Janet Huisman / Mbed 2 deprecated Motor_Control_buttons

Script for controlling 2 DC-motors and a gripper-servo using buttons

Dependencies:   MODSERIAL QEI Servo mbed

main.cpp@5:9b5edadc023b, 2016-10-08 (annotated)

Committer:
huismaja
Date:
Sat Oct 08 15:34:37 2016 +0000
Revision:
5:9b5edadc023b
Parent:
4:84bd5ead83f9
Child:
6:98121d2d76a6
Robot control with 2-DC motors and a working gripper (using Servo-library)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
huismaja 0:6c8444d06e97 1 #include "mbed.h"
huismaja 4:84bd5ead83f9 2 #include "MODSERIAL.h"
huismaja 4:84bd5ead83f9 3 #include "Servo.h"
huismaja 0:6c8444d06e97 4
huismaja 5:9b5edadc023b 5 DigitalOut Direction_M1(D4); //To control the rotation direction of the arm
huismaja 5:9b5edadc023b 6 DigitalOut Speed_M1(D5); //To control the rotation speed of the arm
huismaja 5:9b5edadc023b 7 DigitalOut Speed_M2(D6); //To control the translation direction of the arm
huismaja 5:9b5edadc023b 8 DigitalOut Direction_M2(D7); //To control the translation speed of the arm
huismaja 1:0d55a4bf2269 9
huismaja 5:9b5edadc023b 10 Servo gripper_servo(D3); //To control the gripper (Note: doesn't work on D8, unknown why)
huismaja 0:6c8444d06e97 11
huismaja 5:9b5edadc023b 12 InterruptIn Switch_1(D9); //To control the rotation to the left
huismaja 5:9b5edadc023b 13 InterruptIn Switch_2(D10); //To control the rotation to the right
huismaja 5:9b5edadc023b 14 InterruptIn Switch_3(D11); //To control the translation of the arm
huismaja 5:9b5edadc023b 15 InterruptIn Switch_4(D12); //To control the gripper
huismaja 2:b20570f160c6 16
huismaja 5:9b5edadc023b 17 int counter_rotation_left=0; //To count the number of times the rotation_left switch (switch_1) has been pushed
huismaja 5:9b5edadc023b 18 int counter_rotation_right=0; //To count the number of times the rotation_right switch (switch_2) has been pushed
huismaja 5:9b5edadc023b 19 int counter_translation=0; //To count the number of times the translation switch (switch_3) has been pushed
huismaja 5:9b5edadc023b 20 int counter_gripper=0; //To count the number of times the gripper switch (switch_4) has been pushed
huismaja 5:9b5edadc023b 21
huismaja 5:9b5edadc023b 22 MODSERIAL pc(USBTX, USBRX); //To make connection with the PC
huismaja 0:6c8444d06e97 23
huismaja 3:0a4bfcb3f339 24 void rotation_left (){
huismaja 3:0a4bfcb3f339 25 switch (counter_rotation_left){
huismaja 5:9b5edadc023b 26 case 1: //For activating the rotation to the left
huismaja 5:9b5edadc023b 27 Direction_M1 = 1; //The arm will rotate to the left
huismaja 5:9b5edadc023b 28 Speed_M1 = 1; //The motor is turned on
huismaja 5:9b5edadc023b 29 pc.printf("The arm will now rotate to the left \n");
huismaja 3:0a4bfcb3f339 30 wait(0.5f);
huismaja 3:0a4bfcb3f339 31 break;
huismaja 5:9b5edadc023b 32 case 2: //For stopping the rotation to the left
huismaja 5:9b5edadc023b 33 Direction_M1 = 1; //The arm will rotate to the left
huismaja 5:9b5edadc023b 34 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 35 pc.printf("The arm will now stop rotating to the left \n");
huismaja 3:0a4bfcb3f339 36 wait(0.5f);
huismaja 3:0a4bfcb3f339 37 break;
huismaja 3:0a4bfcb3f339 38 }
huismaja 3:0a4bfcb3f339 39 }
huismaja 3:0a4bfcb3f339 40
huismaja 5:9b5edadc023b 41 void switch_counter_rotation_left (){ //To count the number of times the rotation_left switch (switch_1) has been pushed
huismaja 3:0a4bfcb3f339 42 counter_rotation_left++;
huismaja 3:0a4bfcb3f339 43 if (counter_rotation_left > 2){
huismaja 3:0a4bfcb3f339 44 counter_rotation_left=1;
huismaja 3:0a4bfcb3f339 45 }
huismaja 3:0a4bfcb3f339 46 rotation_left();
huismaja 3:0a4bfcb3f339 47 }
huismaja 3:0a4bfcb3f339 48
huismaja 3:0a4bfcb3f339 49 void rotation_right (){
huismaja 3:0a4bfcb3f339 50 switch (counter_rotation_right){
huismaja 5:9b5edadc023b 51 case 1: //For activation the rotation to the right
huismaja 5:9b5edadc023b 52 Direction_M1 = 0; //The arm will rotate to the right
huismaja 5:9b5edadc023b 53 Speed_M1 = 1; //The motor is turned on
huismaja 5:9b5edadc023b 54 pc.printf("The arm will now rotate to the right \n");
huismaja 3:0a4bfcb3f339 55 wait(0.5f);
huismaja 3:0a4bfcb3f339 56 break;
huismaja 5:9b5edadc023b 57 case 2: //For stopping the rotation to the right
huismaja 5:9b5edadc023b 58 Direction_M1 = 0; //The arm will rotate to the right
huismaja 5:9b5edadc023b 59 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 60 pc.printf("The arm will now stop rotating to the right \n");
huismaja 3:0a4bfcb3f339 61 wait(0.5f);
huismaja 3:0a4bfcb3f339 62 break;
huismaja 3:0a4bfcb3f339 63 }
huismaja 3:0a4bfcb3f339 64 }
huismaja 3:0a4bfcb3f339 65
huismaja 5:9b5edadc023b 66 void switch_counter_rotation_right (){ //To count the number of times the rotation_right switch (switch_2) has been pushed
huismaja 3:0a4bfcb3f339 67 counter_rotation_right++;
huismaja 3:0a4bfcb3f339 68 if (counter_rotation_right> 2){
huismaja 3:0a4bfcb3f339 69 counter_rotation_right=1;
huismaja 3:0a4bfcb3f339 70 }
huismaja 3:0a4bfcb3f339 71 rotation_right();
huismaja 3:0a4bfcb3f339 72 }
huismaja 3:0a4bfcb3f339 73
huismaja 5:9b5edadc023b 74 void translation (){
huismaja 5:9b5edadc023b 75 switch (counter_translation){
huismaja 5:9b5edadc023b 76 case 1: //For activating the elongation of the arm
huismaja 5:9b5edadc023b 77 Direction_M2 = 1; //The arm will get longer
huismaja 5:9b5edadc023b 78 Speed_M2 = 1; //The motor is turned on
huismaja 5:9b5edadc023b 79 pc.printf("The arm will now get longer \n");
huismaja 5:9b5edadc023b 80 wait(0.5f);
huismaja 5:9b5edadc023b 81 break;
huismaja 5:9b5edadc023b 82 case 2: //For stopping the elongation of the arm
huismaja 5:9b5edadc023b 83 Direction_M2 = 1; //The arm will get longer
huismaja 5:9b5edadc023b 84 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 85 pc.printf("The arm will now stop getting longer \n");
huismaja 5:9b5edadc023b 86 wait(0.5f);
huismaja 5:9b5edadc023b 87 break;
huismaja 5:9b5edadc023b 88 case 3: //For activating the shortening of the arm
huismaja 5:9b5edadc023b 89 Direction_M2 = 0; //The arm will get shorter
huismaja 5:9b5edadc023b 90 Speed_M2 = 1; //The motor is turned off
huismaja 5:9b5edadc023b 91 pc.printf("The arm will now get shorter \n");
huismaja 5:9b5edadc023b 92 wait(0.5f);
huismaja 5:9b5edadc023b 93 break;
huismaja 5:9b5edadc023b 94 case 4: //For stopping the shortening of the arm
huismaja 5:9b5edadc023b 95 Direction_M2 = 0; //The arm will get shorter
huismaja 5:9b5edadc023b 96 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 97 pc.printf("The arm will now stop getting shorter \n");
huismaja 5:9b5edadc023b 98 wait(0.5f);
huismaja 5:9b5edadc023b 99 break;
huismaja 5:9b5edadc023b 100 }
huismaja 5:9b5edadc023b 101 }
huismaja 5:9b5edadc023b 102
huismaja 5:9b5edadc023b 103 void switch_counter_translation (){ //To count the number of times the translation switch (switch_3) has been pushed
huismaja 5:9b5edadc023b 104 counter_translation++;
huismaja 5:9b5edadc023b 105 if (counter_translation > 4){
huismaja 5:9b5edadc023b 106 counter_translation=1;
huismaja 5:9b5edadc023b 107 }
huismaja 5:9b5edadc023b 108 translation();
huismaja 5:9b5edadc023b 109 }
huismaja 5:9b5edadc023b 110
huismaja 4:84bd5ead83f9 111 void gripper (){
huismaja 4:84bd5ead83f9 112 switch (counter_gripper){
huismaja 4:84bd5ead83f9 113 case 1:
huismaja 5:9b5edadc023b 114 gripper_servo = 0; //The gripper is now closed
huismaja 5:9b5edadc023b 115 pc.printf("The gripper will now close \n");
huismaja 4:84bd5ead83f9 116 wait(0.5f);
huismaja 4:84bd5ead83f9 117 break;
huismaja 4:84bd5ead83f9 118 case 2:
huismaja 5:9b5edadc023b 119 gripper_servo = 1; //The gripper is now open
huismaja 5:9b5edadc023b 120 pc.printf("The gripper will now open \n");
huismaja 4:84bd5ead83f9 121 wait(0.5f);
huismaja 4:84bd5ead83f9 122 break;
huismaja 4:84bd5ead83f9 123 }
huismaja 4:84bd5ead83f9 124 }
huismaja 4:84bd5ead83f9 125
huismaja 5:9b5edadc023b 126 void switch_counter_gripper (){ //To count the number of times the gripper switch (switch_4) has been pushed
huismaja 4:84bd5ead83f9 127 counter_gripper++;
huismaja 4:84bd5ead83f9 128 if (counter_gripper> 2){
huismaja 4:84bd5ead83f9 129 counter_gripper=1;
huismaja 4:84bd5ead83f9 130 }
huismaja 4:84bd5ead83f9 131 gripper();
huismaja 4:84bd5ead83f9 132 }
huismaja 4:84bd5ead83f9 133
huismaja 0:6c8444d06e97 134 int main(){
huismaja 0:6c8444d06e97 135 pc.baud(115200);
huismaja 0:6c8444d06e97 136 pc.printf("RESET \n");
huismaja 1:0d55a4bf2269 137
huismaja 5:9b5edadc023b 138 Direction_M1 = 1; //The arm will initially get longer
huismaja 5:9b5edadc023b 139 Speed_M1 = 0; //The first motor is initially turned off
huismaja 5:9b5edadc023b 140 Direction_M2 = 255; //The arm will initially turn left
huismaja 5:9b5edadc023b 141 Speed_M1 = 0; //The second motor is initially turned off
huismaja 5:9b5edadc023b 142 gripper_servo = 1; //The gripper is initially open
huismaja 1:0d55a4bf2269 143
huismaja 5:9b5edadc023b 144 Switch_1.rise(&switch_counter_rotation_left);
huismaja 5:9b5edadc023b 145 Switch_2.rise(&switch_counter_rotation_right);
huismaja 5:9b5edadc023b 146 Switch_3.rise(&switch_counter_translation);
huismaja 5:9b5edadc023b 147 Switch_4.rise(&switch_counter_gripper);
huismaja 5:9b5edadc023b 148
huismaja 5:9b5edadc023b 149 while (true);
huismaja 0:6c8444d06e97 150 }