Joshua Liu / Mbed 2 deprecated ControlBoxCode

switch box for pneumatic state machine. Simple version with no grab drop features. Mid state of converting script to function calls within main()

Dependencies:   mbed

main.cpp@1:2ee833c4b76f, 2014-01-31 (annotated)

Committer:
joliu
Date:
Fri Jan 31 22:08:20 2014 +0000
Revision:
1:2ee833c4b76f
Parent:
0:ae0fe1adad01 
before sending to Amando. Unsure of revision status or functionality as is.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joliu 0:ae0fe1adad01 1 #include "mbed.h"
joliu 1:2ee833c4b76f 2 //Serial pc(USBTX, USBRX);
joliu 0:ae0fe1adad01 3 Serial lcd(p28, p27);
joliu 0:ae0fe1adad01 4
joliu 1:2ee833c4b76f 5 // V+/V- outputs cylinder down
joliu 1:2ee833c4b76f 6 DigitalOut out1(p7);
joliu 1:2ee833c4b76f 7 DigitalOut out2(p8);
joliu 1:2ee833c4b76f 8 DigitalOut out3(p9);
joliu 1:2ee833c4b76f 9 DigitalOut out4(p10);
joliu 1:2ee833c4b76f 10 // V+/V- outputs cylinder up
joliu 1:2ee833c4b76f 11 DigitalOut out5(p11);
joliu 1:2ee833c4b76f 12 DigitalOut out6(p12);
joliu 1:2ee833c4b76f 13 DigitalOut out7(p13);
joliu 1:2ee833c4b76f 14 DigitalOut out8(p14);
joliu 1:2ee833c4b76f 15 // Four push buttons left to right
joliu 1:2ee833c4b76f 16 DigitalIn pushOne(p21);
joliu 1:2ee833c4b76f 17 DigitalIn pushTwo(p22);
joliu 1:2ee833c4b76f 18 DigitalIn pushThree(p23);
joliu 1:2ee833c4b76f 19 DigitalIn pushFour(p24);
joliu 1:2ee833c4b76f 20 // Run switch where p26 will be kept high
joliu 1:2ee833c4b76f 21 // Can probably connect it to the 3.3V out
joliu 1:2ee833c4b76f 22 DigitalIn runIn(p25);
joliu 1:2ee833c4b76f 23 DigitalOut runOut(p26);
joliu 1:2ee833c4b76f 24
joliu 1:2ee833c4b76f 25 float upTime;
joliu 1:2ee833c4b76f 26 float downTime;
joliu 1:2ee833c4b76f 27 float waitTime;
joliu 1:2ee833c4b76f 28 unsigned int count = 0;
joliu 1:2ee833c4b76f 29 typedef char * string;
joliu 1:2ee833c4b76f 30 string strs[5] = {
joliu 1:2ee833c4b76f 31 "Up Time", // 0
joliu 1:2ee833c4b76f 32 "Down Time", // 1
joliu 1:2ee833c4b76f 33 "Wait Time", // 2
joliu 1:2ee833c4b76f 34 "Target Count", // 3
joliu 1:2ee833c4b76f 35 "Reset Counter" // 4
joliu 1:2ee833c4b76f 36 };
joliu 1:2ee833c4b76f 37 enum ValveMode {
joliu 1:2ee833c4b76f 38 UP,
joliu 1:2ee833c4b76f 39 DOWN
joliu 1:2ee833c4b76f 40 };
joliu 1:2ee833c4b76f 41
joliu 1:2ee833c4b76f 42
joliu 1:2ee833c4b76f 43
joliu 1:2ee833c4b76f 44
joliu 1:2ee833c4b76f 45
joliu 0:ae0fe1adad01 46 void clearLCD()
joliu 0:ae0fe1adad01 47 {
joliu 0:ae0fe1adad01 48 lcd.printf("%c%c",0xFE,0x01);
joliu 0:ae0fe1adad01 49 }
joliu 0:ae0fe1adad01 50 void setLCDpos(int xpos, int ypos)
joliu 0:ae0fe1adad01 51 {
joliu 0:ae0fe1adad01 52 int pos = 0x80;
joliu 0:ae0fe1adad01 53 switch (xpos) {
joliu 0:ae0fe1adad01 54 case 1:
joliu 0:ae0fe1adad01 55 pos +=0;
joliu 0:ae0fe1adad01 56 break;
joliu 0:ae0fe1adad01 57 case 2:
joliu 0:ae0fe1adad01 58 pos +=64;
joliu 0:ae0fe1adad01 59 break;
joliu 0:ae0fe1adad01 60 case 3:
joliu 0:ae0fe1adad01 61 pos +=20;
joliu 0:ae0fe1adad01 62 break;
joliu 0:ae0fe1adad01 63 case 4:
joliu 0:ae0fe1adad01 64 pos +=84;
joliu 0:ae0fe1adad01 65 break;
joliu 0:ae0fe1adad01 66 }
joliu 0:ae0fe1adad01 67 pos += (ypos-1);
joliu 0:ae0fe1adad01 68 lcd.printf("%c%c",0xFE,pos);
joliu 0:ae0fe1adad01 69 }
joliu 0:ae0fe1adad01 70 void setBrightness(int lev)
joliu 0:ae0fe1adad01 71 {
joliu 0:ae0fe1adad01 72 lcd.printf("%c%c",0x7C,lev+127);
joliu 0:ae0fe1adad01 73 wait(.1);
joliu 0:ae0fe1adad01 74 }
joliu 0:ae0fe1adad01 75
joliu 0:ae0fe1adad01 76
joliu 0:ae0fe1adad01 77
joliu 1:2ee833c4b76f 78 void setValve(ValveMode dir, int val)
joliu 0:ae0fe1adad01 79 {
joliu 1:2ee833c4b76f 80 switch(dir) {
joliu 1:2ee833c4b76f 81 case DOWN:
joliu 1:2ee833c4b76f 82 out1 = val;
joliu 1:2ee833c4b76f 83 out2 = val;
joliu 1:2ee833c4b76f 84 out3 = val;
joliu 1:2ee833c4b76f 85 out4 = val;
joliu 0:ae0fe1adad01 86 break;
joliu 0:ae0fe1adad01 87 case UP:
joliu 1:2ee833c4b76f 88 out5 = val;
joliu 1:2ee833c4b76f 89 out6 = val;
joliu 1:2ee833c4b76f 90 out7 = val;
joliu 1:2ee833c4b76f 91 out8 = val;
joliu 0:ae0fe1adad01 92 break;
joliu 1:2ee833c4b76f 93
joliu 0:ae0fe1adad01 94 }
joliu 0:ae0fe1adad01 95 }
joliu 0:ae0fe1adad01 96
joliu 0:ae0fe1adad01 97
joliu 1:2ee833c4b76f 98 /*void lcdShowParameters(int delay, int cycles)
joliu 0:ae0fe1adad01 99 {
joliu 0:ae0fe1adad01 100 clearLCD();
joliu 0:ae0fe1adad01 101 setLCDpos(1,1);
joliu 0:ae0fe1adad01 102 lcd.printf(strs[strPos]);
joliu 0:ae0fe1adad01 103 setLCDpos(2,1);
joliu 0:ae0fe1adad01 104 if (strPos<=2) {
joliu 0:ae0fe1adad01 105 lcd.printf("%f",times[strPos]);
joliu 0:ae0fe1adad01 106 } else if(strPos==3) {
joliu 0:ae0fe1adad01 107 lcd.printf("%d",target);
joliu 0:ae0fe1adad01 108 } else if(strPos==4) {
joliu 0:ae0fe1adad01 109 lcd.printf("Y/N?");
joliu 0:ae0fe1adad01 110 }
joliu 0:ae0fe1adad01 111 }
joliu 0:ae0fe1adad01 112
joliu 0:ae0fe1adad01 113
joliu 0:ae0fe1adad01 114 void lcdConfirmStart()
joliu 0:ae0fe1adad01 115 {
joliu 0:ae0fe1adad01 116 clearLCD();
joliu 0:ae0fe1adad01 117 setLCDpos(1,1);
joliu 0:ae0fe1adad01 118 lcd.printf(strs[strPos]);
joliu 0:ae0fe1adad01 119 setLCDpos(2,1);
joliu 0:ae0fe1adad01 120 if (strPos<=2) {
joliu 0:ae0fe1adad01 121 lcd.printf("%f",times[strPos]);
joliu 0:ae0fe1adad01 122 } else if(strPos==3) {
joliu 0:ae0fe1adad01 123 lcd.printf("%d",target);
joliu 0:ae0fe1adad01 124 } else if(strPos==4) {
joliu 0:ae0fe1adad01 125 lcd.printf("Y/N?");
joliu 0:ae0fe1adad01 126 }
joliu 0:ae0fe1adad01 127 }
joliu 1:2ee833c4b76f 128 */
joliu 0:ae0fe1adad01 129
joliu 1:2ee833c4b76f 130 void printCount (int count)
joliu 1:2ee833c4b76f 131 {
joliu 1:2ee833c4b76f 132 clearLCD();
joliu 1:2ee833c4b76f 133 setLCDpos(1,1);
joliu 1:2ee833c4b76f 134 lcd.printf("CURRENT COUNT IS");
joliu 1:2ee833c4b76f 135 setLCDpos(2,1);
joliu 1:2ee833c4b76f 136 lcd.printf("%d",count);
joliu 1:2ee833c4b76f 137 }
joliu 0:ae0fe1adad01 138
joliu 0:ae0fe1adad01 139
joliu 0:ae0fe1adad01 140 int main()
joliu 0:ae0fe1adad01 141 {
joliu 0:ae0fe1adad01 142 unsigned int route1 = 0;
joliu 0:ae0fe1adad01 143 //unsigned int route2 = 0;
joliu 0:ae0fe1adad01 144 float times[3];
joliu 0:ae0fe1adad01 145 times[0] = 1.0;
joliu 0:ae0fe1adad01 146 times[1] = 1.0;
joliu 0:ae0fe1adad01 147 times[2] = 0.2;
joliu 0:ae0fe1adad01 148 int target = 2000;
joliu 0:ae0fe1adad01 149 int strPos = 0;
joliu 0:ae0fe1adad01 150 Timer timer1;
joliu 0:ae0fe1adad01 151
joliu 0:ae0fe1adad01 152 wait(1);
joliu 0:ae0fe1adad01 153 clearLCD();
joliu 0:ae0fe1adad01 154 //setLCDpos(1,1);
joliu 0:ae0fe1adad01 155 //lcd.printf("Current count is:");
joliu 0:ae0fe1adad01 156 //setLCDpos(2,1);
joliu 0:ae0fe1adad01 157 //lcd.printf("%d",0);
joliu 0:ae0fe1adad01 158 runOut = 1;
joliu 0:ae0fe1adad01 159 while (1) {
joliu 0:ae0fe1adad01 160 if (!runIn) {
joliu 0:ae0fe1adad01 161 if (!route1) {
joliu 0:ae0fe1adad01 162 clearLCD();
joliu 0:ae0fe1adad01 163 route1 = 1;
joliu 0:ae0fe1adad01 164 timer1.start();
joliu 0:ae0fe1adad01 165 }
joliu 0:ae0fe1adad01 166
joliu 0:ae0fe1adad01 167 else {
joliu 0:ae0fe1adad01 168 if(pushOne && timer1.read_ms()>500) {
joliu 0:ae0fe1adad01 169 //Go Left
joliu 0:ae0fe1adad01 170 if(strPos<1) {
joliu 0:ae0fe1adad01 171 strPos=4;
joliu 0:ae0fe1adad01 172 } else {
joliu 0:ae0fe1adad01 173 strPos--;
joliu 0:ae0fe1adad01 174 }
joliu 0:ae0fe1adad01 175
joliu 0:ae0fe1adad01 176 clearLCD();
joliu 0:ae0fe1adad01 177 setLCDpos(1,1);
joliu 0:ae0fe1adad01 178 lcd.printf(strs[strPos]);
joliu 0:ae0fe1adad01 179 setLCDpos(2,1);
joliu 0:ae0fe1adad01 180 if (strPos<=2) {
joliu 0:ae0fe1adad01 181 lcd.printf("%f",times[strPos]);
joliu 0:ae0fe1adad01 182 } else if(strPos==3) {
joliu 0:ae0fe1adad01 183 lcd.printf("%d",target);
joliu 0:ae0fe1adad01 184 } else if(strPos==4) {
joliu 0:ae0fe1adad01 185 lcd.printf("Y/N?");
joliu 0:ae0fe1adad01 186 }
joliu 0:ae0fe1adad01 187 timer1.reset();
joliu 0:ae0fe1adad01 188 } else if(pushTwo && timer1.read_ms()>100) {
joliu 0:ae0fe1adad01 189 //Increment
joliu 0:ae0fe1adad01 190 clearLCD();
joliu 0:ae0fe1adad01 191 setLCDpos(1,1);
joliu 0:ae0fe1adad01 192 lcd.printf(strs[strPos]);
joliu 0:ae0fe1adad01 193 setLCDpos(2,1);
joliu 0:ae0fe1adad01 194 if(strPos<=2) {
joliu 0:ae0fe1adad01 195 times[strPos]=times[strPos]+0.1;
joliu 0:ae0fe1adad01 196 lcd.printf("%f",times[strPos]);
joliu 0:ae0fe1adad01 197 } else if(strPos==3) {
joliu 0:ae0fe1adad01 198 target=target+100;
joliu 0:ae0fe1adad01 199 lcd.printf("%d",target);
joliu 0:ae0fe1adad01 200 } else if(strPos==4) {
joliu 0:ae0fe1adad01 201 setLCDpos(2,1);
joliu 0:ae0fe1adad01 202 lcd.printf("YES");
joliu 0:ae0fe1adad01 203 count=0;
joliu 0:ae0fe1adad01 204 }
joliu 0:ae0fe1adad01 205 timer1.reset();
joliu 0:ae0fe1adad01 206 } else if(pushThree && timer1.read_ms()>100) {
joliu 0:ae0fe1adad01 207 //Decrement
joliu 0:ae0fe1adad01 208 clearLCD();
joliu 0:ae0fe1adad01 209 setLCDpos(1,1);
joliu 0:ae0fe1adad01 210 lcd.printf(strs[strPos]);
joliu 0:ae0fe1adad01 211 setLCDpos(2,1);
joliu 0:ae0fe1adad01 212 if(strPos<=2) {
joliu 0:ae0fe1adad01 213 times[strPos]=times[strPos]- 0.1;
joliu 0:ae0fe1adad01 214 lcd.printf("%f",times[strPos]);
joliu 0:ae0fe1adad01 215 } else if(strPos==3) {
joliu 0:ae0fe1adad01 216 target=target-100;
joliu 0:ae0fe1adad01 217 lcd.printf("%d",target);
joliu 0:ae0fe1adad01 218 } else if(strPos==4) {
joliu 0:ae0fe1adad01 219 lcd.printf("NO");
joliu 0:ae0fe1adad01 220 }
joliu 0:ae0fe1adad01 221 timer1.reset();
joliu 0:ae0fe1adad01 222 } else if(pushFour && timer1.read_ms()>150) {
joliu 0:ae0fe1adad01 223 if(strPos>3) {
joliu 0:ae0fe1adad01 224 strPos=0;
joliu 0:ae0fe1adad01 225 } else {
joliu 0:ae0fe1adad01 226 strPos++;
joliu 0:ae0fe1adad01 227 }
joliu 0:ae0fe1adad01 228
joliu 0:ae0fe1adad01 229 clearLCD();
joliu 0:ae0fe1adad01 230 setLCDpos(1,1);
joliu 0:ae0fe1adad01 231 lcd.printf(strs[strPos]);
joliu 0:ae0fe1adad01 232 setLCDpos(2,1);
joliu 0:ae0fe1adad01 233 if (strPos<=2) {
joliu 0:ae0fe1adad01 234 lcd.printf("%f",times[strPos]);
joliu 0:ae0fe1adad01 235 } else if(strPos==3) {
joliu 0:ae0fe1adad01 236 lcd.printf("%d",target);
joliu 0:ae0fe1adad01 237 } else if(strPos==4) {
joliu 0:ae0fe1adad01 238 lcd.printf("Y/N?");
joliu 0:ae0fe1adad01 239 }
joliu 0:ae0fe1adad01 240 timer1.reset();
joliu 0:ae0fe1adad01 241 }
joliu 0:ae0fe1adad01 242 }
joliu 0:ae0fe1adad01 243 } else if (runIn && count<=target) {
joliu 0:ae0fe1adad01 244 route1=0;
joliu 0:ae0fe1adad01 245 upTime = times[0];
joliu 0:ae0fe1adad01 246 downTime = times[1];
joliu 0:ae0fe1adad01 247 waitTime = times[2];
joliu 1:2ee833c4b76f 248
joliu 1:2ee833c4b76f 249 setValve(UP, 1);
joliu 0:ae0fe1adad01 250 wait(upTime);
joliu 1:2ee833c4b76f 251 setValve(UP, 0);
joliu 0:ae0fe1adad01 252 wait(waitTime);
joliu 1:2ee833c4b76f 253 setValve(DOWN, 1);
joliu 0:ae0fe1adad01 254 wait(downTime);
joliu 1:2ee833c4b76f 255 setValve(DOWN,0);
joliu 0:ae0fe1adad01 256 wait(waitTime);
joliu 1:2ee833c4b76f 257
joliu 1:2ee833c4b76f 258 count++;
joliu 1:2ee833c4b76f 259 printCount(count);
joliu 0:ae0fe1adad01 260 } else if (count>target) {
joliu 0:ae0fe1adad01 261 clearLCD();
joliu 0:ae0fe1adad01 262 setLCDpos(1,1);
joliu 0:ae0fe1adad01 263 lcd.printf("TARGET REACHED");
joliu 0:ae0fe1adad01 264 setLCDpos(2,1);
joliu 0:ae0fe1adad01 265 lcd.printf("%d",target);
joliu 0:ae0fe1adad01 266 wait(0.1);
joliu 0:ae0fe1adad01 267 }
joliu 0:ae0fe1adad01 268 }
joliu 0:ae0fe1adad01 269 }
joliu 0:ae0fe1adad01 270