Diff: main.cpp

Revision:

12:2bc6047d219b

Parent:

11:0309bef74ba8

Child:

13:8231d6cce099

--- a/main.cpp	Wed Feb 15 14:04:02 2017 -0600
+++ b/main.cpp	Wed Dec 15 00:02:35 2021 +0000
@@ -1,22 +1,222 @@
 #include "mbed.h"
 #include "rtos.h"
- 
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
+#include "uLCD_4DGL.h"
+#include "string"
+#include "threeAxis.h"
+//#define stepToInch 0.0006723474
+//#define stepToInch 0.0007925725
+//#define maxX 11.5
+//#define maxY 6.75
+//#define maxZ 1.75
+
+//Enable is active low.
+
+//xStep, yStep, zStep, xDir, yDir, zDir, xEnable, yEnable, zEnable, stepRatio, xBound, yBound, zBound, xLimit, yLimit, zLimit
+threeAxis table(p23, p25, p21, p24, p26, p22, p19, p18, p20, 0.0007925725, 11.5, 6.75, 1.75, p12, p14, p16);
+
+DigitalOut xLimit(p13);
+DigitalOut yLimit(p15);
+DigitalOut zLimit(p17);
+
+//DigitalOut zStep(p21);
+//DigitalOut zEnable(p20);
+//DigitalOut zDir(p22);
+
+//DigitalOut xEnable(p19);
+//DigitalOut xStep(p23);
+//DigitalOut xDir(p24);
+
+//DigitalOut yEnable(p18);
+//DigitalOut yStep(p25);
+//DigitalOut yDir(p26);
+
+
+Serial bluetooth(p28,p27);
+uLCD_4DGL uLCD(p9,p10,p11);
+DigitalOut actualLED(LED1);
+Mutex LCD;
+/*
+volatile int currX;
+volatile int currY;
+volatile int currZ;
+volatile int toX;
+volatile int toY;
+volatile int toZ;
+*/
 Thread thread;
- 
-void led2_thread() {
-    while (true) {
-        led2 = !led2;
-        Thread::wait(1000);
+Thread thread2;
+
+
+void parseCoords(std::string coords){
+
+    int start = 0;
+    int end = coords.find(',');
+
+    float tempX = atof(coords.substr(start, end-start).c_str());
+
+    start = end + 1;
+    end = coords.find(',', start);
+
+    float tempY = atof(coords.substr(start, end-start).c_str());
+
+    start = end + 1;
+    end = coords.length();
+    float tempZ = atof(coords.substr(start, end-start).c_str());
+    
+    table.goTo(tempX, tempY, tempZ);
+    LCD.lock();
+    uLCD.printf("\n");
+    uLCD.printf("%d, %d, %d", tempX,tempY,tempZ);
+    LCD.unlock();
+    
+}
+
+void bluetoothFlush(){
+    char temp;
+    while(bluetooth.readable()){
+        temp = bluetooth.getc();
     }
 }
- 
-int main() {
-    thread.start(led2_thread);
-    
-    while (true) {
-        led1 = !led1;
-        Thread::wait(500);
+
+void bluetooth_thread(){
+     
+    //char bnum=0;
+    while(1) {
+        std::string coords = "";
+        Thread::wait(100);
+        
+        if (bluetooth.readable()){
+            while (bluetooth.readable()){
+                char temp = bluetooth.getc();
+                if (temp == 'z'){
+                    table.setZero();
+                }
+                
+                else{
+                    coords += temp;
+                }
+            }
+            //Thread::wait(1000);
+            if (coords.find('z') == -1){
+                LCD.lock();
+                uLCD.printf("\n");
+                uLCD.printf(coords.c_str());
+                LCD.unlock();
+                parseCoords(coords);
+                
+            }
+            else{
+                LCD.lock();
+                uLCD.printf("\n");
+                uLCD.printf("Zeroed!");
+                LCD.unlock();
+            }
+        }
+        
+        
     }
 }
+
+int main() {
+    //Y axis direction inverted from others to get behavior that makes me happy (rewards = negative, forward = positive)
+    table.invertY();
+    table.invertZ();
+    uLCD.baudrate(300000);
+    wait(0.5);
+    
+    
+    //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
+    //As such its technically a bug that it skips zeroing a given axis if something is entered
+    //However, I like this functionality more than what I intended
+    //So I'm labeling the "bug" as a feature
+    LCD.lock();
+    uLCD.printf("Enter null value to begin X zero, anything else to skip");
+    //LCD.unlock();
+    while(1){
+        if(bluetooth.readable()){
+            bluetoothFlush();
+            break;
+        }
+    }
+    //LCD.lock();
+    uLCD.printf("\n");
+    uLCD.printf("Enter anything to stop");
+    LCD.unlock();
+    
+    table.zeroX();
+    uLCD.printf("Running!");
+    while(1){
+        if(bluetooth.readable()){
+            bluetoothFlush();
+            xLimit = 1;
+            break;
+        }
+    }
+    
+    LCD.lock();
+    uLCD.cls();    
+    uLCD.printf("Enter null value to begin Y zero, anything else to skip");
+    LCD.unlock();
+    
+    while(1){
+        if(bluetooth.readable()){
+            bluetoothFlush();
+            break;
+        }
+    }
+    
+    LCD.lock();
+    uLCD.printf("\n");
+    uLCD.printf("Enter anything to stop");
+    LCD.unlock();
+    
+    table.zeroY();
+    while(1){
+        if(bluetooth.readable()){
+            bluetoothFlush();
+            yLimit = 1;
+            break;
+        }
+    }
+    
+    LCD.lock();
+    uLCD.cls();    
+    uLCD.printf("Enter null value to begin Z zero, anything else to skip");
+    LCD.unlock();
+    
+    while(1){
+        if(bluetooth.readable()){
+            bluetoothFlush();
+            break;
+        }
+    }
+    
+    LCD.lock();
+    uLCD.printf("\n");
+    uLCD.printf("Enter anything to stop");
+    LCD.unlock();
+    
+    table.zeroZ();
+        while(1){
+        if(bluetooth.readable()){
+            bluetoothFlush();
+            zLimit = 1;
+            break;
+        }
+    }
+    
+    LCD.lock();
+    uLCD.cls();
+    
+    table.setLimits(true);
+    xLimit = 0;
+    yLimit = 0;
+    zLimit = 0;
+        
+    uLCD.printf("Waiting...");
+    LCD.unlock();
+    
+    thread.start(bluetooth_thread);
+    
+    while(1);
+}