William McColl / Mbed 2 deprecated Balanced-Arm

Motor control for robotic arm

Dependencies:   MCP23017 WattBob_TextLCD mbed

Fork of Balanced Arm by Balanced Arm

PC_Comms/PC_Comms.cpp@25:d345ef4cb2b5, 2016-03-03 (annotated)

Committer:
wm70
Date:
Thu Mar 03 13:12:30 2016 +0000
Revision:
25:d345ef4cb2b5
Parent:
24:462afd19d12e
Child:
26:78282794606d
2 motors working ; No feedback

Who changed what in which revision?

UserRevisionLine numberNew 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
wm70 25:d345ef4cb2b5 15
ADAMSTRUTT 11:7f74fb17c328 16 MCP23017 *par_port;
ADAMSTRUTT 11:7f74fb17c328 17 WattBob_TextLCD *lcd;
ADAMSTRUTT 11:7f74fb17c328 18 Serial ax12_bus(p28, p27);
wm70 14:3be8ca0c066d 19 Serial _PCbus(USBTX, USBRX);
wm70 14:3be8ca0c066d 20 AX12 my_AX12(ax12_bus, _PCbus, p29, 1);
wm70 25:d345ef4cb2b5 21 AX12 my_AX12_2(ax12_bus, _PCbus, p29, 2);
wm70 25:d345ef4cb2b5 22 int angle2;
ADAMSTRUTT 23:c1c20aee64a0 23
ADAMSTRUTT 7:40d7d88deba3 24
ADAMSTRUTT 7:40d7d88deba3 25 //*********************************************************************
wm70 12:68f82c3e27e9 26 // Object:
wm70 12:68f82c3e27e9 27 // Description:
ADAMSTRUTT 7:40d7d88deba3 28 //*********************************************************************
ADAMSTRUTT 7:40d7d88deba3 29
wm70 14:3be8ca0c066d 30 PC_Comms::PC_Comms()
wm70 14:3be8ca0c066d 31 {
ADAMSTRUTT 7:40d7d88deba3 32
ADAMSTRUTT 11:7f74fb17c328 33 par_port = new MCP23017(p9, p10, 0x40);
ADAMSTRUTT 11:7f74fb17c328 34 par_port->config(0x0F00, 0x0F00, 0x0F00);
ADAMSTRUTT 11:7f74fb17c328 35 lcd = new WattBob_TextLCD(par_port);
ADAMSTRUTT 11:7f74fb17c328 36 par_port->write_bit(1, BL_BIT);
ADAMSTRUTT 7:40d7d88deba3 37 }
ADAMSTRUTT 7:40d7d88deba3 38
ADAMSTRUTT 7:40d7d88deba3 39 //*********************************************************************
ADAMSTRUTT 7:40d7d88deba3 40 // Method: PC_Connect
ADAMSTRUTT 7:40d7d88deba3 41 // Description: This method is used to connect the PC to the mbed.
ADAMSTRUTT 7:40d7d88deba3 42 //*********************************************************************
ADAMSTRUTT 7:40d7d88deba3 43
wm70 12:68f82c3e27e9 44 void PC_Comms::PC_Connect(void){
wm70 18:b79a9a7cf5fb 45
ADAMSTRUTT 23:c1c20aee64a0 46 my_AX12.SetMode(0);
wm70 24:462afd19d12e 47 lcd->printf("Wheel Mode");
ADAMSTRUTT 23:c1c20aee64a0 48
wm70 18:b79a9a7cf5fb 49 wait(1);
wm70 18:b79a9a7cf5fb 50
ADAMSTRUTT 11:7f74fb17c328 51 lcd->cls();
ADAMSTRUTT 11:7f74fb17c328 52 lcd->printf("Connecting");
ADAMSTRUTT 11:7f74fb17c328 53 lcd->locate(1,0);
ADAMSTRUTT 11:7f74fb17c328 54 lcd->printf("to PC");
Hamilton252 10:d7cce35b7bfd 55 while('s' != _PCbus.getc()){
ADAMSTRUTT 7:40d7d88deba3 56 }
Hamilton252 10:d7cce35b7bfd 57 while('s' != _PCbus.getc()){
ADAMSTRUTT 7:40d7d88deba3 58 }
ADAMSTRUTT 11:7f74fb17c328 59 lcd->cls();
wm70 18:b79a9a7cf5fb 60 lcd->printf("Connected\n");
wm70 24:462afd19d12e 61 wait(1);
wm70 9:87558e7cfecb 62 }
wm70 9:87558e7cfecb 63
wm70 12:68f82c3e27e9 64 void PC_Comms::PC_Read(void){
ADAMSTRUTT 11:7f74fb17c328 65
Hamilton252 10:d7cce35b7bfd 66 char Command[8];
ADAMSTRUTT 11:7f74fb17c328 67
ADAMSTRUTT 11:7f74fb17c328 68 lcd->cls();
ADAMSTRUTT 11:7f74fb17c328 69 lcd->printf("Reading PC");
wm70 9:87558e7cfecb 70
wm70 18:b79a9a7cf5fb 71 if(_PCbus.readable()==1){
ADAMSTRUTT 11:7f74fb17c328 72 Command[0] = _PCbus.getc();
ADAMSTRUTT 11:7f74fb17c328 73 if(Command[0]=='s')
Hamilton252 10:d7cce35b7bfd 74 {
ADAMSTRUTT 11:7f74fb17c328 75 while(_PCbus.readable()==0){}
ADAMSTRUTT 11:7f74fb17c328 76 Command[1] = _PCbus.getc();
ADAMSTRUTT 11:7f74fb17c328 77 if(Command[1]=='c')
ADAMSTRUTT 11:7f74fb17c328 78 {
wm70 12:68f82c3e27e9 79 for(int x=2;x<=7;x++)
wm70 12:68f82c3e27e9 80 {
wm70 12:68f82c3e27e9 81 while(_PCbus.readable()==0){}
wm70 12:68f82c3e27e9 82 Command[x] = _PCbus.getc();
wm70 12:68f82c3e27e9 83 }
wm70 24:462afd19d12e 84
wm70 12:68f82c3e27e9 85 switch(Command[2])
wm70 12:68f82c3e27e9 86 {
ADAMSTRUTT 11:7f74fb17c328 87 case '0':
ADAMSTRUTT 16:585f8b5abc2c 88 char angle[3];
ADAMSTRUTT 16:585f8b5abc2c 89 angle[0] = Command[4];
ADAMSTRUTT 16:585f8b5abc2c 90 angle[1] = Command[5];
ADAMSTRUTT 16:585f8b5abc2c 91 angle[2] = Command[6];
wm70 25:d345ef4cb2b5 92 angle2 = atoi(angle);
ADAMSTRUTT 16:585f8b5abc2c 93 my_AX12.SetGoal(angle2);
ADAMSTRUTT 16:585f8b5abc2c 94 break;
wm70 25:d345ef4cb2b5 95
wm70 25:d345ef4cb2b5 96 case '1':
wm70 25:d345ef4cb2b5 97 char angle1[3];
wm70 25:d345ef4cb2b5 98 angle1[0] = Command[4];
wm70 25:d345ef4cb2b5 99 angle1[1] = Command[5];
wm70 25:d345ef4cb2b5 100 angle1[2] = Command[6];
wm70 25:d345ef4cb2b5 101 angle2 = atoi(angle1);
wm70 25:d345ef4cb2b5 102 my_AX12_2.SetGoal(angle2);
wm70 25:d345ef4cb2b5 103 break;
ADAMSTRUTT 11:7f74fb17c328 104 default:
ADAMSTRUTT 11:7f74fb17c328 105 break;
wm70 12:68f82c3e27e9 106 }
ADAMSTRUTT 11:7f74fb17c328 107 }
ADAMSTRUTT 11:7f74fb17c328 108 }
ADAMSTRUTT 11:7f74fb17c328 109 }
wm70 18:b79a9a7cf5fb 110 }
Hamilton252 10:d7cce35b7bfd 111
wm70 12:68f82c3e27e9 112 void PC_Comms::PC_WriteLoad(char _servo){
ADAMSTRUTT 16:585f8b5abc2c 113
wm70 14:3be8ca0c066d 114 char _returnToPC[4];
wm70 17:258067827672 115 int load_data;
ADAMSTRUTT 11:7f74fb17c328 116
wm70 17:258067827672 117 load_data = my_AX12.GetLoad();
ADAMSTRUTT 16:585f8b5abc2c 118 _returnToPC[0] = 'S';
ADAMSTRUTT 16:585f8b5abc2c 119 _returnToPC[1] = 'D';
ADAMSTRUTT 16:585f8b5abc2c 120 _returnToPC[2] = '0';
ADAMSTRUTT 16:585f8b5abc2c 121 _returnToPC[3] = _servo;
ADAMSTRUTT 11:7f74fb17c328 122
wm70 17:258067827672 123 if(load_data >= 1000){
wm70 19:bf64727d5b0e 124 _PCbus.printf("%s%d\n",_returnToPC, load_data);
wm70 19:bf64727d5b0e 125 }else if(load_data < 1000 && load_data >= 100){
wm70 19:bf64727d5b0e 126 _PCbus.printf("%s0%d\n", _returnToPC, load_data);
wm70 19:bf64727d5b0e 127 }else if(load_data < 100 && load_data >= 10){
wm70 19:bf64727d5b0e 128 _PCbus.printf("%s00%d\n", _returnToPC, load_data);
wm70 19:bf64727d5b0e 129 }else if(load_data < 10){
wm70 19:bf64727d5b0e 130 _PCbus.printf("%s000%d\n", _returnToPC, load_data);
ADAMSTRUTT 16:585f8b5abc2c 131 }
wm70 18:b79a9a7cf5fb 132 }
wm70 18:b79a9a7cf5fb 133
wm70 18:b79a9a7cf5fb 134 void PC_Comms::PC_WritePosition(char _servo){
wm70 18:b79a9a7cf5fb 135
wm70 20:d93f0af76c7a 136 char _returnToPC[4];
wm70 20:d93f0af76c7a 137 int pos_data;
wm70 20:d93f0af76c7a 138
wm70 20:d93f0af76c7a 139 pos_data = my_AX12.GetPosition();
wm70 20:d93f0af76c7a 140 _returnToPC[0] = 'S';
wm70 20:d93f0af76c7a 141 _returnToPC[1] = 'D';
wm70 20:d93f0af76c7a 142 _returnToPC[2] = '1';
wm70 20:d93f0af76c7a 143 _returnToPC[3] = _servo;
wm70 20:d93f0af76c7a 144
wm70 24:462afd19d12e 145
wm70 24:462afd19d12e 146 // if(pos_data >= 1000){
wm70 24:462afd19d12e 147 _PCbus.printf("%s%i\n",_returnToPC,pos_data);
wm70 24:462afd19d12e 148 // }else if(pos_data < 1000 && pos_data >= 100){
wm70 24:462afd19d12e 149 // _PCbus.printf("%s0%i\n", _returnToPC, pos_data);
wm70 24:462afd19d12e 150 // }else if(pos_data < 100 && pos_data >= 10){
wm70 24:462afd19d12e 151 // _PCbus.printf("%s00%i\n", _returnToPC, pos_data);
wm70 24:462afd19d12e 152 // }else{
wm70 24:462afd19d12e 153 // _PCbus.printf("%s000%i\n", _returnToPC, pos_data);
wm70 24:462afd19d12e 154 // }
wm70 20:d93f0af76c7a 155 }
wm70 24:462afd19d12e 156
ADAMSTRUTT 23:c1c20aee64a0 157 void PC_Comms::PC_Human(){
ADAMSTRUTT 23:c1c20aee64a0 158
ADAMSTRUTT 23:c1c20aee64a0 159 int load_data;
ADAMSTRUTT 23:c1c20aee64a0 160
ADAMSTRUTT 23:c1c20aee64a0 161 load_data = my_AX12.GetLoad();
ADAMSTRUTT 23:c1c20aee64a0 162
wm70 24:462afd19d12e 163 if(load_data >= 1070&& angle2<=270 && angle2>=70 && 1!= my_AX12.isMoving()){
ADAMSTRUTT 23:c1c20aee64a0 164
wm70 24:462afd19d12e 165 my_AX12.TorqueEnable(0);
wm70 24:462afd19d12e 166 }
wm70 24:462afd19d12e 167 else{
wm70 24:462afd19d12e 168 my_AX12.TorqueEnable(1);
ADAMSTRUTT 23:c1c20aee64a0 169 }
wm70 24:462afd19d12e 170
ADAMSTRUTT 23:c1c20aee64a0 171 }
wm70 24:462afd19d12e 172