Motor control for robotic arm
Dependencies: MCP23017 WattBob_TextLCD mbed
Fork of Balanced Arm by
HandShake/HandShake.cpp@9:87558e7cfecb, 2016-01-29 (annotated)
- Committer:
- wm70
- Date:
- Fri Jan 29 16:56:35 2016 +0000
- Revision:
- 9:87558e7cfecb
- Parent:
- 7:40d7d88deba3
- Child:
- 10:d7cce35b7bfd
With new handshake
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ADAMSTRUTT | 7:40d7d88deba3 | 1 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 2 | // Author: Adam Strutt |
ADAMSTRUTT | 7:40d7d88deba3 | 3 | // File: (PS2C.cpp) PlayStation 2 controller |
ADAMSTRUTT | 7:40d7d88deba3 | 4 | // Version: 1.0v |
ADAMSTRUTT | 7:40d7d88deba3 | 5 | // Date: 11/12/2015 |
ADAMSTRUTT | 7:40d7d88deba3 | 6 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 7 | |
ADAMSTRUTT | 7:40d7d88deba3 | 8 | #include <string> |
ADAMSTRUTT | 7:40d7d88deba3 | 9 | #include "HandShake.h" |
ADAMSTRUTT | 7:40d7d88deba3 | 10 | #include "mbed.h" |
ADAMSTRUTT | 7:40d7d88deba3 | 11 | #include "MCP23017.h" |
ADAMSTRUTT | 7:40d7d88deba3 | 12 | #include "WattBob_TextLCD.h" |
ADAMSTRUTT | 7:40d7d88deba3 | 13 | |
wm70 | 9:87558e7cfecb | 14 | #include "AX12.h" |
wm70 | 9:87558e7cfecb | 15 | |
ADAMSTRUTT | 7:40d7d88deba3 | 16 | |
ADAMSTRUTT | 7:40d7d88deba3 | 17 | |
ADAMSTRUTT | 7:40d7d88deba3 | 18 | MCP23017 *par_port1; |
ADAMSTRUTT | 7:40d7d88deba3 | 19 | WattBob_TextLCD *lcd1; |
ADAMSTRUTT | 7:40d7d88deba3 | 20 | |
ADAMSTRUTT | 7:40d7d88deba3 | 21 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 22 | // Object: PC_HandShake |
ADAMSTRUTT | 7:40d7d88deba3 | 23 | // Description: To create a HandShake object. |
ADAMSTRUTT | 7:40d7d88deba3 | 24 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 25 | |
wm70 | 9:87558e7cfecb | 26 | PC_HandShake::PC_HandShake(Serial& PCbus, AX12& ax12) |
wm70 | 9:87558e7cfecb | 27 | : _PCbus(PCbus), _ax12 (ax12){ |
ADAMSTRUTT | 7:40d7d88deba3 | 28 | |
ADAMSTRUTT | 7:40d7d88deba3 | 29 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 30 | // Description:Setting up the LCD display and turning on LCD display |
ADAMSTRUTT | 7:40d7d88deba3 | 31 | // Pins: p8, p10 |
ADAMSTRUTT | 7:40d7d88deba3 | 32 | //********************************************************************* |
ADAMSTRUTT | 7:40d7d88deba3 | 33 | par_port1 = new MCP23017(p9, p10, 0x40); |
ADAMSTRUTT | 7:40d7d88deba3 | 34 | par_port1->config(0x0F00, 0x0F00, 0x0F00); |
ADAMSTRUTT | 7:40d7d88deba3 | 35 | lcd1 = new WattBob_TextLCD(par_port1); |
ADAMSTRUTT | 7:40d7d88deba3 | 36 | par_port1->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 | |
ADAMSTRUTT | 7:40d7d88deba3 | 44 | void PC_HandShake::PC_Connect(void){ |
ADAMSTRUTT | 7:40d7d88deba3 | 45 | lcd1->cls(); |
ADAMSTRUTT | 7:40d7d88deba3 | 46 | lcd1->printf("Connecting"); |
ADAMSTRUTT | 7:40d7d88deba3 | 47 | lcd1->locate(1,0); |
ADAMSTRUTT | 7:40d7d88deba3 | 48 | lcd1->printf("to PC"); |
ADAMSTRUTT | 7:40d7d88deba3 | 49 | wait(2); |
ADAMSTRUTT | 7:40d7d88deba3 | 50 | lcd1->cls(); |
ADAMSTRUTT | 7:40d7d88deba3 | 51 | lcd1->printf("Waiting\n"); |
ADAMSTRUTT | 7:40d7d88deba3 | 52 | while('S' != _PCbus.getc()){ |
ADAMSTRUTT | 7:40d7d88deba3 | 53 | } |
ADAMSTRUTT | 7:40d7d88deba3 | 54 | while('S' != _PCbus.getc()){ |
ADAMSTRUTT | 7:40d7d88deba3 | 55 | } |
ADAMSTRUTT | 7:40d7d88deba3 | 56 | lcd1->cls(); |
ADAMSTRUTT | 7:40d7d88deba3 | 57 | lcd1->printf("Conneced\n"); |
ADAMSTRUTT | 7:40d7d88deba3 | 58 | wait(2); |
wm70 | 9:87558e7cfecb | 59 | } |
wm70 | 9:87558e7cfecb | 60 | |
wm70 | 9:87558e7cfecb | 61 | void PC_HandShake::PC_Read(void){ |
wm70 | 9:87558e7cfecb | 62 | lcd1->cls(); |
wm70 | 9:87558e7cfecb | 63 | lcd1->printf("Reading"); |
wm70 | 9:87558e7cfecb | 64 | lcd1->locate(1,0); |
wm70 | 9:87558e7cfecb | 65 | lcd1->printf("to PC"); |
wm70 | 9:87558e7cfecb | 66 | wait(2); |
wm70 | 9:87558e7cfecb | 67 | lcd1->cls(); |
wm70 | 9:87558e7cfecb | 68 | lcd1->printf("Waiting\n"); |
wm70 | 9:87558e7cfecb | 69 | while('s' != _PCbus.getc()){ |
wm70 | 9:87558e7cfecb | 70 | } |
wm70 | 9:87558e7cfecb | 71 | while(_PCbus.readable()==0){} |
wm70 | 9:87558e7cfecb | 72 | char _byteOne=_PCbus.getc(); |
wm70 | 9:87558e7cfecb | 73 | |
wm70 | 9:87558e7cfecb | 74 | while(_PCbus.readable()==0){} |
wm70 | 9:87558e7cfecb | 75 | char _byteTwo=_PCbus.getc(); |
wm70 | 9:87558e7cfecb | 76 | |
wm70 | 9:87558e7cfecb | 77 | if (_byteOne=='s'){ |
wm70 | 9:87558e7cfecb | 78 | }else if (_byteOne=='c'){ |
wm70 | 9:87558e7cfecb | 79 | switch(_byteTwo) |
wm70 | 9:87558e7cfecb | 80 | { |
wm70 | 9:87558e7cfecb | 81 | case '0': |
wm70 | 9:87558e7cfecb | 82 | _ax12.SetGoal(100); |
wm70 | 9:87558e7cfecb | 83 | break; |
wm70 | 9:87558e7cfecb | 84 | case '1': |
wm70 | 9:87558e7cfecb | 85 | _ax12.SetGoal(0); |
wm70 | 9:87558e7cfecb | 86 | break; |
wm70 | 9:87558e7cfecb | 87 | }} |
wm70 | 9:87558e7cfecb | 88 | |
wm70 | 9:87558e7cfecb | 89 | |
wm70 | 9:87558e7cfecb | 90 | lcd1->cls(); |
wm70 | 9:87558e7cfecb | 91 | lcd1->printf("Reading\n"); |
wm70 | 9:87558e7cfecb | 92 | wait(2); |
ADAMSTRUTT | 7:40d7d88deba3 | 93 | } |