Revision 2:755b99cceb46, committed 2013-04-09
- Comitter:
- pedlerw
- Date:
- Tue Apr 09 20:50:35 2013 +0000
- Parent:
- 1:839192bf53f3
- Commit message:
- 4/9/2013; William Pedler; Publish to troubleshoot iostream issues
Changed in this revision
diff -r 839192bf53f3 -r 755b99cceb46 main.cpp
--- a/main.cpp Tue Apr 09 03:19:20 2013 +0000
+++ b/main.cpp Tue Apr 09 20:50:35 2013 +0000
@@ -1,9 +1,11 @@
-//AutoCalibrate//
+//AutoCalibrateModulo//
//Written by William Pedler 4/8/2013//
//This program is used to automatically calibrate and move the forcer linearly//
//Includes//
#include "mbed.h"
+//#include <iostream>
+using namespace std;
//Define//
#define MAXI 1.0
@@ -13,6 +15,7 @@
#define seven 7
#define length 42
#define SPEED 0.150
+#define medium 0.75
#define slow 0.5
//Declar global variables//
@@ -44,10 +47,11 @@
AnalogIn distanceR(p19); //Vout yellow GND black Vss red
AnalogIn distanceL(p20); //Vout yellow GND black Vss red
//Set USB//
-//Serial pc(USBTX, USBRX);
+Serial pc(USBTX, USBRX);
//Functions//
void move_all_left();
+void move_all_right();
float get_Lsensor_min();
float get_Lsensor_max();
float get_Rsensor_min();
@@ -105,7 +109,7 @@
left_max[i] = get_Lsensor_max();
right_min[i] = get_Rsensor_min();
right_max[i] = get_Rsensor_max();
-
+ led4 = !led4;
//4.Move to the right one//
move_one_right(i);
wait(slow);
@@ -126,8 +130,10 @@
fclose(fp);
//Set an LED high so we know calibration is complete//
- led1 = 1;
-
+ led1 = 1;
+ move_all_left();
+ //move_all_right();
+ //move_all_left();
//////////////////////////////////////////////////////////////////////////////
////////////////////////////Operate Motor/////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
@@ -135,24 +141,63 @@
//Now use calibration data to operate motor//
while(1){
//1.Find current location//
- current_location = get_position();
- //2.Take in desired position//
+ current_location = get_position();
+ //2.Take in desired location//
//I'll code this later... for now go to position 13//
- desired_location = 13;
+ desired_location = 13;
+/*/////////////////////////////////////////////////////////////////////////////
+/////////////////////////////User Interface////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+ cout << "\n\n\rEnter a position number from 0 to 41: ";
+ cin >> desired_location;
+ while(std::cin.fail()){
+ cin.clear();
+ cin.ignore();
+ cout << "\n\n\r\t\tNot a number!\n\n\r\t\tPlease Try Again";
+ cout << "\n\rEnter a position number from 0 to 41: ";
+ cin >> desired_location;
+ }//End of while(std::cin.fail())//
+ cout << "\n\n\rGoing to position " << desired_location;
+ */
//3.Move to desired position//
- difference = current_location - desired_location;
- while(difference > 0){
- move_one_left(current_location % seven);
- current_location = get_position();
+ while(current_location != desired_location){
difference = current_location - desired_location;
- }//End of while//
- while(difference < 0){
- move_one_right(current_location % seven);
- current_location = get_position();
- difference = current_location - desired_location;
- }//End of while//
- //4.Repeat//
- }//End of while//
+ while(difference > 0){
+ //Move LEFT//
+ led2 = 1;
+ wait(medium);
+ for(int i=0; i<difference;i++){
+ move_one_left(abs(current_location));
+ current_location--;
+ wait(SPEED);
+ }//End of for
+ current_location = get_position();
+ difference = current_location - desired_location;
+ pc.printf("\r\n\nMoving Left");
+ pc.printf("\r\nCurrent Location:\t%d",current_location);
+ pc.printf("\r\nDesired Location:\t%d",desired_location);
+ pc.printf("\r\nDifference:\t%d",difference);
+ led2 = 0;
+ }//End of while(greater than zero)//
+ while(difference < 0){
+ led3 = 1;
+ wait(medium);
+ for(int i=0; i<abs(difference);i++){
+ move_one_right(current_location);
+ current_location++;
+ wait(SPEED);
+ }//End of for
+ current_location = get_position();
+ difference = current_location - desired_location;
+ pc.printf("\r\n\nMoving Right");
+ pc.printf("\r\nCurrent Location:\t%d",current_location);
+ pc.printf("\r\nDesired Location:\t%d",desired_location);
+ pc.printf("\r\nDifference:\t%d",difference);
+ led3 = 0;
+ }//End of while(difference less than 0)//
+ }//End of while(current not desired)//
+ //4.Repeat//
+ }//End of while(1)//
}//End of main
///////////////////////////////////////////////////////////////////////////////
@@ -202,6 +247,48 @@
}//End of Funciton
///////////////////////////////////////////////////////////////////////////////
+////////////////////////////move_all_right/////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+//moves the forcer all the way to the left of the track//
+void move_all_right(){
+//Declartions and initialization//
+float lng = (SPEED);
+linear0 = 1; //Coil1 Mod0
+linear1 = 1; //Coil2 Mod1
+linear2 = 1; //Coil3 Mod2
+linear3 = 1; //Coil4 Mod3
+linear4 = 1; //Coil5 Mod4
+linear5 = 1; //Coil6 Mod5
+linear6 = 1; //Coil7 Mod6
+
+ //RIGHT//
+ for(int i=0;i<6;i++){
+ linear6 =! linear6; //Coil 7
+ wait(lng);
+ linear6 =! linear6;
+ linear5 =! linear5; //Coil 6
+ wait(lng);
+ linear5 =! linear5;
+ linear4 =! linear4; //Coil 5
+ wait(lng);
+ linear4 =! linear4;
+ linear3 =! linear3; //Coil 4
+ wait(lng);
+ linear3 =! linear3;
+ linear2 =! linear2; //Coil 3
+ wait(lng);
+ linear2 =! linear2;
+ linear1 =! linear1; //Coil 2
+ wait(lng);
+ linear1 =! linear1;
+ linear0 =! linear0; //Coil 1
+ wait(lng);
+ linear0 =! linear0;
+ }//End of For loop
+ return;
+}//End of Funciton
+
+///////////////////////////////////////////////////////////////////////////////
////////////////////////////get_Lsensor_min////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
//returns the min distance value of left sensor when called//
@@ -291,6 +378,7 @@
void move_one_right(int position){
//Declarations and initializations//
int current_coil = position % seven;
+ pc.printf("\r\nCurrent Coil:\t%d",current_coil);
switch(current_coil){
case 0:
linear6 = 1;
@@ -367,6 +455,7 @@
void move_one_left(int position){
//Declarations and initializations//
int current_coil = position % seven;
+ pc.printf("\r\nCurrent Coil:\t%d",current_coil);
switch(current_coil){
case 0:
linear6 = 1;