Vam GE
/
VAM_CYCLE_2_DO_NOT_EDIT
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Dependencies: Stepper mbed HCSR04 millis
Revision 10:4c3a8f835bef, committed 2019-01-21
- Comitter:
- vamgehealthcare11
- Date:
- Mon Jan 21 23:38:28 2019 +0000
- Parent:
- 9:5263aacbda53
- Commit message:
- update
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Jan 21 19:54:15 2019 +0000
+++ b/main.cpp Mon Jan 21 23:38:28 2019 +0000
@@ -15,7 +15,8 @@
DigitalOut en(D2);
int main(){
- LOOPY:
+
+
en = 1;
in1 = 1;
in2 = 1;
@@ -23,13 +24,12 @@
wait (.01);
homeSwitch.mode(PullUp);
wait (0.01);
- int command;
while(1){
-
- pc.printf("\nCommand:\n\n\t1\tSend Plates\n\t2\tDetect Active Plates\n\t3\tRetract All Active Plates\n\t4\tSelect Plates\n\n");
- pc.printf("\nRequest: ");
- pc.scanf("%d",&command);
+
+ LOOPY:
+
+for ( int command = 1; command < 4; command++){
if (command==1){
@@ -37,21 +37,11 @@
unsigned int dist;
int platedist;
- while(plates<=0 || plates>16){
- pc.printf("\nEnter Number of Plates to Send 0-16: ");
- pc.scanf("%d",&plates);
-
- if (plates > 16 || plates < 0 ){
- pc.printf("\nInvalid Entry");
- }
- else{
- pc.printf("\nPlates Requested: %ld", plates);
- }
- }
+ plates = (rand() % 16) + 1;
if (magnetSwitch == 1){
pc.printf("\nNot in Home Position");
- goto LOOPY;
+ exit(1);
}
else{
wait(1);
@@ -61,29 +51,34 @@
in1=1;
in2=1;
}
-
- platedist = (468-24*plates);
- wait(1);
- heightsensor.start();
- wait_ms(500);
- dist = heightsensor.get_dist_cm();
+ pc.printf("\nRequested Plates:%ld",plates);
+ platedist = (468-24*plates);
millisStart();
long durationSM = 0;
long starttimeSM = millis();
- pc.printf("\nPlate Distance:%ld",platedist);
- pc.printf("\nSelector Height:%ld",dist);
- while(dist < platedist-2 || dist > platedist+2 && dist < 480 && durationSM <56000){
+ SENSORREAD:
+ heightsensor.start();
+ wait_ms(250);
+ dist = heightsensor.get_dist_cm();
+
+
+ while ((dist < platedist-2 && durationSM < 60000 || dist > platedist+2 && durationSM < 60000)){
+
heightsensor.start();
- dist = heightsensor.get_dist_cm();
long currenttimeSM = millis();
durationSM = currenttimeSM-starttimeSM;
- pc.printf("\nSelector Height:%ld",dist);
en = 0;
mot.setSpeed(500);
-
- if(dist<platedist-2){
+ dist = heightsensor.get_dist_cm();
+
+ if(dist >= 480 || dist <= 40 ){
+ pc.printf("\nBad Read at :%ld", durationSM);
+ goto SENSORREAD;
+ }
+
+ if(dist<platedist-2){ //397 403
mot.rotate(1);
wait(0.5);
}
@@ -94,25 +89,27 @@
mot.stop();
}
+ pc.printf("\nSelector Height:%ld", dist);
+ pc.printf("\nSelector Motor Duration:%ld", durationSM);
mot.stop();
en = 1;
wait(1);
- if (dist >=480){
- pc.printf("\nSelector Distance out of Range:%ld",dist);
- goto LOOPY;
+ if (dist >= 480 || dist <= 40){
+ pc.printf("\nSelector Distance out of Range");
+ exit(1);
}
- else if (durationSM >= 56000){
+ else if (durationSM >= 60000){
pc.printf("\nSelector Motor Time Out");
- goto LOOPY;
+ exit(1);
}
else{
- pc.printf("\nPlates Selected: %ld", plates);
in1=1;
in2=0;
- wait(58);
+ wait(56);
in1=1;
in2=1;
+ pc.printf("\nSending Finished");
}
}
@@ -191,9 +188,9 @@
else {
pc.printf("\nBeam Path Detector distance out of range : %ld", pathdist);
wait(2);
- goto LOOPY;
+ path_sheets = 111;
}
- pc.printf("\nPlates Detected in Beam Path: %ld", path_sheets);
+ pc.printf("\nDetected Plates: %ld", path_sheets);
wait(2);
}
@@ -203,112 +200,33 @@
long Duration = 0;
long StartTime = millis();
- while(magnetSwitch == 1 && homeSwitch == 1 && Duration <= 58000 ){
+ while(magnetSwitch == 1 && homeSwitch == 1 && Duration <= 52000 ){
in1=0;
in2=1;
long CurrentTime = millis();
Duration = CurrentTime-StartTime;
- pc.printf("\nDuration: %d\r\n", Duration);
}
in1=1;
in2=1;
- if (Duration > 58000){
- pc.printf("\nRetraction Time Out Error");
- goto LOOPY;
+ if (Duration > 52000){
+ pc.printf("\nRetraction Time Out Error: %d\r\n", Duration);
+ exit(1);
}
else if (homeSwitch == 0){
pc.printf("\nMagnet Switch Broken");
- goto LOOPY;
+ exit(1);
}
else{
- pc.printf("\nPlate Retraction Complete");
+ pc.printf("\nRetraction Complete");
+ goto LOOPY;
}
}
-else if (command==4){
-
- int plates = 0;
- unsigned int dist;
- int platedist;
-
- while(plates<=0 || plates>16){
-
- pc.printf("\nEnter Number of Plates to Select 0-16: ");
- pc.scanf("%d",&plates);
-
- if (plates > 16 || plates < 0 ){
- pc.printf("\nInvalid Entry");
- }
- else{
- pc.printf("\nPlates Requested: %ld", plates);
- }
- }
-
- if (magnetSwitch == 1){
- pc.printf("\nNot in Home Position");
- goto LOOPY;
- }
- else{
- wait(1);
- in1=1;
- in2=0;
- wait_ms(900);
- in1=1;
- in2=1;
- }
-
- platedist = (468-24*plates);
- wait(1);
- heightsensor.start();
- wait_ms(500);
- dist = heightsensor.get_dist_cm();
- millisStart();
- long durationSM = 0;
- long starttimeSM = millis();
- pc.printf("\nPlate Distance:%ld",platedist);
- pc.printf("\nSelector Height:%ld",dist);
-
- while(dist < platedist-2 || dist > platedist+2 && dist < 480 && durationSM <56000){
-
- heightsensor.start();
- dist = heightsensor.get_dist_cm();
- long currenttimeSM = millis();
- durationSM = currenttimeSM-starttimeSM;
- pc.printf("\nSelector Height:%ld",dist);
- en = 0;
- mot.setSpeed(500);
-
- if(dist<platedist-2){
- mot.rotate(1);
- wait(0.5);
- }
- if(dist>platedist+2){
- mot.rotate(0);
- wait(0.5);
- }
- mot.stop();
- }
-
- mot.stop();
- en = 1;
- wait(1);
-
- if (dist >=480){
- pc.printf("\nSelector Distance out of Range:%ld",dist);
- goto LOOPY;
- }
- else if (durationSM >= 56000){
- pc.printf("\nSelector Motor Time Out");
- goto LOOPY;
- }
- else{
- pc.printf("\nSelection Finished");
- }
- }
else {
pc.printf("\nInvalid Command");
}
}
-}
\ No newline at end of file
+}
+}