Motor control for robotic arm
Dependencies: MCP23017 WattBob_TextLCD mbed
Fork of Balanced Arm by
PC_Comms/PC_Comms.cpp
- Committer:
- wm70
- Date:
- 2016-02-15
- Revision:
- 22:d7f63f83f0e9
- Parent:
- 21:ab49231d1479
- Child:
- 23:c1c20aee64a0
File content as of revision 22:d7f63f83f0e9:
//********************************************************************* // 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){ my_AX12.SetCWLimit(1); my_AX12.SetCCWLimit(300); lcd->printf("Mode_Set 0-300"); wait(1); 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("Connected\n"); wait(2); } void PC_Comms::PC_Read(void){ char Command[8]; lcd->cls(); lcd->printf("Reading PC"); if(_PCbus.readable()==1){ 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(); } // lcd->cls(); // lcd->printf("%s", Command); 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); my_AX12.SetGoal(angle2); break; default: break; } } } } } 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%d\n",_returnToPC, load_data); }else if(load_data < 1000 && load_data >= 100){ _PCbus.printf("%s0%d\n", _returnToPC, load_data); }else if(load_data < 100 && load_data >= 10){ _PCbus.printf("%s00%d\n", _returnToPC, load_data); }else if(load_data < 10){ _PCbus.printf("%s000%d\n", _returnToPC, load_data); } } void PC_Comms::PC_WritePosition(char _servo){ char _returnToPC[4]; int pos_data; pos_data = my_AX12.GetPosition(); _returnToPC[0] = 'S'; _returnToPC[1] = 'D'; _returnToPC[2] = '1'; _returnToPC[3] = _servo; if(pos_data >= 1000){ _PCbus.printf("%s%i\n",_returnToPC, pos_data); }else if(pos_data < 1000 && pos_data >= 100){ _PCbus.printf("%s0%i\n", _returnToPC, pos_data); }else if(pos_data < 100 && pos_data >= 10){ _PCbus.printf("%s00%i\n", _returnToPC, pos_data); }else{ _PCbus.printf("%s000%i\n", _returnToPC, pos_data); } } // //void PC_Comms::PC_Human