Diff: main.cpp

Revision:

0:9fa3ac1adbab

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Dec 06 23:09:07 2016 +0000
@@ -0,0 +1,124 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "mbed_rpc.h"
+
+/* Virtual USB serial port */
+Serial pc(USBTX, USBRX); // tx, rx
+ 
+/* Declare all servos */
+Servo servo_ingredient0(p21);
+Servo servo_ingredient1(p22);
+Servo servo_ingredient2(p23);
+Servo servo_ingredient3(p24);
+Servo servo_bread(p25);  
+
+/* Time between opening and closing the ingredient dispenser */
+int TIME_OPEN = 300;
+
+/* Time after closing the ingredient dispenser */
+int TIME_AFTER_CLOSING = 500;
+
+/* For debugging purpose */
+/* Output the ingredient code (which ingredients to dispense) onto LEDs */
+BusOut mbed_leds(LED1, LED2, LED3, LED4);
+
+/* Make sandwich, using ingredient code */
+/*  Ingredient code is bit mask of ingredients needed */
+/*  Bit 0 -> Ingredient 0 needed (1) or not (0) */
+/*  Bit 1 -> Ingredient 0 needed (1) or not (0) */
+/*  Bit 2 -> Ingredient 0 needed (1) or not (0) */
+/*  Bit 3 -> Ingredient 0 needed (1) or not (0) */
+void move_servos(int ingr_code) {
+    /* Dispense bread */
+    servo_bread = 0; /* Dispense bread */
+    wait_ms(1000);
+    servo_bread = 1; /* Reset position */
+    wait_ms(1000);
+    
+     /* Dispense ingredient 0 */
+    if (ingr_code & 0x1) {
+        servo_ingredient0 = 1; /* Open */
+        wait_ms(TIME_OPEN);
+        servo_ingredient0 = 0; /* Close */
+        wait_ms(TIME_AFTER_CLOSING);
+    }
+    /* Dispense ingredient 1 */
+    if (ingr_code & 0x2) {
+        servo_ingredient1 = 1; /* Open */
+        wait_ms(TIME_OPEN);
+        servo_ingredient1 = 0; /* Close */
+        wait_ms(TIME_AFTER_CLOSING);
+    }
+    /* Dispense ingredient 2 */
+    if (ingr_code & 0x4) {
+        servo_ingredient2 = 1; /* Open */
+        wait_ms(TIME_OPEN);
+        servo_ingredient2 = 0; /* Close */
+        wait_ms(TIME_AFTER_CLOSING);
+    }
+    /* Dispense ingredient 3 */
+    if (ingr_code & 0x8) {
+        servo_ingredient3 = 1; /* Open */
+        wait_ms(TIME_OPEN);
+        servo_ingredient3 = 0; /* Close */
+        wait_ms(TIME_AFTER_CLOSING);
+    }
+    /* Dispense bread again */
+    servo_bread = 0; /* Dispense bread */
+    wait_ms(1000);
+    servo_bread = 1; /* Reset position */
+    wait_ms(1000);
+}
+
+/* Declare function 'm_sand' exposed via RPC */
+void m_sand(Arguments *in, Reply *out);
+RPCFunction rpc_m_sand(&m_sand, "m_sand");
+void m_sand(Arguments *in, Reply *out)  {
+        
+    /* Get argument */
+    int ingr_code = in->getArg<int>();
+    
+    /* Output to LEDs for debugging */
+    mbed_leds = ingr_code;
+    
+    /* Execute the function */
+    move_servos(ingr_code);
+    
+    /* Set output */
+    out->putData("SandwichMade");
+    
+    /* Reset LEDs */
+    mbed_leds = 0;    
+}
+
+/* Main code */
+int main() {
+    /* Set pc serial baud rate */
+    pc.baud(9600);
+ 
+    // receive commands, and send back the responses
+    char buf[256], outbuf[256];
+    
+    while(1) {
+        /* Wait for command */
+        while (!pc.readable()) {
+            wait_ms(100);
+        }
+        /* Read the characters into string array */
+        int i = 0;
+        while (pc.readable()) {
+            buf[i] = pc.getc();
+            i++;
+        }
+        buf[i] = '\n';
+        pc.printf("%s", buf);
+        //Call the static call method on the RPC class
+        RPC::call(buf, outbuf); 
+        pc.printf("%s\n", outbuf);
+        /* Flush pc serial buffer */
+        while (pc.readable()) {
+            pc.getc();
+        }
+    }
+    
+}