VAM
Dependencies: Stepper mbed HCSR04 millis
Diff: main.cpp
- Revision:
- 0:88834eed3de0
- Child:
- 2:e8f8095464cf
diff -r 000000000000 -r 88834eed3de0 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sun Mar 18 02:40:25 2018 +0000 @@ -0,0 +1,283 @@ +/*#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" + +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() +{ + 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"); + } +} + +void retractPMMA() +{ + in1=1; + in2=0; + wait(14); + in1=0; + in2=0; + positionStatus(); +} + +void sendPMMA() //Command: Send plates + { //Returns: plates arrived(),plates didn't arrive() + wait(2); + in1=1; + in2=0; + wait(14); + in1=0; + in2=0; + positionStatus(); +} + +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); + 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 selectionStatus() +{ + int stepheight; + double selectedplates; + stepheight = mot.getPosition(); + selectedplates = stepheight/1620; + pc.printf("\n Number of plates currently selected: %d ",selectedplates); + +} + + +int main() +{ + char command[256] = { 0 }; + internalpullups(); + wait (.01); + autoCalibrate(); //...it automatically lowers it to the origin position for initial power up + + 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(); + } + if (strcmp (command, "retract") == 0) + { + pc.printf ("\nCommand Recieved: retract"); + retractPMMA(); + } + if (strcmp (command, "position") == 0) + { + pc.printf ("\nCommand Recieved: position"); + positionStatus(); + } + if (strcmp (command, "selection") == 0) + { + pc.printf ("\nCommand Recieved: selection"); + selectionStatus(); + } + } +} + + +/* 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 "); + } + + if (strcmp (c, "no") == 0) + { + pc.printf ("\n not match "); + } + } +} +*/ \ No newline at end of file