Joshua Liu
switch box for pneumatic state machine. Simple version with no grab drop features. Mid state of converting script to function calls within main()
Diff: main.cpp
- Revision:
- 0:ae0fe1adad01
- Child:
- 1:2ee833c4b76f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Jun 25 01:09:35 2013 +0000
@@ -0,0 +1,283 @@
+#include "mbed.h"
+Serial pc(USBTX, USBRX);
+Serial lcd(p28, p27);
+
+void clearLCD()
+{
+ lcd.printf("%c%c",0xFE,0x01);
+}
+void setLCDpos(int xpos, int ypos)
+{
+ int pos = 0x80;
+ switch (xpos) {
+ case 1:
+ pos +=0;
+ break;
+ case 2:
+ pos +=64;
+ break;
+ case 3:
+ pos +=20;
+ break;
+ case 4:
+ pos +=84;
+ break;
+ }
+ pos += (ypos-1);
+ lcd.printf("%c%c",0xFE,pos);
+}
+void setBrightness(int lev)
+{
+ lcd.printf("%c%c",0x7C,lev+127);
+ wait(.1);
+}
+
+
+
+// V+/V- outputs cylinder down
+DigitalOut out1(p7);
+DigitalOut out2(p8);
+DigitalOut out3(p9);
+DigitalOut out4(p10);
+// V+/V- outputs cylinder up
+DigitalOut out5(p11);
+DigitalOut out6(p12);
+DigitalOut out7(p13);
+DigitalOut out8(p14);
+// Four push buttons left to right
+DigitalIn pushOne(p21);
+DigitalIn pushTwo(p22);
+DigitalIn pushThree(p23);
+DigitalIn pushFour(p24);
+// Run switch where p26 will be kept high
+DigitalIn runIn(p25);
+DigitalOut runOut(p26);
+
+typedef char * string;
+
+float upTime;
+float downTime;
+float waitTime;
+
+string strs[5] = {
+ "Up Time", // 0
+ "Down Time", // 1
+ "Wait Time", // 2
+ "Target Count", // 3
+ "Reset Counter" // 4
+};
+
+
+enum ValveMode
+{
+ CLOSED,
+ UP,
+ DOWN,
+ BOTH
+};
+
+unsigned int count = 0;
+
+void setValve(ValveMode dir)
+{
+ switch(dir)
+ {
+ case CLOSED:
+ //p0 = 0;
+ //p1 = 0;
+ //p2 = 0;
+ //p3 = 0;
+ break;
+ case UP:
+ //p0 = 0;
+ //p1 = 0;
+ //p2 = 0;
+ //p3 = 0;
+ break;
+ }
+}
+
+
+void lcdShowParameters(int delay, int cycles)
+{
+ clearLCD();
+ setLCDpos(1,1);
+ lcd.printf(strs[strPos]);
+ setLCDpos(2,1);
+ if (strPos<=2) {
+ lcd.printf("%f",times[strPos]);
+ } else if(strPos==3) {
+ lcd.printf("%d",target);
+ } else if(strPos==4) {
+ lcd.printf("Y/N?");
+ }
+}
+
+
+void lcdConfirmStart()
+{
+ clearLCD();
+ setLCDpos(1,1);
+ lcd.printf(strs[strPos]);
+ setLCDpos(2,1);
+ if (strPos<=2) {
+ lcd.printf("%f",times[strPos]);
+ } else if(strPos==3) {
+ lcd.printf("%d",target);
+ } else if(strPos==4) {
+ lcd.printf("Y/N?");
+ }
+}
+
+
+
+
+int main()
+{
+ unsigned int route1 = 0;
+ //unsigned int route2 = 0;
+ float times[3];
+ times[0] = 1.0;
+ times[1] = 1.0;
+ times[2] = 0.2;
+ int target = 2000;
+ int strPos = 0;
+ Timer timer1;
+
+ wait(1);
+ clearLCD();
+ //setLCDpos(1,1);
+ //lcd.printf("Current count is:");
+ //setLCDpos(2,1);
+ //lcd.printf("%d",0);
+ runOut = 1;
+ while (1) {
+ if (!runIn) {
+ if (!route1) {
+ clearLCD();
+ route1 = 1;
+ timer1.start();
+ }
+
+ else {
+ if(pushOne && timer1.read_ms()>500) {
+ //Go Left
+ if(strPos<1) {
+ strPos=4;
+ } else {
+ strPos--;
+ }
+
+ clearLCD();
+ setLCDpos(1,1);
+ lcd.printf(strs[strPos]);
+ setLCDpos(2,1);
+ if (strPos<=2) {
+ lcd.printf("%f",times[strPos]);
+ } else if(strPos==3) {
+ lcd.printf("%d",target);
+ } else if(strPos==4) {
+ lcd.printf("Y/N?");
+ }
+ timer1.reset();
+ } else if(pushTwo && timer1.read_ms()>100) {
+ //Increment
+ clearLCD();
+ setLCDpos(1,1);
+ lcd.printf(strs[strPos]);
+ setLCDpos(2,1);
+ if(strPos<=2) {
+ times[strPos]=times[strPos]+0.1;
+ lcd.printf("%f",times[strPos]);
+ } else if(strPos==3) {
+ target=target+100;
+ lcd.printf("%d",target);
+ } else if(strPos==4) {
+ setLCDpos(2,1);
+ lcd.printf("YES");
+ count=0;
+ }
+ timer1.reset();
+ } else if(pushThree && timer1.read_ms()>100) {
+ //Decrement
+ clearLCD();
+ setLCDpos(1,1);
+ lcd.printf(strs[strPos]);
+ setLCDpos(2,1);
+ if(strPos<=2) {
+ times[strPos]=times[strPos]- 0.1;
+ lcd.printf("%f",times[strPos]);
+ } else if(strPos==3) {
+ target=target-100;
+ lcd.printf("%d",target);
+ } else if(strPos==4) {
+ lcd.printf("NO");
+ }
+ timer1.reset();
+ } else if(pushFour && timer1.read_ms()>150) {
+ if(strPos>3) {
+ strPos=0;
+ } else {
+ strPos++;
+ }
+
+ clearLCD();
+ setLCDpos(1,1);
+ lcd.printf(strs[strPos]);
+ setLCDpos(2,1);
+ if (strPos<=2) {
+ lcd.printf("%f",times[strPos]);
+ } else if(strPos==3) {
+ lcd.printf("%d",target);
+ } else if(strPos==4) {
+ lcd.printf("Y/N?");
+ }
+ timer1.reset();
+ }
+ }
+ } else if (runIn && count<=target) {
+ route1=0;
+ upTime = times[0];
+ downTime = times[1];
+ waitTime = times[2];
+ count++;
+ out5 = 1;
+ out6 = 1;
+ out7 = 1;
+ out8 = 1;
+ wait(upTime);
+ out5 = 0;
+ out6 = 0;
+ out7 = 0;
+ out8 = 0;
+ wait(waitTime);
+ out1 = 1;
+ out2 = 1;
+ out3 = 1;
+ out4 = 1;
+ wait(downTime);
+ out1 = 0;
+ out2 = 0;
+ out3 = 0;
+ out4 = 0;
+ wait(waitTime);
+ setLCDpos(1,1);
+ lcd.printf("CURRENT COUNT IS");
+ setLCDpos(2,1);
+ lcd.printf(" ");
+ setLCDpos(2,1);
+ lcd.printf("%d",count);
+ } else if (count>target) {
+ clearLCD();
+ setLCDpos(1,1);
+ lcd.printf("TARGET REACHED");
+ setLCDpos(2,1);
+ lcd.printf("%d",target);
+ wait(0.1);
+ }
+ }
+ /*
+ setLCDpos(2,9);
+ lcd.printf("#%7i",i);*/
+}
+