Diff: main.cpp

Revision:

18:025d9a617769

Parent:

17:0c8440955d31

Child:

19:7935ca386e13

--- a/main.cpp	Wed Jan 20 11:18:20 2021 +0000
+++ b/main.cpp	Fri Nov 05 13:48:42 2021 +0000
@@ -1,39 +1,33 @@
 #include <global.h>
 
 Serial RS2(UART2_TX, UART2_RX);
-Serial RS1(UART1_TX, UART1_RX);
 
 Timer timer;
 Watchdog  watchDog;
 
 typedef uint8_t byte;
 
-DigitalOut Select1(DE_TXD_1);
 DigitalOut Select2(DE_TXD_2);
 
+AS5045 Enc_left(SP1_NSS1);
+AS5045 Enc_right(SP1_NSS2);
+
 bool sendFlag = false;
 char c = '1';
-
-// ----------------------------- For future ---------------------------------------
-// Counting CRC for modbus package
-//const unsigned char CRC7_POLY = 0x91;
+int Enc_left_data = 0, Enc_right_data = 0;
 
-//unsigned char getCRC(unsigned char message[], unsigned char length)
-//{
-//    unsigned char i, j, crc = 0;
-//
-//    for (i = 0; i < length; i++) {
-//        crc ^= message[i];
-//        for (j = 0; j < 8; j++) {
-//            if (crc & 1)
-//                crc ^= CRC7_POLY;
-//            crc >>= 1;
-//        }
-//    }
-//    return crc;
-//
-//}
+void Encoders()
+{
+    Enc_left_data = Enc_left.getPosition();
+    wait_ms(3);
+    Enc_right_data = Enc_right.getPosition();
+    wait_ms(3);
 
+    Select1 = 1;
+    RS1.printf ("%d_%d\r\n", Enc_right_data, Enc_left_data);
+    wait_ms(3);
+    Select1 = 0;
+}
 void UART2_callback()
 {
     c =  RS2.getc();
@@ -49,28 +43,23 @@
 int main()
 {
     RS2.baud (115200);
-    RS1.baud (115200);
     Select1 = 0;
     Select2 = 0;
     RS2.attach(&UART2_callback);
 
-#if MAIN_CODE
-    int US1_data = 0,US2_data = 0, US3_data = 0, Lift_IR1 = 0,Lift_IR2 = 0, Enc_left_data = 0, Enc_right_data = 0;
+    int US1_data = 0,US2_data = 0, US3_data = 0, Lift_IR1 = 0,Lift_IR2 = 0;
     bool IR1_data = 0,IR2_data = 0;
-    float temp_one_value = -1, temp_two_value = -1, currentTime = 0, previousTime = 0;
-    
+    //float temp_one_value = -1, temp_two_value = -1;//, currentTime = 0, previousTime = 0;
+
     timer.start();
 
     watchDog.Configure(5.0);
 
-    OneWire oneWire(PA_11);        // substitute D8 with the actual pin name connected to the 1-wire bus
+    //OneWire oneWire(PA_11);        // substitute D8 with the actual pin name connected to the 1-wire bus
     int sensorsFound = 0;
 
     DigitalIn  Lift1 (PB_0);
-    DigitalIn  Lift2 (PB_1);
-
-    AS5045 Enc_left(SP1_NSS1);
-    AS5045 Enc_right(SP1_NSS2);
+    DigitalIn  Lift2 (PB_1);    
 
     JSN_SR04 US_sensor_left (PB_14, PA_9);
     JSN_SR04 US_sensor_middle (PB_15, PA_9);
@@ -93,92 +82,64 @@
 
     while (true) {
         watchDog.Service();
-        
-        currentTime = timer.read();
+        Encoders();
+        for (int i = 0; i < sensorsFound; i++) {
+            ds1820[i]->startConversion();
+            wait_ms(1);
+        }
+        Encoders();
 
-        if((currentTime - previousTime) >= 0.1) {
-            previousTime = currentTime;
-            
-            for (int i = 0; i < sensorsFound; i++) {
-                ds1820[i]->startConversion();
-                wait_ms(1);
-            }
+        US_sensor_left.startMeasurement ();
+        US1_data = US_sensor_left.getDistance_cm ();
+        wait_ms(20);
+        Encoders();
 
-            US_sensor_left.startMeasurement ();
-            US1_data = US_sensor_left.getDistance_cm ();
-            wait_ms(20);
-            
-            US_sensor_middle.startMeasurement ();
-            US2_data = US_sensor_middle.getDistance_cm ();
-            wait_ms(20);
-            
-            US_sensor_right.startMeasurement ();
-            US3_data = US_sensor_right.getDistance_cm ();
-            wait_ms(20);
-            
-            IR1_data = IR_sensor_left.checkObstacle ();
-            IR2_data = IR_sensor_right.checkObstacle ();
-            
-            Lift_IR1 = Lift1.read();
-            Lift_IR2 = Lift2.read();
+        US_sensor_middle.startMeasurement ();
+        US2_data = US_sensor_middle.getDistance_cm ();
+        wait_ms(20);
+        Encoders();
+
+        US_sensor_right.startMeasurement ();
+        US3_data = US_sensor_right.getDistance_cm ();
+        wait_ms(20);
+        Encoders();
+
+        IR1_data = IR_sensor_left.checkObstacle ();
+        IR2_data = IR_sensor_right.checkObstacle ();
+
+        Lift_IR1 = Lift1.read();
+        Lift_IR2 = Lift2.read();
+        Encoders();
 
 
-            if (ds1820[0]->isPresent() ) {
-                temp_one_value = ds1820[0]->read();
-            }
-            if (ds1820[1]->isPresent() ) {
-                temp_two_value = ds1820[1]->read();
-            }
+        if (ds1820[0]->isPresent() ) {
+            temp_one_value = ds1820[0]->read();
         }
-
-        Enc_left_data = Enc_left.getPosition();
-        wait_ms(3);
-        Enc_right_data = Enc_right.getPosition();
-        wait_ms(3);
+        if (ds1820[1]->isPresent() ) {
+            temp_two_value = ds1820[1]->read();
+        }
+        Encoders();
         
-        Select1 = 1;
-        RS1.printf ("%d\r\n", Enc_left_data), Enc_right_data);
-        wait_ms(3);
-        Select1 = 0;
         if(US2_data < 100){
-            Select2 = 1;
+           Select2 = 1;
             RS2.printf ("Left Obstacle\r\n");
             wait_ms(200);
             Select2 = 0;
-        }  
+        }
         if(US3_data < 100){
             Select2 = 1;
             RS2.printf ("Right Obstacle\r\n");
             wait_ms(200);
             Select2 = 0;
-        }  
+        }
+
         if(sendFlag) {
             Select2 = 1;
-            //RS2.printf ("%d_%d_%d_%d_%d_%d_%d_%3.1f_%3.1f\r\n", US1_data, US2_data, US3_data, IR1_data, IR2_data, Lift_IR1, Lift_IR2, temp_one_value, temp_two_value);  //,(int)((Vcc -24 ) * 5 + 50));
+            RS2.printf ("%d_%d_%d_%d_%d_%d_%d\r\n", US1_data, US2_data, US3_data, IR1_data, IR2_data, Lift_IR1, Lift_IR2);  //,(int)((Vcc -24 ) * 5 + 50));
             wait_ms(5);
             sendFlag = false;
             Select2 = 0;
         }
+        Encoders();
     }
-#endif
-
-#if TEST_REQUEST
-
-    while (true) {
-        // if(RS1.readable()) {
-//            Select1 = 1;
-//            RS1.putc(RS1.getc());
-//            wait_ms (1000);
-//            Select1 = 0;
-//        }else{
-        Select1 = 1;
-        RS1.printf ("nothing \n");
-        wait_ms (5);
-        Select1 = 0;
-        wait_ms (1000);
-        //}
-    }
-
-#endif
-
 }
\ No newline at end of file