Diff: feederController.cpp

Revision:

1:4d3738338cf1

Parent:

0:617334d8e3bb

--- a/feederController.cpp	Thu Feb 02 19:18:12 2017 +0000
+++ b/feederController.cpp	Sat Feb 04 01:27:29 2017 +0000
@@ -1,63 +1,26 @@
 #include "mbed.h"
 #include "USBSerial.h"
 #include "HBridge.h"
+#include "feeder.h"
+#include "IAP_LPC11U.h"
 
 extern "C" void mbed_mac_address(char *);
 
 /************
 TODO LIST:
 *************
-* Move defs to .h file
-* Move tape pickup into main loop. Interrupts on it dont seem to be entirely reliable (spurrious)
 * printf needs to be replace with a function that putc instead for non-formatted strings
 * Convert lanes to a class so they there isn't duplicate code
+* Store lane distance in EEPROM
+* Store retrievable aribitrary text for the lane in EEPROM (loaded part, openpnp part feeder name, whatever)
 *************/
 
-// HARDWARE PIN DEFS
-#define PIN_LED             P0_7
-#define PIN_VINREF          P0_23
-
-#define PIN_LED_YELLOW_0    P0_9
-#define PIN_LED_YELLOW_1    P1_13
-
-#define PIN_BTN_GREEN_0     P0_22
-#define PIN_BTN_GREEN_1     P1_14
-
-#define PIN_BOARD_FEED      P0_1
-
-#define PIN_GATE_0          P0_11
-#define PIN_GATE_1          P0_12
-#define PIN_GATE_2          P0_13
-#define PIN_GATE_3          P0_14
-
-#define PIN_LANECTL_0       P0_16
-#define PIN_LANECTL_1       P1_15
-
-#define PIN_RS485_DIR       P0_17
-#define PIN_UART_TXD        P0_18
-#define PIN_UART_RXD        P0_19
-
-#define PIN_SOLCTL_0        P1_19
-#define PIN_SOLCTL_1        P1_25
-
-#define PIN_BTN_LED_0       P1_29
-#define PIN_BTN_LED_1       P1_22
-
-#define PIN_H1_IN1          P0_20
-#define PIN_H1_IN2          P0_2
-#define PIN_H1_IN3          P1_26
-#define PIN_H1_IN4          P1_27
-
-#define PIN_H2_IN1          P1_28
-#define PIN_H2_IN2          P1_31
-#define PIN_H2_IN3          P0_8
-#define PIN_H2_IN4          P1_21
-
 
 // SETTINGS
-#define TAPE_MAX_PULL_TIME 2 // seconds
+#define TAPE_MAX_PULL_TIME 3 // seconds
+#define TAPE_MIN_PULL_TIME 1 // seconds
 
-#define FEED_FWD_ENC_PULSE 2 // actually this + 1
+#define FEED_FWD_ENC_PULSE 2 // it's actually this value + 1
 // encoder pulses: >(lane0FeedDistance * FEED_FWD_ENC_PULSE)
 // 3 for 1 position, 5 for 2 positions
 
@@ -95,10 +58,6 @@
 int lane0FeedDistance = 1; // 1 = 2mm, 2 = 4mm
 int lane1FeedDistance = 1;
 
-// LOOP COUNT FOR BUTTONS (incase Timer is too slow)
-int button0PressCount = 0;
-int button1PressCount = 0;
-
 // FEEDER END BUTTON STATES
 int button0LastState = 0;
 int button1LastState = 0;
@@ -115,9 +74,9 @@
 Timeout lane0Feedout;
 Timeout lane1Feedout;
 
-// PICKUP STOPPER
-Timeout lane0Pickupout;
-Timeout lane1Pickupout;
+// TAPE PICKUP STOPPER
+Timer tape0PullTime;
+Timer tape1PullTime;
 
 /*****************************************************************************
 **** HARDWARE
@@ -173,21 +132,17 @@
 
 void stopTapeL0() 
 { 
-    if (LN0_TAPEGATE)
-    {
-        tape0Takeup = 0; 
-        tapeMotor0.Coast(); 
-    }
+    tape0PullTime.stop();
+    tape0Takeup = 0; 
+    tapeMotor0.Coast(); 
 }
 
 
 void stopTapeL1() 
 { 
-    if (LN1_TAPEGATE)
-    {
-        tape1Takeup = 0; 
-        tapeMotor1.Coast(); 
-    }
+    tape1PullTime.stop();
+    tape1Takeup = 0; 
+    tapeMotor1.Coast(); 
 }
 
 
@@ -306,14 +261,14 @@
 {
     feedMotor0.Brake();
     
-    lane0Feedout.attach(&coastLane0, 0.020);
+    lane0Feedout.attach(&coastLane0, 0.010);
 }
 
 void stopLane1Reverse()
 {
     feedMotor1.Brake();
     
-    lane1Feedout.attach(&coastLane1, 0.020);
+    lane1Feedout.attach(&coastLane1, 0.010);
 }
 
 /*****************************************************************************
@@ -342,15 +297,13 @@
     LED_0 = 0;
     LED_1 = 0;
     
-    // clear terminal screen
+    // clear terminal screen - ignore compiler warning
     pc.printf("\x1Bc\x1B[2J");
     
     pc.printf("\r\nFeeder POST...\r\n\r\n");
     
-    char mac[6];
-    mbed_mac_address(mac);
-    uint32_t devId = mac[3] << 16 | mac[4] << 8 | mac[5];
-    pc.printf("Feeder ID: %d [%#04x::%#04x::%#04x]\r\n\r\n", devId, mac[3], mac[4], mac[5]);
+    UID feederID = IAP_ReadUID();
+    pc.printf("Feeder UID: {%#10x-%#10x-%#10x-%#10x }\r\n\r\n", feederID.word0, feederID.word1, feederID.word2, feederID.word3);
     
     pc.printf("Gate 0 (L0 Feed): %d\r\n", LN0_FEEDGATE.read());
     pc.printf("Gate 1 (L1 Feed): %d\r\n", LN1_FEEDGATE.read());
@@ -395,14 +348,16 @@
     // timer for button debouncing. oldass hardware buttons are bouncy!
     Timer button0Time;
     Timer button1Time;
+    float t0 = 0;
+    float t1 = 0;
     
     while(true)
     {
         /**********************************************************************
-        ** PC USB COMMS
+        ** PC USB COMMS - 2.01uS
         **********************************************************************/
-        // no pc comms checking when feeding, can't afford the time
-        if (lane0State == IDLE && lane1State == IDLE)
+        // no pc comms checking when feeding, no need
+        if ((lane0State == IDLE || lane0State == PICKING) && (lane1State == IDLE || lane1State == PICKING))
         { 
             while (pc.readable())
             {
@@ -519,12 +474,9 @@
                 }
             }
         }
-            
-        
-        LED_0 = 1; // for timing check with oscope/logic analyser
         
         /**********************************************************************
-        ** BUTTON CHECK
+        ** BUTTON CHECK - 3.65uS
         **********************************************************************/
         if (lane0State != FEEDING)
         {
@@ -542,7 +494,6 @@
                         button0Time.stop(); // no need to keep counting
                         
                         pc.printf("Picking 0\r\n");
-                        button0PressCount = 0;
                         setLane0Picking(); // open solenoid while button is down
                     }
                 }
@@ -550,7 +501,6 @@
             else if (!b0 && b0 != button0LastState) // low transition - button released
             {
                 button0LastState = b0;
-                button0PressCount = 0;
                 
                 if (lane0State == PICKING) // not just a bounce
                 {
@@ -565,7 +515,6 @@
                     button0Time.reset();
                     button0Time.start();
                 }
-                button0PressCount = 0;
             }
             
             button0LastState = b0;
@@ -584,7 +533,6 @@
                         button1Time.stop();
                         
                         pc.printf("Picking 1\r\n");
-                        button1PressCount = 0;
                         setLane1Picking();
                     }
                 }
@@ -592,7 +540,6 @@
             else if (!b1 && b1 != button1LastState) // low transition - button released
             {
                 button1LastState = b1;
-                button1PressCount = 0;
                 
                 if (lane1State == PICKING)
                 {
@@ -608,12 +555,11 @@
                     button1Time.start();
                 }
                 button1LastState = b1;
-                button1PressCount = 0;
             }
         }
         
         /**********************************************************************
-        ** ENCODER CHECK
+        ** ENCODER CHECK - 3.38uS
         **********************************************************************/
         
         b0 = LN0_FEEDGATE;
@@ -672,33 +618,44 @@
             lane1Feedout.attach(&stopLane1Reverse, 0.020);
             pc.printf("Idle 1\r\n");
         }
+        LED_0 = 1;
         
         /**********************************************************************
-        ** COVER TAPE CHECK
+        ** COVER TAPE CHECK - Gate closed: 41.98uS, Gate open 30.48uS
         **********************************************************************/
         b0 = LN0_TAPEGATE;
         b1 = LN1_TAPEGATE;
+        if (tape0Takeup)
+            t0 = tape0PullTime.read(); // very slow..
+        if (tape1Takeup)
+            t1 = tape0PullTime.read(); // very slow..
         
         // LANE 0
-        if (!b0 && !tape0Takeup)
+        if (!b0 && !tape0Takeup) // cover tape slacked enough to interrupt gate
         {
+            tape0PullTime.reset();
+            tape0PullTime.start();
+            
             tape0Takeup = 1;
             tapeMotor0.Forward();
-            lane0Pickupout.attach(&stopTapeL0, TAPE_MAX_PULL_TIME);
         }
-        else if (b0)
+        else if ((b0 && t0 > TAPE_MIN_PULL_TIME) ||
+                 (!b0 && tape0Takeup && t0 > TAPE_MAX_PULL_TIME))
         {
             stopTapeL0();
         }
         
         // LANE 1
-        if (!b1 && !tape1Takeup)
+        if (!b1 && !tape1Takeup) // gate opened
         {
+            tape1PullTime.reset();
+            tape1PullTime.start();
+            
             tape1Takeup = 1;
             tapeMotor1.Forward();
-            lane1Pickupout.attach(&stopTapeL1, TAPE_MAX_PULL_TIME);
         }
-        else if (b1)
+        else if ((b1 && t1 > TAPE_MIN_PULL_TIME) ||
+                 (!b1 && tape1Takeup && t1 > TAPE_MAX_PULL_TIME))
         {
             stopTapeL1();
         }