Motor control for robotic arm
Dependencies: MCP23017 WattBob_TextLCD mbed
Fork of Balanced Arm by
PC_Comms/PC_Comms.cpp@24:462afd19d12e, 2016-03-03 (annotated)
- Committer:
- wm70
- Date:
- Thu Mar 03 12:07:25 2016 +0000
- Revision:
- 24:462afd19d12e
- Parent:
- 23:c1c20aee64a0
- Child:
- 25:d345ef4cb2b5
Position - yes
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ADAMSTRUTT | 7:40d7d88deba3 | 1 | //********************************************************************* |
wm70 | 12:68f82c3e27e9 | 2 | // Author: |
wm70 | 12:68f82c3e27e9 | 3 | // File: |
wm70 | 12:68f82c3e27e9 | 4 | // Version: |
wm70 | 12:68f82c3e27e9 | 5 | // Date: |
ADAMSTRUTT | 7:40d7d88deba3 | 6 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 7 | |
ADAMSTRUTT | 7:40d7d88deba3 | 8 | #include <string> |
wm70 | 12:68f82c3e27e9 | 9 | #include "PC_Comms.h" |
ADAMSTRUTT | 7:40d7d88deba3 | 10 | #include "mbed.h" |
ADAMSTRUTT | 7:40d7d88deba3 | 11 | #include "MCP23017.h" |
ADAMSTRUTT | 7:40d7d88deba3 | 12 | #include "WattBob_TextLCD.h" |
wm70 | 9:87558e7cfecb | 13 | #include "AX12.h" |
ADAMSTRUTT | 11:7f74fb17c328 | 14 | |
ADAMSTRUTT | 11:7f74fb17c328 | 15 | MCP23017 *par_port; |
ADAMSTRUTT | 11:7f74fb17c328 | 16 | WattBob_TextLCD *lcd; |
ADAMSTRUTT | 11:7f74fb17c328 | 17 | Serial ax12_bus(p28, p27); |
wm70 | 14:3be8ca0c066d | 18 | Serial _PCbus(USBTX, USBRX); |
wm70 | 14:3be8ca0c066d | 19 | AX12 my_AX12(ax12_bus, _PCbus, p29, 1); |
ADAMSTRUTT | 23:c1c20aee64a0 | 20 | |
ADAMSTRUTT | 23:c1c20aee64a0 | 21 | int angle2; |
ADAMSTRUTT | 7:40d7d88deba3 | 22 | |
ADAMSTRUTT | 7:40d7d88deba3 | 23 | //********************************************************************* |
wm70 | 12:68f82c3e27e9 | 24 | // Object: |
wm70 | 12:68f82c3e27e9 | 25 | // Description: |
ADAMSTRUTT | 7:40d7d88deba3 | 26 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 27 | |
wm70 | 14:3be8ca0c066d | 28 | PC_Comms::PC_Comms() |
wm70 | 14:3be8ca0c066d | 29 | { |
ADAMSTRUTT | 7:40d7d88deba3 | 30 | |
ADAMSTRUTT | 11:7f74fb17c328 | 31 | par_port = new MCP23017(p9, p10, 0x40); |
ADAMSTRUTT | 11:7f74fb17c328 | 32 | par_port->config(0x0F00, 0x0F00, 0x0F00); |
ADAMSTRUTT | 11:7f74fb17c328 | 33 | lcd = new WattBob_TextLCD(par_port); |
ADAMSTRUTT | 11:7f74fb17c328 | 34 | par_port->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 | |
wm70 | 12:68f82c3e27e9 | 42 | void PC_Comms::PC_Connect(void){ |
wm70 | 18:b79a9a7cf5fb | 43 | |
ADAMSTRUTT | 23:c1c20aee64a0 | 44 | my_AX12.SetMode(0); |
wm70 | 24:462afd19d12e | 45 | lcd->printf("Wheel Mode"); |
ADAMSTRUTT | 23:c1c20aee64a0 | 46 | |
wm70 | 18:b79a9a7cf5fb | 47 | wait(1); |
wm70 | 18:b79a9a7cf5fb | 48 | |
ADAMSTRUTT | 11:7f74fb17c328 | 49 | lcd->cls(); |
ADAMSTRUTT | 11:7f74fb17c328 | 50 | lcd->printf("Connecting"); |
ADAMSTRUTT | 11:7f74fb17c328 | 51 | lcd->locate(1,0); |
ADAMSTRUTT | 11:7f74fb17c328 | 52 | lcd->printf("to PC"); |
Hamilton252 | 10:d7cce35b7bfd | 53 | while('s' != _PCbus.getc()){ |
ADAMSTRUTT | 7:40d7d88deba3 | 54 | } |
Hamilton252 | 10:d7cce35b7bfd | 55 | while('s' != _PCbus.getc()){ |
ADAMSTRUTT | 7:40d7d88deba3 | 56 | } |
ADAMSTRUTT | 11:7f74fb17c328 | 57 | lcd->cls(); |
wm70 | 18:b79a9a7cf5fb | 58 | lcd->printf("Connected\n"); |
wm70 | 24:462afd19d12e | 59 | wait(1); |
wm70 | 9:87558e7cfecb | 60 | } |
wm70 | 9:87558e7cfecb | 61 | |
wm70 | 12:68f82c3e27e9 | 62 | void PC_Comms::PC_Read(void){ |
ADAMSTRUTT | 11:7f74fb17c328 | 63 | |
Hamilton252 | 10:d7cce35b7bfd | 64 | char Command[8]; |
ADAMSTRUTT | 11:7f74fb17c328 | 65 | |
ADAMSTRUTT | 11:7f74fb17c328 | 66 | lcd->cls(); |
ADAMSTRUTT | 11:7f74fb17c328 | 67 | lcd->printf("Reading PC"); |
wm70 | 9:87558e7cfecb | 68 | |
wm70 | 18:b79a9a7cf5fb | 69 | if(_PCbus.readable()==1){ |
ADAMSTRUTT | 11:7f74fb17c328 | 70 | Command[0] = _PCbus.getc(); |
ADAMSTRUTT | 11:7f74fb17c328 | 71 | if(Command[0]=='s') |
Hamilton252 | 10:d7cce35b7bfd | 72 | { |
ADAMSTRUTT | 11:7f74fb17c328 | 73 | while(_PCbus.readable()==0){} |
ADAMSTRUTT | 11:7f74fb17c328 | 74 | Command[1] = _PCbus.getc(); |
ADAMSTRUTT | 11:7f74fb17c328 | 75 | if(Command[1]=='c') |
ADAMSTRUTT | 11:7f74fb17c328 | 76 | { |
wm70 | 12:68f82c3e27e9 | 77 | for(int x=2;x<=7;x++) |
wm70 | 12:68f82c3e27e9 | 78 | { |
wm70 | 12:68f82c3e27e9 | 79 | while(_PCbus.readable()==0){} |
wm70 | 12:68f82c3e27e9 | 80 | Command[x] = _PCbus.getc(); |
wm70 | 12:68f82c3e27e9 | 81 | } |
wm70 | 24:462afd19d12e | 82 | |
wm70 | 12:68f82c3e27e9 | 83 | switch(Command[2]) |
wm70 | 12:68f82c3e27e9 | 84 | { |
ADAMSTRUTT | 11:7f74fb17c328 | 85 | case '0': |
ADAMSTRUTT | 16:585f8b5abc2c | 86 | char angle[3]; |
ADAMSTRUTT | 16:585f8b5abc2c | 87 | angle[0] = Command[4]; |
ADAMSTRUTT | 16:585f8b5abc2c | 88 | angle[1] = Command[5]; |
ADAMSTRUTT | 16:585f8b5abc2c | 89 | angle[2] = Command[6]; |
wm70 | 24:462afd19d12e | 90 | angle2 = atoi(angle); |
ADAMSTRUTT | 16:585f8b5abc2c | 91 | my_AX12.SetGoal(angle2); |
ADAMSTRUTT | 16:585f8b5abc2c | 92 | break; |
ADAMSTRUTT | 11:7f74fb17c328 | 93 | default: |
ADAMSTRUTT | 11:7f74fb17c328 | 94 | break; |
wm70 | 12:68f82c3e27e9 | 95 | } |
ADAMSTRUTT | 11:7f74fb17c328 | 96 | } |
ADAMSTRUTT | 11:7f74fb17c328 | 97 | } |
ADAMSTRUTT | 11:7f74fb17c328 | 98 | } |
wm70 | 18:b79a9a7cf5fb | 99 | } |
Hamilton252 | 10:d7cce35b7bfd | 100 | |
wm70 | 12:68f82c3e27e9 | 101 | void PC_Comms::PC_WriteLoad(char _servo){ |
ADAMSTRUTT | 16:585f8b5abc2c | 102 | |
wm70 | 14:3be8ca0c066d | 103 | char _returnToPC[4]; |
wm70 | 17:258067827672 | 104 | int load_data; |
ADAMSTRUTT | 11:7f74fb17c328 | 105 | |
wm70 | 17:258067827672 | 106 | load_data = my_AX12.GetLoad(); |
ADAMSTRUTT | 16:585f8b5abc2c | 107 | _returnToPC[0] = 'S'; |
ADAMSTRUTT | 16:585f8b5abc2c | 108 | _returnToPC[1] = 'D'; |
ADAMSTRUTT | 16:585f8b5abc2c | 109 | _returnToPC[2] = '0'; |
ADAMSTRUTT | 16:585f8b5abc2c | 110 | _returnToPC[3] = _servo; |
ADAMSTRUTT | 11:7f74fb17c328 | 111 | |
wm70 | 17:258067827672 | 112 | if(load_data >= 1000){ |
wm70 | 19:bf64727d5b0e | 113 | _PCbus.printf("%s%d\n",_returnToPC, load_data); |
wm70 | 19:bf64727d5b0e | 114 | }else if(load_data < 1000 && load_data >= 100){ |
wm70 | 19:bf64727d5b0e | 115 | _PCbus.printf("%s0%d\n", _returnToPC, load_data); |
wm70 | 19:bf64727d5b0e | 116 | }else if(load_data < 100 && load_data >= 10){ |
wm70 | 19:bf64727d5b0e | 117 | _PCbus.printf("%s00%d\n", _returnToPC, load_data); |
wm70 | 19:bf64727d5b0e | 118 | }else if(load_data < 10){ |
wm70 | 19:bf64727d5b0e | 119 | _PCbus.printf("%s000%d\n", _returnToPC, load_data); |
ADAMSTRUTT | 16:585f8b5abc2c | 120 | } |
wm70 | 18:b79a9a7cf5fb | 121 | } |
wm70 | 18:b79a9a7cf5fb | 122 | |
wm70 | 18:b79a9a7cf5fb | 123 | void PC_Comms::PC_WritePosition(char _servo){ |
wm70 | 18:b79a9a7cf5fb | 124 | |
wm70 | 20:d93f0af76c7a | 125 | char _returnToPC[4]; |
wm70 | 20:d93f0af76c7a | 126 | int pos_data; |
wm70 | 20:d93f0af76c7a | 127 | |
wm70 | 20:d93f0af76c7a | 128 | pos_data = my_AX12.GetPosition(); |
wm70 | 20:d93f0af76c7a | 129 | _returnToPC[0] = 'S'; |
wm70 | 20:d93f0af76c7a | 130 | _returnToPC[1] = 'D'; |
wm70 | 20:d93f0af76c7a | 131 | _returnToPC[2] = '1'; |
wm70 | 20:d93f0af76c7a | 132 | _returnToPC[3] = _servo; |
wm70 | 20:d93f0af76c7a | 133 | |
wm70 | 24:462afd19d12e | 134 | |
wm70 | 24:462afd19d12e | 135 | // if(pos_data >= 1000){ |
wm70 | 24:462afd19d12e | 136 | _PCbus.printf("%s%i\n",_returnToPC,pos_data); |
wm70 | 24:462afd19d12e | 137 | // }else if(pos_data < 1000 && pos_data >= 100){ |
wm70 | 24:462afd19d12e | 138 | // _PCbus.printf("%s0%i\n", _returnToPC, pos_data); |
wm70 | 24:462afd19d12e | 139 | // }else if(pos_data < 100 && pos_data >= 10){ |
wm70 | 24:462afd19d12e | 140 | // _PCbus.printf("%s00%i\n", _returnToPC, pos_data); |
wm70 | 24:462afd19d12e | 141 | // }else{ |
wm70 | 24:462afd19d12e | 142 | // _PCbus.printf("%s000%i\n", _returnToPC, pos_data); |
wm70 | 24:462afd19d12e | 143 | // } |
wm70 | 20:d93f0af76c7a | 144 | } |
wm70 | 24:462afd19d12e | 145 | |
ADAMSTRUTT | 23:c1c20aee64a0 | 146 | void PC_Comms::PC_Human(){ |
ADAMSTRUTT | 23:c1c20aee64a0 | 147 | |
ADAMSTRUTT | 23:c1c20aee64a0 | 148 | int load_data; |
ADAMSTRUTT | 23:c1c20aee64a0 | 149 | |
ADAMSTRUTT | 23:c1c20aee64a0 | 150 | load_data = my_AX12.GetLoad(); |
ADAMSTRUTT | 23:c1c20aee64a0 | 151 | |
wm70 | 24:462afd19d12e | 152 | if(load_data >= 1070&& angle2<=270 && angle2>=70 && 1!= my_AX12.isMoving()){ |
ADAMSTRUTT | 23:c1c20aee64a0 | 153 | |
wm70 | 24:462afd19d12e | 154 | my_AX12.TorqueEnable(0); |
wm70 | 24:462afd19d12e | 155 | } |
wm70 | 24:462afd19d12e | 156 | else{ |
wm70 | 24:462afd19d12e | 157 | my_AX12.TorqueEnable(1); |
ADAMSTRUTT | 23:c1c20aee64a0 | 158 | } |
wm70 | 24:462afd19d12e | 159 | |
ADAMSTRUTT | 23:c1c20aee64a0 | 160 | } |
wm70 | 24:462afd19d12e | 161 |