Revision 1:7093cc21a293, committed 2015-08-03

Comitter:

jah128

Date:

Mon Aug 03 11:37:48 2015 +0000

Parent:

0:d88fd55a27a6

Commit message:

Jah

Changed in this revision

diff -r d88fd55a27a6 -r 7093cc21a293 main.cpp
--- a/main.cpp	Wed Mar 19 15:09:11 2014 +0000
+++ b/main.cpp	Mon Aug 03 11:37:48 2015 +0000
@@ -1,34 +1,42 @@
 /* University of York Robot Lab
  *
- * Programmable IR Beacon with Display Example Code
+ * MSc ARE 2015
  *
- * This file is intended for use exclusively with the high-power IR Beacon with display
+ * Programmable Triple IR Beacon with Display 
+ *
+ * This file is intended for use exclusively with the triple IR Beacon with display and RF transceiver
  * 
  * 
  *
  * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
+ * 
  *
- * March 2014
+ * July 2015
  *
  */
 
 #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
+DigitalIn button1(p24);     //"SET" Push-button
+DigitalIn button2(p25);     //"SELECT" Push-button
+PwmOut out_1(p21);          //PWM Output for beacon 1
+PwmOut out_2(p22);          //PWM Output for beacon 2
+PwmOut out_3(p23);          //PWM Output for beacon 3
+DigitalOut led_1(LED1);
+DigitalOut led_2(LED2);
+DigitalOut led_3(LED3);
 
 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;
+char power = 0;
+char duty = 3;
+char frequency = 1;
 
 int on_period;
 int off_period;
@@ -62,11 +70,12 @@
 {
     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;    
+        case 0: on_period=total_period/20;break;
+        case 1: on_period=total_period/10;break;
+        case 2: on_period=total_period/4;break;
+        case 3: on_period=total_period/2;break;
+        case 4: on_period=(total_period*3)/4;break;
+        case 5: on_period=total_period-(total_period/10);break;    
     }
     off_period = total_period - on_period;
     phase = 0;
@@ -93,25 +102,29 @@
 {
     switch(mode) {
         case 1:
-            return "WIDE  ";
+            return "OUT 1";
         case 2:
-            return "NARROW";
+            return "OUT 2";
+        case 3:
+            return "OUT 3";
     }
-    return "BOTH  ";
+    return "ALL  ";
 }
 
 char * duty_string()
 {
     switch(duty) {
         case 0:
-            return " 10%";
+            return "  5%";
         case 1:
-            return " 25%";
+            return " 10%";
         case 2:
-            return " 50%";
+            return " 25%";
         case 3:
+            return " 50%";
+        case 4:
             return " 75%";
-        case 4:
+        case 5:
             return " 90%";
     }
     return"???";
@@ -181,8 +194,12 @@
 void change_settings()
 {
     //Switch off LEDs whilst in configuration mode 
-    out_wide.pulsewidth_us(0);
-    out_narrow.pulsewidth_us(0);
+    out_1.pulsewidth_us(0);
+    out_2.pulsewidth_us(0);
+    out_3.pulsewidth_us(0);
+    led_1=0;
+    led_2=0;
+    led_3=0;
     display.clear_display();
     display.set_position(0,0);
     display.write_string("CONFIGURATION",13);
@@ -249,10 +266,10 @@
                        if(power == 4) power=0;
                        break;
                case 2: duty++;
-                       if(duty == 5) duty=0;
+                       if(duty == 6) duty=0;
                        break;
                case 3: mode++;
-                       if(mode == 3) mode = 0;
+                       if(mode == 4) mode = 0;
                        break;
                case 4: active=0; break;
             }
@@ -272,11 +289,12 @@
     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);
-
+    out_1.period_us(1000);
+    out_2.period_us(1000);
+    out_3.period_us(1000);
+    out_1.pulsewidth_us(0);
+    out_2.pulsewidth_us(0);
+    out_3.pulsewidth_us(0);
 
     while(1) {
         if(phase==0){
@@ -286,20 +304,30 @@
             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==0 || mode==1){
+                out_1.pulsewidth_us(pw);
+                led_1=1;
             } 
-            if(mode!=1){
-                out_narrow.pulsewidth_us(pw);
-            }
+            if(mode==0 || mode==2){
+                out_2.pulsewidth_us(pw);
+                led_2=1;
+            } 
+            if(mode==0 || mode==3){
+                out_3.pulsewidth_us(pw);
+                led_3=1;
+            } 
             phase = 1;
           }
         }else{
           if(system_timer.read_us() > on_period){
             system_timer.reset();
             phase = 0;
-            out_wide.pulsewidth_us(0);
-            out_narrow.pulsewidth_us(0);
+            out_1.pulsewidth_us(0);
+            out_2.pulsewidth_us(0);
+            out_3.pulsewidth_us(0);
+            led_1=0;
+            led_2=0;
+            led_3=0;
           }   
         }