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@14:3be8ca0c066d, 2016-02-03 (annotated)

Committer:
wm70
Date:
Wed Feb 03 13:58:54 2016 +0000
Revision:
14:3be8ca0c066d
Parent:
13:be885a516a29
Child:
15:fb0de6376f8a
Torque Working

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
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 7:40d7d88deba3 20
ADAMSTRUTT 7:40d7d88deba3 21 //*********************************************************************
wm70 12:68f82c3e27e9 22 // Object:
wm70 12:68f82c3e27e9 23 // Description:
ADAMSTRUTT 7:40d7d88deba3 24 //*********************************************************************
ADAMSTRUTT 7:40d7d88deba3 25
wm70 14:3be8ca0c066d 26 PC_Comms::PC_Comms()
wm70 14:3be8ca0c066d 27 {
ADAMSTRUTT 7:40d7d88deba3 28
ADAMSTRUTT 11:7f74fb17c328 29 par_port = new MCP23017(p9, p10, 0x40);
ADAMSTRUTT 11:7f74fb17c328 30 par_port->config(0x0F00, 0x0F00, 0x0F00);
ADAMSTRUTT 11:7f74fb17c328 31 lcd = new WattBob_TextLCD(par_port);
ADAMSTRUTT 11:7f74fb17c328 32 par_port->write_bit(1, BL_BIT);
ADAMSTRUTT 7:40d7d88deba3 33 }
ADAMSTRUTT 7:40d7d88deba3 34
ADAMSTRUTT 7:40d7d88deba3 35 //*********************************************************************
ADAMSTRUTT 7:40d7d88deba3 36 // Method: PC_Connect
ADAMSTRUTT 7:40d7d88deba3 37 // Description: This method is used to connect the PC to the mbed.
ADAMSTRUTT 7:40d7d88deba3 38 //*********************************************************************
ADAMSTRUTT 7:40d7d88deba3 39
wm70 12:68f82c3e27e9 40 void PC_Comms::PC_Connect(void){
ADAMSTRUTT 11:7f74fb17c328 41 lcd->cls();
ADAMSTRUTT 11:7f74fb17c328 42 lcd->printf("Connecting");
ADAMSTRUTT 11:7f74fb17c328 43 lcd->locate(1,0);
ADAMSTRUTT 11:7f74fb17c328 44 lcd->printf("to PC");
Hamilton252 10:d7cce35b7bfd 45 while('s' != _PCbus.getc()){
ADAMSTRUTT 7:40d7d88deba3 46 }
Hamilton252 10:d7cce35b7bfd 47 while('s' != _PCbus.getc()){
ADAMSTRUTT 7:40d7d88deba3 48 }
ADAMSTRUTT 11:7f74fb17c328 49 lcd->cls();
ADAMSTRUTT 11:7f74fb17c328 50 lcd->printf("Conneced\n");
ADAMSTRUTT 7:40d7d88deba3 51 wait(2);
wm70 9:87558e7cfecb 52 }
wm70 9:87558e7cfecb 53
wm70 12:68f82c3e27e9 54 void PC_Comms::PC_Read(void){
ADAMSTRUTT 11:7f74fb17c328 55
Hamilton252 10:d7cce35b7bfd 56 char Command[8];
ADAMSTRUTT 11:7f74fb17c328 57
ADAMSTRUTT 11:7f74fb17c328 58 lcd->cls();
ADAMSTRUTT 11:7f74fb17c328 59 lcd->printf("Reading PC");
wm70 9:87558e7cfecb 60
wm70 9:87558e7cfecb 61 while(_PCbus.readable()==0){}
ADAMSTRUTT 11:7f74fb17c328 62 Command[0] = _PCbus.getc();
ADAMSTRUTT 11:7f74fb17c328 63 if(Command[0]=='s')
Hamilton252 10:d7cce35b7bfd 64 {
ADAMSTRUTT 11:7f74fb17c328 65 while(_PCbus.readable()==0){}
ADAMSTRUTT 11:7f74fb17c328 66 Command[1] = _PCbus.getc();
ADAMSTRUTT 11:7f74fb17c328 67 if(Command[1]=='c')
ADAMSTRUTT 11:7f74fb17c328 68 {
wm70 12:68f82c3e27e9 69 for(int x=2;x<=7;x++)
wm70 12:68f82c3e27e9 70 {
wm70 12:68f82c3e27e9 71 while(_PCbus.readable()==0){}
wm70 12:68f82c3e27e9 72 Command[x] = _PCbus.getc();
wm70 12:68f82c3e27e9 73 }
wm70 12:68f82c3e27e9 74 wait(2);
wm70 12:68f82c3e27e9 75 lcd->cls();
wm70 12:68f82c3e27e9 76 lcd->printf("%s", Command);
wm70 12:68f82c3e27e9 77 wait(2);
wm70 12:68f82c3e27e9 78 switch(Command[2])
wm70 12:68f82c3e27e9 79 {
ADAMSTRUTT 11:7f74fb17c328 80 case '0':
ADAMSTRUTT 11:7f74fb17c328 81 char angle[3];
ADAMSTRUTT 11:7f74fb17c328 82 angle[0] = Command[4];
ADAMSTRUTT 11:7f74fb17c328 83 angle[1] = Command[5];
ADAMSTRUTT 11:7f74fb17c328 84 angle[2] = Command[6];
ADAMSTRUTT 11:7f74fb17c328 85 int angle2 = atoi(angle);
ADAMSTRUTT 11:7f74fb17c328 86 lcd->cls();
ADAMSTRUTT 11:7f74fb17c328 87 lcd->printf("%i", angle2);
wm70 12:68f82c3e27e9 88 wait(1);
ADAMSTRUTT 11:7f74fb17c328 89 my_AX12.SetGoal(angle2);
ADAMSTRUTT 11:7f74fb17c328 90 break;
ADAMSTRUTT 11:7f74fb17c328 91 default:
ADAMSTRUTT 11:7f74fb17c328 92 break;
wm70 12:68f82c3e27e9 93 }
ADAMSTRUTT 11:7f74fb17c328 94 }
ADAMSTRUTT 11:7f74fb17c328 95 wait(1);
ADAMSTRUTT 11:7f74fb17c328 96 }
ADAMSTRUTT 11:7f74fb17c328 97 }
Hamilton252 10:d7cce35b7bfd 98
wm70 12:68f82c3e27e9 99 void PC_Comms::PC_WriteLoad(char _servo){
wm70 9:87558e7cfecb 100
wm70 13:be885a516a29 101 //char _data[8];
wm70 14:3be8ca0c066d 102 char _returnToPC[4];
wm70 13:be885a516a29 103 int data;
ADAMSTRUTT 11:7f74fb17c328 104
ADAMSTRUTT 11:7f74fb17c328 105 lcd->cls();
ADAMSTRUTT 11:7f74fb17c328 106 lcd->printf("Writing to PC");
ADAMSTRUTT 11:7f74fb17c328 107
wm70 14:3be8ca0c066d 108 data = my_AX12.GetLoad();
wm70 13:be885a516a29 109 lcd->cls();
wm70 13:be885a516a29 110 lcd->printf("%i", data);
wm70 13:be885a516a29 111 wait(5);
ADAMSTRUTT 11:7f74fb17c328 112 _returnToPC[0] = 'S';
ADAMSTRUTT 11:7f74fb17c328 113 _returnToPC[1] = 'D';
ADAMSTRUTT 11:7f74fb17c328 114 _returnToPC[2] = '0';
ADAMSTRUTT 11:7f74fb17c328 115 _returnToPC[3] = _servo;
wm70 14:3be8ca0c066d 116 // _returnToPC[4] = '0';
wm70 14:3be8ca0c066d 117 // _returnToPC[5] = '0';
wm70 14:3be8ca0c066d 118 // _returnToPC[6] = '0';
wm70 14:3be8ca0c066d 119 // _returnToPC[7] = '0';
ADAMSTRUTT 11:7f74fb17c328 120
wm70 14:3be8ca0c066d 121 _PCbus.printf("%s%i",_returnToPC, data);
ADAMSTRUTT 11:7f74fb17c328 122 wait(1);
ADAMSTRUTT 7:40d7d88deba3 123 }