Alan Simms / Mbed 2 deprecated threeAxisTable

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Dependencies:   mbed threeAxis mbed-rtos 4DGL-uLCD-SE

main.cpp@12:2bc6047d219b, 2021-12-15 (annotated)

Committer:
magiwarriorx
Date:
Wed Dec 15 00:02:35 2021 +0000
Revision:
12:2bc6047d219b
Parent:
11:0309bef74ba8
Child:
13:8231d6cce099
post-zeroing;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 1:491820ee784d 1 #include "mbed.h"
mbed_official 11:0309bef74ba8 2 #include "rtos.h"
magiwarriorx 12:2bc6047d219b 3 #include "uLCD_4DGL.h"
magiwarriorx 12:2bc6047d219b 4 #include "string"
magiwarriorx 12:2bc6047d219b 5 #include "threeAxis.h"
magiwarriorx 12:2bc6047d219b 6 //#define stepToInch 0.0006723474
magiwarriorx 12:2bc6047d219b 7 //#define stepToInch 0.0007925725
magiwarriorx 12:2bc6047d219b 8 //#define maxX 11.5
magiwarriorx 12:2bc6047d219b 9 //#define maxY 6.75
magiwarriorx 12:2bc6047d219b 10 //#define maxZ 1.75
magiwarriorx 12:2bc6047d219b 11
magiwarriorx 12:2bc6047d219b 12 //Enable is active low.
magiwarriorx 12:2bc6047d219b 13
magiwarriorx 12:2bc6047d219b 14 //xStep, yStep, zStep, xDir, yDir, zDir, xEnable, yEnable, zEnable, stepRatio, xBound, yBound, zBound, xLimit, yLimit, zLimit
magiwarriorx 12:2bc6047d219b 15 threeAxis table(p23, p25, p21, p24, p26, p22, p19, p18, p20, 0.0007925725, 11.5, 6.75, 1.75, p12, p14, p16);
magiwarriorx 12:2bc6047d219b 16
magiwarriorx 12:2bc6047d219b 17 DigitalOut xLimit(p13);
magiwarriorx 12:2bc6047d219b 18 DigitalOut yLimit(p15);
magiwarriorx 12:2bc6047d219b 19 DigitalOut zLimit(p17);
magiwarriorx 12:2bc6047d219b 20
magiwarriorx 12:2bc6047d219b 21 //DigitalOut zStep(p21);
magiwarriorx 12:2bc6047d219b 22 //DigitalOut zEnable(p20);
magiwarriorx 12:2bc6047d219b 23 //DigitalOut zDir(p22);
magiwarriorx 12:2bc6047d219b 24
magiwarriorx 12:2bc6047d219b 25 //DigitalOut xEnable(p19);
magiwarriorx 12:2bc6047d219b 26 //DigitalOut xStep(p23);
magiwarriorx 12:2bc6047d219b 27 //DigitalOut xDir(p24);
magiwarriorx 12:2bc6047d219b 28
magiwarriorx 12:2bc6047d219b 29 //DigitalOut yEnable(p18);
magiwarriorx 12:2bc6047d219b 30 //DigitalOut yStep(p25);
magiwarriorx 12:2bc6047d219b 31 //DigitalOut yDir(p26);
magiwarriorx 12:2bc6047d219b 32
magiwarriorx 12:2bc6047d219b 33
magiwarriorx 12:2bc6047d219b 34 Serial bluetooth(p28,p27);
magiwarriorx 12:2bc6047d219b 35 uLCD_4DGL uLCD(p9,p10,p11);
magiwarriorx 12:2bc6047d219b 36 DigitalOut actualLED(LED1);
magiwarriorx 12:2bc6047d219b 37 Mutex LCD;
magiwarriorx 12:2bc6047d219b 38 /*
magiwarriorx 12:2bc6047d219b 39 volatile int currX;
magiwarriorx 12:2bc6047d219b 40 volatile int currY;
magiwarriorx 12:2bc6047d219b 41 volatile int currZ;
magiwarriorx 12:2bc6047d219b 42 volatile int toX;
magiwarriorx 12:2bc6047d219b 43 volatile int toY;
magiwarriorx 12:2bc6047d219b 44 volatile int toZ;
magiwarriorx 12:2bc6047d219b 45 */
geky 7:8d9919175929 46 Thread thread;
magiwarriorx 12:2bc6047d219b 47 Thread thread2;
magiwarriorx 12:2bc6047d219b 48
magiwarriorx 12:2bc6047d219b 49
magiwarriorx 12:2bc6047d219b 50 void parseCoords(std::string coords){
magiwarriorx 12:2bc6047d219b 51
magiwarriorx 12:2bc6047d219b 52 int start = 0;
magiwarriorx 12:2bc6047d219b 53 int end = coords.find(',');
magiwarriorx 12:2bc6047d219b 54
magiwarriorx 12:2bc6047d219b 55 float tempX = atof(coords.substr(start, end-start).c_str());
magiwarriorx 12:2bc6047d219b 56
magiwarriorx 12:2bc6047d219b 57 start = end + 1;
magiwarriorx 12:2bc6047d219b 58 end = coords.find(',', start);
magiwarriorx 12:2bc6047d219b 59
magiwarriorx 12:2bc6047d219b 60 float tempY = atof(coords.substr(start, end-start).c_str());
magiwarriorx 12:2bc6047d219b 61
magiwarriorx 12:2bc6047d219b 62 start = end + 1;
magiwarriorx 12:2bc6047d219b 63 end = coords.length();
magiwarriorx 12:2bc6047d219b 64 float tempZ = atof(coords.substr(start, end-start).c_str());
magiwarriorx 12:2bc6047d219b 65
magiwarriorx 12:2bc6047d219b 66 table.goTo(tempX, tempY, tempZ);
magiwarriorx 12:2bc6047d219b 67 LCD.lock();
magiwarriorx 12:2bc6047d219b 68 uLCD.printf("\n");
magiwarriorx 12:2bc6047d219b 69 uLCD.printf("%d, %d, %d", tempX,tempY,tempZ);
magiwarriorx 12:2bc6047d219b 70 LCD.unlock();
magiwarriorx 12:2bc6047d219b 71
magiwarriorx 12:2bc6047d219b 72 }
magiwarriorx 12:2bc6047d219b 73
magiwarriorx 12:2bc6047d219b 74 void bluetoothFlush(){
magiwarriorx 12:2bc6047d219b 75 char temp;
magiwarriorx 12:2bc6047d219b 76 while(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 77 temp = bluetooth.getc();
emilmont 1:491820ee784d 78 }
emilmont 1:491820ee784d 79 }
magiwarriorx 12:2bc6047d219b 80
magiwarriorx 12:2bc6047d219b 81 void bluetooth_thread(){
magiwarriorx 12:2bc6047d219b 82
magiwarriorx 12:2bc6047d219b 83 //char bnum=0;
magiwarriorx 12:2bc6047d219b 84 while(1) {
magiwarriorx 12:2bc6047d219b 85 std::string coords = "";
magiwarriorx 12:2bc6047d219b 86 Thread::wait(100);
magiwarriorx 12:2bc6047d219b 87
magiwarriorx 12:2bc6047d219b 88 if (bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 89 while (bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 90 char temp = bluetooth.getc();
magiwarriorx 12:2bc6047d219b 91 if (temp == 'z'){
magiwarriorx 12:2bc6047d219b 92 table.setZero();
magiwarriorx 12:2bc6047d219b 93 }
magiwarriorx 12:2bc6047d219b 94
magiwarriorx 12:2bc6047d219b 95 else{
magiwarriorx 12:2bc6047d219b 96 coords += temp;
magiwarriorx 12:2bc6047d219b 97 }
magiwarriorx 12:2bc6047d219b 98 }
magiwarriorx 12:2bc6047d219b 99 //Thread::wait(1000);
magiwarriorx 12:2bc6047d219b 100 if (coords.find('z') == -1){
magiwarriorx 12:2bc6047d219b 101 LCD.lock();
magiwarriorx 12:2bc6047d219b 102 uLCD.printf("\n");
magiwarriorx 12:2bc6047d219b 103 uLCD.printf(coords.c_str());
magiwarriorx 12:2bc6047d219b 104 LCD.unlock();
magiwarriorx 12:2bc6047d219b 105 parseCoords(coords);
magiwarriorx 12:2bc6047d219b 106
magiwarriorx 12:2bc6047d219b 107 }
magiwarriorx 12:2bc6047d219b 108 else{
magiwarriorx 12:2bc6047d219b 109 LCD.lock();
magiwarriorx 12:2bc6047d219b 110 uLCD.printf("\n");
magiwarriorx 12:2bc6047d219b 111 uLCD.printf("Zeroed!");
magiwarriorx 12:2bc6047d219b 112 LCD.unlock();
magiwarriorx 12:2bc6047d219b 113 }
magiwarriorx 12:2bc6047d219b 114 }
magiwarriorx 12:2bc6047d219b 115
magiwarriorx 12:2bc6047d219b 116
emilmont 1:491820ee784d 117 }
emilmont 1:491820ee784d 118 }
magiwarriorx 12:2bc6047d219b 119
magiwarriorx 12:2bc6047d219b 120 int main() {
magiwarriorx 12:2bc6047d219b 121 //Y axis direction inverted from others to get behavior that makes me happy (rewards = negative, forward = positive)
magiwarriorx 12:2bc6047d219b 122 table.invertY();
magiwarriorx 12:2bc6047d219b 123 table.invertZ();
magiwarriorx 12:2bc6047d219b 124 uLCD.baudrate(300000);
magiwarriorx 12:2bc6047d219b 125 wait(0.5);
magiwarriorx 12:2bc6047d219b 126
magiwarriorx 12:2bc6047d219b 127
magiwarriorx 12:2bc6047d219b 128 //I'm going to be honest, my understanding of my own code means that ANY character should start the zero'ing process, and that nothing should skip it
magiwarriorx 12:2bc6047d219b 129 //As such its technically a bug that it skips zeroing a given axis if something is entered
magiwarriorx 12:2bc6047d219b 130 //However, I like this functionality more than what I intended
magiwarriorx 12:2bc6047d219b 131 //So I'm labeling the "bug" as a feature
magiwarriorx 12:2bc6047d219b 132 LCD.lock();
magiwarriorx 12:2bc6047d219b 133 uLCD.printf("Enter null value to begin X zero, anything else to skip");
magiwarriorx 12:2bc6047d219b 134 //LCD.unlock();
magiwarriorx 12:2bc6047d219b 135 while(1){
magiwarriorx 12:2bc6047d219b 136 if(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 137 bluetoothFlush();
magiwarriorx 12:2bc6047d219b 138 break;
magiwarriorx 12:2bc6047d219b 139 }
magiwarriorx 12:2bc6047d219b 140 }
magiwarriorx 12:2bc6047d219b 141 //LCD.lock();
magiwarriorx 12:2bc6047d219b 142 uLCD.printf("\n");
magiwarriorx 12:2bc6047d219b 143 uLCD.printf("Enter anything to stop");
magiwarriorx 12:2bc6047d219b 144 LCD.unlock();
magiwarriorx 12:2bc6047d219b 145
magiwarriorx 12:2bc6047d219b 146 table.zeroX();
magiwarriorx 12:2bc6047d219b 147 uLCD.printf("Running!");
magiwarriorx 12:2bc6047d219b 148 while(1){
magiwarriorx 12:2bc6047d219b 149 if(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 150 bluetoothFlush();
magiwarriorx 12:2bc6047d219b 151 xLimit = 1;
magiwarriorx 12:2bc6047d219b 152 break;
magiwarriorx 12:2bc6047d219b 153 }
magiwarriorx 12:2bc6047d219b 154 }
magiwarriorx 12:2bc6047d219b 155
magiwarriorx 12:2bc6047d219b 156 LCD.lock();
magiwarriorx 12:2bc6047d219b 157 uLCD.cls();
magiwarriorx 12:2bc6047d219b 158 uLCD.printf("Enter null value to begin Y zero, anything else to skip");
magiwarriorx 12:2bc6047d219b 159 LCD.unlock();
magiwarriorx 12:2bc6047d219b 160
magiwarriorx 12:2bc6047d219b 161 while(1){
magiwarriorx 12:2bc6047d219b 162 if(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 163 bluetoothFlush();
magiwarriorx 12:2bc6047d219b 164 break;
magiwarriorx 12:2bc6047d219b 165 }
magiwarriorx 12:2bc6047d219b 166 }
magiwarriorx 12:2bc6047d219b 167
magiwarriorx 12:2bc6047d219b 168 LCD.lock();
magiwarriorx 12:2bc6047d219b 169 uLCD.printf("\n");
magiwarriorx 12:2bc6047d219b 170 uLCD.printf("Enter anything to stop");
magiwarriorx 12:2bc6047d219b 171 LCD.unlock();
magiwarriorx 12:2bc6047d219b 172
magiwarriorx 12:2bc6047d219b 173 table.zeroY();
magiwarriorx 12:2bc6047d219b 174 while(1){
magiwarriorx 12:2bc6047d219b 175 if(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 176 bluetoothFlush();
magiwarriorx 12:2bc6047d219b 177 yLimit = 1;
magiwarriorx 12:2bc6047d219b 178 break;
magiwarriorx 12:2bc6047d219b 179 }
magiwarriorx 12:2bc6047d219b 180 }
magiwarriorx 12:2bc6047d219b 181
magiwarriorx 12:2bc6047d219b 182 LCD.lock();
magiwarriorx 12:2bc6047d219b 183 uLCD.cls();
magiwarriorx 12:2bc6047d219b 184 uLCD.printf("Enter null value to begin Z zero, anything else to skip");
magiwarriorx 12:2bc6047d219b 185 LCD.unlock();
magiwarriorx 12:2bc6047d219b 186
magiwarriorx 12:2bc6047d219b 187 while(1){
magiwarriorx 12:2bc6047d219b 188 if(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 189 bluetoothFlush();
magiwarriorx 12:2bc6047d219b 190 break;
magiwarriorx 12:2bc6047d219b 191 }
magiwarriorx 12:2bc6047d219b 192 }
magiwarriorx 12:2bc6047d219b 193
magiwarriorx 12:2bc6047d219b 194 LCD.lock();
magiwarriorx 12:2bc6047d219b 195 uLCD.printf("\n");
magiwarriorx 12:2bc6047d219b 196 uLCD.printf("Enter anything to stop");
magiwarriorx 12:2bc6047d219b 197 LCD.unlock();
magiwarriorx 12:2bc6047d219b 198
magiwarriorx 12:2bc6047d219b 199 table.zeroZ();
magiwarriorx 12:2bc6047d219b 200 while(1){
magiwarriorx 12:2bc6047d219b 201 if(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 202 bluetoothFlush();
magiwarriorx 12:2bc6047d219b 203 zLimit = 1;
magiwarriorx 12:2bc6047d219b 204 break;
magiwarriorx 12:2bc6047d219b 205 }
magiwarriorx 12:2bc6047d219b 206 }
magiwarriorx 12:2bc6047d219b 207
magiwarriorx 12:2bc6047d219b 208 LCD.lock();
magiwarriorx 12:2bc6047d219b 209 uLCD.cls();
magiwarriorx 12:2bc6047d219b 210
magiwarriorx 12:2bc6047d219b 211 table.setLimits(true);
magiwarriorx 12:2bc6047d219b 212 xLimit = 0;
magiwarriorx 12:2bc6047d219b 213 yLimit = 0;
magiwarriorx 12:2bc6047d219b 214 zLimit = 0;
magiwarriorx 12:2bc6047d219b 215
magiwarriorx 12:2bc6047d219b 216 uLCD.printf("Waiting...");
magiwarriorx 12:2bc6047d219b 217 LCD.unlock();
magiwarriorx 12:2bc6047d219b 218
magiwarriorx 12:2bc6047d219b 219 thread.start(bluetooth_thread);
magiwarriorx 12:2bc6047d219b 220
magiwarriorx 12:2bc6047d219b 221 while(1);
magiwarriorx 12:2bc6047d219b 222 }