd55a27a6 27 Timer system_timer; //System timer is used for timer the on-off periods for the LEDs
jah128 1:e4a0d424ac8d 28 Ticker polling_ticker; //Ticker for polling the input sensors
jah128 0:d88fd55a27a6 29
jah128 1:e4a0d424ac8d 30 int off_period = 950000; //Off-period for the IR LEDs in microseconds
jah128 1:e4a0d424ac8d 31 int on_period = 50000; //On-period for the IR LEDs in microseconds
jah128 1:e4a0d424ac8d 32 char power = 0; //Output power for the IR LEDs : 0=25%, 1=50%, 2=75%, 3=100% (700mA)
jah128 1:e4a0d424ac8d 33 char use_ir_leds = 0; //Set to 0 to disable IR LEDs, 1 to enable
jah128 0:d88fd55a27a6 34
jah128 0:d88fd55a27a6 35 void init()
jah128 0:d88fd55a27a6 36 {
jah128 0:d88fd55a27a6 37 display.init_display();
jah128 0:d88fd55a27a6 38 display.set_position(0,2);
jah128 0:d88fd55a27a6 39 display.write_string("YORK ROBOTICS",13);
jah128 0:d88fd55a27a6 40 display.set_position(1,3);
jah128 0:d88fd55a27a6 41 display.write_string("LABORATORY",10);
jah128 0:d88fd55a27a6 42 wait(0.45);
jah128 0:d88fd55a27a6 43 display.clear_display();
jah128 1:e4a0d424ac8d 44 display.set_position(0,1);
jah128 1:e4a0d424ac8d 45 display.write_string("Pi Swarm Table",14);
jah128 0:d88fd55a27a6 46 display.set_position(1,3);
jah128 1:e4a0d424ac8d 47 display.write_string("Controller",10);
jah128 0:d88fd55a27a6 48 wait(0.45);
jah128 0:d88fd55a27a6 49 }
jah128 0:d88fd55a27a6 50
jah128 1:e4a0d424ac8d 51 int get_output_power(){
jah128 1:e4a0d424ac8d 52 switch(power){
jah128 1:e4a0d424ac8d 53 case 1: return 500;
jah128 1:e4a0d424ac8d 54 case 2: return 750;
jah128 1:e4a0d424ac8d 55 case 3: return 1000;
jah128 1:e4a0d424ac8d 56 }
jah128 1:e4a0d424ac8d 57 return 250;
jah128 0:d88fd55a27a6 58 }
jah128 0:d88fd55a27a6 59
jah128 1:e4a0d424ac8d 60 void polling(){
jah128 1:e4a0d424ac8d 61 pir_led=input_5.read();
jah128 0:d88fd55a27a6 62 }
jah128 0:d88fd55a27a6 63
jah128 0:d88fd55a27a6 64 int main()
jah128 0:d88fd55a27a6 65 {
jah128 0:d88fd55a27a6 66 init();
jah128 1:e4a0d424ac8d 67 char phase = 0;
jah128 0:d88fd55a27a6 68 system_timer.start();
jah128 1:e4a0d424ac8d 69 ir_pwm_out.period_us(1000);
jah128 1:e4a0d424ac8d 70 ir_pwm_out.pulsewidth_us(0);
jah128 1:e4a0d424ac8d 71 polling_ticker.attach(&polling,0.1);
jah128 1:e4a0d424ac8d 72
jah128 1:e4a0d424ac8d 73 //Setup interrupts for
jah128 0:d88fd55a27a6 74
jah128 0:d88fd55a27a6 75 while(1) {
jah128 0:d88fd55a27a6 76 if(phase==0){
jah128 1:e4a0d424ac8d 77 if(system_timer.read_us() >= off_period){
jah128 0:d88fd55a27a6 78 system_timer.reset();
jah128 1:e4a0d424ac8d 79 int pw = get_output_power();
jah128 1:e4a0d424ac8d 80 if(use_ir_leds) ir_pwm_out.pulsewidth_us(pw);
jah128 1:e4a0d424ac8d 81 ir_led=1;
jah128 0:d88fd55a27a6 82 phase = 1;
jah128 0:d88fd55a27a6 83 }
jah128 0:d88fd55a27a6 84 }else{
jah128 1:e4a0d424ac8d 85 if(system_timer.read_us() >= on_period){
jah128 0:d88fd55a27a6 86 system_timer.reset();
jah128 1:e4a0d424ac8d 87 ir_pwm_out.pulsewidth_us(0);
jah128 1:e4a0d424ac8d 88 ir_led=0;
jah128 0:d88fd55a27a6 89 phase = 0;
jah128 0:d88fd55a27a6 90 }
jah128 0:d88fd55a27a6 91 }
jah128 0:d88fd55a27a6 92 }
jah128 0:d88fd55a27a6 93 }