Marco Newman
Demo program for a serial controlled cartesian robot with pushbutton and uLCD interfaces.
Dependencies: mbed mbed-rtos 4DGL-uLCD-SE CartesianRobot
Documentation: https://github.com/MarcoNewman/MbedCartesianRobot
Revision 0:1416f2304218, committed 2021-12-16
- Comitter:
- marcoanewman
- Date:
- Thu Dec 16 02:55:00 2021 +0000
- Child:
- 1:43d89b9cf36a
- Commit message:
- Demo for serial controlled cartesian robot with pushbutton and uLCD interface.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/4DGL-uLCD-SE.lib Thu Dec 16 02:55:00 2021 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/4180_1/code/4DGL-uLCD-SE/#e39a44de229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CartesianRobot.lib Thu Dec 16 02:55:00 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/marcoanewman/code/CartesianRobot/#5af6295f4ec9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Dec 16 02:55:00 2021 +0000
@@ -0,0 +1,122 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "uLCD_4DGL.h"
+#include "CartesianRobot.h"
+
+Serial pc(USBTX,USBRX);
+
+DigitalIn enable(p13);
+DigitalIn set(p14);
+DigitalIn controlX(p15);
+DigitalIn controlY(p16);
+DigitalIn controlZ(p17);
+
+CartesianRobot robot(p22,p23,p24, p25,p26,p27, p28,p29,p30);
+
+uLCD_4DGL uLCD(p9,p10,p11);
+Mutex lcd_mutex;
+
+// manage motor driver enable
+void enable_switch(void const *args){
+ while(1){
+ if (!enable && robot.enabled())
+ robot.disable();
+ else if (enable && !robot.enabled())
+ robot.enable();
+ }
+}
+
+// robot position monitoring
+void position_monitor(void const *args){
+ int x_pos, y_pos, z_pos;
+ while(1){
+ x_pos = robot.getXPosition()/8;
+ y_pos = robot.getYPosition()/8;
+ z_pos = robot.getZPosition()/8;
+ lcd_mutex.lock();
+ uLCD.locate(0,5);
+ uLCD.printf(" ");
+ uLCD.locate(0,5);
+ uLCD.printf("(%d, %d, %d)", x_pos, y_pos, z_pos);
+ lcd_mutex.unlock();
+ Thread::wait(200);
+ }
+}
+
+int main()
+{
+ // configure PB and switch internal PullDown
+ enable.mode(PullDown);
+ set.mode(PullDown);
+ controlX.mode(PullDown);
+ controlY.mode(PullDown);
+ controlZ.mode(PullDown);
+ wait(1);
+
+ // set robot speeds, accelerations, and decelerations
+ robot.setXSpeed(1200);
+ robot.setYSpeed(1200);
+ robot.setZSpeed(2400);
+ robot.setXAcceleration(0);
+ robot.setYAcceleration(0);
+ robot.setZAcceleration(0);
+ robot.setXDeceleration(0);
+ robot.setYDeceleration(0);
+ robot.setZDeceleration(0);
+
+ // baud rate to max for fast display
+ uLCD.baudrate(3000000);
+ uLCD.display_control(PORTRAIT);
+
+ // start robot, enable, and position monitoring threads
+ robot.startManager();
+ Thread t1(thread1);
+ Thread t2(thread2);
+
+ // set the origin position
+ lcd_mutex.lock();
+ uLCD.locate(0,0);
+ uLCD.printf("Press set when at desired 0 pos...");
+ while(!set);
+ robot.setOrigin();
+ uLCD.cls();
+
+ // set upper limits
+ uLCD.printf("Press set when at desired max pos...");
+ lcd_mutex.unlock();
+ while(!set){
+ if (robot.stopped() && controlX)
+ robot.moveX(80);
+ if (robot.stopped() && controlY)
+ robot.moveY(80);
+ if (robot.stopped() && controlZ)
+ robot.moveZ(80);
+ }
+ robot.setLimits();
+
+ // prepare for motion control
+ lcd_mutex.lock();
+ uLCD.cls();
+ uLCD.printf("Enter Positions...\nFormat:\nx,y,z");
+ uLCD.locate(0,11);
+ uLCD.printf("Limits:\n(%d, %d, %d)",
+ robot.getXLimit()/8, robot.getYLimit()/8, robot.getZLimit()/8
+ );
+ lcd_mutex.unlock();
+
+ // buffer movements as default speed
+ int x, y, z;
+ int x_s = 600;
+ int y_s = 600;
+ int z_s = 1000;
+ while(1){
+ if (pc.readable()){
+ lcd_mutex.lock();
+ pc.scanf("%d,%d,%d", &x, &y, &z);
+ pc.printf("Position Buffered\n");
+ pc.printf("x=%d, y=%d, z=%d\n", x, y, z);
+ lcd_mutex.unlock();
+ robot.moveToXYZ(x*8,y*8,z*8,(float)x_s,(float)y_s,(float)z_s);
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Thu Dec 16 02:55:00 2021 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/mbed_official/code/mbed-rtos/#02f5cf381388
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Dec 16 02:55:00 2021 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/031413cf7a89 \ No newline at end of file