Matt VerSteeg
Slams doors
Dependencies: Motor RemoteIR TextLCD mbed
Revision 0:15e49f97cb3d, committed 2012-10-12
- Comitter:
- mversteeg3
- Date:
- Fri Oct 12 17:49:16 2012 +0000
- Commit message:
- Door slammer;
Changed in this revision
diff -r 000000000000 -r 15e49f97cb3d Motor.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Fri Oct 12 17:49:16 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
diff -r 000000000000 -r 15e49f97cb3d RemoteIR.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RemoteIR.lib Fri Oct 12 17:49:16 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/shintamainjp/code/RemoteIR/#268cc2ab63bd
diff -r 000000000000 -r 15e49f97cb3d TextLCD.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Fri Oct 12 17:49:16 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/TextLCD/#44f34c09bd37
diff -r 000000000000 -r 15e49f97cb3d define.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/define.h Fri Oct 12 17:49:16 2012 +0000
@@ -0,0 +1,71 @@
+#include "globlvar.h"
+
+//Put all variables that must be accessible to all functions here.
+
+#ifndef DEFINE_H
+#define DEFINE_H
+
+#define PRINT(message) pc.printf( (message) );
+
+#define PRINTLN(message) pc.printf( (message) );\
+ pc.printf("\n\r");
+
+#define LED(i) leds[i]
+
+#define LED_0 1
+#define LED_1 2
+#define LED_2 4
+#define LED_3 8
+
+#define CODE_ON
+#define FORWARD 1
+#define BACKWARD -1
+
+
+//OPTIONS
+
+//Which side of the arm is the door
+#define DIRECTION BACKWARD
+//Minimum force to start pushing
+#define FORCE_MIN .05
+//Default value of the force threshold
+#define DEFAULT_FORCE .4
+//Default value for the speed
+#define DEFAULT_SPEED 1
+//Speed of the arm when not in contact with door
+#define COAST_SPEED .3
+//Speed of the arm when returning to wall
+#define REVERSE_SPEED -0.4
+//Force threshold for contact with wall
+#define WALL_THRESH .05
+//How long to push after contacting door
+#define PUSH_TIME .5
+//How much the speed changes with each button press
+#define SPEED_INC 0.05f
+//How much the force changes with each button press
+#define FORCE_INC 0.1f
+
+
+
+#define SPEED_MIN COAST_SPEED
+
+//BUTTON DEFINITIONS
+#define NONE -1
+#define SPD_DN 2
+#define SPD_UP 3
+#define FRC_UP 0
+#define FRC_DN 1
+#define RUN 14
+#define RST 69
+
+
+
+#define SET_LEDS(mask, state) LED(0) = ((mask)&1!=0); \
+ LED(1) = ((mask)&2!=0); \
+ LED(2) = ((mask)&4!=0); \
+ LED(0) = ((mask)&8!=0);
+#define ON 1
+#define OFF 0
+
+
+#endif
\ No newline at end of file
diff -r 000000000000 -r 15e49f97cb3d func.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/func.h Fri Oct 12 17:49:16 2012 +0000
@@ -0,0 +1,57 @@
+#include "globlvar.h"
+#ifndef FUNC_H
+#define FUNC_H
+
+//Function that checks the IR Receiver for a message, returning the first byte of the array,
+//which is a unioque between the buttons used by this device.
+int IRListen()
+{
+ uint8_t buf[32];
+ int bitcount = 0;
+ if (ir_rx.getState() == ReceiverIR::Received) {
+ bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8);
+ } else {
+ return -1;
+ }
+ if(bitcount > 0) {
+ //for(int i = 0; i < bitcount; i++) {
+ pc.printf("%d ", buf[0]);
+ //}
+ pc.printf("\n\r");
+ return buf[0];
+ }
+ return -1;
+
+}
+//Debugging application used to get the IR codes for each button press.
+void GetIRCodes()
+{
+ while(1) {
+ uint8_t buf[32];
+ int bitcount = 0;
+ if (ir_rx.getState() == ReceiverIR::Received) {
+ bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8);
+ if(bitcount > 0) {
+ pc.printf("Bitcount: %d, sizeof(buf): %d\n\r", bitcount, sizeof(buf)*8);
+ for(int i = 0; i < 32; i++) {
+ pc.printf("%d ", buf[i]);
+ }
+ pc.printf("\n\r");
+ }
+ }
+ wait(.1);
+ }
+}
+//Debugging function that outputs the forces on each sensor.
+void GetForces()
+{
+ while(1)
+ {
+ force = doorForce;
+ wall = wallForce;
+ lcd.printf("Door: %f\nWall: %f", force, wall);
+ wait(.3);
+ }
+}
+
+#endif
\ No newline at end of file
diff -r 000000000000 -r 15e49f97cb3d globlvar.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/globlvar.h Fri Oct 12 17:49:16 2012 +0000
@@ -0,0 +1,50 @@
+#include "mbed.h"
+#include "ReceiverIR.h"
+#include "Motor.h"
+#include "TextLCD.h"
+
+#ifndef GLOBLVAR_H
+#define GLOBLVAR_H
+
+//The IR receiver
+ReceiverIR ir_rx(p15);
+//The output serial port
+Serial pc(USBTX, USBRX);
+DigitalOut leds[] = {(LED1), (LED2),(LED3), (LED4)};
+//The force sensors
+AnalogIn doorForce(p16);
+AnalogIn wallForce(p20);
+//The motor
+Motor myMotor(p23,p6,p5);
+//The LCD
+TextLCD lcd(p24, p25, p26, p27, p28, p29, TextLCD::LCD20x4); // rs, e, d4-d7
+
+bool newState=false;
+bool held;
+bool signal;
+float force;
+float wall;
+float speed;
+int speedPercent;
+
+RemoteIR::Format format;
+float pushSpeed;
+float forceThresh;
+
+//The states
+enum RunState
+{
+ BOOT = 0,
+ LISTEN,
+ CLOSE_DOOR,
+ CHECK_IR,
+ CHECK_FORCE,
+ CHECK_WALL,
+ RUN_MOTOR,
+ RESET,
+};
+
+
+RunState state = BOOT;
+
+#endif
\ No newline at end of file
diff -r 000000000000 -r 15e49f97cb3d main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Oct 12 17:49:16 2012 +0000
@@ -0,0 +1,151 @@
+#include "mbed.h"
+#include "func.h"
+#include "define.h"
+#include "globlvar.h"
+
+
+int main()
+{
+ int myButton;
+ //For developer use
+ //GetIRCodes();
+ //GetForces();
+ format = RemoteIR::SONY;
+ while(1) {
+ //The state machine switch statement
+ switch( state) {
+ //The initialization state
+ case BOOT:
+ pc.printf("BOOTING UP\n\r");
+ forceThresh = DEFAULT_FORCE;
+ pushSpeed = DEFAULT_SPEED;
+ state = LISTEN;
+ newState = true;
+ held = false;
+ lcd.cls();
+ lcd.printf("RON SWANSON \nDOOR SLAMMER!");
+ break;
+ //Listen for IR signal
+ case LISTEN:
+ if(newState)
+ pc.printf("LISTENING FOR IR\n\r");
+ newState = false;
+ myButton = IRListen();
+
+ switch(myButton) {
+ case NONE:
+ break;
+ case RUN:
+ pc.printf("OK Button\n\r");
+ state = CLOSE_DOOR;
+ newState = true;
+ held = true;
+ break;
+ case SPD_UP:
+ if(pushSpeed+SPEED_INC<=1)
+ pushSpeed += SPEED_INC;
+ else
+ pushSpeed = 1;
+ speedPercent = (int)(pushSpeed*100.0f);
+ lcd.cls();
+ lcd.printf("Speed:\n%3d%%\n\r", speedPercent);
+ pc.printf("Speed:\n%3d%%\n\r", speedPercent);
+ break;
+ case SPD_DN:
+ if(pushSpeed-SPEED_INC>=SPEED_MIN)
+ pushSpeed -= SPEED_INC;
+ else
+ pushSpeed = SPEED_MIN;
+ speedPercent = (int)(pushSpeed*100.0f);
+ lcd.cls();
+ lcd.printf("Speed:\n%3d%%\n\r", speedPercent);
+ pc.printf("Speed:\n%3d%%\n\r", speedPercent);
+ break;
+ case RST:
+ pc.printf("Exit Button\n\r");
+ state = BOOT;
+ break;
+ case FRC_UP:
+
+ if(forceThresh+FORCE_INC<=1)
+ forceThresh+=FORCE_INC;
+ lcd.cls();
+ lcd.printf("Force threshold:\n%f pounds\n", (forceThresh*200.0f)/4.44822162f);
+ pc.printf("Force threshold:\n\r%f pounds\n\r", (forceThresh*200.0f)/4.44822162f);
+ break;
+ case FRC_DN:
+ if(forceThresh-FORCE_INC>0)
+ forceThresh-=FORCE_INC;
+ lcd.cls();
+ lcd.printf("Force threshold:\n%f pounds\n", (forceThresh*200.0f)/4.44822162f);
+ pc.printf("Force threshold:\n\r%f pounds\n\r", (forceThresh*200.0f)/4.44822162f);
+ break;
+ default:
+ pc.printf("Unknown Button: %d\n\r", myButton);
+ break;
+ }
+ break;
+ case CLOSE_DOOR:
+ lcd.cls();
+ lcd.printf("GET OUT\n");
+ pc.printf("CLOSING DOOR\n\r");
+ state = CHECK_IR;
+ break;
+ case CHECK_IR:
+ pc.printf("CHECKING FOR CANCEL SIGNAL\n\r");
+ if(IRListen()==-1)
+ held = false;
+ else if(!held) {
+ pc.printf("CANCEL SIGNAL RECEIVED\n\r");
+ state = RESET;
+ break;
+ }
+ state = CHECK_FORCE;
+ break;
+ case CHECK_FORCE:
+ force = doorForce;
+ pc.printf("CHECKING FORCE: %f\n\r", force);
+ if(force<FORCE_MIN)
+ speed = COAST_SPEED;
+ else if(force<forceThresh)
+ speed = pushSpeed;
+ else {
+ wait(PUSH_TIME);
+ state = RESET;
+ break;
+ }
+ state = RUN_MOTOR;
+ pc.printf("\tNEW SPEED: %f\n\r", speed);
+ break;
+ case RUN_MOTOR:
+ myMotor.speed(DIRECTION*speed);
+
+ state = CHECK_IR;
+ break;
+ case RESET:
+ pc.printf("RETURNING TO IDLE\n\r");
+ myMotor.speed(0);
+ myMotor.speed(DIRECTION*REVERSE_SPEED);
+ state = CHECK_WALL;
+ break;
+ case CHECK_WALL:
+ wall = wallForce;
+ if(wall>=WALL_THRESH||IRListen()>=0) {
+ myMotor.speed(0);
+ state = LISTEN;
+ lcd.printf("AND STAY OUT!");
+ pc.printf("WALL DETECTED, ENTERING IDLE STATE\n\r");
+
+ break;
+ }
+ pc.printf("CHECKING WALL: %f\n\r", wall);
+
+ break;
+ default:
+ break;
+ }
+
+
+ }
+}
+
diff -r 000000000000 -r 15e49f97cb3d mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Oct 12 17:49:16 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/cd19af002ccc \ No newline at end of file