Kairi Kozuma / SandwichMaker

Make sandwich by moving servos to dispense ingredients via RPC calls.

Dependencies:   Servo mbed-dev mbed-rpc

main.cpp@0:9fa3ac1adbab, 2016-12-06 (annotated)

Committer:
K2Silver
Date:
Tue Dec 06 23:09:07 2016 +0000
Revision:
0:9fa3ac1adbab
Dispense ingredients and bread with servos via RPC calls.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
K2Silver 0:9fa3ac1adbab 1 #include "mbed.h"
K2Silver 0:9fa3ac1adbab 2 #include "Servo.h"
K2Silver 0:9fa3ac1adbab 3 #include "mbed_rpc.h"
K2Silver 0:9fa3ac1adbab 4
K2Silver 0:9fa3ac1adbab 5 /* Virtual USB serial port */
K2Silver 0:9fa3ac1adbab 6 Serial pc(USBTX, USBRX); // tx, rx
K2Silver 0:9fa3ac1adbab 7
K2Silver 0:9fa3ac1adbab 8 /* Declare all servos */
K2Silver 0:9fa3ac1adbab 9 Servo servo_ingredient0(p21);
K2Silver 0:9fa3ac1adbab 10 Servo servo_ingredient1(p22);
K2Silver 0:9fa3ac1adbab 11 Servo servo_ingredient2(p23);
K2Silver 0:9fa3ac1adbab 12 Servo servo_ingredient3(p24);
K2Silver 0:9fa3ac1adbab 13 Servo servo_bread(p25);
K2Silver 0:9fa3ac1adbab 14
K2Silver 0:9fa3ac1adbab 15 /* Time between opening and closing the ingredient dispenser */
K2Silver 0:9fa3ac1adbab 16 int TIME_OPEN = 300;
K2Silver 0:9fa3ac1adbab 17
K2Silver 0:9fa3ac1adbab 18 /* Time after closing the ingredient dispenser */
K2Silver 0:9fa3ac1adbab 19 int TIME_AFTER_CLOSING = 500;
K2Silver 0:9fa3ac1adbab 20
K2Silver 0:9fa3ac1adbab 21 /* For debugging purpose */
K2Silver 0:9fa3ac1adbab 22 /* Output the ingredient code (which ingredients to dispense) onto LEDs */
K2Silver 0:9fa3ac1adbab 23 BusOut mbed_leds(LED1, LED2, LED3, LED4);
K2Silver 0:9fa3ac1adbab 24
K2Silver 0:9fa3ac1adbab 25 /* Make sandwich, using ingredient code */
K2Silver 0:9fa3ac1adbab 26 /* Ingredient code is bit mask of ingredients needed */
K2Silver 0:9fa3ac1adbab 27 /* Bit 0 -> Ingredient 0 needed (1) or not (0) */
K2Silver 0:9fa3ac1adbab 28 /* Bit 1 -> Ingredient 0 needed (1) or not (0) */
K2Silver 0:9fa3ac1adbab 29 /* Bit 2 -> Ingredient 0 needed (1) or not (0) */
K2Silver 0:9fa3ac1adbab 30 /* Bit 3 -> Ingredient 0 needed (1) or not (0) */
K2Silver 0:9fa3ac1adbab 31 void move_servos(int ingr_code) {
K2Silver 0:9fa3ac1adbab 32 /* Dispense bread */
K2Silver 0:9fa3ac1adbab 33 servo_bread = 0; /* Dispense bread */
K2Silver 0:9fa3ac1adbab 34 wait_ms(1000);
K2Silver 0:9fa3ac1adbab 35 servo_bread = 1; /* Reset position */
K2Silver 0:9fa3ac1adbab 36 wait_ms(1000);
K2Silver 0:9fa3ac1adbab 37
K2Silver 0:9fa3ac1adbab 38 /* Dispense ingredient 0 */
K2Silver 0:9fa3ac1adbab 39 if (ingr_code & 0x1) {
K2Silver 0:9fa3ac1adbab 40 servo_ingredient0 = 1; /* Open */
K2Silver 0:9fa3ac1adbab 41 wait_ms(TIME_OPEN);
K2Silver 0:9fa3ac1adbab 42 servo_ingredient0 = 0; /* Close */
K2Silver 0:9fa3ac1adbab 43 wait_ms(TIME_AFTER_CLOSING);
K2Silver 0:9fa3ac1adbab 44 }
K2Silver 0:9fa3ac1adbab 45 /* Dispense ingredient 1 */
K2Silver 0:9fa3ac1adbab 46 if (ingr_code & 0x2) {
K2Silver 0:9fa3ac1adbab 47 servo_ingredient1 = 1; /* Open */
K2Silver 0:9fa3ac1adbab 48 wait_ms(TIME_OPEN);
K2Silver 0:9fa3ac1adbab 49 servo_ingredient1 = 0; /* Close */
K2Silver 0:9fa3ac1adbab 50 wait_ms(TIME_AFTER_CLOSING);
K2Silver 0:9fa3ac1adbab 51 }
K2Silver 0:9fa3ac1adbab 52 /* Dispense ingredient 2 */
K2Silver 0:9fa3ac1adbab 53 if (ingr_code & 0x4) {
K2Silver 0:9fa3ac1adbab 54 servo_ingredient2 = 1; /* Open */
K2Silver 0:9fa3ac1adbab 55 wait_ms(TIME_OPEN);
K2Silver 0:9fa3ac1adbab 56 servo_ingredient2 = 0; /* Close */
K2Silver 0:9fa3ac1adbab 57 wait_ms(TIME_AFTER_CLOSING);
K2Silver 0:9fa3ac1adbab 58 }
K2Silver 0:9fa3ac1adbab 59 /* Dispense ingredient 3 */
K2Silver 0:9fa3ac1adbab 60 if (ingr_code & 0x8) {
K2Silver 0:9fa3ac1adbab 61 servo_ingredient3 = 1; /* Open */
K2Silver 0:9fa3ac1adbab 62 wait_ms(TIME_OPEN);
K2Silver 0:9fa3ac1adbab 63 servo_ingredient3 = 0; /* Close */
K2Silver 0:9fa3ac1adbab 64 wait_ms(TIME_AFTER_CLOSING);
K2Silver 0:9fa3ac1adbab 65 }
K2Silver 0:9fa3ac1adbab 66 /* Dispense bread again */
K2Silver 0:9fa3ac1adbab 67 servo_bread = 0; /* Dispense bread */
K2Silver 0:9fa3ac1adbab 68 wait_ms(1000);
K2Silver 0:9fa3ac1adbab 69 servo_bread = 1; /* Reset position */
K2Silver 0:9fa3ac1adbab 70 wait_ms(1000);
K2Silver 0:9fa3ac1adbab 71 }
K2Silver 0:9fa3ac1adbab 72
K2Silver 0:9fa3ac1adbab 73 /* Declare function 'm_sand' exposed via RPC */
K2Silver 0:9fa3ac1adbab 74 void m_sand(Arguments *in, Reply *out);
K2Silver 0:9fa3ac1adbab 75 RPCFunction rpc_m_sand(&m_sand, "m_sand");
K2Silver 0:9fa3ac1adbab 76 void m_sand(Arguments *in, Reply *out) {
K2Silver 0:9fa3ac1adbab 77
K2Silver 0:9fa3ac1adbab 78 /* Get argument */
K2Silver 0:9fa3ac1adbab 79 int ingr_code = in->getArg<int>();
K2Silver 0:9fa3ac1adbab 80
K2Silver 0:9fa3ac1adbab 81 /* Output to LEDs for debugging */
K2Silver 0:9fa3ac1adbab 82 mbed_leds = ingr_code;
K2Silver 0:9fa3ac1adbab 83
K2Silver 0:9fa3ac1adbab 84 /* Execute the function */
K2Silver 0:9fa3ac1adbab 85 move_servos(ingr_code);
K2Silver 0:9fa3ac1adbab 86
K2Silver 0:9fa3ac1adbab 87 /* Set output */
K2Silver 0:9fa3ac1adbab 88 out->putData("SandwichMade");
K2Silver 0:9fa3ac1adbab 89
K2Silver 0:9fa3ac1adbab 90 /* Reset LEDs */
K2Silver 0:9fa3ac1adbab 91 mbed_leds = 0;
K2Silver 0:9fa3ac1adbab 92 }
K2Silver 0:9fa3ac1adbab 93
K2Silver 0:9fa3ac1adbab 94 /* Main code */
K2Silver 0:9fa3ac1adbab 95 int main() {
K2Silver 0:9fa3ac1adbab 96 /* Set pc serial baud rate */
K2Silver 0:9fa3ac1adbab 97 pc.baud(9600);
K2Silver 0:9fa3ac1adbab 98
K2Silver 0:9fa3ac1adbab 99 // receive commands, and send back the responses
K2Silver 0:9fa3ac1adbab 100 char buf[256], outbuf[256];
K2Silver 0:9fa3ac1adbab 101
K2Silver 0:9fa3ac1adbab 102 while(1) {
K2Silver 0:9fa3ac1adbab 103 /* Wait for command */
K2Silver 0:9fa3ac1adbab 104 while (!pc.readable()) {
K2Silver 0:9fa3ac1adbab 105 wait_ms(100);
K2Silver 0:9fa3ac1adbab 106 }
K2Silver 0:9fa3ac1adbab 107 /* Read the characters into string array */
K2Silver 0:9fa3ac1adbab 108 int i = 0;
K2Silver 0:9fa3ac1adbab 109 while (pc.readable()) {
K2Silver 0:9fa3ac1adbab 110 buf[i] = pc.getc();
K2Silver 0:9fa3ac1adbab 111 i++;
K2Silver 0:9fa3ac1adbab 112 }
K2Silver 0:9fa3ac1adbab 113 buf[i] = '\n';
K2Silver 0:9fa3ac1adbab 114 pc.printf("%s", buf);
K2Silver 0:9fa3ac1adbab 115 //Call the static call method on the RPC class
K2Silver 0:9fa3ac1adbab 116 RPC::call(buf, outbuf);
K2Silver 0:9fa3ac1adbab 117 pc.printf("%s\n", outbuf);
K2Silver 0:9fa3ac1adbab 118 /* Flush pc serial buffer */
K2Silver 0:9fa3ac1adbab 119 while (pc.readable()) {
K2Silver 0:9fa3ac1adbab 120 pc.getc();
K2Silver 0:9fa3ac1adbab 121 }
K2Silver 0:9fa3ac1adbab 122 }
K2Silver 0:9fa3ac1adbab 123
K2Silver 0:9fa3ac1adbab 124 }