Diff: main.cpp

Revision:

0:f8a72cc60181

Child:

1:3b3e8f8352a8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Apr 03 15:05:44 2018 +0000
@@ -0,0 +1,79 @@
+/**
+ *
+ * @ingroup teo_body_lacqueyFetch
+ * \defgroup teo_body_MbedFirmware Mbed-Firmware
+ *
+ * @brief Firmware that allows to recieve CAN messages to open and close the hand 
+ *
+ * @section teo_body_firmware_legal Legal
+ *
+ * Copyright: 2018 (C) Universidad Carlos III de Madrid
+ *
+ * Author: <a href="http://roboticslab.uc3m.es/roboticslab/people/r-de-santos">Raul de Santos Rico</a>
+ *
+ * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see license/LGPL.TXT
+ *
+ * @section lacqueyFetch_install Installation
+ * 
+ * You need to program the firmware to the MBED <br>
+ * You can use the online compiler (https://os.mbed.com/compiler) to compile the firmware and stored it on the flash mbed memory<br>
+ * Steps:
+ * - Change the "id" of the device corresponding to the hand used (right-hand: ID 65, left-hand: ID 64) <br>
+ * - Press "Compile" and save the .bin file on the flash memory <br>
+ * - If you want to check the correct functionality, you can connect the mbed to the serial USB and with a serial monitor program (configured with a baudrate of 115200), see the CAN messages information of the hand. <br>
+ *
+ *
+ * @section lacqueyFetch_running Running (assuming correct installation)
+ *
+ * Running "launchManipulation" application, you can open or close the hand with this parameters (assuming you know how to run "launchManipulation"):
+ * set pos 6 1  -> open hand
+ * set pos 6 -1 -> close hand
+ * set pos 6 0  -> loose hand   
+ *
+ **/
+ 
+#include "mbed.h"
+#include "Motor.h"
+
+Serial pc(USBTX, USBRX);   // Serial connection
+DigitalOut led1(LED1);     // received
+CAN can(p30, p29);         // tx,rx
+Motor m(p24, p26, p25);    // pwm, fwd, rev (PWM, REVERSE, FORDWARD)
+
+
+bool receive(signed char* order) {
+    int8_t id = 65;     // right-hand: ID 65, left-hand: ID 64
+    signed char data;
+    CANMessage msg;
+        if( can.read(msg) ) {                                     
+            if(id == (int8_t)msg.id){
+                pc.printf("Message received (ID: %d) (size: %d)\n", (int8_t)msg.id, msg.len);
+                data = msg.data[0];
+                *order = data;            
+                led1 = !led1;
+                return true;
+            }
+        } 
+        
+    return false;    
+}
+
+int main() {
+    // set up the serial usb connection
+    pc.baud(115200);          //-- configure PC baudrate
+    pc.printf("main()\n");     
+    // set up the can bus
+    can.frequency(1000000);   //-- 1Mbit/s (the same as the drivers configuration)
+    can.reset(); 
+    
+    // message received
+    signed char data;
+   
+    while(1) {   
+        
+        if(receive(&data)) {
+            pc.printf("value received: %f\n", (double)data);
+            m.speed((double)data); 
+        }  
+    }
+}