Jordan Ford / Mbed 2 deprecated DrawBot

Final code for our 4180 Drawing Robot!

Dependencies:   4DGL-uLCD-SE gCodeParser mbed

main.cpp@2:ba15545a4ccf, 2014-04-30 (annotated)

Committer:
jford38
Date:
Wed Apr 30 16:40:10 2014 +0000
Revision:
2:ba15545a4ccf
Parent:
1:ad895d72e9ed 
Added Visual Studio Source files and README.; Alejandro.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jford38 0:40576dfac535 1 #include "mbed.h"
jford38 0:40576dfac535 2 #include "gparser.h"
jford38 0:40576dfac535 3 #include "MODSERIAL.h"
jford38 0:40576dfac535 4 #include "motor.h"
jford38 0:40576dfac535 5 #include "drawBot.h"
jford38 0:40576dfac535 6 #include "uLCD_4DGL.h"
jford38 1:ad895d72e9ed 7 #include <ctype.h>
jford38 0:40576dfac535 8
jford38 0:40576dfac535 9 MODSERIAL gpc(USBTX, USBRX);
jford38 0:40576dfac535 10 uLCD_4DGL uLCD(p9, p10, p11);
jford38 0:40576dfac535 11
jford38 1:ad895d72e9ed 12 G_cmd gcmd_list[CMD_LIST_SIZE]; // buffer to be filled with commands, main program retrieves commands from here
jford38 1:ad895d72e9ed 13
jford38 1:ad895d72e9ed 14 extern int list_position;
jford38 0:40576dfac535 15
jford38 0:40576dfac535 16 Motor mL(p29, p30, p26, p27, p28, p25, RIGHT_MOTOR);
jford38 0:40576dfac535 17 Motor mR(p12, p13, p16, p15, p14, p17, LEFT_MOTOR);
jford38 0:40576dfac535 18 DrawBot bot(&mL, &mR, p21, 0.5, 45.125);
jford38 0:40576dfac535 19
jford38 0:40576dfac535 20 int main() {
jford38 0:40576dfac535 21
jford38 0:40576dfac535 22 parserInit();
jford38 0:40576dfac535 23
jford38 1:ad895d72e9ed 24 fillInCmdList();
jford38 1:ad895d72e9ed 25 uLCD.printf("Commands copied %d\n", list_position);
jford38 0:40576dfac535 26
jford38 1:ad895d72e9ed 27 for(int i=0; i<list_position; i++) {
jford38 1:ad895d72e9ed 28 //uLCD.printf("G:%d X:%.2f Y:%.2f Z:%.2f I:%.2f J:%.2f F:%.2f\r\n", gcmd_list[i].G, gcmd_list[i].X, gcmd_list[i].Y, gcmd_list[i].Z, gcmd_list[i].I, gcmd_list[i].J, gcmd_list[i].F);
jford38 1:ad895d72e9ed 29 //wait(10);
jford38 1:ad895d72e9ed 30 //uLCD.cls();
jford38 1:ad895d72e9ed 31 switch(gcmd_list[i].G) {
jford38 0:40576dfac535 32 case 0:
jford38 0:40576dfac535 33 case 1:
jford38 0:40576dfac535 34 //Draw a line.
jford38 1:ad895d72e9ed 35 if(gcmd_list[i].X != -1 && gcmd_list[i].Y != -1) {
jford38 1:ad895d72e9ed 36 //uLCD.printf("Going to: %.2f, %.2f\n",gcmd_list[i].X,gcmd_list[i].Y);
jford38 1:ad895d72e9ed 37 bot.line_safe(gcmd_list[i].X, -1*gcmd_list[i].Y+20);
jford38 0:40576dfac535 38 }
jford38 1:ad895d72e9ed 39 if(gcmd_list[i].Z > 0) {
jford38 1:ad895d72e9ed 40 //uLCD.printf("PEN UP\n");
jford38 0:40576dfac535 41 bot.pen_up();
jford38 1:ad895d72e9ed 42 }else if(gcmd_list[i].Z < 0) {
jford38 1:ad895d72e9ed 43 //uLCD.printf("PEN DOWN\n");
jford38 0:40576dfac535 44 bot.pen_down();
jford38 0:40576dfac535 45 }
jford38 0:40576dfac535 46 break;
jford38 0:40576dfac535 47 case 2:
jford38 0:40576dfac535 48 //Draw an arc or something.
jford38 1:ad895d72e9ed 49 bot.arc(gcmd_list[i].I, gcmd_list[i].J, gcmd_list[i].X, gcmd_list[i].Y, CCW_ARC);
jford38 0:40576dfac535 50 break;
jford38 0:40576dfac535 51 case 3:
jford38 0:40576dfac535 52 //Draw a different arc or something.
jford38 1:ad895d72e9ed 53 bot.arc(gcmd_list[i].I, gcmd_list[i].J, gcmd_list[i].X, gcmd_list[i].Y, CW_ARC);
jford38 0:40576dfac535 54 break;
jford38 0:40576dfac535 55 default:
jford38 0:40576dfac535 56 break;
jford38 0:40576dfac535 57
jford38 0:40576dfac535 58 }
jford38 0:40576dfac535 59 }
jford38 0:40576dfac535 60 bot.disable();
jford38 1:ad895d72e9ed 61 }
jford38 1:ad895d72e9ed 62
jford38 1:ad895d72e9ed 63 //===================================================
jford38 1:ad895d72e9ed 64 /*
jford38 1:ad895d72e9ed 65 * mbed GCode parsing Library
jford38 1:ad895d72e9ed 66 *
jford38 1:ad895d72e9ed 67 */
jford38 1:ad895d72e9ed 68
jford38 1:ad895d72e9ed 69
jford38 1:ad895d72e9ed 70
jford38 1:ad895d72e9ed 71 #define FEEDME 10
jford38 1:ad895d72e9ed 72 #define END_OF_TRANSMISSION 23
jford38 1:ad895d72e9ed 73 //extern MODSERIAL gpc;
jford38 1:ad895d72e9ed 74
jford38 1:ad895d72e9ed 75 /************VARS*******************************/
jford38 1:ad895d72e9ed 76 DigitalOut led1(LED1);
jford38 1:ad895d72e9ed 77 DigitalOut led2(LED2);
jford38 1:ad895d72e9ed 78 DigitalOut led3(LED3);
jford38 1:ad895d72e9ed 79 DigitalOut led4(LED4);
jford38 1:ad895d72e9ed 80
jford38 1:ad895d72e9ed 81 // buffer used to transfer the serial buffer contents and parse them into cmd structure
jford38 1:ad895d72e9ed 82 char rx_buff[CMD_BUFFER_SIZE];
jford38 1:ad895d72e9ed 83
jford38 1:ad895d72e9ed 84 volatile bool received; // indicates when a new cmd is available in the serial buffer
jford38 1:ad895d72e9ed 85 bool endTransmission; // indicates that all the commands have been sent from the pc
jford38 1:ad895d72e9ed 86
jford38 1:ad895d72e9ed 87 int list_position; // counter to index the array of command structures
jford38 1:ad895d72e9ed 88
jford38 1:ad895d72e9ed 89
jford38 1:ad895d72e9ed 90 /* This initializes the serial port params to match the PC application
jford38 1:ad895d72e9ed 91 * the interrupt handlers are also initialized here
jford38 1:ad895d72e9ed 92 */
jford38 1:ad895d72e9ed 93 void parserInit()
jford38 1:ad895d72e9ed 94 {
jford38 1:ad895d72e9ed 95 list_position = 0;
jford38 1:ad895d72e9ed 96 received = false;
jford38 1:ad895d72e9ed 97 endTransmission = false;
jford38 1:ad895d72e9ed 98 gpc.baud(921600);
jford38 1:ad895d72e9ed 99 gpc.autoDetectChar('\0'); //<--to catch the null terminator at the end
jford38 1:ad895d72e9ed 100 gpc.attach(&cmd_Received, MODSERIAL::RxAutoDetect); // declares callback for when cmd is ready
jford38 1:ad895d72e9ed 101 gpc.rxBufferFlush(); // flush the buffer just in case
jford38 1:ad895d72e9ed 102 }
jford38 1:ad895d72e9ed 103
jford38 1:ad895d72e9ed 104 /* Parses the received messages into a G_cmd structure
jford38 1:ad895d72e9ed 105 * it waits for the serial buffer to contain an entire command,
jford38 1:ad895d72e9ed 106 * parses the gcode and sends the FEEDME command
jford38 1:ad895d72e9ed 107 * to the pc to request another gcode line
jford38 1:ad895d72e9ed 108 * returns a pointer to the allocated list of commands.
jford38 1:ad895d72e9ed 109 */
jford38 1:ad895d72e9ed 110 int fillInCmdList()
jford38 1:ad895d72e9ed 111 {
jford38 1:ad895d72e9ed 112 // end_flag_received should be detected in parseGcode()
jford38 1:ad895d72e9ed 113 while(endTransmission == false) {
jford38 1:ad895d72e9ed 114 // Light up LED1 to indicate the mbed is ready to receive Serial commands
jford38 1:ad895d72e9ed 115 led1 = 1;
jford38 1:ad895d72e9ed 116 if(received == true) { //if the buffer has received the null terminator
jford38 1:ad895d72e9ed 117
jford38 1:ad895d72e9ed 118 // Signal that we are now parsing by lighting LED2
jford38 1:ad895d72e9ed 119 //led1 = 0;
jford38 1:ad895d72e9ed 120 led2 = 1;
jford38 1:ad895d72e9ed 121 parseGcode();
jford38 1:ad895d72e9ed 122 gpc.rxBufferFlush(); // flushing the buffer just in case
jford38 1:ad895d72e9ed 123 received = false;
jford38 1:ad895d72e9ed 124 gpc.putc(FEEDME); // requesting next command from the pc
jford38 1:ad895d72e9ed 125 led2 = 0; // parsing stage is over
jford38 1:ad895d72e9ed 126 }
jford38 1:ad895d72e9ed 127 }
jford38 1:ad895d72e9ed 128
jford38 1:ad895d72e9ed 129 //uLCD.printf("Commands copied %d\n", list_position);
jford38 1:ad895d72e9ed 130 //for(int i = 0; i < list_position; i++) {
jford38 1:ad895d72e9ed 131 // uLCD.printf("G:%d X:%.2f Y:%.2f Z:%.2f I:%.2f J:%.2f F:%.2f\r\n", gcmd_list[i].G, gcmd_list[i].X, gcmd_list[i].Y, gcmd_list[i].Z, gcmd_list[i].I, gcmd_list[i].J, gcmd_list[i].F);
jford38 1:ad895d72e9ed 132 //wait(10);
jford38 1:ad895d72e9ed 133 //uLCD.cls();
jford38 1:ad895d72e9ed 134 //}
jford38 1:ad895d72e9ed 135
jford38 1:ad895d72e9ed 136 led1 = 1;
jford38 1:ad895d72e9ed 137 wait(0.5);
jford38 1:ad895d72e9ed 138 led1 = 0;
jford38 1:ad895d72e9ed 139 led2 = 1;
jford38 1:ad895d72e9ed 140 wait(0.5);
jford38 1:ad895d72e9ed 141 led2 = 0;
jford38 1:ad895d72e9ed 142 led3 = 1;
jford38 1:ad895d72e9ed 143 wait(0.5);
jford38 1:ad895d72e9ed 144 led3 = 0;
jford38 1:ad895d72e9ed 145 led1 = 1;
jford38 1:ad895d72e9ed 146 wait(0.5);
jford38 1:ad895d72e9ed 147 led3 = 1;
jford38 1:ad895d72e9ed 148 led2 = 1;
jford38 1:ad895d72e9ed 149 return (list_position);
jford38 1:ad895d72e9ed 150 }
jford38 1:ad895d72e9ed 151
jford38 1:ad895d72e9ed 152 //interrupt routine called when the null terminator is received
jford38 1:ad895d72e9ed 153 void cmd_Received(MODSERIAL_IRQ_INFO *q)
jford38 1:ad895d72e9ed 154 {
jford38 1:ad895d72e9ed 155 MODSERIAL *sys = q->serial;
jford38 1:ad895d72e9ed 156 sys->move(rx_buff, CMD_BUFFER_SIZE);;
jford38 1:ad895d72e9ed 157 received = true;
jford38 1:ad895d72e9ed 158 }
jford38 1:ad895d72e9ed 159 //TODO: Detect the connection finish characters and set a flag so fillInCmdBuff can return
jford38 1:ad895d72e9ed 160 // Parses the received message and populates the structure
jford38 1:ad895d72e9ed 161 void parseGcode()
jford38 1:ad895d72e9ed 162 {
jford38 1:ad895d72e9ed 163 // checking for the termination of connection
jford38 1:ad895d72e9ed 164 if(rx_buff[0] == END_OF_TRANSMISSION) {
jford38 1:ad895d72e9ed 165 led4 = 1; //received end of transmission from pc
jford38 1:ad895d72e9ed 166 endTransmission = true;
jford38 1:ad895d72e9ed 167 return;
jford38 1:ad895d72e9ed 168 }
jford38 1:ad895d72e9ed 169
jford38 1:ad895d72e9ed 170 // in case there are leading spaces
jford38 1:ad895d72e9ed 171 char* cmdP = strtok(rx_buff, " G");
jford38 1:ad895d72e9ed 172
jford38 1:ad895d72e9ed 173 char coord_label[2];
jford38 1:ad895d72e9ed 174
jford38 1:ad895d72e9ed 175 //int g = atoi(cmdP);
jford38 1:ad895d72e9ed 176
jford38 1:ad895d72e9ed 177 //uLCD.printf("list pos is: %d\n", list_position);
jford38 1:ad895d72e9ed 178
jford38 1:ad895d72e9ed 179 //fill out the command number field
jford38 1:ad895d72e9ed 180 gcmd_list[list_position].G = atoi(cmdP);
jford38 1:ad895d72e9ed 181 gcmd_list[list_position].X = -1;
jford38 1:ad895d72e9ed 182 gcmd_list[list_position].Y = -1;
jford38 1:ad895d72e9ed 183 gcmd_list[list_position].Z = 0;
jford38 1:ad895d72e9ed 184 gcmd_list[list_position].F = -1;
jford38 1:ad895d72e9ed 185 gcmd_list[list_position].I = -1;
jford38 1:ad895d72e9ed 186 gcmd_list[list_position].J = -1;
jford38 1:ad895d72e9ed 187
jford38 1:ad895d72e9ed 188 //uLCD.printf("%d: ", gcmd_list[list_position].G);
jford38 1:ad895d72e9ed 189
jford38 1:ad895d72e9ed 190 // Looping to get the arguments
jford38 1:ad895d72e9ed 191 while (cmdP != NULL) {
jford38 1:ad895d72e9ed 192 // Retrieve the next Label
jford38 1:ad895d72e9ed 193 cmdP = strtok (NULL, " G");
jford38 1:ad895d72e9ed 194 // cmdP should be pointing to a letter now
jford38 1:ad895d72e9ed 195 //uLCD.printf("Coord: %s.\n", cmdP);
jford38 1:ad895d72e9ed 196 coord_label[0] = cmdP[0];
jford38 1:ad895d72e9ed 197 coord_label[1] = cmdP[1];
jford38 1:ad895d72e9ed 198
jford38 1:ad895d72e9ed 199 // retrieve the number after the letter
jford38 1:ad895d72e9ed 200 cmdP = strtok (NULL, " G");
jford38 1:ad895d72e9ed 201
jford38 1:ad895d72e9ed 202 // now print the number
jford38 1:ad895d72e9ed 203 //uLCD.printf("%s ", cmdP);
jford38 1:ad895d72e9ed 204 /*
jford38 1:ad895d72e9ed 205 gcmd_list[list_position].X = -1;
jford38 1:ad895d72e9ed 206 gcmd_list[list_position].Y = -1;
jford38 1:ad895d72e9ed 207 gcmd_list[list_position].Z = -2;
jford38 1:ad895d72e9ed 208 gcmd_list[list_position].F = -1;
jford38 1:ad895d72e9ed 209 gcmd_list[list_position].I = -1;
jford38 1:ad895d72e9ed 210 gcmd_list[list_position].J = -1;
jford38 1:ad895d72e9ed 211 */
jford38 1:ad895d72e9ed 212 switch(coord_label[0]) {
jford38 1:ad895d72e9ed 213 case 'X':
jford38 1:ad895d72e9ed 214 gcmd_list[list_position].X = atof(cmdP);
jford38 1:ad895d72e9ed 215 break;
jford38 1:ad895d72e9ed 216 case 'Y':
jford38 1:ad895d72e9ed 217 gcmd_list[list_position].Y = atof(cmdP);
jford38 1:ad895d72e9ed 218 break;
jford38 1:ad895d72e9ed 219 case 'Z':
jford38 1:ad895d72e9ed 220 gcmd_list[list_position].Z = atof(cmdP);
jford38 1:ad895d72e9ed 221 break;
jford38 1:ad895d72e9ed 222 case 'F':
jford38 1:ad895d72e9ed 223 gcmd_list[list_position].F = atof(cmdP);
jford38 1:ad895d72e9ed 224 break;
jford38 1:ad895d72e9ed 225 case 'I':
jford38 1:ad895d72e9ed 226 gcmd_list[list_position].I = atof(cmdP);
jford38 1:ad895d72e9ed 227 break;
jford38 1:ad895d72e9ed 228 case 'J':
jford38 1:ad895d72e9ed 229 gcmd_list[list_position].J = atof(cmdP);
jford38 1:ad895d72e9ed 230 break;
jford38 1:ad895d72e9ed 231 default:
jford38 1:ad895d72e9ed 232
jford38 1:ad895d72e9ed 233 break;
jford38 1:ad895d72e9ed 234 }// switch
jford38 1:ad895d72e9ed 235 } // while
jford38 1:ad895d72e9ed 236 list_position++;
jford38 1:ad895d72e9ed 237 }