Script for controlling 2 DC-motors and a gripper-servo using buttons
Dependencies: MODSERIAL QEI Servo mbed
main.cpp@6:98121d2d76a6, 2016-10-10 (annotated)
- Committer:
- huismaja
- Date:
- Mon Oct 10 11:03:35 2016 +0000
- Revision:
- 6:98121d2d76a6
- Parent:
- 5:9b5edadc023b
- Child:
- 7:9a3809a9ab3e
Working script for 2 DC motors, 1 servo (gripper) --> with 4 external buttons
Who changed what in which revision?
User | Revision | Line number | New 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 | 6:98121d2d76a6 | 5 | //DigitalIn Encoder_M1A(D9); |
huismaja | 6:98121d2d76a6 | 6 | //DigitalIn Encoder_M1B(D10); |
huismaja | 6:98121d2d76a6 | 7 | //DigitalIn Encoder_M2A(D11); |
huismaja | 6:98121d2d76a6 | 8 | //DigitalIn Encoder_M2B(D12); |
huismaja | 6:98121d2d76a6 | 9 | |
huismaja | 5:9b5edadc023b | 10 | DigitalOut Direction_M1(D4); //To control the rotation direction of the arm |
huismaja | 6:98121d2d76a6 | 11 | PwmOut Speed_M1(D5); //To control the rotation speed of the arm |
huismaja | 6:98121d2d76a6 | 12 | PwmOut Speed_M2(D6); //To control the translation direction of the arm |
huismaja | 5:9b5edadc023b | 13 | DigitalOut Direction_M2(D7); //To control the translation speed of the arm |
huismaja | 1:0d55a4bf2269 | 14 | |
huismaja | 6:98121d2d76a6 | 15 | Servo gripper_servo(D3); //To control the gripper (Note: D8=PTC12) |
huismaja | 0:6c8444d06e97 | 16 | |
huismaja | 5:9b5edadc023b | 17 | InterruptIn Switch_1(D9); //To control the rotation to the left |
huismaja | 5:9b5edadc023b | 18 | InterruptIn Switch_2(D10); //To control the rotation to the right |
huismaja | 5:9b5edadc023b | 19 | InterruptIn Switch_3(D11); //To control the translation of the arm |
huismaja | 5:9b5edadc023b | 20 | InterruptIn Switch_4(D12); //To control the gripper |
huismaja | 2:b20570f160c6 | 21 | |
huismaja | 5:9b5edadc023b | 22 | int counter_rotation_left=0; //To count the number of times the rotation_left switch (switch_1) has been pushed |
huismaja | 5:9b5edadc023b | 23 | int counter_rotation_right=0; //To count the number of times the rotation_right switch (switch_2) has been pushed |
huismaja | 5:9b5edadc023b | 24 | int counter_translation=0; //To count the number of times the translation switch (switch_3) has been pushed |
huismaja | 5:9b5edadc023b | 25 | int counter_gripper=0; //To count the number of times the gripper switch (switch_4) has been pushed |
huismaja | 5:9b5edadc023b | 26 | |
huismaja | 5:9b5edadc023b | 27 | MODSERIAL pc(USBTX, USBRX); //To make connection with the PC |
huismaja | 0:6c8444d06e97 | 28 | |
huismaja | 6:98121d2d76a6 | 29 | float speed_translation=0.1; //0.075 |
huismaja | 6:98121d2d76a6 | 30 | float speed_rotation=0.1; //0.075 |
huismaja | 6:98121d2d76a6 | 31 | |
huismaja | 3:0a4bfcb3f339 | 32 | void rotation_left (){ |
huismaja | 3:0a4bfcb3f339 | 33 | switch (counter_rotation_left){ |
huismaja | 5:9b5edadc023b | 34 | case 1: //For activating the rotation to the left |
huismaja | 5:9b5edadc023b | 35 | Direction_M1 = 1; //The arm will rotate to the left |
huismaja | 6:98121d2d76a6 | 36 | Speed_M1 = speed_rotation; //The motor is turned on |
huismaja | 5:9b5edadc023b | 37 | pc.printf("The arm will now rotate to the left \n"); |
huismaja | 3:0a4bfcb3f339 | 38 | wait(0.5f); |
huismaja | 3:0a4bfcb3f339 | 39 | break; |
huismaja | 5:9b5edadc023b | 40 | case 2: //For stopping the rotation to the left |
huismaja | 5:9b5edadc023b | 41 | Direction_M1 = 1; //The arm will rotate to the left |
huismaja | 5:9b5edadc023b | 42 | Speed_M1 = 0; //The motor is turned off |
huismaja | 5:9b5edadc023b | 43 | pc.printf("The arm will now stop rotating to the left \n"); |
huismaja | 3:0a4bfcb3f339 | 44 | wait(0.5f); |
huismaja | 3:0a4bfcb3f339 | 45 | break; |
huismaja | 3:0a4bfcb3f339 | 46 | } |
huismaja | 3:0a4bfcb3f339 | 47 | } |
huismaja | 3:0a4bfcb3f339 | 48 | |
huismaja | 5:9b5edadc023b | 49 | void switch_counter_rotation_left (){ //To count the number of times the rotation_left switch (switch_1) has been pushed |
huismaja | 3:0a4bfcb3f339 | 50 | counter_rotation_left++; |
huismaja | 3:0a4bfcb3f339 | 51 | if (counter_rotation_left > 2){ |
huismaja | 3:0a4bfcb3f339 | 52 | counter_rotation_left=1; |
huismaja | 3:0a4bfcb3f339 | 53 | } |
huismaja | 3:0a4bfcb3f339 | 54 | rotation_left(); |
huismaja | 3:0a4bfcb3f339 | 55 | } |
huismaja | 3:0a4bfcb3f339 | 56 | |
huismaja | 3:0a4bfcb3f339 | 57 | void rotation_right (){ |
huismaja | 3:0a4bfcb3f339 | 58 | switch (counter_rotation_right){ |
huismaja | 5:9b5edadc023b | 59 | case 1: //For activation the rotation to the right |
huismaja | 5:9b5edadc023b | 60 | Direction_M1 = 0; //The arm will rotate to the right |
huismaja | 6:98121d2d76a6 | 61 | Speed_M1 = speed_rotation; //The motor is turned on |
huismaja | 5:9b5edadc023b | 62 | pc.printf("The arm will now rotate to the right \n"); |
huismaja | 3:0a4bfcb3f339 | 63 | wait(0.5f); |
huismaja | 3:0a4bfcb3f339 | 64 | break; |
huismaja | 5:9b5edadc023b | 65 | case 2: //For stopping the rotation to the right |
huismaja | 5:9b5edadc023b | 66 | Direction_M1 = 0; //The arm will rotate to the right |
huismaja | 5:9b5edadc023b | 67 | Speed_M1 = 0; //The motor is turned off |
huismaja | 5:9b5edadc023b | 68 | pc.printf("The arm will now stop rotating to the right \n"); |
huismaja | 3:0a4bfcb3f339 | 69 | wait(0.5f); |
huismaja | 3:0a4bfcb3f339 | 70 | break; |
huismaja | 3:0a4bfcb3f339 | 71 | } |
huismaja | 3:0a4bfcb3f339 | 72 | } |
huismaja | 3:0a4bfcb3f339 | 73 | |
huismaja | 5:9b5edadc023b | 74 | void switch_counter_rotation_right (){ //To count the number of times the rotation_right switch (switch_2) has been pushed |
huismaja | 3:0a4bfcb3f339 | 75 | counter_rotation_right++; |
huismaja | 3:0a4bfcb3f339 | 76 | if (counter_rotation_right> 2){ |
huismaja | 3:0a4bfcb3f339 | 77 | counter_rotation_right=1; |
huismaja | 3:0a4bfcb3f339 | 78 | } |
huismaja | 3:0a4bfcb3f339 | 79 | rotation_right(); |
huismaja | 3:0a4bfcb3f339 | 80 | } |
huismaja | 3:0a4bfcb3f339 | 81 | |
huismaja | 5:9b5edadc023b | 82 | void translation (){ |
huismaja | 5:9b5edadc023b | 83 | switch (counter_translation){ |
huismaja | 5:9b5edadc023b | 84 | case 1: //For activating the elongation of the arm |
huismaja | 5:9b5edadc023b | 85 | Direction_M2 = 1; //The arm will get longer |
huismaja | 6:98121d2d76a6 | 86 | Speed_M2 = speed_translation; //The motor is turned on |
huismaja | 5:9b5edadc023b | 87 | pc.printf("The arm will now get longer \n"); |
huismaja | 5:9b5edadc023b | 88 | wait(0.5f); |
huismaja | 5:9b5edadc023b | 89 | break; |
huismaja | 5:9b5edadc023b | 90 | case 2: //For stopping the elongation of the arm |
huismaja | 5:9b5edadc023b | 91 | Direction_M2 = 1; //The arm will get longer |
huismaja | 5:9b5edadc023b | 92 | Speed_M2 = 0; //The motor is turned off |
huismaja | 5:9b5edadc023b | 93 | pc.printf("The arm will now stop getting longer \n"); |
huismaja | 5:9b5edadc023b | 94 | wait(0.5f); |
huismaja | 5:9b5edadc023b | 95 | break; |
huismaja | 5:9b5edadc023b | 96 | case 3: //For activating the shortening of the arm |
huismaja | 5:9b5edadc023b | 97 | Direction_M2 = 0; //The arm will get shorter |
huismaja | 6:98121d2d76a6 | 98 | Speed_M2 = speed_translation; //The motor is turned off |
huismaja | 5:9b5edadc023b | 99 | pc.printf("The arm will now get shorter \n"); |
huismaja | 5:9b5edadc023b | 100 | wait(0.5f); |
huismaja | 5:9b5edadc023b | 101 | break; |
huismaja | 5:9b5edadc023b | 102 | case 4: //For stopping the shortening of the arm |
huismaja | 5:9b5edadc023b | 103 | Direction_M2 = 0; //The arm will get shorter |
huismaja | 5:9b5edadc023b | 104 | Speed_M2 = 0; //The motor is turned off |
huismaja | 5:9b5edadc023b | 105 | pc.printf("The arm will now stop getting shorter \n"); |
huismaja | 5:9b5edadc023b | 106 | wait(0.5f); |
huismaja | 5:9b5edadc023b | 107 | break; |
huismaja | 5:9b5edadc023b | 108 | } |
huismaja | 5:9b5edadc023b | 109 | } |
huismaja | 5:9b5edadc023b | 110 | |
huismaja | 5:9b5edadc023b | 111 | void switch_counter_translation (){ //To count the number of times the translation switch (switch_3) has been pushed |
huismaja | 5:9b5edadc023b | 112 | counter_translation++; |
huismaja | 5:9b5edadc023b | 113 | if (counter_translation > 4){ |
huismaja | 5:9b5edadc023b | 114 | counter_translation=1; |
huismaja | 5:9b5edadc023b | 115 | } |
huismaja | 5:9b5edadc023b | 116 | translation(); |
huismaja | 5:9b5edadc023b | 117 | } |
huismaja | 5:9b5edadc023b | 118 | |
huismaja | 4:84bd5ead83f9 | 119 | void gripper (){ |
huismaja | 4:84bd5ead83f9 | 120 | switch (counter_gripper){ |
huismaja | 4:84bd5ead83f9 | 121 | case 1: |
huismaja | 5:9b5edadc023b | 122 | gripper_servo = 0; //The gripper is now closed |
huismaja | 5:9b5edadc023b | 123 | pc.printf("The gripper will now close \n"); |
huismaja | 4:84bd5ead83f9 | 124 | wait(0.5f); |
huismaja | 4:84bd5ead83f9 | 125 | break; |
huismaja | 4:84bd5ead83f9 | 126 | case 2: |
huismaja | 5:9b5edadc023b | 127 | gripper_servo = 1; //The gripper is now open |
huismaja | 5:9b5edadc023b | 128 | pc.printf("The gripper will now open \n"); |
huismaja | 4:84bd5ead83f9 | 129 | wait(0.5f); |
huismaja | 4:84bd5ead83f9 | 130 | break; |
huismaja | 4:84bd5ead83f9 | 131 | } |
huismaja | 4:84bd5ead83f9 | 132 | } |
huismaja | 4:84bd5ead83f9 | 133 | |
huismaja | 5:9b5edadc023b | 134 | void switch_counter_gripper (){ //To count the number of times the gripper switch (switch_4) has been pushed |
huismaja | 4:84bd5ead83f9 | 135 | counter_gripper++; |
huismaja | 4:84bd5ead83f9 | 136 | if (counter_gripper> 2){ |
huismaja | 4:84bd5ead83f9 | 137 | counter_gripper=1; |
huismaja | 4:84bd5ead83f9 | 138 | } |
huismaja | 4:84bd5ead83f9 | 139 | gripper(); |
huismaja | 4:84bd5ead83f9 | 140 | } |
huismaja | 4:84bd5ead83f9 | 141 | |
huismaja | 0:6c8444d06e97 | 142 | int main(){ |
huismaja | 0:6c8444d06e97 | 143 | pc.baud(115200); |
huismaja | 0:6c8444d06e97 | 144 | pc.printf("RESET \n"); |
huismaja | 1:0d55a4bf2269 | 145 | |
huismaja | 5:9b5edadc023b | 146 | Direction_M1 = 1; //The arm will initially get longer |
huismaja | 5:9b5edadc023b | 147 | Speed_M1 = 0; //The first motor is initially turned off |
huismaja | 5:9b5edadc023b | 148 | Direction_M2 = 255; //The arm will initially turn left |
huismaja | 6:98121d2d76a6 | 149 | Speed_M2 = 0; //The second motor is initially turned off |
huismaja | 5:9b5edadc023b | 150 | gripper_servo = 1; //The gripper is initially open |
huismaja | 1:0d55a4bf2269 | 151 | |
huismaja | 5:9b5edadc023b | 152 | Switch_1.rise(&switch_counter_rotation_left); |
huismaja | 5:9b5edadc023b | 153 | Switch_2.rise(&switch_counter_rotation_right); |
huismaja | 5:9b5edadc023b | 154 | Switch_3.rise(&switch_counter_translation); |
huismaja | 5:9b5edadc023b | 155 | Switch_4.rise(&switch_counter_gripper); |
huismaja | 5:9b5edadc023b | 156 | |
huismaja | 5:9b5edadc023b | 157 | while (true); |
huismaja | 0:6c8444d06e97 | 158 | } |