Vam GE / Mbed 2 deprecated VAM_MANUAL_2_DO_NOT_EDIT

VAM

Dependencies:   Stepper mbed HCSR04 millis

main.cpp@5:e958d61e0564, 2018-12-19 (annotated)

Committer:
rschimpf78
Date:
Wed Dec 19 19:39:25 2018 +0000
Revision:
5:e958d61e0564
Parent:
4:1a4022b21dae
Child:
6:6ca8a0ef7d4a
version4;

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 3:fd2ca631ab44 6 Serial pc(USBTX, USBRX);
rschimpf78 3:fd2ca631ab44 7 HCSR04 heightsensor(PTA2,PTC2); //(trig,echo)
rschimpf78 3:fd2ca631ab44 8 HCSR04 pathsensor(PTD3,PTD2);
rschimpf78 3:fd2ca631ab44 9 DigitalOut in1(PTC12);
rschimpf78 3:fd2ca631ab44 10 DigitalOut in2(D7);
rschimpf78 3:fd2ca631ab44 11 DigitalIn homeSwitch(D9);
rschimpf78 3:fd2ca631ab44 12 Stepper mot(D3,D4); //(D3 to PUL+, D4 to DIR+)
rschimpf78 2:e8f8095464cf 13 DigitalOut en(D2);
rschimpf78 0:88834eed3de0 14
rschimpf78 3:fd2ca631ab44 15 volatile int plates=0;
rschimpf78 3:fd2ca631ab44 16 volatile unsigned int sheets=0;
rschimpf78 3:fd2ca631ab44 17 volatile unsigned int path_sheets=0;
rschimpf78 0:88834eed3de0 18
rschimpf78 3:fd2ca631ab44 19 void plate_selection()
rschimpf78 0:88834eed3de0 20 {
rschimpf78 3:fd2ca631ab44 21 unsigned int dist;
rschimpf78 3:fd2ca631ab44 22 int er = 5;
rschimpf78 4:1a4022b21dae 23 int fp = 457; //adjust if needed
rschimpf78 3:fd2ca631ab44 24 int lp = 64; //adjust if needed
rschimpf78 3:fd2ca631ab44 25 int tp = 25;
rschimpf78 5:e958d61e0564 26 wait(1);
rschimpf78 5:e958d61e0564 27 in1=1;
rschimpf78 5:e958d61e0564 28 in2=0;
rschimpf78 5:e958d61e0564 29 wait_ms(600);
rschimpf78 5:e958d61e0564 30 in1=1;
rschimpf78 5:e958d61e0564 31 in2=1;
rschimpf78 5:e958d61e0564 32 wait(1);
rschimpf78 3:fd2ca631ab44 33 while (plates!=sheets) {
rschimpf78 3:fd2ca631ab44 34 heightsensor.start();
rschimpf78 3:fd2ca631ab44 35 wait_ms(500);
rschimpf78 3:fd2ca631ab44 36 dist=heightsensor.get_dist_cm();
rschimpf78 3:fd2ca631ab44 37 pc.printf("\nmm:%ld",dist);
rschimpf78 3:fd2ca631ab44 38
rschimpf78 3:fd2ca631ab44 39 if (dist<=lp-10 || dist >= fp+10){
rschimpf78 3:fd2ca631ab44 40 mot.stop();
rschimpf78 3:fd2ca631ab44 41 en = 1;
rschimpf78 3:fd2ca631ab44 42 sheets = plates;
rschimpf78 3:fd2ca631ab44 43 pc.printf("\nERROR: Selector is outside of plate range\nRestart/Reset Program");
rschimpf78 3:fd2ca631ab44 44 }
rschimpf78 3:fd2ca631ab44 45 else if (plates<sheets){
rschimpf78 3:fd2ca631ab44 46 en = 0;
rschimpf78 3:fd2ca631ab44 47 mot.setSpeed(600);
rschimpf78 3:fd2ca631ab44 48 mot.rotate(1);
rschimpf78 3:fd2ca631ab44 49 }
rschimpf78 3:fd2ca631ab44 50 else{
rschimpf78 3:fd2ca631ab44 51 en = 0;
rschimpf78 3:fd2ca631ab44 52 mot.setSpeed(600);
rschimpf78 3:fd2ca631ab44 53 mot.rotate(0);
rschimpf78 3:fd2ca631ab44 54 }
rschimpf78 3:fd2ca631ab44 55
rschimpf78 3:fd2ca631ab44 56 if (dist<=fp+er && dist>=fp-er){ //450,440
rschimpf78 3:fd2ca631ab44 57 sheets = 1;
rschimpf78 3:fd2ca631ab44 58 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 59 }
rschimpf78 3:fd2ca631ab44 60
rschimpf78 3:fd2ca631ab44 61 if (dist<= fp-tp+er && dist>=fp-tp-er){ //424,414
rschimpf78 3:fd2ca631ab44 62 sheets = 2;
rschimpf78 3:fd2ca631ab44 63 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 64 }
rschimpf78 3:fd2ca631ab44 65
rschimpf78 3:fd2ca631ab44 66 if (dist<= fp-2*tp+er && dist>=fp-2*tp-er){
rschimpf78 3:fd2ca631ab44 67 sheets = 3;
rschimpf78 3:fd2ca631ab44 68 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 69 }
rschimpf78 3:fd2ca631ab44 70
rschimpf78 3:fd2ca631ab44 71 if (dist<= fp-3*tp+er && dist>=fp-3*tp-er){
rschimpf78 3:fd2ca631ab44 72 sheets = 4;
rschimpf78 3:fd2ca631ab44 73 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 74 }
rschimpf78 3:fd2ca631ab44 75 if (dist<= fp-4*tp+er && dist>=fp-4*tp-er){
rschimpf78 3:fd2ca631ab44 76 sheets = 5;
rschimpf78 3:fd2ca631ab44 77 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 78 }
rschimpf78 3:fd2ca631ab44 79 if (dist<= fp-5*tp+er && dist>=fp-5*tp-er){
rschimpf78 3:fd2ca631ab44 80 sheets = 6;
rschimpf78 3:fd2ca631ab44 81 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 82 }
rschimpf78 3:fd2ca631ab44 83 if (dist<= fp-6*tp+er && dist>=fp-6*tp-er){
rschimpf78 3:fd2ca631ab44 84 sheets = 7;
rschimpf78 3:fd2ca631ab44 85 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 86 }
rschimpf78 3:fd2ca631ab44 87 if (dist<= fp-7*tp+er && dist>=fp-7*tp-er){
rschimpf78 3:fd2ca631ab44 88 sheets = 8;
rschimpf78 3:fd2ca631ab44 89 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 90 }
rschimpf78 3:fd2ca631ab44 91 if (dist<= fp-8*tp+er && dist>=fp-8*tp-er){
rschimpf78 3:fd2ca631ab44 92 sheets = 9;
rschimpf78 3:fd2ca631ab44 93 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 94 }
rschimpf78 3:fd2ca631ab44 95 if (dist<= fp-9*tp+er && dist>=fp-9*tp-er){
rschimpf78 3:fd2ca631ab44 96 sheets = 10;
rschimpf78 3:fd2ca631ab44 97 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 98 }
rschimpf78 3:fd2ca631ab44 99 if (dist<= fp-10*tp+er && dist>=fp-10*tp-er){
rschimpf78 3:fd2ca631ab44 100 sheets = 11;
rschimpf78 3:fd2ca631ab44 101 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 102 }
rschimpf78 3:fd2ca631ab44 103 if (dist<= fp-11*tp+er && dist>=fp-11*tp-er){
rschimpf78 3:fd2ca631ab44 104 sheets = 12;
rschimpf78 3:fd2ca631ab44 105 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 106 }
rschimpf78 3:fd2ca631ab44 107 if (dist<= fp-12*tp+er && dist>=fp-12*tp-er){
rschimpf78 3:fd2ca631ab44 108 sheets = 13;
rschimpf78 3:fd2ca631ab44 109 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 110 }
rschimpf78 3:fd2ca631ab44 111 if (dist<= fp-13*tp+er && dist>=fp-13*tp-er){
rschimpf78 3:fd2ca631ab44 112 sheets = 14;
rschimpf78 3:fd2ca631ab44 113 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 114 }
rschimpf78 3:fd2ca631ab44 115 if (dist<= fp-14*tp+er && dist>=fp-14*tp-er){
rschimpf78 3:fd2ca631ab44 116 sheets = 15;
rschimpf78 3:fd2ca631ab44 117 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 118 }
rschimpf78 3:fd2ca631ab44 119 if (dist<= fp-15*tp+er && dist>=fp-15*tp-er){ // 75, 65
rschimpf78 3:fd2ca631ab44 120 sheets = 16;
rschimpf78 3:fd2ca631ab44 121 pc.printf("\nSheets selected:%ld",sheets);
rschimpf78 3:fd2ca631ab44 122 }
rschimpf78 3:fd2ca631ab44 123 }
rschimpf78 3:fd2ca631ab44 124 mot.stop();
rschimpf78 3:fd2ca631ab44 125 en = 1;
rschimpf78 3:fd2ca631ab44 126 wait(1);
rschimpf78 3:fd2ca631ab44 127 }
rschimpf78 3:fd2ca631ab44 128
rschimpf78 3:fd2ca631ab44 129 void beam()
rschimpf78 3:fd2ca631ab44 130 {
rschimpf78 3:fd2ca631ab44 131
rschimpf78 3:fd2ca631ab44 132 unsigned int path_dist;
rschimpf78 4:1a4022b21dae 133 int err = 11;
rschimpf78 4:1a4022b21dae 134 int sens_pos = 126; //adjust if needed //535 0 plates
rschimpf78 3:fd2ca631ab44 135 int sheet_th = 25;
rschimpf78 3:fd2ca631ab44 136 pathsensor.start();
rschimpf78 3:fd2ca631ab44 137 wait_ms(500);
rschimpf78 3:fd2ca631ab44 138 path_dist=pathsensor.get_dist_cm();
rschimpf78 3:fd2ca631ab44 139 pc.printf("\nBeam Path Sensor : %ld",path_dist);
rschimpf78 3:fd2ca631ab44 140 path_sheets = 17;
rschimpf78 3:fd2ca631ab44 141
rschimpf78 4:1a4022b21dae 142 if (path_dist >= sens_pos-err && path_dist <= sens_pos+err){ //110,130
rschimpf78 3:fd2ca631ab44 143 path_sheets = 16;
rschimpf78 3:fd2ca631ab44 144
rschimpf78 3:fd2ca631ab44 145 }
rschimpf78 3:fd2ca631ab44 146 if (path_dist >= sens_pos-err+sheet_th && path_dist <= sens_pos+err+sheet_th){ //152,168 a:
rschimpf78 3:fd2ca631ab44 147 path_sheets = 15;
rschimpf78 3:fd2ca631ab44 148
rschimpf78 3:fd2ca631ab44 149 }
rschimpf78 3:fd2ca631ab44 150 if (path_dist >= sens_pos-err+2*sheet_th && path_dist <= sens_pos+err+2*sheet_th){ //179-191
rschimpf78 3:fd2ca631ab44 151 path_sheets = 14;
rschimpf78 3:fd2ca631ab44 152
rschimpf78 3:fd2ca631ab44 153 }
rschimpf78 3:fd2ca631ab44 154 if (path_dist >= sens_pos-err+3*sheet_th && path_dist <= sens_pos+err+3*sheet_th){ //205-217
rschimpf78 3:fd2ca631ab44 155 path_sheets = 13;
rschimpf78 3:fd2ca631ab44 156
rschimpf78 3:fd2ca631ab44 157 }
rschimpf78 3:fd2ca631ab44 158 if (path_dist >= sens_pos-err+4*sheet_th && path_dist <= sens_pos+err+4*sheet_th){ //231-243
rschimpf78 3:fd2ca631ab44 159 path_sheets = 12;
rschimpf78 3:fd2ca631ab44 160
rschimpf78 3:fd2ca631ab44 161 }
rschimpf78 3:fd2ca631ab44 162 if (path_dist >= sens_pos-err+5*sheet_th && path_dist <= sens_pos+err+5*sheet_th){ //257-269
rschimpf78 3:fd2ca631ab44 163 path_sheets = 11;
rschimpf78 3:fd2ca631ab44 164
rschimpf78 3:fd2ca631ab44 165 }
rschimpf78 3:fd2ca631ab44 166 if (path_dist >= sens_pos-err+6*sheet_th && path_dist <= sens_pos+err+6*sheet_th){ //283-295
rschimpf78 3:fd2ca631ab44 167 path_sheets = 10;
rschimpf78 3:fd2ca631ab44 168
rschimpf78 3:fd2ca631ab44 169 }
rschimpf78 3:fd2ca631ab44 170 if (path_dist >= sens_pos-err+7*sheet_th && path_dist <= sens_pos+err+7*sheet_th){ //309-321
rschimpf78 3:fd2ca631ab44 171 path_sheets = 9;
rschimpf78 3:fd2ca631ab44 172
rschimpf78 3:fd2ca631ab44 173 }
rschimpf78 3:fd2ca631ab44 174 if (path_dist >= sens_pos-err+8*sheet_th && path_dist <= sens_pos+err+8*sheet_th){ //323-333
rschimpf78 3:fd2ca631ab44 175 path_sheets = 8;
rschimpf78 3:fd2ca631ab44 176
rschimpf78 3:fd2ca631ab44 177 }
rschimpf78 3:fd2ca631ab44 178 if (path_dist >= sens_pos-err+9*sheet_th && path_dist <= sens_pos+err+9*sheet_th){ //349-359
rschimpf78 3:fd2ca631ab44 179 path_sheets = 7;
rschimpf78 3:fd2ca631ab44 180
rschimpf78 3:fd2ca631ab44 181 }
rschimpf78 3:fd2ca631ab44 182 if (path_dist >= sens_pos-err+10*sheet_th && path_dist <= sens_pos+err+10*sheet_th){
rschimpf78 3:fd2ca631ab44 183 path_sheets = 6;
rschimpf78 3:fd2ca631ab44 184
rschimpf78 3:fd2ca631ab44 185 }
rschimpf78 3:fd2ca631ab44 186 if (path_dist >= sens_pos-err+11*sheet_th && path_dist <= sens_pos+err+11*sheet_th){
rschimpf78 3:fd2ca631ab44 187 path_sheets = 5;
rschimpf78 3:fd2ca631ab44 188
rschimpf78 3:fd2ca631ab44 189 }
rschimpf78 3:fd2ca631ab44 190 if (path_dist >= sens_pos-err+12*sheet_th && path_dist <= sens_pos+err+12*sheet_th){
rschimpf78 3:fd2ca631ab44 191 path_sheets = 4;
rschimpf78 3:fd2ca631ab44 192
rschimpf78 3:fd2ca631ab44 193 }
rschimpf78 3:fd2ca631ab44 194 if (path_dist >= sens_pos-err+13*sheet_th && path_dist <= sens_pos+err+13*sheet_th){ //468,478
rschimpf78 3:fd2ca631ab44 195 path_sheets = 3;
rschimpf78 3:fd2ca631ab44 196
rschimpf78 3:fd2ca631ab44 197 }
rschimpf78 3:fd2ca631ab44 198 if (path_dist >= sens_pos-err+14*sheet_th && path_dist <= sens_pos+err+14*sheet_th){ //494,504
rschimpf78 3:fd2ca631ab44 199 path_sheets = 2;
rschimpf78 3:fd2ca631ab44 200
rschimpf78 3:fd2ca631ab44 201 }
rschimpf78 4:1a4022b21dae 202 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 203 path_sheets = 1;
rschimpf78 3:fd2ca631ab44 204
rschimpf78 3:fd2ca631ab44 205 }
rschimpf78 4:1a4022b21dae 206 if (path_dist > sens_pos-err+16*sheet_th){ //greater than 534
rschimpf78 3:fd2ca631ab44 207 path_sheets = 0;
rschimpf78 3:fd2ca631ab44 208 }
rschimpf78 3:fd2ca631ab44 209 }
rschimpf78 3:fd2ca631ab44 210
rschimpf78 3:fd2ca631ab44 211 void platedetect()
rschimpf78 3:fd2ca631ab44 212 {
rschimpf78 3:fd2ca631ab44 213 if(homeSwitch==0 && path_sheets==0)
rschimpf78 2:e8f8095464cf 214 {
rschimpf78 3:fd2ca631ab44 215 pc.printf("\nAll plates are in the start position");
rschimpf78 2:e8f8095464cf 216 }
rschimpf78 3:fd2ca631ab44 217 else if (homeSwitch==1 && path_sheets==0)
rschimpf78 2:e8f8095464cf 218 {
rschimpf78 3:fd2ca631ab44 219 pc.printf("\nError-Plates are not fully extended");
rschimpf78 2:e8f8095464cf 220 }
rschimpf78 2:e8f8095464cf 221 else
rschimpf78 2:e8f8095464cf 222 {
rschimpf78 3:fd2ca631ab44 223 if (plates==path_sheets)
rschimpf78 3:fd2ca631ab44 224 {
rschimpf78 3:fd2ca631ab44 225 pc.printf("\nPlates in beam path:%ld",path_sheets);
rschimpf78 3:fd2ca631ab44 226 }
rschimpf78 3:fd2ca631ab44 227 else if (plates != path_sheets && path_sheets <= 16)
rschimpf78 3:fd2ca631ab44 228 {
rschimpf78 3:fd2ca631ab44 229 pc.printf("\nError: %ld",path_sheets);
rschimpf78 3:fd2ca631ab44 230 pc.printf(" Plates in beam path, but user sent %ld",plates);
rschimpf78 3:fd2ca631ab44 231 pc.printf(" Plates");
rschimpf78 3:fd2ca631ab44 232 }
rschimpf78 3:fd2ca631ab44 233 else{
rschimpf78 3:fd2ca631ab44 234 pc.printf("\nERROR: Additional objects detected in beam path");
rschimpf78 3:fd2ca631ab44 235 }
rschimpf78 3:fd2ca631ab44 236 }
rschimpf78 3:fd2ca631ab44 237 }
rschimpf78 3:fd2ca631ab44 238 void retract()
rschimpf78 0:88834eed3de0 239 {
rschimpf78 5:e958d61e0564 240 millisStart();
rschimpf78 5:e958d61e0564 241 long Duration = 0;
rschimpf78 5:e958d61e0564 242 long StartTime = millis();
rschimpf78 5:e958d61e0564 243
rschimpf78 5:e958d61e0564 244 while(homeSwitch == 1 && Duration <= 48000 )
rschimpf78 2:e8f8095464cf 245 {
rschimpf78 0:88834eed3de0 246 in1=0;
rschimpf78 2:e8f8095464cf 247 in2=1;
rschimpf78 5:e958d61e0564 248 long CurrentTime = millis();
rschimpf78 5:e958d61e0564 249 Duration = CurrentTime-StartTime;
rschimpf78 5:e958d61e0564 250 pc.printf("Duration = %d\r\n", Duration);
rschimpf78 3:fd2ca631ab44 251 }
rschimpf78 2:e8f8095464cf 252 in1=1;
rschimpf78 2:e8f8095464cf 253 in2=1;
rschimpf78 0:88834eed3de0 254 }
rschimpf78 0:88834eed3de0 255
rschimpf78 3:fd2ca631ab44 256 void send()
rschimpf78 3:fd2ca631ab44 257 {
rschimpf78 3:fd2ca631ab44 258 in1=1;
rschimpf78 3:fd2ca631ab44 259 in2=0;
rschimpf78 5:e958d61e0564 260 wait(48);
rschimpf78 0:88834eed3de0 261 in1=1;
rschimpf78 2:e8f8095464cf 262 in2=1;
rschimpf78 0:88834eed3de0 263 }
rschimpf78 3:fd2ca631ab44 264
rschimpf78 0:88834eed3de0 265 void internalpullups()
rschimpf78 0:88834eed3de0 266 {
rschimpf78 2:e8f8095464cf 267 homeSwitch.mode(PullUp);
rschimpf78 0:88834eed3de0 268 wait (.01);
rschimpf78 0:88834eed3de0 269 }
rschimpf78 3:fd2ca631ab44 270
rschimpf78 3:fd2ca631ab44 271 void send_error_check()
rschimpf78 3:fd2ca631ab44 272 {
rschimpf78 3:fd2ca631ab44 273 if (plates <= 0 || plates >= 17)
rschimpf78 2:e8f8095464cf 274 {
rschimpf78 3:fd2ca631ab44 275 pc.printf("\nERROR: Invalid Range |");
rschimpf78 2:e8f8095464cf 276 }
rschimpf78 3:fd2ca631ab44 277 else if(homeSwitch == 1)
rschimpf78 3:fd2ca631ab44 278 {
rschimpf78 3:fd2ca631ab44 279 pc.printf("\nERROR: Not at Home Position |");
rschimpf78 3:fd2ca631ab44 280 }
rschimpf78 3:fd2ca631ab44 281 else
rschimpf78 3:fd2ca631ab44 282 {
rschimpf78 3:fd2ca631ab44 283 plate_selection();
rschimpf78 3:fd2ca631ab44 284 send();
rschimpf78 3:fd2ca631ab44 285 }
rschimpf78 3:fd2ca631ab44 286 }
rschimpf78 3:fd2ca631ab44 287 void select_error_check()
rschimpf78 3:fd2ca631ab44 288 {
rschimpf78 3:fd2ca631ab44 289 if (homeSwitch == 1)
rschimpf78 3:fd2ca631ab44 290 {
rschimpf78 3:fd2ca631ab44 291 pc.printf("\nERROR: Not at Home Position |");
rschimpf78 3:fd2ca631ab44 292 }
rschimpf78 3:fd2ca631ab44 293 else
rschimpf78 3:fd2ca631ab44 294 {
rschimpf78 3:fd2ca631ab44 295 plate_selection();
rschimpf78 3:fd2ca631ab44 296 }
rschimpf78 3:fd2ca631ab44 297 }
rschimpf78 3:fd2ca631ab44 298 void retract_error_check()
rschimpf78 3:fd2ca631ab44 299 {
rschimpf78 3:fd2ca631ab44 300 if (homeSwitch == 0)
rschimpf78 3:fd2ca631ab44 301 {
rschimpf78 3:fd2ca631ab44 302 pc.printf("\nERROR: Already at Home Position |");
rschimpf78 0:88834eed3de0 303 }
rschimpf78 2:e8f8095464cf 304 else
rschimpf78 2:e8f8095464cf 305 {
rschimpf78 3:fd2ca631ab44 306 retract();
rschimpf78 2:e8f8095464cf 307 }
rschimpf78 2:e8f8095464cf 308 }
rschimpf78 0:88834eed3de0 309
rschimpf78 0:88834eed3de0 310 int main()
rschimpf78 2:e8f8095464cf 311 {
rschimpf78 2:e8f8095464cf 312 in1=1;
rschimpf78 2:e8f8095464cf 313 in2=1;
rschimpf78 2:e8f8095464cf 314 en = 1;
rschimpf78 2:e8f8095464cf 315 wait(0.1);
rschimpf78 0:88834eed3de0 316 internalpullups();
rschimpf78 3:fd2ca631ab44 317 wait(0.1);
rschimpf78 2:e8f8095464cf 318 char command[15] = {0};
rschimpf78 3:fd2ca631ab44 319 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 320
rschimpf78 2:e8f8095464cf 321 while(1)
rschimpf78 0:88834eed3de0 322 {
rschimpf78 2:e8f8095464cf 323 pc.printf("\nRequests: ");
rschimpf78 2:e8f8095464cf 324 pc.scanf("%s",&command);
rschimpf78 2:e8f8095464cf 325
rschimpf78 3:fd2ca631ab44 326 if (strcmp (command, "s") == 0)
rschimpf78 2:e8f8095464cf 327 {
rschimpf78 2:e8f8095464cf 328 pc.scanf(" %d",&plates);
rschimpf78 2:e8f8095464cf 329 pc.printf("\nresponse recieved |");
rschimpf78 3:fd2ca631ab44 330 send_error_check();
rschimpf78 3:fd2ca631ab44 331 beam();
rschimpf78 3:fd2ca631ab44 332 platedetect();
rschimpf78 0:88834eed3de0 333 }
rschimpf78 3:fd2ca631ab44 334 else if (strcmp (command, "r") == 0)
rschimpf78 2:e8f8095464cf 335 {
rschimpf78 2:e8f8095464cf 336 pc.printf("\nresponse recieved |");
rschimpf78 3:fd2ca631ab44 337 retract_error_check();
rschimpf78 2:e8f8095464cf 338 }
rschimpf78 3:fd2ca631ab44 339 else if (strcmp (command, "c") == 0)
rschimpf78 3:fd2ca631ab44 340 {
rschimpf78 3:fd2ca631ab44 341 pc.scanf(" %d",&plates);
rschimpf78 2:e8f8095464cf 342 pc.printf("\nresponse recieved |");
rschimpf78 3:fd2ca631ab44 343 select_error_check();
rschimpf78 0:88834eed3de0 344 }
rschimpf78 3:fd2ca631ab44 345 else if (strcmp (command, "b") == 0)
rschimpf78 3:fd2ca631ab44 346 {
rschimpf78 2:e8f8095464cf 347 pc.printf("\nresponse recieved |");
rschimpf78 3:fd2ca631ab44 348 beam();
rschimpf78 3:fd2ca631ab44 349 platedetect();
rschimpf78 0:88834eed3de0 350 }
rschimpf78 2:e8f8095464cf 351 else
rschimpf78 2:e8f8095464cf 352 {
rschimpf78 3:fd2ca631ab44 353 pc.printf("\nERROR: Invalid Command");
rschimpf78 2:e8f8095464cf 354 }
rschimpf78 0:88834eed3de0 355 }
rschimpf78 2:e8f8095464cf 356 }