Motor control for robotic arm
Dependencies: MCP23017 WattBob_TextLCD mbed
Fork of Balanced Arm by
HandShake/HandShake.cpp@7:40d7d88deba3, 2016-01-28 (annotated)
- Committer:
- ADAMSTRUTT
- Date:
- Thu Jan 28 10:42:13 2016 +0000
- Revision:
- 7:40d7d88deba3
- Child:
- 9:87558e7cfecb
With torque working
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ADAMSTRUTT | 7:40d7d88deba3 | 1 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 2 | // Author: Adam Strutt |
ADAMSTRUTT | 7:40d7d88deba3 | 3 | // File: (PS2C.cpp) PlayStation 2 controller |
ADAMSTRUTT | 7:40d7d88deba3 | 4 | // Version: 1.0v |
ADAMSTRUTT | 7:40d7d88deba3 | 5 | // Date: 11/12/2015 |
ADAMSTRUTT | 7:40d7d88deba3 | 6 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 7 | |
ADAMSTRUTT | 7:40d7d88deba3 | 8 | #include <string> |
ADAMSTRUTT | 7:40d7d88deba3 | 9 | #include "HandShake.h" |
ADAMSTRUTT | 7:40d7d88deba3 | 10 | #include "mbed.h" |
ADAMSTRUTT | 7:40d7d88deba3 | 11 | #include "MCP23017.h" |
ADAMSTRUTT | 7:40d7d88deba3 | 12 | #include "WattBob_TextLCD.h" |
ADAMSTRUTT | 7:40d7d88deba3 | 13 | |
ADAMSTRUTT | 7:40d7d88deba3 | 14 | |
ADAMSTRUTT | 7:40d7d88deba3 | 15 | |
ADAMSTRUTT | 7:40d7d88deba3 | 16 | MCP23017 *par_port1; |
ADAMSTRUTT | 7:40d7d88deba3 | 17 | WattBob_TextLCD *lcd1; |
ADAMSTRUTT | 7:40d7d88deba3 | 18 | |
ADAMSTRUTT | 7:40d7d88deba3 | 19 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 20 | // Object: PC_HandShake |
ADAMSTRUTT | 7:40d7d88deba3 | 21 | // Description: To create a HandShake object. |
ADAMSTRUTT | 7:40d7d88deba3 | 22 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 23 | |
ADAMSTRUTT | 7:40d7d88deba3 | 24 | PC_HandShake::PC_HandShake(Serial& PCbus) |
ADAMSTRUTT | 7:40d7d88deba3 | 25 | : _PCbus(PCbus){ |
ADAMSTRUTT | 7:40d7d88deba3 | 26 | |
ADAMSTRUTT | 7:40d7d88deba3 | 27 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 28 | // Description:Setting up the LCD display and turning on LCD display |
ADAMSTRUTT | 7:40d7d88deba3 | 29 | // Pins: p8, p10 |
ADAMSTRUTT | 7:40d7d88deba3 | 30 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 31 | par_port1 = new MCP23017(p9, p10, 0x40); |
ADAMSTRUTT | 7:40d7d88deba3 | 32 | par_port1->config(0x0F00, 0x0F00, 0x0F00); |
ADAMSTRUTT | 7:40d7d88deba3 | 33 | lcd1 = new WattBob_TextLCD(par_port1); |
ADAMSTRUTT | 7:40d7d88deba3 | 34 | par_port1->write_bit(1,BL_BIT); |
ADAMSTRUTT | 7:40d7d88deba3 | 35 | } |
ADAMSTRUTT | 7:40d7d88deba3 | 36 | |
ADAMSTRUTT | 7:40d7d88deba3 | 37 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 38 | // Method: PC_Connect |
ADAMSTRUTT | 7:40d7d88deba3 | 39 | // Description: This method is used to connect the PC to the mbed. |
ADAMSTRUTT | 7:40d7d88deba3 | 40 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 41 | |
ADAMSTRUTT | 7:40d7d88deba3 | 42 | void PC_HandShake::PC_Connect(void){ |
ADAMSTRUTT | 7:40d7d88deba3 | 43 | lcd1->cls(); |
ADAMSTRUTT | 7:40d7d88deba3 | 44 | lcd1->printf("Connecting"); |
ADAMSTRUTT | 7:40d7d88deba3 | 45 | lcd1->locate(1,0); |
ADAMSTRUTT | 7:40d7d88deba3 | 46 | lcd1->printf("to PC"); |
ADAMSTRUTT | 7:40d7d88deba3 | 47 | wait(2); |
ADAMSTRUTT | 7:40d7d88deba3 | 48 | lcd1->cls(); |
ADAMSTRUTT | 7:40d7d88deba3 | 49 | lcd1->printf("Waiting\n"); |
ADAMSTRUTT | 7:40d7d88deba3 | 50 | while('S' != _PCbus.getc()){ |
ADAMSTRUTT | 7:40d7d88deba3 | 51 | } |
ADAMSTRUTT | 7:40d7d88deba3 | 52 | while('S' != _PCbus.getc()){ |
ADAMSTRUTT | 7:40d7d88deba3 | 53 | } |
ADAMSTRUTT | 7:40d7d88deba3 | 54 | lcd1->cls(); |
ADAMSTRUTT | 7:40d7d88deba3 | 55 | lcd1->printf("Conneced\n"); |
ADAMSTRUTT | 7:40d7d88deba3 | 56 | wait(2); |
ADAMSTRUTT | 7:40d7d88deba3 | 57 | } |