William Pedler
2013 VCU Senior Design Expo Linear Rotary Motor Control Program. This is the actual program used by the team at the Expo.
Diff: main.cpp
- Revision:
- 4:29aafde2dcbc
- Parent:
- 3:1d681d86f1dd
diff -r 1d681d86f1dd -r 29aafde2dcbc main.cpp
--- a/main.cpp Wed Apr 17 22:56:54 2013 +0000
+++ b/main.cpp Thu Apr 25 13:13:54 2013 +0000
@@ -91,7 +91,7 @@
void rotate_all_ccw(int set, float speed);
void rotary_speed();
void fast_rotary_cw();
-
+void small_rotary_speed();
///////////////////////////////////////////////////////////////////////////////
//////////////////////////////////MAIN/////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
@@ -188,10 +188,10 @@
//Get valid user_input//
scroll_up(30);
xbee.printf("\r\n\n****Main Menu****");
- xbee.printf("\r\nFor Calibration press 1 and <Enter>.");
- xbee.printf("\r\nTo enter a desired location press 2 and <Enter>.");
- xbee.printf("\r\nFor display mode press 3 and <Enter>.");
- scroll_up(24);
+ xbee.printf("\r\nFor Calibration press 1 and \r\n<Enter>.");
+ xbee.printf("\r\nTo enter a desired location press 2 and \r\n<Enter>.");
+ xbee.printf("\r\nFor display mode press 3 and\r\n<Enter>.");
+ scroll_up(22);
user_instruction = error_check();
break;
}//End of switch
@@ -846,8 +846,8 @@
//LINEAR AUTO PROGRAM//
for(int j=0; j<linear_auto; j++) {
for(int i=0; i<12; i++) {
- move_all_left(abs(six-i));
- move_all_right(abs(six-i));
+ move_all_left(abs(five-i));
+ move_all_right(abs(five-i));
}//End of for//
}//End of for//
option = -1;
@@ -857,8 +857,8 @@
//LINEAR OSCILLATION//
for(int j=0; j<linear_oscill; j++) {
for(int i=0; i<12; i++) {
- move_all_leftBobby(abs(six-i));
- move_all_rightBobby(abs(six-i));
+ move_all_leftBobby(abs(five-i));
+ move_all_rightBobby(abs(five-i));
}//End of for//
}//End of for//
option = -1;
@@ -915,8 +915,8 @@
case 5:
//ROTARY AUTO PROGRAM//
for(int i=0; i<rotary_auto; i++) {
+ rotate_all_ccw(six, rot_fast);
rotate_all_cw(six, rot_fast);
- rotate_all_ccw(six, rot_fast);
}//End of for//
option = -1;
break;
@@ -924,6 +924,19 @@
fast_rotary_cw();
option = -1;
break;
+ case 7:
+ //SMALL FORCER ROTARY AUTO PROGRAM//
+ rotary0 = 1;
+ rotary1 = 1;
+ rotary2 = 1;
+ rotary3 = 1;
+ rotary4 = 1;
+ rotary5 = 1;
+ for(int i=0; i<high_speed; i++) {
+ small_rotary_speed();
+ }//End of for//
+ option = -1;
+ break;
case 9:
//SET UP CASE//
xbee.printf("\r\n****Display Mode Set UP****");
@@ -939,31 +952,31 @@
case 1:
//Edit LINEAR AUTO PROGRAM//
xbee.printf("\r\nHow many times would you like to run Linear Auto Program?");
- scroll_up(29);
+ scroll_up(27);
linear_auto = error_check();
break;
case 2:
//Edit LINEAR OSCILLATION//
xbee.printf("\r\nHow many times would you like to run Linear Oscillation?");
- scroll_up(29);
+ scroll_up(27);
linear_oscill = error_check();
break;
case 3:
//Edit COMBINED OPERATION//
xbee.printf("\r\nHow many times would you like to run Combined Operation?");
- scroll_up(29);
+ scroll_up(27);
combined = error_check();
break;
case 4:
//Edit HIGH SPEED ROTARY//
xbee.printf("\r\nHow many times would you like to run High Speed Rotary?");
- scroll_up(29);
+ scroll_up(27);
high_speed = error_check();
break;
case 5:
//Edit ROTARY AUTO PROGRAM//
xbee.printf("\r\nHow many times would you like to run Rotary Auto Program?");
- scroll_up(29);
+ scroll_up(27);
rotary_auto = error_check();
break;
}//End of switch(setup)
@@ -978,15 +991,16 @@
option = -1;
scroll_up(30);
xbee.printf("\r\n\n****Display Mode****");
- xbee.printf("\r\nTo run LINEAR AUTO PROGRAM press 1 and <Enter>.");
- xbee.printf("\r\nTo run LINEAR OSCILLATION press 2 and <Enter>.");
- xbee.printf("\r\nTo run COMBINED OPERATION press 3 and <Enter>.");
- xbee.printf("\r\nTo run HIGH SPEED ROTARY press 4 and <Enter>.");
- xbee.printf("\r\nTo run ROTARY AUTO PROGRAM press 5 and <Enter>.");
- xbee.printf("\r\nTo run SMALL FORCER SPEED RUN press 6 and <Enter>.");
- xbee.printf("\r\nFor SET UP press 9 and <Enter>.");
- xbee.printf("\r\nTo return to the previous menu press 0 and <Enter>.");
- scroll_up(14);
+ xbee.printf("\r\nTo run LINEAR AUTO PROGRAM press 1 and \r\n<Enter>.");
+ xbee.printf("\r\nTo run LINEAR OSCILLATION press 2 and \r\n<Enter>.");
+ xbee.printf("\r\nTo run COMBINED OPERATION press 3 and \r\n<Enter>.");
+ xbee.printf("\r\nTo run HIGH SPEED ROTARY press 4 and \r\n<Enter>.");
+ xbee.printf("\r\nTo run ROTARY AUTO PROGRAM press 5 and \r\n<Enter>.");
+ xbee.printf("\r\nTo run SMALL FORCER SPEED RUN press 6 and \r\n<Enter>.");
+ //xbee.printf("\r\nTo run SMALL FORCER AUTO ROTARY press 7 and \r\n<Enter>.");
+ xbee.printf("\r\nFor SET UP press 9 and \r\n<Enter>.");
+ xbee.printf("\r\nTo return to the previous menu press 0 and \r\n<Enter>.");
+ scroll_up(12);
option = error_check();
break;
}//End of switch//
@@ -1047,9 +1061,9 @@
linear0 =! linear0; //Coil 1
wait(fast);
linear0 =! linear0;
- linear1 =! linear1; //Coil 2
- wait(fast);
- linear1 =! linear1;
+ //linear1 =! linear1; //Coil 2
+ //wait(fast);
+ //linear1 =! linear1;
return;
}//End of Funciton
@@ -1107,6 +1121,10 @@
linear4 =! linear4; //Coil 5
wait(fast);
linear4 =! linear4;
+ //linear3 =! linear3; //Coil 4
+ //wait(fast);
+ //linear3 =! linear3;
+
return;
}//End of Funciton
@@ -1252,6 +1270,12 @@
///////////////////////////////////////////////////////////////////////////////
void rotate_all_cw(int set, float speed)
{
+rotary0 = 1;
+rotary1 = 1;
+rotary2 = 1;
+rotary3 = 1;
+rotary4 = 1;
+rotary5 = 1;
for(int i=0; i<set; i++) {
rotary0 = !rotary0;
wait(speed);
@@ -1274,6 +1298,12 @@
//Function rotate the forcer
void rotate_all_ccw(int set, float speed)
{
+rotary0 = 1;
+rotary1 = 1;
+rotary2 = 1;
+rotary3 = 1;
+rotary4 = 1;
+rotary5 = 1;
for(int i=0; i<set; i++) {
rotary5 = !rotary5;
wait(speed);
@@ -1343,4 +1373,50 @@
//Special function for little forcer
void fast_rotary_cw(){
rotate_all_cw(400, 0.01);
-}//End of Function//
\ No newline at end of file
+}//End of Function//
+
+///////////////////////////////////////////////////////////////////////////////
+////////////////////////////////small_rotary_speed();//////////////////////////
+///////////////////////////////////////////////////////////////////////////////
+//small_rotary_speed() rotates the small forcer faster and faster//
+void small_rotary_speed()
+{
+ float time = 0.080;
+ float step = 0.005;
+ int a = 0;
+ int cycle = 32;
+ int change = 0;
+ int turns = 8;
+ int maxint = 0.010;
+
+ while(a<2) {
+ for(int i=cycle; i>0; i--) {
+ if(time == maxint) {
+ turns = 400;
+ } else if(time != maxint) {
+ turns = 8;
+ }
+ if(change == 0) {
+ if(i > cycle/2) {
+ rotate_all_cw(turns,time);
+ time = time - step;
+ }//End of if
+ if(i < ((cycle/2) + 1 ) && i > 0) {
+ rotate_all_cw(turns,time);
+ time = time + step;
+ }//End of if
+ } else if(change==1) {
+ if(i > cycle/2) {
+ rotate_all_ccw(turns,time);
+ time = time - step;
+ }//End of if
+ if(i < ((cycle/2) + 1 ) && i > 0) {
+ rotate_all_ccw(turns,time);
+ time = time + step;
+ }//End of if
+ }//End of else if//
+ }//End of for//
+ change = !change;
+ a++;
+ }//End of while
+}//End of function
\ No newline at end of file