Diff: main.cpp

Revision:

0:39bb015c8ac2

Child:

1:12e11042b2e9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 29 04:25:23 2015 +0000
@@ -0,0 +1,329 @@
+#include "mbed.h"
+PwmOut MOT_C(PA_9);
+DigitalOut MOT_B(PA_8);
+PwmOut MOT_D(PA_10);
+DigitalOut MOT_A(PA_7);
+InterruptIn event(USER_BUTTON);
+DigitalOut Orange(PB_0);
+DigitalOut myled(LED1);
+Ticker Motor;
+int go_to_sleep = 0;
+DigitalOut CSENSE_EN(PC_9);
+AnalogIn CSENSE(PC_0);
+AnalogIn VBAT(PC_1);
+DigitalOut SEL1(PA_11);
+DigitalOut SEL2(PA_12);
+void run_300();
+Timeout go_sleep;
+
+
+bool battery_status()
+{
+	double battery_level = 0.0;
+	const int on = 50;
+	const int off = 100;
+	bool low_bat = 0;
+	for(int i = 0; i < 1000; i++)
+	{
+		battery_level = battery_level + VBAT.read();
+	}
+	battery_level = battery_level/1000.0;
+	battery_level = battery_level*3.3*2.0;
+	if(battery_level >= 3.825)
+	{
+		wait_ms(250);
+		Orange = 1;
+		wait_ms(on);
+		Orange = 0;
+		wait_ms(off);
+		Orange = 1;
+		wait_ms(on);
+		Orange = 0;
+		wait_ms(off);
+		Orange = 1;
+		wait_ms(on);
+		Orange = 0;
+		wait_ms(off);
+		Orange = 1;
+		wait_ms(on);
+		Orange = 0;
+		wait_ms(off);
+		low_bat = 0;
+	}
+	if(battery_level >= 3.45 && battery_level < 3.825)
+	{
+		wait_ms(250);
+		Orange = 1;
+		wait_ms(on);
+		Orange = 0;
+		wait_ms(off);
+		Orange = 1;
+		wait_ms(on);
+		Orange = 0;
+		wait_ms(off);
+		Orange = 1;
+		wait_ms(on);
+		Orange = 0;
+		wait_ms(off);
+		low_bat = 0;
+	}
+	if(battery_level >= 3.075 && battery_level < 3.45)
+	{
+		wait_ms(250);
+		Orange = 1;
+		wait_ms(on);
+		Orange = 0;
+		wait_ms(off);
+		Orange = 1;
+		wait_ms(on);
+		Orange = 0;
+		wait_ms(off);
+		low_bat = 0;
+	}
+	if(battery_level < 3.075 && battery_level >= 2.9) 
+	{
+		wait_ms(250);
+		Orange = 1;
+		wait_ms(on);
+		Orange = 0;
+		wait_ms(off);
+		low_bat = 0;
+	}
+	if(battery_level < 2.9)
+	{
+		wait_ms(250);
+		Orange = 1;
+		wait_ms(75);
+		Orange = 0;
+		wait_ms(150);
+		low_bat = 1;
+	}
+	return low_bat;
+}
+
+void pressed()
+{
+    printf("Button pressed\n");
+    //battery_status();
+    go_to_sleep = !go_to_sleep;
+    if(go_to_sleep == 1)
+    {
+    	//battery_status();
+    	go_sleep.detach();
+    	//Orange = 0.0f;
+    }
+    if(go_to_sleep == 0)
+    {
+    	if(!(battery_status()))
+    	{
+    		go_sleep.attach(&pressed, 10.0);
+    	}
+	}
+}
+ 
+void run_300_F()
+{
+
+	float current;
+	int output;
+	MOT_D = 0.0;
+	MOT_A = 0;
+	MOT_B = 1;
+	current = 0.0;
+	for(int i = 0; i < 10; i++)
+	{
+		current = current + CSENSE.read();
+		//wait_us(10);
+	}
+	current = current/10;
+	current  = ((current*3.3f)/100.0f)/(0.015f);
+	current = current*1000.0f;
+	output = static_cast<int>(current);
+	//pc.printf("Motor Current = %d mA\r\n",output );
+
+	//wait(0.001);
+	if(output >= 300)
+	{
+		MOT_C = MOT_C - (0.01f*(((output-300)/1)));
+	}
+	if(output < 300)
+	{
+		MOT_C = 0.9f;
+	}
+}
+
+void run_1200_F()
+{
+
+	float current;
+	int output;
+
+
+	MOT_D = 0.0;
+	MOT_A = 0;
+	MOT_B = 1;
+	current = 0.0;
+	for(int i = 0; i < 10; i++)
+	{
+		current = current + CSENSE.read();
+		//wait_us(10);
+	}
+	current = current/10;
+	current  = ((current*3.3f)/100.0f)/(0.015f);
+	current = current*1000.0f;
+	output = static_cast<int>(current);
+	//pc.printf("Motor Current = %d mA\r\n",output );
+
+	//wait(0.001);
+	if(output >= 1200)
+	{
+		MOT_C = MOT_C - (0.01f*(((output-1200)/1)));
+	}
+	if(output < 1200)
+	{
+		MOT_C = 1.0f;
+	}
+}
+
+void run_1500_F()
+{
+
+	float current;
+	int output;
+
+
+	MOT_D = 0.0;
+	MOT_A = 0;
+	MOT_B = 1;
+	current = 0.0;
+	for(int i = 0; i < 10; i++)
+	{
+		current = current + CSENSE.read();
+		//wait_us(10);
+	}
+	current = current/10;
+	current  = ((current*3.3f)/100.0f)/(0.015f);
+	current = current*1000.0f;
+	output = static_cast<int>(current);
+	//pc.printf("Motor Current = %d mA\r\n",output );
+
+	//wait(0.001);
+	if(output >= 1500)
+	{
+		MOT_C = MOT_C - (0.01f*(((output-1500)/1)));
+	}
+	if(output < 1500)
+	{
+		MOT_C = 1.0f;
+	}
+}
+
+
+void run_300_R()
+{
+
+	float current;
+	int output;
+	MOT_B = 0.0;
+	MOT_C = 0;
+	MOT_A = 1;
+	current = 0.0;
+	for(int i = 0; i < 10; i++)
+	{
+		current = current + CSENSE.read();
+		//wait_us(10);
+	}
+	current = current/10;
+	current  = ((current*3.3f)/100.0f)/(0.015f);
+	current = current*1000.0f;
+	output = static_cast<int>(current);
+	//pc.printf("Motor Current = %d mA\r\n",output );
+
+	//wait(0.001);
+	if(output >= 300)
+	{
+		MOT_D = MOT_D - (0.01f*(((output-300)/1)));
+	}
+	if(output < 300)
+	{
+		MOT_D = 0.9f;
+	}
+}
+
+void run_1500_R()
+{
+
+	float current;
+	int output;
+	MOT_B = 0.0;
+	MOT_C = 0;
+	MOT_A = 1;
+	current = 0.0;
+	for(int i = 0; i < 10; i++)
+	{
+		current = current + CSENSE.read();
+		//wait_us(10);
+	}
+	current = current/10;
+	current  = ((current*3.3f)/100.0f)/(0.015f);
+	current = current*1000.0f;
+	output = static_cast<int>(current);
+	//pc.printf("Motor Current = %d mA\r\n",output );
+
+	//wait(0.001);
+	if(output >= 1500)
+	{
+		MOT_D = MOT_D - (0.01f*(((output-1500)/1)));
+	}
+	if(output < 1500)
+	{
+		MOT_D = 1.0f;
+	}
+}
+
+
+int main()
+{
+    int i = 0;
+    MOT_A = 0;
+    MOT_B = 0;
+    MOT_C = 0.0f;
+    MOT_D = 0.0f;
+    //Orange = 0.0f;
+    event.fall(&pressed);
+    battery_status();
+    MOT_C.period(0.00005);
+    MOT_D.period(0.00005);
+    //Orange.period(0.005);
+    go_to_sleep = 1;
+    while (1) {
+        if (go_to_sleep) {
+            
+            myled = 0;
+            //printf("%d: Entering sleep (press user button to resume)\n", i);
+            Motor.detach();
+            SEL1 = 0;
+            SEL2 = 0;
+            CSENSE_EN = 0;
+            Orange = 0;
+            MOT_D = 0.0f;
+			MOT_A = 0;
+			MOT_C = 0.0f;
+            MOT_B = 0;
+            //Orange = 0.0f;
+            sleep();
+            //deepsleep();
+            wait(0.1);
+            SEL1=1;
+            SEL2=1;
+            CSENSE_EN = 1;
+        } else {
+            //printf("%d: Running\n", i);
+            myled = 1;
+            Orange = 1;  
+            run_1500_R();
+            
+        }
+        i++;
+    }
+}