Motor control for robotic arm
Dependencies: MCP23017 WattBob_TextLCD mbed
Fork of Balanced Arm by
PC_Comms/PC_Comms.cpp
- Committer:
- wm70
- Date:
- 2016-02-03
- Revision:
- 17:258067827672
- Parent:
- 16:585f8b5abc2c
- Child:
- 18:b79a9a7cf5fb
File content as of revision 17:258067827672:
//********************************************************************* // Author: // File: // Version: // Date: //********************************************************************* #include <string> #include "PC_Comms.h" #include "mbed.h" #include "MCP23017.h" #include "WattBob_TextLCD.h" #include "AX12.h" MCP23017 *par_port; WattBob_TextLCD *lcd; Serial ax12_bus(p28, p27); Serial _PCbus(USBTX, USBRX); AX12 my_AX12(ax12_bus, _PCbus, p29, 1); //********************************************************************* // Object: // Description: //********************************************************************* PC_Comms::PC_Comms() { par_port = new MCP23017(p9, p10, 0x40); par_port->config(0x0F00, 0x0F00, 0x0F00); lcd = new WattBob_TextLCD(par_port); par_port->write_bit(1, BL_BIT); } //********************************************************************* // Method: PC_Connect // Description: This method is used to connect the PC to the mbed. //********************************************************************* void PC_Comms::PC_Connect(void){ lcd->cls(); lcd->printf("Connecting"); lcd->locate(1,0); lcd->printf("to PC"); while('s' != _PCbus.getc()){ } while('s' != _PCbus.getc()){ } lcd->cls(); lcd->printf("Conneced\n"); wait(2); } void PC_Comms::PC_Read(void){ char Command[8]; lcd->cls(); lcd->printf("Reading PC"); while(_PCbus.readable()==0){} Command[0] = _PCbus.getc(); if(Command[0]=='s') { while(_PCbus.readable()==0){} Command[1] = _PCbus.getc(); if(Command[1]=='c') { for(int x=2;x<=7;x++) { while(_PCbus.readable()==0){} Command[x] = _PCbus.getc(); } wait(2); lcd->cls(); lcd->printf("%s", Command); wait(2); switch(Command[2]) { case '0': char angle[3]; angle[0] = Command[4]; angle[1] = Command[5]; angle[2] = Command[6]; int angle2 = atoi(angle); lcd->cls(); lcd->printf("%i", angle2); wait(1); my_AX12.SetGoal(angle2); break; default: break; } } wait(1); } } void PC_Comms::PC_WriteLoad(char _servo){ char _returnToPC[4]; int load_data; load_data = my_AX12.GetLoad(); _returnToPC[0] = 'S'; _returnToPC[1] = 'D'; _returnToPC[2] = '0'; _returnToPC[3] = _servo; if(load_data >= 1000){ _PCbus.printf("%s%i",_returnToPC, load_data); }else if(load_data > 1000 && load_data >= 100){ _PCbus.printf("%s0%i", _returnToPC, load_data); }else if(load_data> 1000 && load_data >= 10){ _PCbus.printf("%s00%i", _returnToPC, load_data); }else{ _PCbus.printf("%s000%i", _returnToPC, load_data); } }