Shih-Ho Hsieh / Mbed 2 deprecated pololu5mag_with_platform

5 sensors on a board with a moving platform.

Dependencies:   mbed

Fork of Motor_XYZ_UI_SPI_I2C_5mag by Shih-Ho Hsieh

ui.cpp@12:2e1b1b1726fa, 2018-03-02 (annotated)

Committer:
hober
Date:
Fri Mar 02 06:40:25 2018 +0000
Branch:
envelope
Revision:
12:2e1b1b1726fa
Parent:
11:bb86ffb378f4
Child:
13:6850d2b41b2c
2018/02/27

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hober 6:ce02d396c961 1 #include "motor.h"
hober 6:ce02d396c961 2 #include "xyz_sensor_platform.h"
hober 8:33d34a775873 3 //#include "ParseArray.h"
hober 8:33d34a775873 4 #include "envelopetracker.h"
hober 6:ce02d396c961 5
hober 7:ee0569d49c52 6 #define I2C_FREQUENCY 400000
hober 6:ce02d396c961 7
hober 8:33d34a775873 8 typedef unsigned char byte;
hober 10:a49cdab3810f 9 uint8_t* dataToSend;
hober 8:33d34a775873 10 int sendArrayIndex = 0;
hober 8:33d34a775873 11 int sendBufferMax = 10000;
hober 8:33d34a775873 12 const int BAUD = 921600;
hober 8:33d34a775873 13 Serial pc(SERIAL_TX, SERIAL_RX, BAUD );
hober 7:ee0569d49c52 14 DigitalOut led(LED2),led3(LED3);
hober 7:ee0569d49c52 15 DigitalOut mag_test(D11);
hober 12:2e1b1b1726fa 16 InterruptIn button(USER_BUTTON);
hober 6:ce02d396c961 17 XYZSensorPlatform platform;
hober 8:33d34a775873 18 Envelope *command;
hober 8:33d34a775873 19 EnvelopeTracker tracker;
hober 7:ee0569d49c52 20 byte commandToSend[10]= {'H','O','1','2','3','4','5','6','E',0};
hober 7:ee0569d49c52 21 bool isRecording = false;
hober 9:c4f7257dee47 22 Envelope* result;
hober 9:c4f7257dee47 23 float x, y, z;
hober 9:c4f7257dee47 24 float pos[3];
hober 9:c4f7257dee47 25 int n = 0;
hober 9:c4f7257dee47 26 int getMag = 0;
hober 9:c4f7257dee47 27 int leftCount = 0;
hober 9:c4f7257dee47 28 int rightCount = 0;
hober 9:c4f7257dee47 29 int upCount = 0;
hober 9:c4f7257dee47 30 int downCount = 0;
hober 9:c4f7257dee47 31 int forwardCount = 0;
hober 9:c4f7257dee47 32 int backwardCount = 0;
hober 9:c4f7257dee47 33 bool commandToDo = false;
hober 9:c4f7257dee47 34 int recordTime;
hober 9:c4f7257dee47 35 float waitTime;
hober 12:2e1b1b1726fa 36 bool isEcho = false;
hober 12:2e1b1b1726fa 37 bool isReset = true;
hober 12:2e1b1b1726fa 38 enum PatternRecordState{NONE,INIT,MAGNET,TO};
hober 12:2e1b1b1726fa 39 struct Pattern
hober 12:2e1b1b1726fa 40 {
hober 12:2e1b1b1726fa 41 float xStart, xEnd, xStep, yStart, yEnd, yStep, zStart, zEnd, zStep;
hober 12:2e1b1b1726fa 42 int num;
hober 12:2e1b1b1726fa 43 float x, y, z;
hober 12:2e1b1b1726fa 44 int count;
hober 12:2e1b1b1726fa 45 PatternRecordState state;
hober 12:2e1b1b1726fa 46 } pattern;
hober 12:2e1b1b1726fa 47
hober 8:33d34a775873 48
hober 9:c4f7257dee47 49 const int Fs = 1000; // sampling rate -- max: 1kHz
hober 8:33d34a775873 50
hober 8:33d34a775873 51
hober 6:ce02d396c961 52 void echo(char typ, float x, float y, float z);
hober 6:ce02d396c961 53 void echo(char typ, int16_t *p_data);
hober 9:c4f7257dee47 54 void Rx_interrupt();
hober 12:2e1b1b1726fa 55 void released()
hober 12:2e1b1b1726fa 56 {
hober 12:2e1b1b1726fa 57 led = !led;
hober 12:2e1b1b1726fa 58 pc.attach(&Rx_interrupt, Serial::RxIrq);
hober 12:2e1b1b1726fa 59 }
hober 8:33d34a775873 60
hober 6:ce02d396c961 61 int main()
hober 6:ce02d396c961 62 {
hober 6:ce02d396c961 63 led=1;
hober 8:33d34a775873 64 command = new Envelope;
hober 8:33d34a775873 65 command->enableHeader(std::string("H"));// 48 H
hober 8:33d34a775873 66 command->enableFooter(std::string("E"),8);// 45 E
hober 8:33d34a775873 67 command->enableCheckXOR(9);
hober 8:33d34a775873 68 tracker.setEnvelope(*command);
hober 8:33d34a775873 69 tracker.setBufferLength(100);
hober 12:2e1b1b1726fa 70 pattern.state = NONE;
hober 7:ee0569d49c52 71 pc.format(8,SerialBase::None,1);
hober 12:2e1b1b1726fa 72 button.rise(&released);
hober 6:ce02d396c961 73 platform.set_speed(2.5);
hober 12:2e1b1b1726fa 74 // platform.reset(); // need to be modified here
hober 7:ee0569d49c52 75 platform.setSensorI2cFrequency(I2C_FREQUENCY);
hober 9:c4f7257dee47 76 // Setup a serial interrupt function to receive data
hober 9:c4f7257dee47 77 pc.attach(&Rx_interrupt, Serial::RxIrq);
hober 12:2e1b1b1726fa 78 echo('B',0,0,0);
hober 6:ce02d396c961 79 while(1) {
hober 12:2e1b1b1726fa 80 if(isReset){
hober 12:2e1b1b1726fa 81 platform.set_speed(1);
hober 12:2e1b1b1726fa 82 platform.reset();
hober 12:2e1b1b1726fa 83 isReset = false;
hober 12:2e1b1b1726fa 84 platform.set_speed(2.5);
hober 12:2e1b1b1726fa 85 }
hober 12:2e1b1b1726fa 86 if(pattern.state != NONE)
hober 12:2e1b1b1726fa 87 {
hober 12:2e1b1b1726fa 88 if(pattern.state == INIT) platform.to(pattern.xStart,pattern.yStart,pattern.zStart);
hober 12:2e1b1b1726fa 89 if(pattern.count == 0) pattern.state = TO;
hober 12:2e1b1b1726fa 90 if(pattern.state == TO)
hober 12:2e1b1b1726fa 91 {
hober 12:2e1b1b1726fa 92 if(abs(pattern.x-pattern.xEnd)>abs(pattern.xStep)) pattern.x += pattern.xStep;
hober 12:2e1b1b1726fa 93 else if(abs(pattern.y-pattern.yEnd)>abs(pattern.yStep)){
hober 12:2e1b1b1726fa 94 pattern.x = pattern.xStart;
hober 12:2e1b1b1726fa 95 pattern.y += pattern.yStep;
hober 12:2e1b1b1726fa 96 }
hober 12:2e1b1b1726fa 97 else if(abs(pattern.z-pattern.zEnd)>abs(pattern.zStep)){
hober 12:2e1b1b1726fa 98 pattern.x = pattern.xStart;
hober 12:2e1b1b1726fa 99 pattern.y = pattern.yStart;
hober 12:2e1b1b1726fa 100 pattern.z += pattern.zStep;
hober 12:2e1b1b1726fa 101 }
hober 12:2e1b1b1726fa 102 else{
hober 12:2e1b1b1726fa 103 pattern.state = NONE;
hober 12:2e1b1b1726fa 104 continue;
hober 12:2e1b1b1726fa 105 }
hober 12:2e1b1b1726fa 106 platform.to(pattern.x,pattern.y,pattern.z);
hober 12:2e1b1b1726fa 107 // wait(0.);
hober 12:2e1b1b1726fa 108 isEcho = true;
hober 12:2e1b1b1726fa 109 pattern.count = pattern.num;
hober 12:2e1b1b1726fa 110 pattern.state = MAGNET;
hober 12:2e1b1b1726fa 111 }
hober 12:2e1b1b1726fa 112 if(pattern.state == MAGNET)
hober 12:2e1b1b1726fa 113 {
hober 12:2e1b1b1726fa 114 if(pattern.count-- <= 0) pattern.state = TO;
hober 12:2e1b1b1726fa 115 getMag++;
hober 12:2e1b1b1726fa 116 }
hober 12:2e1b1b1726fa 117 }
hober 12:2e1b1b1726fa 118 if(isEcho)
hober 12:2e1b1b1726fa 119 {
hober 12:2e1b1b1726fa 120 platform.position(pos);
hober 12:2e1b1b1726fa 121 echo('O',pos[0],pos[1],pos[2]);
hober 12:2e1b1b1726fa 122 led3 = !led3;
hober 12:2e1b1b1726fa 123 isEcho = false;
hober 12:2e1b1b1726fa 124 }
hober 8:33d34a775873 125 if(isRecording && n < recordTime) {
hober 7:ee0569d49c52 126 int16_t mag[3];
hober 7:ee0569d49c52 127 if(platform.get_mag_raw(mag)==0&&pc.writeable()) {
hober 7:ee0569d49c52 128 echo('M',mag);
hober 7:ee0569d49c52 129 mag_test=!mag_test;
hober 8:33d34a775873 130 wait(waitTime);
hober 7:ee0569d49c52 131 }
hober 7:ee0569d49c52 132 n++;
hober 8:33d34a775873 133 } else if(isRecording) {
hober 8:33d34a775873 134 isRecording = false;
hober 8:33d34a775873 135 echo('S',0,0,0);
hober 8:33d34a775873 136 }// end recording if
hober 9:c4f7257dee47 137 if(getMag>0) {
hober 9:c4f7257dee47 138 int16_t mag[3];
hober 9:c4f7257dee47 139 if(platform.get_mag_raw(mag)==0) echo('M',mag);
hober 9:c4f7257dee47 140 getMag--;
hober 9:c4f7257dee47 141 }
hober 9:c4f7257dee47 142 if(commandToDo) {
hober 9:c4f7257dee47 143 platform.to(x,y,z);
hober 9:c4f7257dee47 144 platform.position(pos);
hober 9:c4f7257dee47 145 echo('O',pos[0],pos[1],pos[2]);
hober 9:c4f7257dee47 146 commandToDo = false;
hober 9:c4f7257dee47 147 }
hober 9:c4f7257dee47 148 if(leftCount > 0||rightCount > 0||upCount > 0||downCount > 0||forwardCount > 0||backwardCount > 0) {
hober 9:c4f7257dee47 149 if(leftCount > 0) {
hober 9:c4f7257dee47 150 platform.go_left();
hober 9:c4f7257dee47 151 leftCount--;
hober 9:c4f7257dee47 152 }
hober 9:c4f7257dee47 153 if(rightCount > 0) {
hober 9:c4f7257dee47 154 platform.go_right();
hober 9:c4f7257dee47 155 rightCount--;
hober 9:c4f7257dee47 156 }
hober 9:c4f7257dee47 157 if(upCount > 0) {
hober 9:c4f7257dee47 158 platform.go_up();
hober 9:c4f7257dee47 159 upCount--;
hober 9:c4f7257dee47 160 }
hober 9:c4f7257dee47 161 if(downCount > 0) {
hober 9:c4f7257dee47 162 platform.go_down();
hober 9:c4f7257dee47 163 downCount--;
hober 9:c4f7257dee47 164 }
hober 9:c4f7257dee47 165 if(forwardCount > 0) {
hober 9:c4f7257dee47 166 platform.go_forward();
hober 9:c4f7257dee47 167 forwardCount--;
hober 9:c4f7257dee47 168 }
hober 9:c4f7257dee47 169 if(backwardCount > 0) {
hober 9:c4f7257dee47 170 platform.go_backward();
hober 9:c4f7257dee47 171 backwardCount--;
hober 9:c4f7257dee47 172 }
hober 9:c4f7257dee47 173 platform.position(pos);
hober 9:c4f7257dee47 174 echo('O',pos[0],pos[1],pos[2]);
hober 9:c4f7257dee47 175 }
hober 7:ee0569d49c52 176 } // end while
hober 6:ce02d396c961 177
hober 6:ce02d396c961 178 }
hober 6:ce02d396c961 179
hober 6:ce02d396c961 180 void echo(char typ,float x, float y, float z)
hober 6:ce02d396c961 181 {
hober 7:ee0569d49c52 182 int16_t p_data[3]= {(int16_t)(x*10), int16_t(y*10), int16_t(z*10)};
hober 7:ee0569d49c52 183 echo(typ,p_data);
hober 6:ce02d396c961 184 }
hober 6:ce02d396c961 185
hober 6:ce02d396c961 186 void echo(char typ, int16_t *p_data)
hober 6:ce02d396c961 187 {
hober 8:33d34a775873 188 char tmp[] = {typ, p_data[0]>>8, p_data[0], p_data[1]>>8, p_data[1], p_data[2]>>8, p_data[2]};
hober 8:33d34a775873 189 command->setEnvelopeData(tmp,7);
hober 10:a49cdab3810f 190 dataToSend = (uint8_t*)(command->getEnvelopeArray());
hober 8:33d34a775873 191 for(int i = 0; i < command->length(); i++) {
hober 10:a49cdab3810f 192 pc.putc(dataToSend[i]);
hober 8:33d34a775873 193 }
hober 6:ce02d396c961 194 }
hober 6:ce02d396c961 195
hober 9:c4f7257dee47 196 void Rx_interrupt()
hober 9:c4f7257dee47 197 {
hober 9:c4f7257dee47 198 char c;
hober 9:c4f7257dee47 199 while(pc.readable()) {
hober 9:c4f7257dee47 200 c = pc.getc();
hober 9:c4f7257dee47 201 tracker.parse(&c,1);
hober 6:ce02d396c961 202
hober 9:c4f7257dee47 203 result = tracker.getEnvelope();
hober 9:c4f7257dee47 204 if(result!=NULL) {
hober 9:c4f7257dee47 205 char *dataArray = result->getPayload();
hober 9:c4f7257dee47 206 switch(dataArray[0]) {
hober 12:2e1b1b1726fa 207 case 'I': // pattern record
hober 12:2e1b1b1726fa 208 if(dataArray[1] == 'X')
hober 12:2e1b1b1726fa 209 {
hober 12:2e1b1b1726fa 210 pattern.xStart = (float)((dataArray[2]<<8)+dataArray[3])/10.0f;
hober 12:2e1b1b1726fa 211 pattern.xEnd = (float)((dataArray[4]<<8)+dataArray[5])/10.0f;
hober 12:2e1b1b1726fa 212 pattern.xStep = (float) dataArray[6]/10.0f;
hober 12:2e1b1b1726fa 213 if((pattern.xStart-pattern.xEnd)*pattern.xStep>0) pattern.xStep = -pattern.xStep;
hober 12:2e1b1b1726fa 214 }
hober 12:2e1b1b1726fa 215 else if(dataArray[1] == 'Y')
hober 12:2e1b1b1726fa 216 {
hober 12:2e1b1b1726fa 217 pattern.yStart = (float)((dataArray[2]<<8)+dataArray[3])/10.0f;
hober 12:2e1b1b1726fa 218 pattern.yEnd = (float)((dataArray[4]<<8)+dataArray[5])/10.0f;
hober 12:2e1b1b1726fa 219 pattern.yStep = (float) dataArray[6]/10.0f;
hober 12:2e1b1b1726fa 220 if((pattern.yStart-pattern.yEnd)*pattern.yStep>0) pattern.yStep = -pattern.yStep;
hober 12:2e1b1b1726fa 221 }
hober 12:2e1b1b1726fa 222 else if(dataArray[1] == 'Z')
hober 12:2e1b1b1726fa 223 {
hober 12:2e1b1b1726fa 224 pattern.zStart = (float)((dataArray[2]<<8)+dataArray[3])/10.0f;
hober 12:2e1b1b1726fa 225 pattern.zEnd = (float)((dataArray[4]<<8)+dataArray[5])/10.0f;
hober 12:2e1b1b1726fa 226 pattern.zStep = (float) dataArray[6]/10.0f;
hober 12:2e1b1b1726fa 227 if((pattern.zStart-pattern.zEnd)*pattern.zStep>0) pattern.zStep = -pattern.zStep;
hober 12:2e1b1b1726fa 228 }
hober 12:2e1b1b1726fa 229 else if(dataArray[1] == 'N')
hober 12:2e1b1b1726fa 230 {
hober 12:2e1b1b1726fa 231 pattern.num = (int)dataArray[2];
hober 12:2e1b1b1726fa 232 }
hober 12:2e1b1b1726fa 233 else if(dataArray[1] == 'M')
hober 12:2e1b1b1726fa 234 {
hober 12:2e1b1b1726fa 235 if(dataArray[2] == 'B'){
hober 12:2e1b1b1726fa 236 pattern.x = (float)((dataArray[3]<<8)+dataArray[4])/10.0f;
hober 12:2e1b1b1726fa 237 pattern.y = (float)((dataArray[5]<<8)+dataArray[6])/10.0f;
hober 12:2e1b1b1726fa 238 }
hober 12:2e1b1b1726fa 239 if(dataArray[2] == 'U'){
hober 12:2e1b1b1726fa 240 pattern.z = (float)((dataArray[3]<<8)+dataArray[4])/10.0f;
hober 12:2e1b1b1726fa 241 pattern.state = TO;
hober 12:2e1b1b1726fa 242 printf("%.2f %.2f %.2f\n %.2f %.2f %.2f\n %.2f %.2f %.2f\n %.2f %.2f %.2f\n %d\n",
hober 12:2e1b1b1726fa 243 pattern.xStart, pattern.xEnd, pattern.xStep, pattern.yStart, pattern.yEnd, pattern.yStep, pattern.zStart, pattern.zEnd, pattern.zStep, pattern.x, pattern.y, pattern.z, pattern.num);
hober 12:2e1b1b1726fa 244 }
hober 12:2e1b1b1726fa 245 }
hober 12:2e1b1b1726fa 246
hober 12:2e1b1b1726fa 247 else if(dataArray[1] == 'B')
hober 12:2e1b1b1726fa 248 {
hober 12:2e1b1b1726fa 249 pattern.state = INIT;
hober 12:2e1b1b1726fa 250 pattern.count = pattern.num;
hober 12:2e1b1b1726fa 251 }
hober 12:2e1b1b1726fa 252 else if(dataArray[1] == 'S') pattern.state = NONE;
hober 12:2e1b1b1726fa 253
hober 9:c4f7257dee47 254 break;
hober 9:c4f7257dee47 255 case 'O': // echo
hober 12:2e1b1b1726fa 256 isEcho = true;
hober 9:c4f7257dee47 257 break;
hober 9:c4f7257dee47 258 case 'C': // command
hober 12:2e1b1b1726fa 259 if(commandToDo) break;
hober 9:c4f7257dee47 260 x=(float)((dataArray[1]<<8)+dataArray[2])/10.0f;
hober 9:c4f7257dee47 261 y=(float)((dataArray[3]<<8)+dataArray[4])/10.0f;
hober 9:c4f7257dee47 262 z=(float)((dataArray[5]<<8)+dataArray[6])/10.0f;
hober 9:c4f7257dee47 263 commandToDo = true;
hober 9:c4f7257dee47 264 break;
hober 9:c4f7257dee47 265 case 'X':
hober 9:c4f7257dee47 266 if(dataArray[1]&0x80) rightCount++;
hober 9:c4f7257dee47 267 else leftCount++;
hober 9:c4f7257dee47 268 break;
hober 9:c4f7257dee47 269 case 'Y':
hober 9:c4f7257dee47 270 if(dataArray[1]&0x80) forwardCount++;
hober 10:a49cdab3810f 271 else backwardCount++;
hober 9:c4f7257dee47 272 break;
hober 9:c4f7257dee47 273 case 'Z':
hober 9:c4f7257dee47 274 if(dataArray[1]&0x80) upCount++;
hober 9:c4f7257dee47 275 else downCount++;
hober 9:c4f7257dee47 276 break;
hober 9:c4f7257dee47 277 case 'M': // magnet
hober 9:c4f7257dee47 278 getMag++;
hober 9:c4f7257dee47 279 mag_test=!mag_test;
hober 9:c4f7257dee47 280 break;
hober 9:c4f7257dee47 281 case 'R': // record
hober 9:c4f7257dee47 282 recordTime = dataArray[1];
hober 9:c4f7257dee47 283 recordTime *= Fs;
hober 11:bb86ffb378f4 284 waitTime = 1.0/Fs-0.00052-1/(BAUD/8/10);
hober 10:a49cdab3810f 285 n = 0;
hober 9:c4f7257dee47 286 if(waitTime < 0) waitTime = 0;
hober 9:c4f7257dee47 287 isRecording = true;
hober 9:c4f7257dee47 288 break;
hober 9:c4f7257dee47 289 case 'S': // stop
hober 9:c4f7257dee47 290 isRecording = false;
hober 9:c4f7257dee47 291 break;
hober 12:2e1b1b1726fa 292 case 'P': // set position
hober 12:2e1b1b1726fa 293 x=(float)((dataArray[1]<<8)+dataArray[2])/10.0f;
hober 12:2e1b1b1726fa 294 y=(float)((dataArray[3]<<8)+dataArray[4])/10.0f;
hober 12:2e1b1b1726fa 295 z=(float)((dataArray[5]<<8)+dataArray[6])/10.0f;
hober 12:2e1b1b1726fa 296 platform.setPosition(x,y,z);
hober 12:2e1b1b1726fa 297 break;
hober 12:2e1b1b1726fa 298 case 'N': // new set up
hober 12:2e1b1b1726fa 299 isReset = true;
hober 12:2e1b1b1726fa 300 break;
hober 9:c4f7257dee47 301 default:
hober 9:c4f7257dee47 302 break;
hober 9:c4f7257dee47 303 } // end switch
hober 9:c4f7257dee47 304 result = NULL;
hober 9:c4f7257dee47 305 dataArray = NULL;
hober 9:c4f7257dee47 306 } // end result if
hober 9:c4f7257dee47 307 } // end parsing if
hober 9:c4f7257dee47 308 }
hober 9:c4f7257dee47 309