Diff: main.cpp

Revision:

12:7e6973201e19

Parent:

11:0309bef74ba8

--- a/main.cpp	Wed Feb 15 14:04:02 2017 -0600
+++ b/main.cpp	Mon Dec 09 03:43:48 2019 +0000
@@ -1,22 +1,215 @@
 #include "mbed.h"
 #include "rtos.h"
- 
+#include "Motor.h"
+#include "uLCD_4DGL.h"
+
+RawSerial  pi(USBTX, USBRX);
+
+Thread thread_drink_1;
+Thread thread_drink_2;
+Thread thread_drink_3;
+Thread thread_drink_4;
+Thread thread_drink_5;
+Thread thread_drink_6;
+//Thread thread_play_song;
+//Thread thread_display_led;
+
+Motor drink1(p21, p5, p6); //pwd, rev, fwd
+Motor drink2(p22, p7, p8); //pwd, rev, fwd
+Motor drink3(p23, p9, p10); //pwd, rev, fwd
+Motor drink4(p24, p11, p12); //pwd, rev, fwd
+Motor drink5(p25, p13, p14); //pwd, rev, fwd
+Motor drink6(p26, p15, p16); //pwd, rev, fwd
+
+bool run1 = false;
+bool run2 = false;
+bool run3 = false;
+bool run4 = false;
+bool run5 = false;
+bool run6 = false;
+
+
+int oz1 = 0;
+int oz2 = 0;
+int oz3 = 0;
+int oz4 = 0;
+int oz5 = 0;
+int oz6 = 0;
+
+char drinkName [128];
+
+// debug shit
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
-Thread thread;
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+uLCD_4DGL uLCD(p28,p27,p30); // serial tx, serial rx, reset pin;
+
+int sec_per_oz = 9000; //msec
+
+
  
-void led2_thread() {
+void drink1_thread() {
+    while (true) {
+        if (run1) {
+            led1 = 1;
+            drink1.speed(-1.0);
+            Thread::wait(sec_per_oz * oz1);
+            drink1.speed(0.0);
+            led1 = 0;
+            run1 = false;
+        }
+    }
+}
+
+void drink2_thread() {
     while (true) {
-        led2 = !led2;
-        Thread::wait(1000);
+        if (run2) {
+            led2 = 1;
+            drink2.speed(-1.0);
+            Thread::wait(sec_per_oz * oz2);
+            drink2.speed(0.0);
+            led2 = 0;
+            run2 = false;
+        }
+    }
+}
+ 
+ void drink3_thread() {
+    while (true) {
+        if (run3) {
+            led3 = 1;
+            drink3.speed(1.0);
+            Thread::wait(sec_per_oz * oz3);
+            drink3.speed(0.0);
+            led3 = 0;
+            run3 = false;
+        }
+    }
+}
+ 
+ 
+ void drink4_thread() {
+    while (true) {
+        if (run4) {
+            led4 = 1;
+            drink4.speed(-1.0);
+            Thread::wait(sec_per_oz * oz4);
+            drink4.speed(0.0);
+            led4 = 0;
+            run4 = false;
+        }
     }
 }
  
-int main() {
-    thread.start(led2_thread);
-    
+ 
+ void drink5_thread() {
     while (true) {
-        led1 = !led1;
-        Thread::wait(500);
+        if (run5) {
+            drink5.speed(1.0);
+            Thread::wait(sec_per_oz * oz5);
+            drink5.speed(0.0);
+            run5 = false;
+        }
+    }
+}
+ 
+ 
+void drink6_thread() {
+    while (true) {
+        if (run6) {
+            drink6.speed(1.0);
+            Thread::wait(sec_per_oz * oz6);
+            drink6.speed(0.0);
+            run6 = false;
+        }
     }
 }
+ 
+void dev_recv()
+{
+    char temp = 0;
+    char motorVal = 0;
+    int indexVal = 0;
+    int ounceNum = 0;
+    while(pi.readable()) {
+        temp = pi.getc();
+        if (temp == '!') {
+            ounceNum = 0;
+            indexVal = 0;
+            temp = pi.getc();
+            while (temp != '{') {
+                drinkName[indexVal] = temp;
+                indexVal++;
+                temp = pi.getc();
+            }
+            drinkName[indexVal] = 0; // null character
+            pi.printf("%s\n",drinkName);
+            motorVal = pi.getc(); // get motor Value
+            while (temp != '}') {
+                temp = pi.getc(); // colon
+                temp = pi.getc(); // first digit of drink
+                ounceNum = 0;
+                while (temp != ',') { // get how many ounces
+                    ounceNum = ounceNum * 10;
+                    ounceNum = ounceNum + (int)(temp - '0');
+                    temp = pi.getc();
+                }
+                if (ounceNum > 0) {
+                    switch(motorVal) {
+                        case '1':
+                            oz1 = ounceNum;
+                            run1 = true;
+                            break;
+                        case '2':
+                            oz2 = ounceNum;
+                            run2 = true;
+                            break;
+                        case '3':
+                            oz3 = ounceNum;
+                            run3 = true;
+                            break;
+                        case '4':
+                            oz4 = ounceNum;
+                            run4 = true;
+                            break;
+                        case '5':
+                            oz5 = ounceNum;
+                            run5 = true;
+                            break;
+                        case '6':
+                            oz6 = ounceNum;
+                            run6 = true;
+                            break;
+                        default:
+                            break;
+                    }
+                }    
+                temp = pi.getc();      
+                if (temp != ',') {
+                    motorVal = temp;
+                }        
+            } 
+        }
+    }
+}
+int main() {
+    thread_drink_1.start(drink1_thread);
+    thread_drink_2.start(drink2_thread);
+    thread_drink_3.start(drink3_thread);
+    thread_drink_4.start(drink4_thread);
+    thread_drink_5.start(drink5_thread);
+    thread_drink_6.start(drink6_thread);
+    //thread_play_song.start();
+    //thread_display_led.start();
+    uLCD.cls();
+    uLCD.text_width(2); //4X size text
+    uLCD.text_height(2);
+    uLCD.printf("DrinkBot\n  4000");
+    pi.baud(9600);
+    pi.attach(&dev_recv, Serial::RxIrq);
+    while(1) {
+        sleep();
+    }
+}