Vam GE / Mbed 2 deprecated VAM_CYCLE_2_DO_NOT_EDIT

Cycle Testing

Dependencies:   Stepper mbed HCSR04 millis

main.cpp@10:4c3a8f835bef, 2019-01-21 (annotated)

Committer:
vamgehealthcare11
Date:
Mon Jan 21 23:38:28 2019 +0000
Revision:
10:4c3a8f835bef
Parent:
9:5263aacbda53 
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rschimpf78 2:e8f8095464cf 1 #include "mbed.h"
rschimpf78 2:e8f8095464cf 2 #include "Stepper.h"
rschimpf78 2:e8f8095464cf 3 #include "string"
rschimpf78 3:fd2ca631ab44 4 #include "hcsr04.h"
rschimpf78 5:e958d61e0564 5 #include "millis.h"
rschimpf78 6:6ca8a0ef7d4a 6
rschimpf78 3:fd2ca631ab44 7 Serial pc(USBTX, USBRX);
vamgehealthcare11 9:5263aacbda53 8 HCSR04 heightsensor(PTD2,PTD3);
rschimpf78 6:6ca8a0ef7d4a 9 HCSR04 pathsensor(PTC2,PTA2); //(trig,echo)
rschimpf78 3:fd2ca631ab44 10 DigitalOut in1(PTC12);
rschimpf78 3:fd2ca631ab44 11 DigitalOut in2(D7);
rschimpf78 6:6ca8a0ef7d4a 12 DigitalIn magnetSwitch(D10);
vamgehealthcare11 9:5263aacbda53 13 DigitalIn homeSwitch(D9);
vamgehealthcare11 9:5263aacbda53 14 Stepper mot(D3,D4);
rschimpf78 2:e8f8095464cf 15 DigitalOut en(D2);
rschimpf78 0:88834eed3de0 16
vamgehealthcare11 9:5263aacbda53 17 int main(){
vamgehealthcare11 10:4c3a8f835bef 18
vamgehealthcare11 10:4c3a8f835bef 19
vamgehealthcare11 9:5263aacbda53 20 en = 1;
vamgehealthcare11 9:5263aacbda53 21 in1 = 1;
vamgehealthcare11 9:5263aacbda53 22 in2 = 1;
vamgehealthcare11 9:5263aacbda53 23 magnetSwitch.mode(PullUp);
vamgehealthcare11 9:5263aacbda53 24 wait (.01);
vamgehealthcare11 9:5263aacbda53 25 homeSwitch.mode(PullUp);
vamgehealthcare11 9:5263aacbda53 26 wait (0.01);
vamgehealthcare11 9:5263aacbda53 27
vamgehealthcare11 9:5263aacbda53 28 while(1){
vamgehealthcare11 10:4c3a8f835bef 29
vamgehealthcare11 10:4c3a8f835bef 30 LOOPY:
vamgehealthcare11 10:4c3a8f835bef 31
vamgehealthcare11 10:4c3a8f835bef 32 for ( int command = 1; command < 4; command++){
rschimpf78 0:88834eed3de0 33
vamgehealthcare11 9:5263aacbda53 34 if (command==1){
rschimpf78 3:fd2ca631ab44 35
vamgehealthcare11 9:5263aacbda53 36 int plates = 0;
vamgehealthcare11 9:5263aacbda53 37 unsigned int dist;
vamgehealthcare11 9:5263aacbda53 38 int platedist;
rschimpf78 3:fd2ca631ab44 39
vamgehealthcare11 10:4c3a8f835bef 40 plates = (rand() % 16) + 1;
rschimpf78 3:fd2ca631ab44 41
vamgehealthcare11 9:5263aacbda53 42 if (magnetSwitch == 1){
vamgehealthcare11 9:5263aacbda53 43 pc.printf("\nNot in Home Position");
vamgehealthcare11 10:4c3a8f835bef 44 exit(1);
vamgehealthcare11 9:5263aacbda53 45 }
vamgehealthcare11 9:5263aacbda53 46 else{
vamgehealthcare11 9:5263aacbda53 47 wait(1);
vamgehealthcare11 9:5263aacbda53 48 in1=1;
vamgehealthcare11 9:5263aacbda53 49 in2=0;
vamgehealthcare11 9:5263aacbda53 50 wait_ms(900);
vamgehealthcare11 9:5263aacbda53 51 in1=1;
vamgehealthcare11 9:5263aacbda53 52 in2=1;
vamgehealthcare11 9:5263aacbda53 53 }
vamgehealthcare11 10:4c3a8f835bef 54 pc.printf("\nRequested Plates:%ld",plates);
vamgehealthcare11 10:4c3a8f835bef 55 platedist = (468-24*plates);
vamgehealthcare11 9:5263aacbda53 56 millisStart();
vamgehealthcare11 9:5263aacbda53 57 long durationSM = 0;
vamgehealthcare11 9:5263aacbda53 58 long starttimeSM = millis();
vamgehealthcare11 9:5263aacbda53 59
vamgehealthcare11 10:4c3a8f835bef 60 SENSORREAD:
vamgehealthcare11 10:4c3a8f835bef 61 heightsensor.start();
vamgehealthcare11 10:4c3a8f835bef 62 wait_ms(250);
vamgehealthcare11 10:4c3a8f835bef 63 dist = heightsensor.get_dist_cm();
vamgehealthcare11 10:4c3a8f835bef 64
vamgehealthcare11 10:4c3a8f835bef 65
vamgehealthcare11 10:4c3a8f835bef 66 while ((dist < platedist-2 && durationSM < 60000 || dist > platedist+2 && durationSM < 60000)){
vamgehealthcare11 10:4c3a8f835bef 67
vamgehealthcare11 9:5263aacbda53 68
vamgehealthcare11 9:5263aacbda53 69 heightsensor.start();
vamgehealthcare11 9:5263aacbda53 70 long currenttimeSM = millis();
vamgehealthcare11 9:5263aacbda53 71 durationSM = currenttimeSM-starttimeSM;
vamgehealthcare11 9:5263aacbda53 72 en = 0;
vamgehealthcare11 9:5263aacbda53 73 mot.setSpeed(500);
vamgehealthcare11 10:4c3a8f835bef 74 dist = heightsensor.get_dist_cm();
vamgehealthcare11 10:4c3a8f835bef 75
vamgehealthcare11 10:4c3a8f835bef 76 if(dist >= 480 || dist <= 40 ){
vamgehealthcare11 10:4c3a8f835bef 77 pc.printf("\nBad Read at :%ld", durationSM);
vamgehealthcare11 10:4c3a8f835bef 78 goto SENSORREAD;
vamgehealthcare11 10:4c3a8f835bef 79 }
vamgehealthcare11 10:4c3a8f835bef 80
vamgehealthcare11 10:4c3a8f835bef 81 if(dist<platedist-2){ //397 403
vamgehealthcare11 9:5263aacbda53 82 mot.rotate(1);
vamgehealthcare11 9:5263aacbda53 83 wait(0.5);
vamgehealthcare11 9:5263aacbda53 84 }
vamgehealthcare11 9:5263aacbda53 85 if(dist>platedist+2){
vamgehealthcare11 9:5263aacbda53 86 mot.rotate(0);
vamgehealthcare11 9:5263aacbda53 87 wait(0.5);
vamgehealthcare11 9:5263aacbda53 88 }
vamgehealthcare11 9:5263aacbda53 89 mot.stop();
rschimpf78 3:fd2ca631ab44 90 }
vamgehealthcare11 9:5263aacbda53 91
vamgehealthcare11 10:4c3a8f835bef 92 pc.printf("\nSelector Height:%ld", dist);
vamgehealthcare11 10:4c3a8f835bef 93 pc.printf("\nSelector Motor Duration:%ld", durationSM);
vamgehealthcare11 9:5263aacbda53 94 mot.stop();
vamgehealthcare11 9:5263aacbda53 95 en = 1;
vamgehealthcare11 9:5263aacbda53 96 wait(1);
rschimpf78 3:fd2ca631ab44 97
vamgehealthcare11 10:4c3a8f835bef 98 if (dist >= 480 || dist <= 40){
vamgehealthcare11 10:4c3a8f835bef 99 pc.printf("\nSelector Distance out of Range");
vamgehealthcare11 10:4c3a8f835bef 100 exit(1);
rschimpf78 3:fd2ca631ab44 101 }
vamgehealthcare11 10:4c3a8f835bef 102 else if (durationSM >= 60000){
vamgehealthcare11 9:5263aacbda53 103 pc.printf("\nSelector Motor Time Out");
vamgehealthcare11 10:4c3a8f835bef 104 exit(1);
rschimpf78 3:fd2ca631ab44 105 }
vamgehealthcare11 9:5263aacbda53 106 else{
vamgehealthcare11 9:5263aacbda53 107 in1=1;
vamgehealthcare11 9:5263aacbda53 108 in2=0;
vamgehealthcare11 10:4c3a8f835bef 109 wait(56);
vamgehealthcare11 9:5263aacbda53 110 in1=1;
vamgehealthcare11 9:5263aacbda53 111 in2=1;
vamgehealthcare11 10:4c3a8f835bef 112 pc.printf("\nSending Finished");
vamgehealthcare11 9:5263aacbda53 113 }
vamgehealthcare11 9:5263aacbda53 114 }
vamgehealthcare11 9:5263aacbda53 115
vamgehealthcare11 9:5263aacbda53 116 else if (command==2){
vamgehealthcare11 9:5263aacbda53 117
vamgehealthcare11 9:5263aacbda53 118 unsigned int pathdist;
vamgehealthcare11 9:5263aacbda53 119 int path_sheets;
vamgehealthcare11 9:5263aacbda53 120 int detectionTOL = 12;
vamgehealthcare11 9:5263aacbda53 121 int sens_pos = 131;
vamgehealthcare11 9:5263aacbda53 122 int sheet_th = 25;
vamgehealthcare11 9:5263aacbda53 123 pathsensor.start();
vamgehealthcare11 9:5263aacbda53 124 wait_ms(500);
vamgehealthcare11 9:5263aacbda53 125 pathdist=pathsensor.get_dist_cm();
rschimpf78 3:fd2ca631ab44 126
vamgehealthcare11 9:5263aacbda53 127 if (pathdist >= sens_pos-detectionTOL && pathdist <= sens_pos+detectionTOL){ //110,130
vamgehealthcare11 9:5263aacbda53 128 path_sheets = 16;
vamgehealthcare11 9:5263aacbda53 129 }
vamgehealthcare11 9:5263aacbda53 130 else if (pathdist >= sens_pos-detectionTOL+sheet_th && pathdist <= sens_pos+detectionTOL+sheet_th){ //152,168 a:
vamgehealthcare11 9:5263aacbda53 131 path_sheets = 15;
vamgehealthcare11 9:5263aacbda53 132 }
vamgehealthcare11 9:5263aacbda53 133 else if (pathdist >= sens_pos-detectionTOL+2*sheet_th && pathdist <= sens_pos+detectionTOL+2*sheet_th){ //179-191
vamgehealthcare11 9:5263aacbda53 134 path_sheets = 14;
vamgehealthcare11 9:5263aacbda53 135 }
vamgehealthcare11 9:5263aacbda53 136 else if (pathdist >= sens_pos-detectionTOL+3*sheet_th && pathdist <= sens_pos+detectionTOL+3*sheet_th){ //205-217
vamgehealthcare11 9:5263aacbda53 137 path_sheets = 13;
vamgehealthcare11 9:5263aacbda53 138 }
vamgehealthcare11 9:5263aacbda53 139 else if (pathdist >= sens_pos-detectionTOL+4*sheet_th && pathdist <= sens_pos+detectionTOL+4*sheet_th){ //231-243
vamgehealthcare11 9:5263aacbda53 140 path_sheets = 12;
vamgehealthcare11 9:5263aacbda53 141 }
vamgehealthcare11 9:5263aacbda53 142 else if (pathdist >= sens_pos-detectionTOL+5*sheet_th && pathdist <= sens_pos+detectionTOL+5*sheet_th){ //257-269
vamgehealthcare11 9:5263aacbda53 143 path_sheets = 11;
vamgehealthcare11 9:5263aacbda53 144 }
vamgehealthcare11 9:5263aacbda53 145 else if (pathdist >= sens_pos-detectionTOL+6*sheet_th && pathdist <= sens_pos+detectionTOL+6*sheet_th){ //283-295
rschimpf78 3:fd2ca631ab44 146 path_sheets = 10;
rschimpf78 3:fd2ca631ab44 147
rschimpf78 3:fd2ca631ab44 148 }
vamgehealthcare11 9:5263aacbda53 149 else if (pathdist >= sens_pos-detectionTOL+7*sheet_th && pathdist <= sens_pos+detectionTOL+7*sheet_th){ //309-321
rschimpf78 3:fd2ca631ab44 150 path_sheets = 9;
rschimpf78 3:fd2ca631ab44 151
rschimpf78 3:fd2ca631ab44 152 }
vamgehealthcare11 9:5263aacbda53 153 else if (pathdist >= sens_pos-detectionTOL+8*sheet_th && pathdist <= sens_pos+detectionTOL+8*sheet_th){ //323-333
rschimpf78 3:fd2ca631ab44 154 path_sheets = 8;
rschimpf78 3:fd2ca631ab44 155
rschimpf78 3:fd2ca631ab44 156 }
vamgehealthcare11 9:5263aacbda53 157 else if (pathdist >= sens_pos-detectionTOL+9*sheet_th && pathdist <= sens_pos+detectionTOL+9*sheet_th){ //349-359
rschimpf78 3:fd2ca631ab44 158 path_sheets = 7;
rschimpf78 3:fd2ca631ab44 159
rschimpf78 3:fd2ca631ab44 160 }
vamgehealthcare11 9:5263aacbda53 161 else if (pathdist >= sens_pos-detectionTOL+10*sheet_th && pathdist <= sens_pos+detectionTOL+10*sheet_th){
rschimpf78 3:fd2ca631ab44 162 path_sheets = 6;
rschimpf78 3:fd2ca631ab44 163
rschimpf78 3:fd2ca631ab44 164 }
vamgehealthcare11 9:5263aacbda53 165 else if (pathdist >= sens_pos-detectionTOL+11*sheet_th && pathdist <= sens_pos+detectionTOL+11*sheet_th){
rschimpf78 3:fd2ca631ab44 166 path_sheets = 5;
rschimpf78 3:fd2ca631ab44 167
rschimpf78 3:fd2ca631ab44 168 }
vamgehealthcare11 9:5263aacbda53 169 else if (pathdist >= sens_pos-detectionTOL+12*sheet_th && pathdist <= sens_pos+detectionTOL+12*sheet_th){
rschimpf78 3:fd2ca631ab44 170 path_sheets = 4;
rschimpf78 3:fd2ca631ab44 171
rschimpf78 3:fd2ca631ab44 172 }
vamgehealthcare11 9:5263aacbda53 173 else if (pathdist >= sens_pos-detectionTOL+13*sheet_th && pathdist <= sens_pos+detectionTOL+13*sheet_th){ //468,478
rschimpf78 3:fd2ca631ab44 174 path_sheets = 3;
rschimpf78 3:fd2ca631ab44 175
rschimpf78 3:fd2ca631ab44 176 }
vamgehealthcare11 9:5263aacbda53 177 else if (pathdist >= sens_pos-detectionTOL+14*sheet_th && pathdist <= sens_pos+detectionTOL+14*sheet_th){ //494,504
rschimpf78 3:fd2ca631ab44 178 path_sheets = 2;
rschimpf78 3:fd2ca631ab44 179
rschimpf78 3:fd2ca631ab44 180 }
vamgehealthcare11 9:5263aacbda53 181 else if (pathdist >= sens_pos-10-detectionTOL+15*sheet_th && pathdist <= sens_pos-10+detectionTOL+15*sheet_th){//greater than 509 less 517
rschimpf78 3:fd2ca631ab44 182 path_sheets = 1;
rschimpf78 3:fd2ca631ab44 183
rschimpf78 3:fd2ca631ab44 184 }
vamgehealthcare11 9:5263aacbda53 185 else if (pathdist > sens_pos-detectionTOL+16*sheet_th){ //greater than 534
rschimpf78 3:fd2ca631ab44 186 path_sheets = 0;
vamgehealthcare11 9:5263aacbda53 187 }
vamgehealthcare11 9:5263aacbda53 188 else {
vamgehealthcare11 9:5263aacbda53 189 pc.printf("\nBeam Path Detector distance out of range : %ld", pathdist);
vamgehealthcare11 9:5263aacbda53 190 wait(2);
vamgehealthcare11 10:4c3a8f835bef 191 path_sheets = 111;
vamgehealthcare11 9:5263aacbda53 192 }
vamgehealthcare11 10:4c3a8f835bef 193 pc.printf("\nDetected Plates: %ld", path_sheets);
vamgehealthcare11 9:5263aacbda53 194 wait(2);
rschimpf78 3:fd2ca631ab44 195 }
vamgehealthcare11 9:5263aacbda53 196
vamgehealthcare11 9:5263aacbda53 197 else if (command==3){
vamgehealthcare11 9:5263aacbda53 198
vamgehealthcare11 9:5263aacbda53 199 millisStart();
vamgehealthcare11 9:5263aacbda53 200 long Duration = 0;
vamgehealthcare11 9:5263aacbda53 201 long StartTime = millis();
rschimpf78 5:e958d61e0564 202
vamgehealthcare11 10:4c3a8f835bef 203 while(magnetSwitch == 1 && homeSwitch == 1 && Duration <= 52000 ){
vamgehealthcare11 9:5263aacbda53 204 in1=0;
vamgehealthcare11 9:5263aacbda53 205 in2=1;
vamgehealthcare11 9:5263aacbda53 206 long CurrentTime = millis();
vamgehealthcare11 9:5263aacbda53 207 Duration = CurrentTime-StartTime;
vamgehealthcare11 9:5263aacbda53 208 }
vamgehealthcare11 9:5263aacbda53 209
vamgehealthcare11 9:5263aacbda53 210 in1=1;
vamgehealthcare11 9:5263aacbda53 211 in2=1;
vamgehealthcare11 9:5263aacbda53 212
vamgehealthcare11 10:4c3a8f835bef 213 if (Duration > 52000){
vamgehealthcare11 10:4c3a8f835bef 214 pc.printf("\nRetraction Time Out Error: %d\r\n", Duration);
vamgehealthcare11 10:4c3a8f835bef 215 exit(1);
vamgehealthcare11 9:5263aacbda53 216 }
vamgehealthcare11 9:5263aacbda53 217 else if (homeSwitch == 0){
vamgehealthcare11 9:5263aacbda53 218 pc.printf("\nMagnet Switch Broken");
vamgehealthcare11 10:4c3a8f835bef 219 exit(1);
vamgehealthcare11 9:5263aacbda53 220 }
vamgehealthcare11 9:5263aacbda53 221 else{
vamgehealthcare11 10:4c3a8f835bef 222 pc.printf("\nRetraction Complete");
vamgehealthcare11 10:4c3a8f835bef 223 goto LOOPY;
vamgehealthcare11 9:5263aacbda53 224 }
vamgehealthcare11 9:5263aacbda53 225 }
vamgehealthcare11 9:5263aacbda53 226
vamgehealthcare11 9:5263aacbda53 227 else {
vamgehealthcare11 9:5263aacbda53 228 pc.printf("\nInvalid Command");
rschimpf78 3:fd2ca631ab44 229 }
rschimpf78 3:fd2ca631ab44 230 }
vamgehealthcare11 10:4c3a8f835bef 231 }
vamgehealthcare11 10:4c3a8f835bef 232 }