Vam GE
Cycle Testing
Dependencies: Stepper mbed HCSR04 millis
Diff: main.cpp
- Revision:
- 2:e8f8095464cf
- Parent:
- 0:88834eed3de0
- Child:
- 3:fd2ca631ab44
--- a/main.cpp Sun Mar 18 23:51:04 2018 +0000
+++ b/main.cpp Fri Sep 14 19:10:45 2018 +0000
@@ -1,283 +1,186 @@
-/*#include "mbed.h"
-#include <vector>
-//--------Brushed Motor -------------------
-DigitalOut in3(PTC17);
-DigitalOut in4(PTC16);
-//---------Stepper Motor ------------------
-Stepper mot(PTA1,D2);//d2 and d3
-DigitalOut en(D4);
-Serial pc(USBTX, USBRX);
-
-//--Internal pullup resistors for Bumper Switches---
-DigitalIn bswitch(D1);
-DigitalIn tswitch(D0);
-int main() {
- vector<int> time;
- vector<int> plates;
- int n,t,h,m,s = 0;
- int tests = 0;
- PULp.period(0.0006f);
- ENp = 1;
- DIRp = 0;
- PULp.write(0.5f);
- in3=0;
- in4=0;
- pc.printf("\nCommands ");
- pc.scanf("%d",&tests);
-
- for (int i = 1; i<=tests;i++){
- pc.printf("\nEnter the Number of Plates for test %d: ",i);
- pc.scanf("%d",&n);
- pc.printf("\nEnter hours and minutes to test these plates\n\nHours: ");
- pc.scanf("%d",&h);
- pc.printf("Minutes: ");
- pc.scanf("%d",&m);
- pc.printf("Seconds: ");
- pc.scanf("%d",&s);
- t=(h*3600)+(m*60)+s;
- time.push_back(t);
- plates.push_back(n);
- }
- pc.printf("\nTesting in Progress...");
- for (unsigned y=0; y<time.size(); y++){
-
- //--------Turn Stepper on for a certain amount of time based on the number of plates----
- in3=0; // stop actuator
- in4=0; // stop actuator
- ENp = 0;
- DIRp = 0;
- wait(1.9*(plates.at(y)-1));
- ENp = 1;
- wait(0.5);
- //-------Move Plates Under X ray Beam---------------------------------------------------
- in3=0;
- in4=1;
- wait(14); //reaches end after 10 seconds
- in3=0; // stop actuator
- in4=0; // stop actuator
- //-----Test the Plate for specified time ----------------------------------------------
- wait(time.at(y)); //Leave plates in beam path for the user inputted amount of time
- //-----Retract plates to original position---------------------------------------------
- in3=1;
- in4=0;
- wait(14);
- in3=0;
- in4=0;
- wait(0.5);
- //--------Return Stepper to base height with one plate selected------------------------
- ENp = 0;
- DIRp = 1;
- wait(2*(plates.at(y)-1));
- ENp = 1;
- //-------------------------------------------------------------------------------------
- pc.printf("\n\nTest number %d complete", y+1);
- pc.printf("\nNumber of Plates: %d", plates.at(y));
- pc.printf("\nLength of Test: %d seconds", time.at(y));
- }
- pc.printf("\n\nAll testing complete");
- }
-*/
-
-/*#include "mbed.h"
+#include "mbed.h"
+#include "Stepper.h"
+#include "string"
+DigitalOut in1(D10);///in1 d9 and in2 d10
+DigitalOut in2(D9);
+DigitalIn endSwitch(D6);
+DigitalIn homeSwitch(D7);
+DigitalIn bottomSwitch(D5);
+Stepper mot(D3,D4); //(D5 to PUL+, D4 to DIR+)
+DigitalOut en(D2);
Serial pc(USBTX, USBRX);
-
-int main() {
- char c;
- char buffer[128];
- pc.gets(buffer, 4);
- pc.printf("I got '%s'\n", buffer);
- if(strcmp(buffer,"on")==0) {
- printf("success");
- }
- else{
- printf("fail");
- }
-}
-*/
-#include "mbed.h"
-#include "Stepper.h"
-DigitalIn homeSwitch(D8);
-DigitalIn endSwitch(D1);
-DigitalIn bottomSwitch(D0);
-DigitalIn topSwitch(D9);
-Stepper mot(PTA1,D2);
-DigitalOut en(D4);
-DigitalOut in1(D11);
-DigitalOut in2(D10);
-Serial pc(USBTX, USBRX);
-void positionStatus()
+volatile int plates = 1;
+
+void position()
{
- int plateposition; //plate position -> 1 is home, 2 is traveling, 3 is under beam path
- if(homeSwitch==0 && endSwitch==1)
- {
- plateposition = 1;
- pc.printf("\nPlate position is home %d",plateposition);
- }
- else if (homeSwitch==1 && endSwitch==1)
- {
- plateposition = 2;
- pc.printf("\nPlates are currently moving %d",plateposition);
- }
- else if(homeSwitch==1 && endSwitch==0)
- {
- plateposition = 3;
- pc.printf("\nPlates are under beam path %d",plateposition);
- }
- else
- {
- pc.printf("\nError, cannot locate plate position");
- }
-}
-
+ char str1[20];
+ char str2[20];
+ char str3[20];
+ strcpy(str1,"HOME");
+ strcpy(str2,"ERROR");
+ strcpy(str3,"IN BEAM PATH");
+
+ if(homeSwitch==0 && endSwitch==1)
+ {
+ pc.printf(" pmma state - %s\n",str1);
+ }
+ else if (homeSwitch==1 && endSwitch==0)
+ {
+ pc.printf(" pmma state - %s\n",str3);
+ }
+ else if (homeSwitch==1 && endSwitch==1)
+ {
+ pc.printf(" pmma state - %s\n",str2);
+ }
+ else
+ {
+ pc.printf(" pmma state - else");
+ }
+}
void retractPMMA()
{
+ while(homeSwitch == 1)
+ {
in1=1;
in2=0;
- wait(14);
+ }
+ in1=1;
+ in2=1;
+}
+void sendPMMA() //Command: Send plates
+{
+
in1=0;
- in2=0;
- positionStatus();
+ in2=1;
+ wait(9);
+ in1=1;
+ in2=1;
}
-void sendPMMA() //Command: Send plates
- { //Returns: plates arrived(),plates didn't arrive()
- wait(2);
+void autoCalibrate() //if machine is plugged in when the plate selector isn't at the origin...
+{
+ while(homeSwitch==1)
+ {
+ retractPMMA();
+ }
+
in1=1;
- in2=0;
- wait(14);
- in1=0;
- in2=0;
- positionStatus();
+ in2=1;
+ en = 0; //...it automatically lowers it to the origin position
+ mot.setSpeed(600);
+ mot.rotate(1);
+ while(bottomSwitch); //While bottom switch is unpressed
+ mot.stop(); //Stop rotation when switch is pressed (pressed = logical level low) //Disable driver
+ mot.setPositionZero();
+ wait(1);
+ mot.goesTo(-800);
+ while(!mot.stopped());
+ mot.stop();
+ mot.setPositionZero();
+ en=1; //Set absolute origin for plate selector at switch hit
}
-
-void autoCalibrate() //if machine is plugged in when the plate selector isn't at the origin...
-{
- en = 0; //...it automatically lowers it to the origin position
- mot.setSpeed(800);
- mot.rotate(0);
- while(bottomSwitch); //While bottom switch is unpressed
- mot.stop(); //Stop rotation when switch is pressed (pressed = logical level low)
- en=1; //Disable driver
- mot.setPositionZero(); //Set absolute origin for plate selector at switch hit
-}
-
void internalpullups()
{
- bottomSwitch.mode (PullUp);
- topSwitch.mode (PullUp);
- homeSwitch.mode (PullUp);
- endSwitch.mode (PullUp);
+ bottomSwitch.mode(PullUp);
+ homeSwitch.mode(PullUp);
+ endSwitch.mode(PullUp);
wait (.01);
}
-
-void numberofPlates() // Command: Number of PMMA to send (plates)
- // Returns: Actual number of plates selected (selectedplates), selectionerror (1 for command error, 0 for correct command)
-{
- int stepheight,plates,selectionerror;
- double selectedplates;
- pc.printf("\nEnter the Number of Plates to send ");
- pc.scanf("%d",&plates);
- if (plates <= 0)
- {
- pc.printf("\nNot a valid number, must be 1 to 16");
- selectionerror = 1;
- }
- else if (plates >= 17)
- {
- pc.printf("\nNot a valid number, must be 1 to 16");
- selectionerror = 1;
- }
- else
- {
- selectionerror = 0;
- pc.printf("\nCommand Valid\n");
- en = 0;
- mot.goesTo(plates*1620);
- while(!mot.stopped());
- stepheight = mot.getPosition();
- selectedplates = stepheight/1620;
- pc.printf("\n Steps taken: %d ",selectedplates);
- mot.stop();
- en = 1;
+void numberofPlates() // Command: Number of PMMA to send (plates)
+{
+ int stepheight;
+
+ if (plates <= 0 || plates >= 17)
+ {
+ pc.printf(" ERROR invalid range |");
+ }
+ else if(endSwitch == 1 && homeSwitch==0)
+ {
+ en = 0;
+ mot.goesTo((plates-1)*-1680); //plates per step
+ while(!mot.stopped());
+ stepheight = mot.getPosition();
+ pc.printf(" selector height %d steps |",stepheight);
+ mot.stop();
+ en = 1;
+ wait(1);
+ sendPMMA();
}
-}
+ else
+ {
+ pc.printf("Position Error - Cannot Send");
+ }
+}
void selectionStatus()
{
- int stepheight;
- double selectedplates;
- stepheight = mot.getPosition();
- selectedplates = stepheight/1620;
- pc.printf("\n Number of plates currently selected: %d ",selectedplates);
-
-}
+ int stepperposition;
+ double selectedplates;
+ stepperposition = mot.getPosition();
+ selectedplates = stepperposition/1621;
+ pc.printf("\n Number of plates currently selected: %d ",selectedplates);
+}
+void deviceinfo()
+{
+ printf("\nUnique ID: 0240000041114e4500513007bcf9000a9e51000097969900");
+ printf("\nBootloader Version: 0244");
+ printf("\nBUILD: 1:4BDA04E+");
+ printf("\nBUILD TIMESTAMP=3/18/2018\n\n");
+
+}
-
int main()
-{
- char command[256] = { 0 };
+{
+ in1=1;
+ in2=1;
+ en = 1;
+ wait(0.1);
internalpullups();
- wait (.01);
- autoCalibrate(); //...it automatically lowers it to the origin position for initial power up
-
- while(1)
+ wait(0.1);
+ autoCalibrate();
+
+ char command[15] = {0};
+ pc.printf("\nCommands:\n\n\tsend [N]\t**places N PMMA sheets in beam path\n\tretract\t\t**removes all PMMA from beam path\n\tlocation\t**returns location of PMMA\n\tinfo\t\t**returns device and firmware information\n\n");
+
+ while(1)
{
- pc.printf("\nEnter Command: \n send \n retract \n position (get status) \n selection (get status)" );
- pc.scanf("\n%s", &command);
- if (strcmp (command, "send") == 0)
- {
- pc.printf ("\nCommand Recieved: Send"); //confirmation of recieved command
- numberofPlates(); //select number of plates to send
- sendPMMA();
+
+ pc.printf("\nRequests: ");
+ pc.scanf("%s",&command);
+
+ if (strcmp (command, "send") == 0)
+ {
+ pc.scanf(" %d",&plates);
+ pc.printf("\nresponse recieved |");
+ numberofPlates();
+ position();
}
- if (strcmp (command, "retract") == 0)
- {
- pc.printf ("\nCommand Recieved: retract");
- retractPMMA();
- }
- if (strcmp (command, "position") == 0)
- {
- pc.printf ("\nCommand Recieved: position");
- positionStatus();
+ else if (strcmp (command, "retract") == 0)
+ {
+ pc.printf("\nresponse recieved |");
+ retractPMMA();
+ position();
}
- if (strcmp (command, "selection") == 0)
+ else if (strcmp (command, "location") == 0)
{
- pc.printf ("\nCommand Recieved: selection");
- selectionStatus();
+ pc.printf("\nresponse recieved |");
+ position();
+ }
+ else if (strcmp (command, "info") == 0)
+ {
+ pc.printf("\nresponse recieved |");
+ deviceinfo();
}
- }
-}
-
-
-/* int main ()
-{
- int steps, plates;
- bswitch.mode (PullUp);
- wait (.01);
- mot.setSpeed (600);
- mot.rotate (0); //if machine is plugged in when the plate selector isn't at the origin...
-
- while (bswitch); //...it automatically lowers it to the origin positio
- mot.stop (); //Stop rotation when switch is pressed (pressed = logical level low)
- en = 1; //Disable driver
- mot.setPositionZero (); //Set absolute origin for plate selector at switch hit
- char c[256] = { 0 };
-
- while (1)
- {
- pc.printf("Choose a command:\nPMMA 1");
- pc.scanf ("%s", &c);
-
- if (strcmp (c, "PMMA1") == 0)
- {
- pc.printf ("\n match ");
+ else if (strcmp (command, "height") == 0)
+ {
+ pc.printf("\nresponse recieved |");
+ numberofPlates();
}
-
- if (strcmp (c, "no") == 0)
- {
- pc.printf ("\n not match ");
- }
+
+ else
+ {
+ pc.printf("\nERROR-command invalid");
+ }
}
-}
-*/
\ No newline at end of file
+}
\ No newline at end of file