Alan Simms / Mbed 2 deprecated threeAxisTable

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

main.cpp@13:8231d6cce099, 2021-12-15 (annotated)

Committer:
magiwarriorx
Date:
Wed Dec 15 01:18:03 2021 +0000
Revision:
13:8231d6cce099
Parent:
12:2bc6047d219b
Child:
14:d6c8724a69e8
THIS BUILD WORKS

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 13:8231d6cce099 38 Mutex blue;
magiwarriorx 12:2bc6047d219b 39 /*
magiwarriorx 12:2bc6047d219b 40 volatile int currX;
magiwarriorx 12:2bc6047d219b 41 volatile int currY;
magiwarriorx 12:2bc6047d219b 42 volatile int currZ;
magiwarriorx 12:2bc6047d219b 43 volatile int toX;
magiwarriorx 12:2bc6047d219b 44 volatile int toY;
magiwarriorx 12:2bc6047d219b 45 volatile int toZ;
magiwarriorx 12:2bc6047d219b 46 */
geky 7:8d9919175929 47 Thread thread;
magiwarriorx 12:2bc6047d219b 48 Thread thread2;
magiwarriorx 12:2bc6047d219b 49
magiwarriorx 13:8231d6cce099 50 void raiseLimit(DigitalOut* arg){
magiwarriorx 13:8231d6cce099 51 while(1){
magiwarriorx 13:8231d6cce099 52 if(bluetooth.readable()){
magiwarriorx 13:8231d6cce099 53 char temp;
magiwarriorx 13:8231d6cce099 54 while(bluetooth.readable()){
magiwarriorx 13:8231d6cce099 55 temp = bluetooth.getc();
magiwarriorx 13:8231d6cce099 56 }
magiwarriorx 13:8231d6cce099 57 //bluetoothFlush();
magiwarriorx 13:8231d6cce099 58 *arg = 1;
magiwarriorx 13:8231d6cce099 59 break;
magiwarriorx 13:8231d6cce099 60 }
magiwarriorx 13:8231d6cce099 61 }
magiwarriorx 12:2bc6047d219b 62 }
magiwarriorx 12:2bc6047d219b 63
magiwarriorx 12:2bc6047d219b 64 void bluetoothFlush(){
magiwarriorx 12:2bc6047d219b 65 char temp;
magiwarriorx 12:2bc6047d219b 66 while(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 67 temp = bluetooth.getc();
emilmont 1:491820ee784d 68 }
emilmont 1:491820ee784d 69 }
magiwarriorx 12:2bc6047d219b 70
magiwarriorx 13:8231d6cce099 71 void parseCoords(std::string coords){
magiwarriorx 13:8231d6cce099 72
magiwarriorx 13:8231d6cce099 73
magiwarriorx 13:8231d6cce099 74 int start = 0;
magiwarriorx 13:8231d6cce099 75 int end = coords.find(',');
magiwarriorx 13:8231d6cce099 76
magiwarriorx 13:8231d6cce099 77
magiwarriorx 13:8231d6cce099 78 float tempX = atof(coords.substr(start, end-start).c_str());
magiwarriorx 13:8231d6cce099 79
magiwarriorx 13:8231d6cce099 80
magiwarriorx 13:8231d6cce099 81 start = end + 1;
magiwarriorx 13:8231d6cce099 82 end = coords.find(',', start);
magiwarriorx 13:8231d6cce099 83
magiwarriorx 13:8231d6cce099 84 float tempY = atof(coords.substr(start, end-start).c_str());
magiwarriorx 13:8231d6cce099 85
magiwarriorx 13:8231d6cce099 86 start = end + 1;
magiwarriorx 13:8231d6cce099 87 end = coords.length();
magiwarriorx 13:8231d6cce099 88 float tempZ = atof(coords.substr(start, end-start).c_str());
magiwarriorx 13:8231d6cce099 89
magiwarriorx 13:8231d6cce099 90 table.goTo(tempX, tempY, tempZ);
magiwarriorx 13:8231d6cce099 91
magiwarriorx 13:8231d6cce099 92 }
magiwarriorx 13:8231d6cce099 93
magiwarriorx 12:2bc6047d219b 94 void bluetooth_thread(){
magiwarriorx 12:2bc6047d219b 95
magiwarriorx 12:2bc6047d219b 96 //char bnum=0;
magiwarriorx 12:2bc6047d219b 97 while(1) {
magiwarriorx 12:2bc6047d219b 98 std::string coords = "";
magiwarriorx 12:2bc6047d219b 99 Thread::wait(100);
magiwarriorx 12:2bc6047d219b 100
magiwarriorx 12:2bc6047d219b 101 if (bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 102 while (bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 103 char temp = bluetooth.getc();
magiwarriorx 12:2bc6047d219b 104 if (temp == 'z'){
magiwarriorx 12:2bc6047d219b 105 table.setZero();
magiwarriorx 12:2bc6047d219b 106 }
magiwarriorx 12:2bc6047d219b 107
magiwarriorx 12:2bc6047d219b 108 else{
magiwarriorx 12:2bc6047d219b 109 coords += temp;
magiwarriorx 12:2bc6047d219b 110 }
magiwarriorx 12:2bc6047d219b 111 }
magiwarriorx 12:2bc6047d219b 112 //Thread::wait(1000);
magiwarriorx 12:2bc6047d219b 113 if (coords.find('z') == -1){
magiwarriorx 12:2bc6047d219b 114 LCD.lock();
magiwarriorx 12:2bc6047d219b 115 uLCD.printf("\n");
magiwarriorx 12:2bc6047d219b 116 uLCD.printf(coords.c_str());
magiwarriorx 12:2bc6047d219b 117 LCD.unlock();
magiwarriorx 12:2bc6047d219b 118 parseCoords(coords);
magiwarriorx 12:2bc6047d219b 119
magiwarriorx 12:2bc6047d219b 120 }
magiwarriorx 12:2bc6047d219b 121 else{
magiwarriorx 12:2bc6047d219b 122 LCD.lock();
magiwarriorx 12:2bc6047d219b 123 uLCD.printf("\n");
magiwarriorx 12:2bc6047d219b 124 uLCD.printf("Zeroed!");
magiwarriorx 12:2bc6047d219b 125 LCD.unlock();
magiwarriorx 12:2bc6047d219b 126 }
magiwarriorx 12:2bc6047d219b 127 }
magiwarriorx 12:2bc6047d219b 128
magiwarriorx 12:2bc6047d219b 129
emilmont 1:491820ee784d 130 }
emilmont 1:491820ee784d 131 }
magiwarriorx 12:2bc6047d219b 132
magiwarriorx 12:2bc6047d219b 133 int main() {
magiwarriorx 12:2bc6047d219b 134 //Y axis direction inverted from others to get behavior that makes me happy (rewards = negative, forward = positive)
magiwarriorx 12:2bc6047d219b 135 table.invertY();
magiwarriorx 12:2bc6047d219b 136 table.invertZ();
magiwarriorx 13:8231d6cce099 137 table.setWait(3);
magiwarriorx 12:2bc6047d219b 138 uLCD.baudrate(300000);
magiwarriorx 12:2bc6047d219b 139 wait(0.5);
magiwarriorx 12:2bc6047d219b 140
magiwarriorx 12:2bc6047d219b 141
magiwarriorx 12:2bc6047d219b 142 //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 143 //As such its technically a bug that it skips zeroing a given axis if something is entered
magiwarriorx 12:2bc6047d219b 144 //However, I like this functionality more than what I intended
magiwarriorx 12:2bc6047d219b 145 //So I'm labeling the "bug" as a feature
magiwarriorx 12:2bc6047d219b 146 LCD.lock();
magiwarriorx 12:2bc6047d219b 147 uLCD.printf("Enter null value to begin X zero, anything else to skip");
magiwarriorx 12:2bc6047d219b 148 //LCD.unlock();
magiwarriorx 12:2bc6047d219b 149 while(1){
magiwarriorx 12:2bc6047d219b 150 if(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 151 bluetoothFlush();
magiwarriorx 12:2bc6047d219b 152 break;
magiwarriorx 12:2bc6047d219b 153 }
magiwarriorx 12:2bc6047d219b 154 }
magiwarriorx 12:2bc6047d219b 155 //LCD.lock();
magiwarriorx 12:2bc6047d219b 156 uLCD.printf("\n");
magiwarriorx 12:2bc6047d219b 157 uLCD.printf("Enter anything to stop");
magiwarriorx 12:2bc6047d219b 158 LCD.unlock();
magiwarriorx 12:2bc6047d219b 159
magiwarriorx 13:8231d6cce099 160 thread2.start(raiseLimit,&xLimit);
magiwarriorx 13:8231d6cce099 161 Thread::wait(50);
magiwarriorx 12:2bc6047d219b 162 table.zeroX();
magiwarriorx 13:8231d6cce099 163
magiwarriorx 12:2bc6047d219b 164 LCD.lock();
magiwarriorx 12:2bc6047d219b 165 uLCD.cls();
magiwarriorx 12:2bc6047d219b 166 uLCD.printf("Enter null value to begin Y zero, anything else to skip");
magiwarriorx 12:2bc6047d219b 167 LCD.unlock();
magiwarriorx 12:2bc6047d219b 168
magiwarriorx 12:2bc6047d219b 169 while(1){
magiwarriorx 12:2bc6047d219b 170 if(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 171 bluetoothFlush();
magiwarriorx 12:2bc6047d219b 172 break;
magiwarriorx 12:2bc6047d219b 173 }
magiwarriorx 12:2bc6047d219b 174 }
magiwarriorx 12:2bc6047d219b 175
magiwarriorx 12:2bc6047d219b 176 LCD.lock();
magiwarriorx 12:2bc6047d219b 177 uLCD.printf("\n");
magiwarriorx 12:2bc6047d219b 178 uLCD.printf("Enter anything to stop");
magiwarriorx 12:2bc6047d219b 179 LCD.unlock();
magiwarriorx 12:2bc6047d219b 180
magiwarriorx 13:8231d6cce099 181 thread2.start(raiseLimit,&yLimit);
magiwarriorx 13:8231d6cce099 182 Thread::wait(50);
magiwarriorx 12:2bc6047d219b 183 table.zeroY();
magiwarriorx 12:2bc6047d219b 184
magiwarriorx 12:2bc6047d219b 185 LCD.lock();
magiwarriorx 12:2bc6047d219b 186 uLCD.cls();
magiwarriorx 12:2bc6047d219b 187 uLCD.printf("Enter null value to begin Z zero, anything else to skip");
magiwarriorx 12:2bc6047d219b 188 LCD.unlock();
magiwarriorx 12:2bc6047d219b 189
magiwarriorx 12:2bc6047d219b 190 while(1){
magiwarriorx 12:2bc6047d219b 191 if(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 192 bluetoothFlush();
magiwarriorx 12:2bc6047d219b 193 break;
magiwarriorx 12:2bc6047d219b 194 }
magiwarriorx 12:2bc6047d219b 195 }
magiwarriorx 12:2bc6047d219b 196
magiwarriorx 12:2bc6047d219b 197 LCD.lock();
magiwarriorx 12:2bc6047d219b 198 uLCD.printf("\n");
magiwarriorx 12:2bc6047d219b 199 uLCD.printf("Enter anything to stop");
magiwarriorx 12:2bc6047d219b 200 LCD.unlock();
magiwarriorx 12:2bc6047d219b 201
magiwarriorx 13:8231d6cce099 202
magiwarriorx 13:8231d6cce099 203 thread2.start(raiseLimit,&zLimit);
magiwarriorx 13:8231d6cce099 204 Thread::wait(50);
magiwarriorx 12:2bc6047d219b 205 table.zeroZ();
magiwarriorx 12:2bc6047d219b 206
magiwarriorx 13:8231d6cce099 207 thread2.terminate();
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 13:8231d6cce099 219 bluetoothFlush();
magiwarriorx 13:8231d6cce099 220
magiwarriorx 12:2bc6047d219b 221 thread.start(bluetooth_thread);
magiwarriorx 12:2bc6047d219b 222
magiwarriorx 12:2bc6047d219b 223 while(1);
magiwarriorx 12:2bc6047d219b 224 }