Vam GE / Mbed 2 deprecated VAM_MANUAL_2_DO_NOT_EDIT

VAM

Dependencies:   Stepper mbed HCSR04 millis

main.cpp@8:a7b443aee89b, 2019-01-18 (annotated)

Committer:
rschimpf78
Date:
Fri Jan 18 21:07:57 2019 +0000
Revision:
8:a7b443aee89b
Parent:
7:2c70830e0f36
Child:
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 //#include "SDFileSystem.h"
rschimpf78 6:6ca8a0ef7d4a 7
rschimpf78 3:fd2ca631ab44 8 Serial pc(USBTX, USBRX);
rschimpf78 6:6ca8a0ef7d4a 9 HCSR04 pathsensor(PTC2,PTA2); //(trig,echo)
rschimpf78 6:6ca8a0ef7d4a 10 HCSR04 heightsensor(PTD2,PTD3);
rschimpf78 3:fd2ca631ab44 11 DigitalOut in1(PTC12);
rschimpf78 3:fd2ca631ab44 12 DigitalOut in2(D7);
rschimpf78 6:6ca8a0ef7d4a 13
rschimpf78 6:6ca8a0ef7d4a 14 //DigitalIn homeSwitch(D9);
rschimpf78 6:6ca8a0ef7d4a 15 DigitalIn magnetSwitch(D10);
rschimpf78 3:fd2ca631ab44 16 Stepper mot(D3,D4); //(D3 to PUL+, D4 to DIR+)
rschimpf78 2:e8f8095464cf 17 DigitalOut en(D2);
rschimpf78 0:88834eed3de0 18
rschimpf78 3:fd2ca631ab44 19 volatile int plates=0;
rschimpf78 3:fd2ca631ab44 20 volatile unsigned int sheets=0;
rschimpf78 3:fd2ca631ab44 21 volatile unsigned int path_sheets=0;
rschimpf78 0:88834eed3de0 22
rschimpf78 3:fd2ca631ab44 23 void plate_selection()
rschimpf78 0:88834eed3de0 24 {
rschimpf78 3:fd2ca631ab44 25 unsigned int dist;
rschimpf78 3:fd2ca631ab44 26 int er = 5;
rschimpf78 6:6ca8a0ef7d4a 27 int fp = 447; //adjust if needed
rschimpf78 3:fd2ca631ab44 28 int lp = 64; //adjust if needed
rschimpf78 3:fd2ca631ab44 29 int tp = 25;
rschimpf78 5:e958d61e0564 30 wait(1);
rschimpf78 5:e958d61e0564 31 in1=1;
rschimpf78 5:e958d61e0564 32 in2=0;
rschimpf78 6:6ca8a0ef7d4a 33 wait_ms(850);
rschimpf78 5:e958d61e0564 34 in1=1;
rschimpf78 5:e958d61e0564 35 in2=1;
rschimpf78 5:e958d61e0564 36 wait(1);
rschimpf78 3:fd2ca631ab44 37 while (plates!=sheets) {
rschimpf78 3:fd2ca631ab44 38 heightsensor.start();
rschimpf78 3:fd2ca631ab44 39 wait_ms(500);
rschimpf78 3:fd2ca631ab44 40 dist=heightsensor.get_dist_cm();
rschimpf78 3:fd2ca631ab44 41 pc.printf("\nmm:%ld",dist);
rschimpf78 3:fd2ca631ab44 42
rschimpf78 3:fd2ca631ab44 43 if (dist<=lp-10 || dist >= fp+10){
rschimpf78 3:fd2ca631ab44 44 mot.stop();
rschimpf78 3:fd2ca631ab44 45 en = 1;
rschimpf78 3:fd2ca631ab44 46 sheets = plates;
rschimpf78 3:fd2ca631ab44 47 pc.printf("\nERROR: Selector is outside of plate range\nRestart/Reset Program");
rschimpf78 3:fd2ca631ab44 48 }
rschimpf78 3:fd2ca631ab44 49 else if (plates<sheets){
rschimpf78 3:fd2ca631ab44 50 en = 0;
rschimpf78 3:fd2ca631ab44 51 mot.setSpeed(600);
rschimpf78 3:fd2ca631ab44 52 mot.rotate(1);
rschimpf78 3:fd2ca631ab44 53 }
rschimpf78 3:fd2ca631ab44 54 else{
rschimpf78 3:fd2ca631ab44 55 en = 0;
rschimpf78 3:fd2ca631ab44 56 mot.setSpeed(600);
rschimpf78 3:fd2ca631ab44 57 mot.rotate(0);
rschimpf78 3:fd2ca631ab44 58 }
rschimpf78 3:fd2ca631ab44 59
rschimpf78 3:fd2ca631ab44 60 if (dist<=fp+er && dist>=fp-er){ //450,440
rschimpf78 3:fd2ca631ab44 61 sheets = 1;
rschimpf78 3:fd2ca631ab44 62 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 63 }
rschimpf78 3:fd2ca631ab44 64
rschimpf78 3:fd2ca631ab44 65 if (dist<= fp-tp+er && dist>=fp-tp-er){ //424,414
rschimpf78 3:fd2ca631ab44 66 sheets = 2;
rschimpf78 3:fd2ca631ab44 67 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 68 }
rschimpf78 3:fd2ca631ab44 69
rschimpf78 3:fd2ca631ab44 70 if (dist<= fp-2*tp+er && dist>=fp-2*tp-er){
rschimpf78 3:fd2ca631ab44 71 sheets = 3;
rschimpf78 3:fd2ca631ab44 72 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 73 }
rschimpf78 3:fd2ca631ab44 74
rschimpf78 3:fd2ca631ab44 75 if (dist<= fp-3*tp+er && dist>=fp-3*tp-er){
rschimpf78 3:fd2ca631ab44 76 sheets = 4;
rschimpf78 3:fd2ca631ab44 77 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 78 }
rschimpf78 3:fd2ca631ab44 79 if (dist<= fp-4*tp+er && dist>=fp-4*tp-er){
rschimpf78 3:fd2ca631ab44 80 sheets = 5;
rschimpf78 3:fd2ca631ab44 81 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 82 }
rschimpf78 3:fd2ca631ab44 83 if (dist<= fp-5*tp+er && dist>=fp-5*tp-er){
rschimpf78 3:fd2ca631ab44 84 sheets = 6;
rschimpf78 3:fd2ca631ab44 85 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 86 }
rschimpf78 3:fd2ca631ab44 87 if (dist<= fp-6*tp+er && dist>=fp-6*tp-er){
rschimpf78 3:fd2ca631ab44 88 sheets = 7;
rschimpf78 3:fd2ca631ab44 89 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 90 }
rschimpf78 3:fd2ca631ab44 91 if (dist<= fp-7*tp+er && dist>=fp-7*tp-er){
rschimpf78 3:fd2ca631ab44 92 sheets = 8;
rschimpf78 3:fd2ca631ab44 93 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 94 }
rschimpf78 3:fd2ca631ab44 95 if (dist<= fp-8*tp+er && dist>=fp-8*tp-er){
rschimpf78 3:fd2ca631ab44 96 sheets = 9;
rschimpf78 3:fd2ca631ab44 97 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 98 }
rschimpf78 3:fd2ca631ab44 99 if (dist<= fp-9*tp+er && dist>=fp-9*tp-er){
rschimpf78 3:fd2ca631ab44 100 sheets = 10;
rschimpf78 3:fd2ca631ab44 101 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 102 }
rschimpf78 3:fd2ca631ab44 103 if (dist<= fp-10*tp+er && dist>=fp-10*tp-er){
rschimpf78 3:fd2ca631ab44 104 sheets = 11;
rschimpf78 3:fd2ca631ab44 105 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 106 }
rschimpf78 3:fd2ca631ab44 107 if (dist<= fp-11*tp+er && dist>=fp-11*tp-er){
rschimpf78 3:fd2ca631ab44 108 sheets = 12;
rschimpf78 3:fd2ca631ab44 109 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 110 }
rschimpf78 3:fd2ca631ab44 111 if (dist<= fp-12*tp+er && dist>=fp-12*tp-er){
rschimpf78 3:fd2ca631ab44 112 sheets = 13;
rschimpf78 3:fd2ca631ab44 113 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 114 }
rschimpf78 3:fd2ca631ab44 115 if (dist<= fp-13*tp+er && dist>=fp-13*tp-er){
rschimpf78 3:fd2ca631ab44 116 sheets = 14;
rschimpf78 3:fd2ca631ab44 117 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 118 }
rschimpf78 3:fd2ca631ab44 119 if (dist<= fp-14*tp+er && dist>=fp-14*tp-er){
rschimpf78 3:fd2ca631ab44 120 sheets = 15;
rschimpf78 3:fd2ca631ab44 121 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 122 }
rschimpf78 3:fd2ca631ab44 123 if (dist<= fp-15*tp+er && dist>=fp-15*tp-er){ // 75, 65
rschimpf78 3:fd2ca631ab44 124 sheets = 16;
rschimpf78 3:fd2ca631ab44 125 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 126 }
rschimpf78 3:fd2ca631ab44 127 }
rschimpf78 3:fd2ca631ab44 128 mot.stop();
rschimpf78 3:fd2ca631ab44 129 en = 1;
rschimpf78 3:fd2ca631ab44 130 wait(1);
rschimpf78 3:fd2ca631ab44 131 }
rschimpf78 3:fd2ca631ab44 132
rschimpf78 3:fd2ca631ab44 133 void beam()
rschimpf78 3:fd2ca631ab44 134 {
rschimpf78 3:fd2ca631ab44 135
rschimpf78 3:fd2ca631ab44 136 unsigned int path_dist;
rschimpf78 6:6ca8a0ef7d4a 137 int err = 12;
rschimpf78 6:6ca8a0ef7d4a 138 int sens_pos = 131; //adjust if needed //535 0 plates
rschimpf78 3:fd2ca631ab44 139 int sheet_th = 25;
rschimpf78 3:fd2ca631ab44 140 pathsensor.start();
rschimpf78 3:fd2ca631ab44 141 wait_ms(500);
rschimpf78 3:fd2ca631ab44 142 path_dist=pathsensor.get_dist_cm();
rschimpf78 3:fd2ca631ab44 143 pc.printf("\nBeam Path Sensor : %ld",path_dist);
rschimpf78 3:fd2ca631ab44 144 path_sheets = 17;
rschimpf78 3:fd2ca631ab44 145
rschimpf78 4:1a4022b21dae 146 if (path_dist >= sens_pos-err && path_dist <= sens_pos+err){ //110,130
rschimpf78 3:fd2ca631ab44 147 path_sheets = 16;
rschimpf78 3:fd2ca631ab44 148
rschimpf78 3:fd2ca631ab44 149 }
rschimpf78 3:fd2ca631ab44 150 if (path_dist >= sens_pos-err+sheet_th && path_dist <= sens_pos+err+sheet_th){ //152,168 a:
rschimpf78 3:fd2ca631ab44 151 path_sheets = 15;
rschimpf78 3:fd2ca631ab44 152
rschimpf78 3:fd2ca631ab44 153 }
rschimpf78 3:fd2ca631ab44 154 if (path_dist >= sens_pos-err+2*sheet_th && path_dist <= sens_pos+err+2*sheet_th){ //179-191
rschimpf78 3:fd2ca631ab44 155 path_sheets = 14;
rschimpf78 3:fd2ca631ab44 156
rschimpf78 3:fd2ca631ab44 157 }
rschimpf78 3:fd2ca631ab44 158 if (path_dist >= sens_pos-err+3*sheet_th && path_dist <= sens_pos+err+3*sheet_th){ //205-217
rschimpf78 3:fd2ca631ab44 159 path_sheets = 13;
rschimpf78 3:fd2ca631ab44 160
rschimpf78 3:fd2ca631ab44 161 }
rschimpf78 3:fd2ca631ab44 162 if (path_dist >= sens_pos-err+4*sheet_th && path_dist <= sens_pos+err+4*sheet_th){ //231-243
rschimpf78 3:fd2ca631ab44 163 path_sheets = 12;
rschimpf78 3:fd2ca631ab44 164
rschimpf78 3:fd2ca631ab44 165 }
rschimpf78 3:fd2ca631ab44 166 if (path_dist >= sens_pos-err+5*sheet_th && path_dist <= sens_pos+err+5*sheet_th){ //257-269
rschimpf78 3:fd2ca631ab44 167 path_sheets = 11;
rschimpf78 3:fd2ca631ab44 168
rschimpf78 3:fd2ca631ab44 169 }
rschimpf78 3:fd2ca631ab44 170 if (path_dist >= sens_pos-err+6*sheet_th && path_dist <= sens_pos+err+6*sheet_th){ //283-295
rschimpf78 3:fd2ca631ab44 171 path_sheets = 10;
rschimpf78 3:fd2ca631ab44 172
rschimpf78 3:fd2ca631ab44 173 }
rschimpf78 3:fd2ca631ab44 174 if (path_dist >= sens_pos-err+7*sheet_th && path_dist <= sens_pos+err+7*sheet_th){ //309-321
rschimpf78 3:fd2ca631ab44 175 path_sheets = 9;
rschimpf78 3:fd2ca631ab44 176
rschimpf78 3:fd2ca631ab44 177 }
rschimpf78 3:fd2ca631ab44 178 if (path_dist >= sens_pos-err+8*sheet_th && path_dist <= sens_pos+err+8*sheet_th){ //323-333
rschimpf78 3:fd2ca631ab44 179 path_sheets = 8;
rschimpf78 3:fd2ca631ab44 180
rschimpf78 3:fd2ca631ab44 181 }
rschimpf78 3:fd2ca631ab44 182 if (path_dist >= sens_pos-err+9*sheet_th && path_dist <= sens_pos+err+9*sheet_th){ //349-359
rschimpf78 3:fd2ca631ab44 183 path_sheets = 7;
rschimpf78 3:fd2ca631ab44 184
rschimpf78 3:fd2ca631ab44 185 }
rschimpf78 3:fd2ca631ab44 186 if (path_dist >= sens_pos-err+10*sheet_th && path_dist <= sens_pos+err+10*sheet_th){
rschimpf78 3:fd2ca631ab44 187 path_sheets = 6;
rschimpf78 3:fd2ca631ab44 188
rschimpf78 3:fd2ca631ab44 189 }
rschimpf78 3:fd2ca631ab44 190 if (path_dist >= sens_pos-err+11*sheet_th && path_dist <= sens_pos+err+11*sheet_th){
rschimpf78 3:fd2ca631ab44 191 path_sheets = 5;
rschimpf78 3:fd2ca631ab44 192
rschimpf78 3:fd2ca631ab44 193 }
rschimpf78 3:fd2ca631ab44 194 if (path_dist >= sens_pos-err+12*sheet_th && path_dist <= sens_pos+err+12*sheet_th){
rschimpf78 3:fd2ca631ab44 195 path_sheets = 4;
rschimpf78 3:fd2ca631ab44 196
rschimpf78 3:fd2ca631ab44 197 }
rschimpf78 3:fd2ca631ab44 198 if (path_dist >= sens_pos-err+13*sheet_th && path_dist <= sens_pos+err+13*sheet_th){ //468,478
rschimpf78 3:fd2ca631ab44 199 path_sheets = 3;
rschimpf78 3:fd2ca631ab44 200
rschimpf78 3:fd2ca631ab44 201 }
rschimpf78 3:fd2ca631ab44 202 if (path_dist >= sens_pos-err+14*sheet_th && path_dist <= sens_pos+err+14*sheet_th){ //494,504
rschimpf78 3:fd2ca631ab44 203 path_sheets = 2;
rschimpf78 3:fd2ca631ab44 204
rschimpf78 3:fd2ca631ab44 205 }
rschimpf78 4:1a4022b21dae 206 if (path_dist >= sens_pos-10-err+15*sheet_th && path_dist <= sens_pos-10+err+15*sheet_th){//greater than 509 less 517
rschimpf78 3:fd2ca631ab44 207 path_sheets = 1;
rschimpf78 3:fd2ca631ab44 208
rschimpf78 3:fd2ca631ab44 209 }
rschimpf78 4:1a4022b21dae 210 if (path_dist > sens_pos-err+16*sheet_th){ //greater than 534
rschimpf78 3:fd2ca631ab44 211 path_sheets = 0;
rschimpf78 3:fd2ca631ab44 212 }
rschimpf78 3:fd2ca631ab44 213 }
rschimpf78 3:fd2ca631ab44 214
rschimpf78 3:fd2ca631ab44 215 void platedetect()
rschimpf78 3:fd2ca631ab44 216 {
rschimpf78 6:6ca8a0ef7d4a 217 if(magnetSwitch==0 && path_sheets==0)
rschimpf78 2:e8f8095464cf 218 {
rschimpf78 3:fd2ca631ab44 219 pc.printf("\nAll plates are in the start position");
rschimpf78 2:e8f8095464cf 220 }
rschimpf78 6:6ca8a0ef7d4a 221 else if (magnetSwitch==1 && path_sheets==0)
rschimpf78 2:e8f8095464cf 222 {
rschimpf78 3:fd2ca631ab44 223 pc.printf("\nError-Plates are not fully extended");
rschimpf78 2:e8f8095464cf 224 }
rschimpf78 2:e8f8095464cf 225 else
rschimpf78 2:e8f8095464cf 226 {
rschimpf78 3:fd2ca631ab44 227 if (plates==path_sheets)
rschimpf78 3:fd2ca631ab44 228 {
rschimpf78 3:fd2ca631ab44 229 pc.printf("\nPlates in beam path:%ld",path_sheets);
rschimpf78 3:fd2ca631ab44 230 }
rschimpf78 3:fd2ca631ab44 231 else if (plates != path_sheets && path_sheets <= 16)
rschimpf78 3:fd2ca631ab44 232 {
rschimpf78 3:fd2ca631ab44 233 pc.printf("\nError: %ld",path_sheets);
rschimpf78 3:fd2ca631ab44 234 pc.printf(" Plates in beam path, but user sent %ld",plates);
rschimpf78 3:fd2ca631ab44 235 pc.printf(" Plates");
rschimpf78 3:fd2ca631ab44 236 }
rschimpf78 3:fd2ca631ab44 237 else{
rschimpf78 3:fd2ca631ab44 238 pc.printf("\nERROR: Additional objects detected in beam path");
rschimpf78 3:fd2ca631ab44 239 }
rschimpf78 3:fd2ca631ab44 240 }
rschimpf78 3:fd2ca631ab44 241 }
rschimpf78 3:fd2ca631ab44 242 void retract()
rschimpf78 0:88834eed3de0 243 {
rschimpf78 5:e958d61e0564 244 millisStart();
rschimpf78 5:e958d61e0564 245 long Duration = 0;
rschimpf78 5:e958d61e0564 246 long StartTime = millis();
rschimpf78 5:e958d61e0564 247
rschimpf78 7:2c70830e0f36 248 while(magnetSwitch == 1 && Duration <= 60000 )
rschimpf78 2:e8f8095464cf 249 {
rschimpf78 0:88834eed3de0 250 in1=0;
rschimpf78 2:e8f8095464cf 251 in2=1;
rschimpf78 5:e958d61e0564 252 long CurrentTime = millis();
rschimpf78 5:e958d61e0564 253 Duration = CurrentTime-StartTime;
rschimpf78 5:e958d61e0564 254 pc.printf("Duration = %d\r\n", Duration);
rschimpf78 3:fd2ca631ab44 255 }
rschimpf78 2:e8f8095464cf 256 in1=1;
rschimpf78 2:e8f8095464cf 257 in2=1;
rschimpf78 0:88834eed3de0 258 }
rschimpf78 0:88834eed3de0 259
rschimpf78 3:fd2ca631ab44 260 void send()
rschimpf78 3:fd2ca631ab44 261 {
rschimpf78 3:fd2ca631ab44 262 in1=1;
rschimpf78 3:fd2ca631ab44 263 in2=0;
rschimpf78 7:2c70830e0f36 264 wait(58);
rschimpf78 0:88834eed3de0 265 in1=1;
rschimpf78 2:e8f8095464cf 266 in2=1;
rschimpf78 0:88834eed3de0 267 }
rschimpf78 3:fd2ca631ab44 268
rschimpf78 0:88834eed3de0 269 void internalpullups()
rschimpf78 0:88834eed3de0 270 {
rschimpf78 6:6ca8a0ef7d4a 271 magnetSwitch.mode(PullUp);
rschimpf78 0:88834eed3de0 272 wait (.01);
rschimpf78 8:a7b443aee89b 273 //homeSwitch.mode(PullUp);
rschimpf78 8:a7b443aee89b 274 //wait (0.01);
rschimpf78 0:88834eed3de0 275 }
rschimpf78 3:fd2ca631ab44 276
rschimpf78 3:fd2ca631ab44 277 void send_error_check()
rschimpf78 3:fd2ca631ab44 278 {
rschimpf78 3:fd2ca631ab44 279 if (plates <= 0 || plates >= 17)
rschimpf78 2:e8f8095464cf 280 {
rschimpf78 3:fd2ca631ab44 281 pc.printf("\nERROR: Invalid Range |");
rschimpf78 2:e8f8095464cf 282 }
rschimpf78 6:6ca8a0ef7d4a 283 else if(magnetSwitch == 1)
rschimpf78 3:fd2ca631ab44 284 {
rschimpf78 3:fd2ca631ab44 285 pc.printf("\nERROR: Not at Home Position |");
rschimpf78 3:fd2ca631ab44 286 }
rschimpf78 3:fd2ca631ab44 287 else
rschimpf78 3:fd2ca631ab44 288 {
rschimpf78 3:fd2ca631ab44 289 plate_selection();
rschimpf78 3:fd2ca631ab44 290 send();
rschimpf78 3:fd2ca631ab44 291 }
rschimpf78 3:fd2ca631ab44 292 }
rschimpf78 3:fd2ca631ab44 293 void select_error_check()
rschimpf78 3:fd2ca631ab44 294 {
rschimpf78 6:6ca8a0ef7d4a 295 if (magnetSwitch == 1)
rschimpf78 3:fd2ca631ab44 296 {
rschimpf78 3:fd2ca631ab44 297 pc.printf("\nERROR: Not at Home Position |");
rschimpf78 3:fd2ca631ab44 298 }
rschimpf78 3:fd2ca631ab44 299 else
rschimpf78 3:fd2ca631ab44 300 {
rschimpf78 3:fd2ca631ab44 301 plate_selection();
rschimpf78 3:fd2ca631ab44 302 }
rschimpf78 3:fd2ca631ab44 303 }
rschimpf78 3:fd2ca631ab44 304 void retract_error_check()
rschimpf78 3:fd2ca631ab44 305 {
rschimpf78 6:6ca8a0ef7d4a 306 if (magnetSwitch == 0)
rschimpf78 3:fd2ca631ab44 307 {
rschimpf78 3:fd2ca631ab44 308 pc.printf("\nERROR: Already at Home Position |");
rschimpf78 0:88834eed3de0 309 }
rschimpf78 2:e8f8095464cf 310 else
rschimpf78 2:e8f8095464cf 311 {
rschimpf78 3:fd2ca631ab44 312 retract();
rschimpf78 2:e8f8095464cf 313 }
rschimpf78 2:e8f8095464cf 314 }
rschimpf78 0:88834eed3de0 315
rschimpf78 0:88834eed3de0 316 int main()
rschimpf78 2:e8f8095464cf 317 {
rschimpf78 2:e8f8095464cf 318 in1=1;
rschimpf78 2:e8f8095464cf 319 in2=1;
rschimpf78 2:e8f8095464cf 320 en = 1;
rschimpf78 2:e8f8095464cf 321 wait(0.1);
rschimpf78 0:88834eed3de0 322 internalpullups();
rschimpf78 3:fd2ca631ab44 323 wait(0.1);
rschimpf78 2:e8f8095464cf 324 char command[15] = {0};
rschimpf78 3:fd2ca631ab44 325 pc.printf("\nCommands:\n\n\ts [N]\t**moves N PMMA sheets in beam path\n\tr\t\t**removes all PMMA from beam path\n\tc [N]\t**raises bar to \n\tb\t\t**reports number of plates in beam path\n\n");
rschimpf78 2:e8f8095464cf 326
rschimpf78 2:e8f8095464cf 327 while(1)
rschimpf78 0:88834eed3de0 328 {
rschimpf78 2:e8f8095464cf 329 pc.printf("\nRequests: ");
rschimpf78 2:e8f8095464cf 330 pc.scanf("%s",&command);
rschimpf78 2:e8f8095464cf 331
rschimpf78 3:fd2ca631ab44 332 if (strcmp (command, "s") == 0)
rschimpf78 2:e8f8095464cf 333 {
rschimpf78 2:e8f8095464cf 334 pc.scanf(" %d",&plates);
rschimpf78 2:e8f8095464cf 335 pc.printf("\nresponse recieved |");
rschimpf78 3:fd2ca631ab44 336 send_error_check();
rschimpf78 3:fd2ca631ab44 337 beam();
rschimpf78 3:fd2ca631ab44 338 platedetect();
rschimpf78 0:88834eed3de0 339 }
rschimpf78 3:fd2ca631ab44 340 else if (strcmp (command, "r") == 0)
rschimpf78 2:e8f8095464cf 341 {
rschimpf78 2:e8f8095464cf 342 pc.printf("\nresponse recieved |");
rschimpf78 3:fd2ca631ab44 343 retract_error_check();
rschimpf78 2:e8f8095464cf 344 }
rschimpf78 3:fd2ca631ab44 345 else if (strcmp (command, "c") == 0)
rschimpf78 3:fd2ca631ab44 346 {
rschimpf78 3:fd2ca631ab44 347 pc.scanf(" %d",&plates);
rschimpf78 2:e8f8095464cf 348 pc.printf("\nresponse recieved |");
rschimpf78 3:fd2ca631ab44 349 select_error_check();
rschimpf78 0:88834eed3de0 350 }
rschimpf78 3:fd2ca631ab44 351 else if (strcmp (command, "b") == 0)
rschimpf78 3:fd2ca631ab44 352 {
rschimpf78 2:e8f8095464cf 353 pc.printf("\nresponse recieved |");
rschimpf78 3:fd2ca631ab44 354 beam();
rschimpf78 3:fd2ca631ab44 355 platedetect();
rschimpf78 0:88834eed3de0 356 }
rschimpf78 2:e8f8095464cf 357 else
rschimpf78 2:e8f8095464cf 358 {
rschimpf78 3:fd2ca631ab44 359 pc.printf("\nERROR: Invalid Command");
rschimpf78 2:e8f8095464cf 360 }
rschimpf78 0:88834eed3de0 361 }
rschimpf78 2:e8f8095464cf 362 }