Diff: main.cpp

Revision:

5:486d0a696705

Parent:

4:72727d4c1d72

--- a/main.cpp	Thu Jul 14 22:49:36 2016 +0000
+++ b/main.cpp	Tue Jul 26 20:49:33 2016 +0000
@@ -1,52 +1,156 @@
 #include "mbed.h"
+#include "TextLCD.h"
+#include "keypad.h"
+#include "stdlib.h"
+
+/***********************Macros*****************/
 # define ON  1
 # define OFF 0
 
-////////////////********Definitions***********///////
+/************************Definitions and MCU's Configuration***********/
+ ///Switches///
 DigitalIn sw3(PTA4);
 
+///////LEDS///////
 DigitalOut led_red(LED_RED);
 DigitalOut led_green(LED_GREEN);
 DigitalOut led_blue(LED_BLUE);
 
-InterruptIn sw2(SW2);
+///////////////LCD////////////////
+TextLCD lcd(PTC3,PTC2,PTA2,PTB23,PTA1,PTB9,TextLCD::LCD20x4);  // RS, E, D4, D5, D6, D7  ////4, 6, 11, 12, 13, 14 (REV 3)
+                                                              //PTD1,PTD3,PTD2,PTD0,PTC4,PTA0
 
-Timer debounce; // define debounce timer
+//TextLCD lcd(PTD1,PTD3,PTD2,PTD0,PTC4,PTE26,TextLCD::LCD20x4);
 
+/////Interrupts//////
+InterruptIn sw2(SW2);
 
 Serial pc(USBTX,USBRX);            // tx,rx
-DigitalOut in1(PTC3);
-DigitalOut in2(PTC2);
-PwmOut     ena(PTA2);
+
+/////////Motor A///////////////
+DigitalOut in1(PTD0);   //IN1 L298
+DigitalOut in2(PTC4);   //IN2 L298
+PwmOut     ena(PTA0);   //PWM ENA
+
+///////////Motor B//////////////
+DigitalOut in3(PTD1);  //IN3 L298
+DigitalOut in4(PTD3);  //IN4 L298
+PwmOut     enb(PTD2);  //PWM ENB
+
+///////////Solenoids////////////
+DigitalOut Valve1(PTE24);  //Valve 1
+DigitalOut Valve2(PTE25);  //Valve 2
+DigitalOut Valve3(PTB20);  //Valve 3
 
+/////////////Matrix Keypad////////////////
+char Keytable[] = { '1', '2', '3', 'A',     // Matrix keypad return characters 
+                    '4', '5', '6', 'B',
+                    '7', '8', '9', 'C',
+                    '*', '0', '#', 'D'
+                  };
 
-DigitalOut in3(PTD1);
-DigitalOut in4(PTD2);
-PwmOut     enb(PTD3);
+int Keytablei[] = { 1, 2, 3, 10,            // Matrix Keypad 
+                    4, 5, 6, 11,
+                    7, 8, 9, 12,
+                    13,0,14, 15
+                  };
+////////////////***************Global Variables*********************////////////////
+Ticker Time1; 
+Ticker Time2;
+Timer debounce; // define debounce timer
+
+int kp = 0, ki = 0, kd = 0, sp = 0, cont, entrada, iniciado, boton;
+
+enum eEstados {
+    Muestra,
+    Calibracion,
+    Lavado
+    } estado;
 
 ///////////****Prototype Functions*******//////////
 void stop1(void);
 void turnRight1(void);
 void turnLeft1(void);
-void toggle(void); // function prototype
-
 ///////////////////////////////////////////////////
 
+
+
+// Keypad Interruption Routine
+uint32_t cbAfterInput(uint32_t key)
+{
+    if((Keytable[key]) == 'A') {            // Boton Avanzar
+        entrada = 1;
+        cont = 0;
+    }
+    if((Keytable[key]) == 'B') {            // Boton Volver
+        entrada = 2;
+        cont = 0;
+    }
+    if((Keytable[key]) == 'D') {            // Boton Establecer
+        entrada = 3;
+    }
+    boton = Keytablei[key];                 // Asigna el entero correspondiente al boton presionado
+    return 0;
+}
+
+
+///Main Routne
 int main()
 
-{
-debounce.start();
-ena.period(1.0/10000.0);// 5Khz period
- sw2.rise(&turnRight1); // attach the address of the toggle
- sw2.fall(&stop1);
-//pc.baud(115200);
+{ 
+    ena.period(1.0/10000.0);// 10Khz period, PWM freq
+    Keypad keypad(PTC8,PTC1,PTB19,PTB18,PTC5, PTC7, PTC0,PTC9);   // Configura pines para teclado
+    keypad.CallAfterInput(&cbAfterInput);                       // Rutina interrupcion teclado
+    keypad.Start();                                             // Inicia teclado
+    //pc.baud(115200);
+    lcd.writeCommand(0x0C);                                     // Apaga cursor
+    lcd.locate(0,0); lcd.printf("LABB");
+    lcd.locate(0,1); lcd.printf("EASY BOD");
+    lcd.locate(0,2); lcd.printf("Copyright,LABB.");
+    lcd.locate(0,3); lcd.printf(".............");
+    wait(3);
+    lcd.cls();                                                  //Clear Screen     
+    lcd.locate (0,0); lcd.printf("******OPCIONES******");
+    lcd.locate (0,1); lcd.printf("1.MUESTRA"); 
+    lcd.locate (0,2); lcd.printf("2.CAL 1");    
+    lcd.locate (0,3); lcd.printf("3.LAVADO");  
+    lcd.locate (11,1); lcd.printf("----->");     
+    lcd.locate (11,2); lcd.printf("----->");
+    lcd.locate (11,3); lcd.printf("----->");                                   
+    entrada = 0;
+    iniciado = 0;
+    cont = 0;
+    boton = 99;
+    wait(0.5);
+    lcd.writeCommand(0x0F);
+    lcd.writeCommand(0x86);                                     // Muestra cursor
 
-    while (true) {
+    while (true) {//while1
         
-        sw2.rise(&turnRight1); // attach the address of the toggle
-        sw2.fall(&stop1);
-        
-       /* if (sw3 == ON){
+        switch(estado){
+            
+     //////**********MUESTRA******///
+            case Muestra:
+            
+             if(entrada == 1) {
+                    estado = Calibracion;
+                    lcd.writeCommand(0x8E);
+                    entrada = 0;
+                    cont = 0;
+                } else if(entrada == 2) {
+                    estado = Lavado;
+                    lcd.writeCommand(0xCE);
+                    entrada = 0;
+                }
+            break;
+   //////////********CALIBRACION*******//////
+           case Calibracion:
+            
+            
+            break;
+   /////////*********LAVADO********/////////
+        case Lavado: 
+       if (sw3 == ON){
            led_red = ON;
             turnRight1();
             ena.write(0.50f);
@@ -55,9 +159,13 @@
             led_red = OFF;
             stop1();
             wait(0.5f);
-            }*/
+            }
+            
+            break;
+            
+       }//Switch
     
-    }
+    }//while1
 }
 
 ///////////////***********FUNCTIONS***********************//////////////
@@ -76,13 +184,8 @@
 }
 
 void turnLeft1() {
-    led_blue = ON;
+    //led_blue = ON;
     in1 = OFF;
     in2 = ON;      
 }
 
-void toggle() {
-if (debounce.read_ms()>200) // only allow toggle if debounce timer
-led_red=!led_red; // has passed 200 ms
- debounce.reset(); // restart timer when the toggle is performed
-}
\ No newline at end of file