Texas State IEEE / Mbed 2 deprecated steppertest

stepper test

Dependencies:   LongRangeSensor R5_StepperDrive mbed scanner

main.cpp@0:76bca1f580a0, 2016-04-01 (annotated)

Committer:
j_j205
Date:
Fri Apr 01 22:21:38 2016 +0000
Revision:
0:76bca1f580a0
stepper test jj

Who changed what in which revision?

UserRevisionLine numberNew contents of line
j_j205 0:76bca1f580a0 1 #include "scanner.h"
j_j205 0:76bca1f580a0 2 #include "StepperDrive.h"
j_j205 0:76bca1f580a0 3 #include "LongRangeSensor.h"
j_j205 0:76bca1f580a0 4 #include "stdint.h"
j_j205 0:76bca1f580a0 5 #include "mbed.h"
j_j205 0:76bca1f580a0 6
j_j205 0:76bca1f580a0 7 Serial pc(USBTX, USBRX);
j_j205 0:76bca1f580a0 8 Serial bluetooth(PTE16,PTE17); // bluetooth
j_j205 0:76bca1f580a0 9 InterruptIn start(SW1);
j_j205 0:76bca1f580a0 10 DigitalOut led_red(LED_RED);
j_j205 0:76bca1f580a0 11 DigitalOut led_green(LED_GREEN);
j_j205 0:76bca1f580a0 12 bool active = false;
j_j205 0:76bca1f580a0 13
j_j205 0:76bca1f580a0 14 void activate()
j_j205 0:76bca1f580a0 15 {
j_j205 0:76bca1f580a0 16 led_red = 1;
j_j205 0:76bca1f580a0 17 led_green = 0;
j_j205 0:76bca1f580a0 18 active = true;
j_j205 0:76bca1f580a0 19 }
j_j205 0:76bca1f580a0 20
j_j205 0:76bca1f580a0 21 int main()
j_j205 0:76bca1f580a0 22 {
j_j205 0:76bca1f580a0 23 pc.baud(115200);
j_j205 0:76bca1f580a0 24 bluetooth.baud(9600); /* interface via Bluetooth at 9600 */
j_j205 0:76bca1f580a0 25 start.mode(PullUp); /* Start/Stop button is active low needing PullUp */
j_j205 0:76bca1f580a0 26 start.fall(&activate);
j_j205 0:76bca1f580a0 27
j_j205 0:76bca1f580a0 28 led_red = 0;
j_j205 0:76bca1f580a0 29 led_green = 1;
j_j205 0:76bca1f580a0 30
j_j205 0:76bca1f580a0 31 StepperDrive drive(pc, PTE19, PTE18, 1, PTE3, PTE2, 0, 10.0625, 8.4800, 650); // 8.375
j_j205 0:76bca1f580a0 32 //(serial &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
j_j205 0:76bca1f580a0 33
j_j205 0:76bca1f580a0 34 LongRangeSensor longRangeL(pc, PTB2);
j_j205 0:76bca1f580a0 35 LongRangeSensor longRangeR(pc, PTB3);
j_j205 0:76bca1f580a0 36
j_j205 0:76bca1f580a0 37 Scanner scanner(pc, drive, PTB0, PTB1, longRangeL, longRangeR, 1.0); // original period = 0.075
j_j205 0:76bca1f580a0 38 // (Serial &, PinName servoL, PinName servoR, shortRangeL, shortRangeR, longRangeL, longRangeR, period)
j_j205 0:76bca1f580a0 39
j_j205 0:76bca1f580a0 40 pc.printf("\nWaiting for START BUTTON\n");
j_j205 0:76bca1f580a0 41 bluetooth.printf("\nWaiting for START BUTTON\n");
j_j205 0:76bca1f580a0 42 while(!active) // wait for start_button
j_j205 0:76bca1f580a0 43 {
j_j205 0:76bca1f580a0 44 wait(1e-6);
j_j205 0:76bca1f580a0 45 }
j_j205 0:76bca1f580a0 46
j_j205 0:76bca1f580a0 47 pc.printf("\nBegin 1st peg retrieval");
j_j205 0:76bca1f580a0 48 bluetooth.printf("\nBegin 1st peg retrieval");
j_j205 0:76bca1f580a0 49
j_j205 0:76bca1f580a0 50 drive.move(13.0, 0.0);
j_j205 0:76bca1f580a0 51 scanner.setLocalizeRightFlag(0);
j_j205 0:76bca1f580a0 52 pc.printf("\n LocalizeRight on");
j_j205 0:76bca1f580a0 53 bluetooth.printf("\n LocalizeRight on");
j_j205 0:76bca1f580a0 54 scanner.setLocalizeLeftFlag(0);
j_j205 0:76bca1f580a0 55 // wait for move to complete
j_j205 0:76bca1f580a0 56 while(!drive.isMoveDone())
j_j205 0:76bca1f580a0 57 {
j_j205 0:76bca1f580a0 58 wait(1e-6);
j_j205 0:76bca1f580a0 59 }
j_j205 0:76bca1f580a0 60 pc.printf("\nMoved from 0 to 1");
j_j205 0:76bca1f580a0 61 bluetooth.printf("\nMoved from 0 to 1");
j_j205 0:76bca1f580a0 62
j_j205 0:76bca1f580a0 63 scanner.setLocalizeRightFlag(0);
j_j205 0:76bca1f580a0 64 pc.printf("\n LocalizeRight off");
j_j205 0:76bca1f580a0 65 bluetooth.printf("\n LocalizeRight off");
j_j205 0:76bca1f580a0 66 scanner.setLocalizeLeftFlag(0);
j_j205 0:76bca1f580a0 67 drive.move(0.0, (-90.0)*(3.14159 / 180.0));
j_j205 0:76bca1f580a0 68 // wait for move to complete
j_j205 0:76bca1f580a0 69 while(!drive.isMoveDone())
j_j205 0:76bca1f580a0 70 {
j_j205 0:76bca1f580a0 71 wait(1e-6);
j_j205 0:76bca1f580a0 72 }
j_j205 0:76bca1f580a0 73 pc.printf("\nMoved left 90 degrees");
j_j205 0:76bca1f580a0 74 bluetooth.printf("\nMoved left 90 degrees");
j_j205 0:76bca1f580a0 75
j_j205 0:76bca1f580a0 76 drive.move(15.0, 0.0);
j_j205 0:76bca1f580a0 77 scanner.setLocalizeRightFlag(0);
j_j205 0:76bca1f580a0 78 scanner.setLocalizeLeftFlag(0);
j_j205 0:76bca1f580a0 79 // wait for move to complete
j_j205 0:76bca1f580a0 80 while(!drive.isMoveDone())
j_j205 0:76bca1f580a0 81 {
j_j205 0:76bca1f580a0 82 wait(1e-6);
j_j205 0:76bca1f580a0 83 }
j_j205 0:76bca1f580a0 84 pc.printf("\nMoved from 1 to 3");
j_j205 0:76bca1f580a0 85 bluetooth.printf("\nMoved from 1 to 3");
j_j205 0:76bca1f580a0 86
j_j205 0:76bca1f580a0 87 scanner.setLocalizeRightFlag(0);
j_j205 0:76bca1f580a0 88 scanner.setLocalizeLeftFlag(0);
j_j205 0:76bca1f580a0 89 drive.move(0.0, (90.0)*(3.14159 / 180.0));
j_j205 0:76bca1f580a0 90 // wait for move to complete
j_j205 0:76bca1f580a0 91 while(!drive.isMoveDone())
j_j205 0:76bca1f580a0 92 {
j_j205 0:76bca1f580a0 93 wait(1e-6);
j_j205 0:76bca1f580a0 94 }
j_j205 0:76bca1f580a0 95 pc.printf("\nMoved right 90 degrees");
j_j205 0:76bca1f580a0 96 bluetooth.printf("\nMoved right 90 degrees");
j_j205 0:76bca1f580a0 97
j_j205 0:76bca1f580a0 98 drive.move(6.0, 0.0);
j_j205 0:76bca1f580a0 99 scanner.setLocalizeRightFlag(0);
j_j205 0:76bca1f580a0 100 scanner.setLocalizeLeftFlag(0);
j_j205 0:76bca1f580a0 101 // wait for move to complete
j_j205 0:76bca1f580a0 102 while(!drive.isMoveDone())
j_j205 0:76bca1f580a0 103 {
j_j205 0:76bca1f580a0 104 wait(1e-6);
j_j205 0:76bca1f580a0 105 }
j_j205 0:76bca1f580a0 106 pc.printf("\nMoved from 3 to 15");
j_j205 0:76bca1f580a0 107 bluetooth.printf("\nMoved from 3 to 15");
j_j205 0:76bca1f580a0 108
j_j205 0:76bca1f580a0 109 drive.move(60.0, 0.0);
j_j205 0:76bca1f580a0 110 scanner.setLocalizeRightFlag(1);
j_j205 0:76bca1f580a0 111 pc.printf("\n LocalizeRight on");
j_j205 0:76bca1f580a0 112 scanner.setLocalizeLeftFlag(0);
j_j205 0:76bca1f580a0 113 // wait for move to complete
j_j205 0:76bca1f580a0 114 while(!drive.isMoveDone())
j_j205 0:76bca1f580a0 115 {
j_j205 0:76bca1f580a0 116 wait(1e-6);
j_j205 0:76bca1f580a0 117 }
j_j205 0:76bca1f580a0 118 pc.printf("\nMoved from 15 to 7");
j_j205 0:76bca1f580a0 119 bluetooth.printf("\nMoved from 15 to 7");
j_j205 0:76bca1f580a0 120
j_j205 0:76bca1f580a0 121 pc.printf("\nExercise Complete");
j_j205 0:76bca1f580a0 122 bluetooth.printf("\nExercise Complete");
j_j205 0:76bca1f580a0 123 }