Huseyin Erdem
Table controller for piswarm-office
Fork of
PiSwarmTableController
by 
piswarm
Diff: main.cpp
- Revision:
- 1:e4a0d424ac8d
- Parent:
- 0:d88fd55a27a6
- Child:
- 2:c81f4ef63132
--- a/main.cpp Wed Mar 19 15:09:11 2014 +0000
+++ b/main.cpp Wed May 21 12:47:29 2014 +0000
@@ -1,77 +1,36 @@
/* University of York Robot Lab
*
- * Programmable IR Beacon with Display Example Code
+ * Pi Swarm Table Controller Demo Code
*
- * This file is intended for use exclusively with the high-power IR Beacon with display
+ * This file is intended for use exclusively with the Pi Swarm Table Controller (PCB 1.0)
*
- *
- *
* (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
*
- * March 2014
+ * May 2014
*
*/
#include "mbed.h"
#include "display.h" //Display driver for the Midas 16x2 I2C Display
-DigitalIn button1(p23); //"SET" Push-button
-DigitalIn button2(p24); //"SELECT" Push-button
-PwmOut out_narrow(p21); //PWM Output for the narrow (high intensity) LED driver
-PwmOut out_wide(p22); //PWM Output for the wide-angle LED driver
+PwmOut ir_pwm_out(p21); //PWM Output for the IR LED driver
+DigitalOut ir_led(LED1);
+DigitalOut pir_led(LED4);
+AnalogIn input_1(p20);
+AnalogIn input_2(p19);
+DigitalIn input_3(p18);
+DigitalIn input_4(p17);
+DigitalIn input_5(p16);
+DigitalIn input_6(p15);
Display display;
Timer system_timer; //System timer is used for timer the on-off periods for the LEDs
-Timer button_timer; //Button timer is used for debouncing the push buttons and pausing for entering 'SET' mode
-
-char adjust = 0;
-char mode = 0;
-char power = 1;
-char duty = 2;
-char frequency = 2;
-
-int on_period;
-int off_period;
-int total_period;
-char phase;
+Ticker polling_ticker; //Ticker for polling the input sensors
-int get_period()
-{
- switch(frequency) {
- case 0:
- return 1000000;
- case 1:
- return 500000;
- case 2:
- return 200000;
- case 3:
- return 100000;
- case 4:
- return 50000;
- case 5:
- return 33333;
- case 6:
- return 25000;
- case 7:
- return 20000;
- }
- return 0;
-}
-
-void update_cycles()
-{
- total_period = get_period();
- switch(duty){
- case 0: on_period=total_period/10;break;
- case 1: on_period=total_period/4;break;
- case 2: on_period=total_period/2;break;
- case 3: on_period=(total_period*3)/4;break;
- case 4: on_period=total_period-(total_period/10);break;
- }
- off_period = total_period - on_period;
- phase = 0;
- system_timer.reset();
-}
+int off_period = 950000; //Off-period for the IR LEDs in microseconds
+int on_period = 50000; //On-period for the IR LEDs in microseconds
+char power = 0; //Output power for the IR LEDs : 0=25%, 1=50%, 2=75%, 3=100% (700mA)
+char use_ir_leds = 0; //Set to 0 to disable IR LEDs, 1 to enable
void init()
{
@@ -82,256 +41,53 @@
display.write_string("LABORATORY",10);
wait(0.45);
display.clear_display();
- display.set_position(0,2);
- display.write_string("Programmable",12);
+ display.set_position(0,1);
+ display.write_string("Pi Swarm Table",14);
display.set_position(1,3);
- display.write_string("IR Beacon",9);
+ display.write_string("Controller",10);
wait(0.45);
}
-char * mode_string()
-{
- switch(mode) {
- case 1:
- return "WIDE ";
- case 2:
- return "NARROW";
- }
- return "BOTH ";
-}
-
-char * duty_string()
-{
- switch(duty) {
- case 0:
- return " 10%";
- case 1:
- return " 25%";
- case 2:
- return " 50%";
- case 3:
- return " 75%";
- case 4:
- return " 90%";
- }
- return"???";
-}
-
-char * power_string()
-{
- switch(power) {
- case 0:
- return " 25%";
- case 1:
- return " 50%";
- case 2:
- return " 75%";
- case 3:
- return "100%";
- }
- return"????";
-}
-
-char * freq_string()
-{
- switch(frequency) {
- case 0:
- return " 1Hz";
- case 1:
- return " 2Hz";
- case 2:
- return " 5Hz";
- case 3:
- return "10Hz";
- case 4:
- return "20Hz";
- case 5:
- return "30Hz";
- case 6:
- return "40Hz";
- case 7:
- return "50Hz";
- }
- return "????";
-}
-
-// The normal mode display output: shows the frequency, power, duty-cycle and output mode (ie wide, narrow or both)
-void display_status()
-{
- display.clear_display();
- display.set_position(0,0);
- char line1[15] ;
- strcpy(line1, "F:");
- strcat(line1, freq_string());
- strcat(line1, " P:");
- strcat(line1, power_string());
- display.write_string(line1,13);
- char line2[17];
- strcpy(line2, "D:");
- strcat(line2, duty_string());
- strcat(line2, " M:");
- strcat(line2, mode_string());
- display.set_position(1,0);
- display.write_string(line2,16);
+int get_output_power(){
+ switch(power){
+ case 1: return 500;
+ case 2: return 750;
+ case 3: return 1000;
+ }
+ return 250;
}
-// The configuration mode; entered by holding the 'set' button for one second. In this mode the user can through the options
-// by pressing 'set' and change a setting by pressing 'select'. The final screen in the loop allows the user to return to
-// normal operation, this will also happen with no user input for 5 seconds.
-void change_settings()
-{
- //Switch off LEDs whilst in configuration mode
- out_wide.pulsewidth_us(0);
- out_narrow.pulsewidth_us(0);
- display.clear_display();
- display.set_position(0,0);
- display.write_string("CONFIGURATION",13);
- display.set_position(1,0);
- display.write_string("MODE",4);
- while(button1 == 1);
- char screen = 0;
- char active = 1;
- Timer settings_timer;
- settings_timer.start();
- while(active) {
- display.clear_display();
- display.set_position(0,0);
- char line2[17];
- switch(screen) {
- case 0:
- display.write_string("Set Frequency:",14);
- display.set_position(1,0);
- strcpy(line2,freq_string());
- display.write_string(line2,4);
- break;
- case 1:
- display.write_string("Set Power: ",14);
- display.set_position(1,0);
- strcpy(line2,power_string());
- display.write_string(line2,4);
- break;
- case 2:
- display.write_string("Set Duty Cycle:",15);
- display.set_position(1,0);
- strcpy(line2,duty_string());
- display.write_string(line2,4);
- break;
- case 3:
- display.write_string("Set Mode: ",14);
- display.set_position(1,0);
- strcpy(line2,mode_string());
- display.write_string(line2,6);
- break;
- case 4:
- display.write_string("End Setup",9);
- break;
- }
- char button_pressed = 0;
-
- while(button_pressed < 2 && settings_timer.read_ms() < 5000){
- if(button1 == 1 || button2 == 1){
- if(button_pressed == 1){
- if(button_timer.read_ms() > 50) button_pressed = 2;
- } else {button_pressed = 1; button_timer.reset();}
- } else button_pressed = 0;
- }
- if(button1==1){
- screen++;
- if(screen == 5)screen=0;
- while(button1 == 1);
- }else{
- if(button2==1){
- switch(screen){
- case 0: frequency ++;
- if(frequency == 8) frequency = 0;
- break;
- case 1: power++;
- if(power == 4) power=0;
- break;
- case 2: duty++;
- if(duty == 5) duty=0;
- break;
- case 3: mode++;
- if(mode == 3) mode = 0;
- break;
- case 4: active=0; break;
- }
- while(button2 == 1);
- }
- }
- if(settings_timer > 5000) active=0;
- settings_timer.reset();
- }
+void polling(){
+ pir_led=input_5.read();
}
int main()
{
init();
- display_status();
- char b_p = 0;
+ char phase = 0;
system_timer.start();
- button_timer.start();
- update_cycles();
- out_narrow.period_us(1000);
- out_wide.period_us(1000);
- out_narrow.pulsewidth_us(0);
- out_wide.pulsewidth_us(0);
-
+ ir_pwm_out.period_us(1000);
+ ir_pwm_out.pulsewidth_us(0);
+ polling_ticker.attach(&polling,0.1);
+
+ //Setup interrupts for
while(1) {
if(phase==0){
- if(system_timer.read_us() > off_period){
+ if(system_timer.read_us() >= off_period){
system_timer.reset();
- int pw = 250;
- if(power==1) pw=500;
- if(power==2) pw=750;
- if(power==3) pw=1000;
- if(mode<2){
- out_wide.pulsewidth_us(pw);
- }
- if(mode!=1){
- out_narrow.pulsewidth_us(pw);
- }
+ int pw = get_output_power();
+ if(use_ir_leds) ir_pwm_out.pulsewidth_us(pw);
+ ir_led=1;
phase = 1;
}
}else{
- if(system_timer.read_us() > on_period){
+ if(system_timer.read_us() >= on_period){
system_timer.reset();
+ ir_pwm_out.pulsewidth_us(0);
+ ir_led=0;
phase = 0;
- out_wide.pulsewidth_us(0);
- out_narrow.pulsewidth_us(0);
}
}
-
-
- if(button1 == 1) {
- if(b_p == 0) {
- b_p=1;
- button_timer.reset();
- }
- if(b_p == 1) {
- if(button_timer.read_ms() > 100) {
- b_p=2;
- display.clear_display();
- display.set_position(0,0);
- display.write_string("Hold to change",14);
- display.set_position(1,0);
- display.write_string("settings",8);
- }
- }
- if(b_p == 2) {
- if(button_timer.read_ms() > 1000) {
- change_settings();
- update_cycles();
- display_status();
- b_p=0;
- }
- }
- } else {
- if (b_p > 0) {
- if(b_p == 2) display_status();
- b_p=0;
- }
- }
}
}
\ No newline at end of file