File content as of revision 10:cf579c3eaf01:

#include "mbed.h"
#include "MODSERIAL.h"
#include "Servo.h"
#include "QEI.h"

QEI encoder_M1 (D9, D10, NC, 8400);     //Define an encoder for motor 1 called encoder_M1
QEI encoder_M2 (D11, D12, NC, 8400);    //Define an encoder for motor 2 called encoder_M2

Ticker encoder_M1_ticker;       //Create a ticker for reading the encoder data of encoder_M1
Ticker encoder_M2_ticker;       //Create a ticker for reading the encoder data of encoder_M2

DigitalOut Direction_M1(D4);    //To control the rotation direction of the arm
PwmOut Speed_M1(D5);            //To control the rotation speed of the arm
PwmOut Speed_M2(D6);            //To control the translation direction of the arm
DigitalOut Direction_M2(D7);    //To control the translation speed of the arm

Servo gripper_servo(D13);       //To control the gripper

InterruptIn Switch_1(SW2);      //Switch 1 to control the rotation to the left
InterruptIn Switch_2(SW3);      //Switch 2 to control the rotation to the right
InterruptIn Switch_3(D2);       //Switch 3 to control the translation of the arm
InterruptIn Switch_4(D3);       //Switch 4 to control the gripper

int counter_rotation_left=0;    //To count the number of times the rotation_left switch (switch_1) has been pushed
int counter_rotation_right=0;   //To count the number of times the rotation_right switch (switch_2) has been pushed
int counter_translation=0;      //To count the number of times the translation switch (switch_3) has been pushed
int counter_gripper=0;          //To count the number of times the gripper switch (switch_4) has been pushed

MODSERIAL pc(USBTX, USBRX);     //To make connection with the PC

const double pi = 3.1415926535897;  //Declare the value of pi

double speed_rotation=pi/5;             //Set the rotation speed in rad/sec -> NOTE: this has to be below 8.4 rad/sec
double speed_translation=pi/5;          //Set the translation speed in rad/sec -> NOTE: this has to be below 8.4 rad/sec
double speedM1=speed_rotation/8.4;      //Map the rotation speed from (0-8.4) to (0-1) by dividing by 8.4
double speedM2=speed_translation/8.4;   //Map the translation speed from (0-8.4) to (0-1) by dividing by 8.4

void read_position_M1(){                            //Function to read the position of motor 1
    int pulses_M1 = encoder_M1.getPulses();         //Read the encoder data and store it in pulses_M1
    float angle_M1 = float(pulses_M1)/4200*2.0*pi;  //Calculate the angle that corresponds with the measured encoder pulses
//    pc.printf("%i \t%f \t", pulses_M1, angle_M1);
}

void read_position_M2(){                            //Function to read the position of motor 2
    int pulses_M2 = encoder_M2.getPulses();         //Read the encoder data and store it in pulses_M2
    float angle_M2 = float(pulses_M2)/4200*2.0*pi;  //Calculate the angle that corresponds with the measured encoder pulses
//    pc.printf("%i \t%f \n", pulses_M2, angle_M2);
}

void rotation_left (){                      //Function to control the rotation to the left
    switch (counter_rotation_left){         //Create a switch statement
        case 1:                             //For activating the rotation to the left
            Direction_M1 = 1;               //The arm will rotate to the left  
            Speed_M1 = speedM1;             //The motor is turned on at speed_rotation rad/sec
            pc.printf("The arm will now rotate to the left with %f rad/sec \n", speedM1);
            wait(0.5f);
            break;
        case 2:                             //For stopping the rotation to the left
            Direction_M1 = 1;               //The arm will rotate to the left  
            Speed_M1 = 0;                   //The motor is turned off
            pc.printf("The arm will now stop rotating to the left \n");
            wait(0.5f);
            break;
    }
}                 

void switch_counter_rotation_left (){       //To count the number of times the rotation_left switch (switch_1) has been pushed
    counter_rotation_left++;                //Increase the counter_rotation_left
    if (counter_rotation_left > 2){         //Because there are only 2 cases in the switch statement, case 3 = case 1 etc.
        counter_rotation_left=1;
    }
    rotation_left();                        //After increasing the counter, execute the rotation_left function
}

void rotation_right (){                     //Function to control the rotation to the left
    switch (counter_rotation_right){        //Create a switch statement
        case 1:                             //For activation the rotation to the right
            Direction_M1 = 0;               //The arm will rotate to the right 
            Speed_M1 = speedM1;             //The motor is turned on at speed_rotation rad/sec
            pc.printf("The arm will now rotate to the right with %f rad/sec \n", speedM1);
            wait(0.5f);
            break;
        case 2:                              //For stopping the rotation to the right
            Direction_M1 = 0;                //The arm will rotate to the right
            Speed_M1 = 0;                    //The motor is turned off
            pc.printf("The arm will now stop rotating to the right \n");
            wait(0.5f);
            break;
    }
}

void switch_counter_rotation_right (){      //To count the number of times the rotation_right switch (switch_2) has been pushed
    counter_rotation_right++;               //Increase the counter_rotation_right
    if (counter_rotation_right> 2){         //Because there are only 2 cases in the switch statement, case 3 = case 1
        counter_rotation_right=1;
    }
    rotation_right();                       //After increasing the counter, execute the rotation_right function
}

void translation (){                            //Function to control the translation
    switch (counter_translation){               //Create a switch statement
        case 1:                                 //For activating the elongation of the arm
            Direction_M2 = 1;                   //The arm will get longer  
            Speed_M2 = speedM2;                 //The motor is turned on at speed_translation rad/sec
            pc.printf("The arm will now get longer \n");
            wait(0.5f);
            break;
        case 2:                                 //For stopping the elongation of the arm
            Direction_M2 = 1;                   //The arm will get longer  
            Speed_M2 = 0;                       //The motor is turned off
            pc.printf("The arm will now stop getting longer \n");
            wait(0.5f);
            break;
        case 3:                                 //For activating the shortening of the arm
            Direction_M2 = 0;                   //The arm will get shorter  
            Speed_M2 = speedM2;                 //The motor is turned on at speed_translation rad/sec
            pc.printf("The arm will now get shorter \n");
            wait(0.5f);
            break;
        case 4:                                 //For stopping the shortening of the arm
            Direction_M2 = 0;                   //The arm will get shorter 
            Speed_M2 = 0;                       //The motor is turned off
            pc.printf("The arm will now stop getting shorter \n");
            wait(0.5f);
            break;
    }     
}                 

void switch_counter_translation (){     //To count the number of times the translation switch (switch_3) has been pushed
    counter_translation++;              //Increase the counter_translation
    if (counter_translation > 4){       //Because there are 4 cases in the switch statement, case 5 = case 1
        counter_translation=1;
    }
    translation();                      //After increasing the counter, execute the translation function
}

void gripper (){                        //Function to control the gripper
    switch (counter_gripper){           //Create a switch statement
        case 1:                         //For closing the gripper
            gripper_servo = 0;          //The gripper is now closed
            pc.printf("The gripper will now close \n");
            wait(0.5f);
            break;
        case 2:                         //For opening the gripper
            gripper_servo = 1;          //The gripper is now open
            pc.printf("The gripper will now open \n");
            wait(0.5f);
            break;
    }     
}

void switch_counter_gripper (){     //To count the number of times the gripper switch (switch_4) has been pushed
    counter_gripper++;              //Increase the couter_gripper
    if (counter_gripper> 2){        //Because there are only 2 cases in the switch statement, case 3 = case 1
        counter_gripper=1;
    }
    gripper();                      //After increasing the counter, execute the gripper function
}

int main(){
    pc.baud(115200);                //Set the boud rate for serial communication
    pc.printf("RESET \n");          //Print "RESET"
    
    Direction_M1 = 1;               //The arm will initially get longer  
    Speed_M1 = 0;                   //The first motor is initially turned off
    Direction_M2 = 255;             //The arm will initially turn left  
    Speed_M2 = 0;                   //The second motor is initially turned off
    gripper_servo = 1;              //The gripper is initially open
    encoder_M1.reset();             //Reset the encoder for motor 1
    encoder_M2.reset();             //Reset the encoder for motor 2
    
    encoder_M1_ticker.attach(&read_position_M1,0.01);   //Connect the encoder_M1_ticker to the read_position_M1 function and execute at 100Hz
    encoder_M2_ticker.attach(&read_position_M2,0.01);   //Connect the encoder_M2_ticker to the read_position_M2 function and execute at 100Hz
    
    Switch_1.rise(&switch_counter_rotation_left);       //Connect switch_1 to the counter_rotation_left
    Switch_2.rise(&switch_counter_rotation_right);      //Connect switch_2 to the counter_rotation_right
    Switch_3.rise(&switch_counter_translation);         //Connect switch_3 to the counter_translation
    Switch_4.rise(&switch_counter_gripper);             //Connect switch_4 to the counter_gripper

    while (true);
}