Motor control for robotic arm
Dependencies: MCP23017 WattBob_TextLCD mbed
Fork of Balanced Arm by
PC_Comms/PC_Comms.cpp@18:b79a9a7cf5fb, 2016-02-09 (annotated)
- Committer:
- wm70
- Date:
- Tue Feb 09 14:59:12 2016 +0000
- Revision:
- 18:b79a9a7cf5fb
- Parent:
- 17:258067827672
- Child:
- 19:bf64727d5b0e
torque position half working ; set CW and CCW
Who changed what in which revision?
User | Revision | Line number | New 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){ |
wm70 | 18:b79a9a7cf5fb | 41 | |
wm70 | 18:b79a9a7cf5fb | 42 | my_AX12.SetCWLimit(0); |
wm70 | 18:b79a9a7cf5fb | 43 | my_AX12.SetCCWLimit(300); |
wm70 | 18:b79a9a7cf5fb | 44 | lcd->printf("Mode_Set 0-300"); |
wm70 | 18:b79a9a7cf5fb | 45 | wait(1); |
wm70 | 18:b79a9a7cf5fb | 46 | |
ADAMSTRUTT | 11:7f74fb17c328 | 47 | lcd->cls(); |
ADAMSTRUTT | 11:7f74fb17c328 | 48 | lcd->printf("Connecting"); |
ADAMSTRUTT | 11:7f74fb17c328 | 49 | lcd->locate(1,0); |
ADAMSTRUTT | 11:7f74fb17c328 | 50 | lcd->printf("to PC"); |
Hamilton252 | 10:d7cce35b7bfd | 51 | while('s' != _PCbus.getc()){ |
ADAMSTRUTT | 7:40d7d88deba3 | 52 | } |
Hamilton252 | 10:d7cce35b7bfd | 53 | while('s' != _PCbus.getc()){ |
ADAMSTRUTT | 7:40d7d88deba3 | 54 | } |
ADAMSTRUTT | 11:7f74fb17c328 | 55 | lcd->cls(); |
wm70 | 18:b79a9a7cf5fb | 56 | lcd->printf("Connected\n"); |
ADAMSTRUTT | 7:40d7d88deba3 | 57 | wait(2); |
wm70 | 9:87558e7cfecb | 58 | } |
wm70 | 9:87558e7cfecb | 59 | |
wm70 | 12:68f82c3e27e9 | 60 | void PC_Comms::PC_Read(void){ |
ADAMSTRUTT | 11:7f74fb17c328 | 61 | |
Hamilton252 | 10:d7cce35b7bfd | 62 | char Command[8]; |
ADAMSTRUTT | 11:7f74fb17c328 | 63 | |
ADAMSTRUTT | 11:7f74fb17c328 | 64 | lcd->cls(); |
ADAMSTRUTT | 11:7f74fb17c328 | 65 | lcd->printf("Reading PC"); |
wm70 | 9:87558e7cfecb | 66 | |
wm70 | 18:b79a9a7cf5fb | 67 | if(_PCbus.readable()==1){ |
ADAMSTRUTT | 11:7f74fb17c328 | 68 | Command[0] = _PCbus.getc(); |
ADAMSTRUTT | 11:7f74fb17c328 | 69 | if(Command[0]=='s') |
Hamilton252 | 10:d7cce35b7bfd | 70 | { |
ADAMSTRUTT | 11:7f74fb17c328 | 71 | while(_PCbus.readable()==0){} |
ADAMSTRUTT | 11:7f74fb17c328 | 72 | Command[1] = _PCbus.getc(); |
ADAMSTRUTT | 11:7f74fb17c328 | 73 | if(Command[1]=='c') |
ADAMSTRUTT | 11:7f74fb17c328 | 74 | { |
wm70 | 12:68f82c3e27e9 | 75 | for(int x=2;x<=7;x++) |
wm70 | 12:68f82c3e27e9 | 76 | { |
wm70 | 12:68f82c3e27e9 | 77 | while(_PCbus.readable()==0){} |
wm70 | 12:68f82c3e27e9 | 78 | Command[x] = _PCbus.getc(); |
wm70 | 12:68f82c3e27e9 | 79 | } |
wm70 | 18:b79a9a7cf5fb | 80 | // lcd->cls(); |
wm70 | 18:b79a9a7cf5fb | 81 | // lcd->printf("%s", Command); |
wm70 | 12:68f82c3e27e9 | 82 | switch(Command[2]) |
wm70 | 12:68f82c3e27e9 | 83 | { |
ADAMSTRUTT | 11:7f74fb17c328 | 84 | case '0': |
ADAMSTRUTT | 16:585f8b5abc2c | 85 | char angle[3]; |
ADAMSTRUTT | 16:585f8b5abc2c | 86 | angle[0] = Command[4]; |
ADAMSTRUTT | 16:585f8b5abc2c | 87 | angle[1] = Command[5]; |
ADAMSTRUTT | 16:585f8b5abc2c | 88 | angle[2] = Command[6]; |
ADAMSTRUTT | 16:585f8b5abc2c | 89 | int angle2 = atoi(angle); |
wm70 | 18:b79a9a7cf5fb | 90 | //lcd->cls(); |
wm70 | 18:b79a9a7cf5fb | 91 | //lcd->printf("%i", angle2); |
wm70 | 18:b79a9a7cf5fb | 92 | |
ADAMSTRUTT | 16:585f8b5abc2c | 93 | my_AX12.SetGoal(angle2); |
ADAMSTRUTT | 16:585f8b5abc2c | 94 | break; |
ADAMSTRUTT | 11:7f74fb17c328 | 95 | default: |
ADAMSTRUTT | 11:7f74fb17c328 | 96 | break; |
wm70 | 12:68f82c3e27e9 | 97 | } |
ADAMSTRUTT | 11:7f74fb17c328 | 98 | } |
ADAMSTRUTT | 11:7f74fb17c328 | 99 | } |
ADAMSTRUTT | 11:7f74fb17c328 | 100 | } |
wm70 | 18:b79a9a7cf5fb | 101 | } |
Hamilton252 | 10:d7cce35b7bfd | 102 | |
wm70 | 12:68f82c3e27e9 | 103 | void PC_Comms::PC_WriteLoad(char _servo){ |
ADAMSTRUTT | 16:585f8b5abc2c | 104 | |
wm70 | 14:3be8ca0c066d | 105 | char _returnToPC[4]; |
wm70 | 17:258067827672 | 106 | int load_data; |
ADAMSTRUTT | 11:7f74fb17c328 | 107 | |
wm70 | 17:258067827672 | 108 | load_data = my_AX12.GetLoad(); |
ADAMSTRUTT | 16:585f8b5abc2c | 109 | _returnToPC[0] = 'S'; |
ADAMSTRUTT | 16:585f8b5abc2c | 110 | _returnToPC[1] = 'D'; |
ADAMSTRUTT | 16:585f8b5abc2c | 111 | _returnToPC[2] = '0'; |
ADAMSTRUTT | 16:585f8b5abc2c | 112 | _returnToPC[3] = _servo; |
ADAMSTRUTT | 11:7f74fb17c328 | 113 | |
wm70 | 17:258067827672 | 114 | if(load_data >= 1000){ |
wm70 | 17:258067827672 | 115 | _PCbus.printf("%s%i",_returnToPC, load_data); |
wm70 | 17:258067827672 | 116 | }else if(load_data > 1000 && load_data >= 100){ |
wm70 | 17:258067827672 | 117 | _PCbus.printf("%s0%i", _returnToPC, load_data); |
wm70 | 17:258067827672 | 118 | }else if(load_data> 1000 && load_data >= 10){ |
wm70 | 17:258067827672 | 119 | _PCbus.printf("%s00%i", _returnToPC, load_data); |
ADAMSTRUTT | 16:585f8b5abc2c | 120 | }else{ |
wm70 | 17:258067827672 | 121 | _PCbus.printf("%s000%i", _returnToPC, load_data); |
ADAMSTRUTT | 16:585f8b5abc2c | 122 | } |
wm70 | 18:b79a9a7cf5fb | 123 | } |
wm70 | 18:b79a9a7cf5fb | 124 | |
wm70 | 18:b79a9a7cf5fb | 125 | |
wm70 | 18:b79a9a7cf5fb | 126 | |
wm70 | 18:b79a9a7cf5fb | 127 | void PC_Comms::PC_WritePosition(char _servo){ |
wm70 | 18:b79a9a7cf5fb | 128 | |
wm70 | 18:b79a9a7cf5fb | 129 | // char _returnToPC_pos[4]; |
wm70 | 18:b79a9a7cf5fb | 130 | // int pos_data; |
wm70 | 18:b79a9a7cf5fb | 131 | // |
wm70 | 18:b79a9a7cf5fb | 132 | // pos_data = my_AX12.GetPosition(); |
wm70 | 18:b79a9a7cf5fb | 133 | // _returnToPC_pos[0] = 'S'; |
wm70 | 18:b79a9a7cf5fb | 134 | // _returnToPC_pos[1] = 'D'; |
wm70 | 18:b79a9a7cf5fb | 135 | // _returnToPC_pos[2] = '1'; |
wm70 | 18:b79a9a7cf5fb | 136 | // _returnToPC_pos[3] = _servo; |
wm70 | 18:b79a9a7cf5fb | 137 | // |
wm70 | 18:b79a9a7cf5fb | 138 | //// if(pos_data >= 1000){ |
wm70 | 18:b79a9a7cf5fb | 139 | // _PCbus.printf("%s%i",_returnToPC_pos, pos_data); |
wm70 | 18:b79a9a7cf5fb | 140 | //// }else if(pos_data > 1000 && pos_data >= 100){ |
wm70 | 18:b79a9a7cf5fb | 141 | //// _PCbus.printf("%s0%i", _returnToPC_pos, pos_data); |
wm70 | 18:b79a9a7cf5fb | 142 | //// }else if(pos_data> 1000 && pos_data >= 10){ |
wm70 | 18:b79a9a7cf5fb | 143 | //// _PCbus.printf("%s00%i", _returnToPC_pos, pos_data); |
wm70 | 18:b79a9a7cf5fb | 144 | //// }else{ |
wm70 | 18:b79a9a7cf5fb | 145 | //// _PCbus.printf("%s000%i", _returnToPC_pos, pos_data); |
wm70 | 18:b79a9a7cf5fb | 146 | //// } |
ADAMSTRUTT | 7:40d7d88deba3 | 147 | } |