Alan Simms / Mbed 2 deprecated threeAxisTable

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

main.cpp@15:dee1c2f0e82f, 2021-12-16 (annotated)

Committer:
magiwarriorx
Date:
Thu Dec 16 10:52:44 2021 +0000
Revision:
15:dee1c2f0e82f
Parent:
14:d6c8724a69e8 
Initial public commit

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 14:d6c8724a69e8 38 bool buffering;
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 14:d6c8724a69e8 71 void parseCoords(std::string coords){
magiwarriorx 13:8231d6cce099 72
magiwarriorx 13:8231d6cce099 73 int start = 0;
magiwarriorx 13:8231d6cce099 74 int end = coords.find(',');
magiwarriorx 13:8231d6cce099 75
magiwarriorx 13:8231d6cce099 76
magiwarriorx 13:8231d6cce099 77 float tempX = atof(coords.substr(start, end-start).c_str());
magiwarriorx 13:8231d6cce099 78
magiwarriorx 13:8231d6cce099 79
magiwarriorx 13:8231d6cce099 80 start = end + 1;
magiwarriorx 13:8231d6cce099 81 end = coords.find(',', start);
magiwarriorx 13:8231d6cce099 82
magiwarriorx 13:8231d6cce099 83 float tempY = atof(coords.substr(start, end-start).c_str());
magiwarriorx 13:8231d6cce099 84
magiwarriorx 13:8231d6cce099 85 start = end + 1;
magiwarriorx 13:8231d6cce099 86 end = coords.length();
magiwarriorx 13:8231d6cce099 87 float tempZ = atof(coords.substr(start, end-start).c_str());
magiwarriorx 14:d6c8724a69e8 88
magiwarriorx 14:d6c8724a69e8 89 if(!buffering){
magiwarriorx 14:d6c8724a69e8 90 table.goTo(tempX, tempY, tempZ);
magiwarriorx 14:d6c8724a69e8 91 }
magiwarriorx 14:d6c8724a69e8 92 else{
magiwarriorx 14:d6c8724a69e8 93 table.addToBuffer(tempX, tempY, tempZ);
magiwarriorx 14:d6c8724a69e8 94 }
magiwarriorx 13:8231d6cce099 95
magiwarriorx 13:8231d6cce099 96 }
magiwarriorx 13:8231d6cce099 97
magiwarriorx 12:2bc6047d219b 98 void bluetooth_thread(){
magiwarriorx 14:d6c8724a69e8 99
magiwarriorx 14:d6c8724a69e8 100
magiwarriorx 12:2bc6047d219b 101 //char bnum=0;
magiwarriorx 12:2bc6047d219b 102 while(1) {
magiwarriorx 12:2bc6047d219b 103 std::string coords = "";
magiwarriorx 12:2bc6047d219b 104 Thread::wait(100);
magiwarriorx 12:2bc6047d219b 105
magiwarriorx 12:2bc6047d219b 106 if (bluetooth.readable()){
magiwarriorx 15:dee1c2f0e82f 107 LCD.lock();
magiwarriorx 15:dee1c2f0e82f 108 uLCD.cls();
magiwarriorx 15:dee1c2f0e82f 109 LCD.unlock();
magiwarriorx 12:2bc6047d219b 110 while (bluetooth.readable()){
magiwarriorx 14:d6c8724a69e8 111
magiwarriorx 12:2bc6047d219b 112 char temp = bluetooth.getc();
magiwarriorx 14:d6c8724a69e8 113
magiwarriorx 12:2bc6047d219b 114 if (temp == 'z'){
magiwarriorx 12:2bc6047d219b 115 table.setZero();
magiwarriorx 12:2bc6047d219b 116 }
magiwarriorx 14:d6c8724a69e8 117 else if(temp == 'b'){
magiwarriorx 14:d6c8724a69e8 118 buffering = !buffering;
magiwarriorx 14:d6c8724a69e8 119 }
magiwarriorx 15:dee1c2f0e82f 120 else if(temp == 'e'){
magiwarriorx 15:dee1c2f0e82f 121 table.setLimits(!table.getLimitsEn());
magiwarriorx 15:dee1c2f0e82f 122 }
magiwarriorx 12:2bc6047d219b 123
magiwarriorx 15:dee1c2f0e82f 124 coords += temp;
magiwarriorx 12:2bc6047d219b 125 }
magiwarriorx 14:d6c8724a69e8 126
magiwarriorx 12:2bc6047d219b 127 //Thread::wait(1000);
magiwarriorx 14:d6c8724a69e8 128 LCD.lock();
magiwarriorx 15:dee1c2f0e82f 129 if ((coords.find('z') == -1) && (coords.find('b') == -1) && (coords.find('e') == -1)){
magiwarriorx 14:d6c8724a69e8 130 uLCD.printf(coords.c_str());
magiwarriorx 14:d6c8724a69e8 131 LCD.unlock();
magiwarriorx 14:d6c8724a69e8 132 parseCoords(coords);
magiwarriorx 14:d6c8724a69e8 133
magiwarriorx 14:d6c8724a69e8 134 }
magiwarriorx 14:d6c8724a69e8 135 else{
magiwarriorx 12:2bc6047d219b 136
magiwarriorx 14:d6c8724a69e8 137 if (coords.find('z') != -1){
magiwarriorx 14:d6c8724a69e8 138 uLCD.printf("Zeroed!");
magiwarriorx 14:d6c8724a69e8 139 LCD.unlock();
magiwarriorx 14:d6c8724a69e8 140 }
magiwarriorx 14:d6c8724a69e8 141 else if (coords.find('b') != -1){
magiwarriorx 14:d6c8724a69e8 142 if (buffering){
magiwarriorx 14:d6c8724a69e8 143 uLCD.printf("Now buffering!");
magiwarriorx 14:d6c8724a69e8 144 LCD.unlock();
magiwarriorx 14:d6c8724a69e8 145 }
magiwarriorx 14:d6c8724a69e8 146 else if (!buffering){
magiwarriorx 15:dee1c2f0e82f 147 uLCD.printf("Running buffer!");
magiwarriorx 15:dee1c2f0e82f 148 LCD.unlock();
magiwarriorx 15:dee1c2f0e82f 149 table.runBuffer();
magiwarriorx 15:dee1c2f0e82f 150 }
magiwarriorx 15:dee1c2f0e82f 151 }
magiwarriorx 15:dee1c2f0e82f 152 else if (coords.find('e') != -1){
magiwarriorx 15:dee1c2f0e82f 153 if (table.getLimitsEn()){
magiwarriorx 15:dee1c2f0e82f 154 uLCD.printf("Limits enabled!");
magiwarriorx 15:dee1c2f0e82f 155 LCD.unlock();
magiwarriorx 15:dee1c2f0e82f 156 }
magiwarriorx 15:dee1c2f0e82f 157 else if (!table.getLimitsEn()){
magiwarriorx 15:dee1c2f0e82f 158 uLCD.printf("Limits disabled!");
magiwarriorx 14:d6c8724a69e8 159 LCD.unlock();
magiwarriorx 14:d6c8724a69e8 160 table.runBuffer();
magiwarriorx 14:d6c8724a69e8 161 }
magiwarriorx 14:d6c8724a69e8 162 }
magiwarriorx 12:2bc6047d219b 163 }
magiwarriorx 14:d6c8724a69e8 164 }
magiwarriorx 12:2bc6047d219b 165
magiwarriorx 12:2bc6047d219b 166
emilmont 1:491820ee784d 167 }
magiwarriorx 12:2bc6047d219b 168
magiwarriorx 14:d6c8724a69e8 169 }
magiwarriorx 14:d6c8724a69e8 170
magiwarriorx 14:d6c8724a69e8 171
magiwarriorx 12:2bc6047d219b 172 int main() {
magiwarriorx 12:2bc6047d219b 173 //Y axis direction inverted from others to get behavior that makes me happy (rewards = negative, forward = positive)
magiwarriorx 12:2bc6047d219b 174 table.invertY();
magiwarriorx 12:2bc6047d219b 175 table.invertZ();
magiwarriorx 13:8231d6cce099 176 table.setWait(3);
magiwarriorx 12:2bc6047d219b 177 uLCD.baudrate(300000);
magiwarriorx 12:2bc6047d219b 178 wait(0.5);
magiwarriorx 12:2bc6047d219b 179
magiwarriorx 12:2bc6047d219b 180
magiwarriorx 12:2bc6047d219b 181 //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 182 //As such its technically a bug that it skips zeroing a given axis if something is entered
magiwarriorx 12:2bc6047d219b 183 //However, I like this functionality more than what I intended
magiwarriorx 12:2bc6047d219b 184 //So I'm labeling the "bug" as a feature
magiwarriorx 12:2bc6047d219b 185 LCD.lock();
magiwarriorx 12:2bc6047d219b 186 uLCD.printf("Enter null value to begin X zero, anything else to skip");
magiwarriorx 12:2bc6047d219b 187 //LCD.unlock();
magiwarriorx 12:2bc6047d219b 188 while(1){
magiwarriorx 12:2bc6047d219b 189 if(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 190 bluetoothFlush();
magiwarriorx 12:2bc6047d219b 191 break;
magiwarriorx 12:2bc6047d219b 192 }
magiwarriorx 12:2bc6047d219b 193 }
magiwarriorx 12:2bc6047d219b 194 //LCD.lock();
magiwarriorx 12:2bc6047d219b 195 uLCD.printf("\n");
magiwarriorx 15:dee1c2f0e82f 196 uLCD.printf("Enter null to stop");
magiwarriorx 12:2bc6047d219b 197 LCD.unlock();
magiwarriorx 12:2bc6047d219b 198
magiwarriorx 13:8231d6cce099 199 thread2.start(raiseLimit,&xLimit);
magiwarriorx 13:8231d6cce099 200 Thread::wait(50);
magiwarriorx 12:2bc6047d219b 201 table.zeroX();
magiwarriorx 13:8231d6cce099 202
magiwarriorx 12:2bc6047d219b 203 LCD.lock();
magiwarriorx 12:2bc6047d219b 204 uLCD.cls();
magiwarriorx 12:2bc6047d219b 205 uLCD.printf("Enter null value to begin Y zero, anything else to skip");
magiwarriorx 12:2bc6047d219b 206 LCD.unlock();
magiwarriorx 12:2bc6047d219b 207
magiwarriorx 12:2bc6047d219b 208 while(1){
magiwarriorx 12:2bc6047d219b 209 if(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 210 bluetoothFlush();
magiwarriorx 12:2bc6047d219b 211 break;
magiwarriorx 12:2bc6047d219b 212 }
magiwarriorx 12:2bc6047d219b 213 }
magiwarriorx 12:2bc6047d219b 214
magiwarriorx 12:2bc6047d219b 215 LCD.lock();
magiwarriorx 12:2bc6047d219b 216 uLCD.printf("\n");
magiwarriorx 15:dee1c2f0e82f 217 uLCD.printf("Enter null to stop");
magiwarriorx 12:2bc6047d219b 218 LCD.unlock();
magiwarriorx 12:2bc6047d219b 219
magiwarriorx 13:8231d6cce099 220 thread2.start(raiseLimit,&yLimit);
magiwarriorx 13:8231d6cce099 221 Thread::wait(50);
magiwarriorx 12:2bc6047d219b 222 table.zeroY();
magiwarriorx 12:2bc6047d219b 223
magiwarriorx 12:2bc6047d219b 224 LCD.lock();
magiwarriorx 12:2bc6047d219b 225 uLCD.cls();
magiwarriorx 12:2bc6047d219b 226 uLCD.printf("Enter null value to begin Z zero, anything else to skip");
magiwarriorx 12:2bc6047d219b 227 LCD.unlock();
magiwarriorx 12:2bc6047d219b 228
magiwarriorx 12:2bc6047d219b 229 while(1){
magiwarriorx 12:2bc6047d219b 230 if(bluetooth.readable()){
magiwarriorx 12:2bc6047d219b 231 bluetoothFlush();
magiwarriorx 12:2bc6047d219b 232 break;
magiwarriorx 12:2bc6047d219b 233 }
magiwarriorx 12:2bc6047d219b 234 }
magiwarriorx 12:2bc6047d219b 235
magiwarriorx 12:2bc6047d219b 236 LCD.lock();
magiwarriorx 12:2bc6047d219b 237 uLCD.printf("\n");
magiwarriorx 15:dee1c2f0e82f 238 uLCD.printf("Enter null to stop");
magiwarriorx 12:2bc6047d219b 239 LCD.unlock();
magiwarriorx 12:2bc6047d219b 240
magiwarriorx 13:8231d6cce099 241
magiwarriorx 13:8231d6cce099 242 thread2.start(raiseLimit,&zLimit);
magiwarriorx 13:8231d6cce099 243 Thread::wait(50);
magiwarriorx 12:2bc6047d219b 244 table.zeroZ();
magiwarriorx 12:2bc6047d219b 245
magiwarriorx 13:8231d6cce099 246 thread2.terminate();
magiwarriorx 12:2bc6047d219b 247 LCD.lock();
magiwarriorx 12:2bc6047d219b 248 uLCD.cls();
magiwarriorx 12:2bc6047d219b 249
magiwarriorx 12:2bc6047d219b 250 table.setLimits(true);
magiwarriorx 12:2bc6047d219b 251 xLimit = 0;
magiwarriorx 12:2bc6047d219b 252 yLimit = 0;
magiwarriorx 12:2bc6047d219b 253 zLimit = 0;
magiwarriorx 12:2bc6047d219b 254
magiwarriorx 12:2bc6047d219b 255 uLCD.printf("Waiting...");
magiwarriorx 12:2bc6047d219b 256 LCD.unlock();
magiwarriorx 12:2bc6047d219b 257
magiwarriorx 13:8231d6cce099 258 bluetoothFlush();
magiwarriorx 13:8231d6cce099 259
magiwarriorx 12:2bc6047d219b 260 thread.start(bluetooth_thread);
magiwarriorx 12:2bc6047d219b 261
magiwarriorx 12:2bc6047d219b 262 while(1);
magiwarriorx 12:2bc6047d219b 263 }