Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

Files at this revision

API Documentation at this revision

Revision 126:56866cefaa08, committed 2015-10-29

Comitter:
annesteenbeek
Date:
Thu Oct 29 20:06:41 2015 +0000
Parent:
125:749b8ce2e040
Child:
127:831f03471efb
Commit message:
working led switching

Changed in this revision

config.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
serialcom.cpp Show annotated file Show diff for this revision Revisions of this file
serialcom.h Show annotated file Show diff for this revision Revisions of this file 
--- a/config.h	Thu Oct 29 17:41:10 2015 +0000
+++ b/config.h	Thu Oct 29 20:06:41 2015 +0000
@@ -12,6 +12,7 @@
 
 #define button1Pin      D0
 #define button2Pin      D1
+#define pumpPin			D3
 
 // Servo
 #define servoPin        D9

--- a/main.cpp	Thu Oct 29 17:41:10 2015 +0000
+++ b/main.cpp	Thu Oct 29 20:06:41 2015 +0000
@@ -31,7 +31,7 @@
     debugTick.attach(&debug_activate, motorCall);
     motorTick.attach(&motor_activate, motorCall);
     safetyTick.attach(&safety_activate, 0.001f);
-    serialTick.attach(&serial_activate, 0.05f);
+    
 }
 
 double motorCall = 0.01; // set motor frequency global so it can be used for speed.
@@ -47,10 +47,21 @@
 
 
 int main(){
+    serialInit();
+    serialTick.attach(&serial_activate, 0.1f); // initialze serial communication first
     motorInit();
-    calReady = true; // calibrateMotors();
+
+
+
 
     while (true) {
+        
+        calReady = calibrateMotors();
+        
+        if(serial_go){
+            serial_go=false;
+            serialCom();
+        }
 
         if(calReady && !tickersActivated){ // when done with calibration, start tickers
             tickerAttach();
@@ -82,10 +93,7 @@
                 motor_go=false;
                 motorControl();
             }
-            if(serial_go){
-                serial_go=false;
-                serialCom();
-            }
+
         }
     }
 }
\ No newline at end of file

--- a/serialcom.cpp	Thu Oct 29 17:41:10 2015 +0000
+++ b/serialcom.cpp	Thu Oct 29 20:06:41 2015 +0000
@@ -1,24 +1,38 @@
 #include "mbed.h"
 #include "serialcom.h"
-#include "MODSERIAL.h"
+//#include "MODSERIAL.h"
 #include "config.h"
 #include "PID.h"
 #include "buttons.h"
 #include <string>
 
-MODSERIAL pc(USBTX, USBRX);
+Serial pc(USBTX, USBRX);
+DigitalOut pumpSwitch(pumpPin);
 char buf[128];
 
+void serialInit(){
+    const int baudrate = 9600;
+    redLed.write(1); // dim the leds
+    blueLed.write(1);
+    greenLed.write(1);
+    
+    pc.baud(baudrate);
+    }
+
 void serialCom(){
     pc.scanf("%s", buf);
     if(strcmp(buf,"ledRed")==0){
         redLed.write(!redLed.read());
+        pc.printf("received data\n");
+        pumpSwitch.write(!pumpSwitch.read());
     }
     if(strcmp(buf,"ledBlue")==0){
         blueLed.write(!blueLed.read());
+        pc.printf("received data\n");
     }
     if(strcmp(buf,"ledGreen")==0){
         greenLed.write(!greenLed.read());
+        pc.printf("received data\n");
     }
 }
 

--- a/serialcom.h	Thu Oct 29 17:41:10 2015 +0000
+++ b/serialcom.h	Thu Oct 29 20:06:41 2015 +0000
@@ -14,5 +14,6 @@
 extern DigitalOut  blueLed;
 
 void serialCom();
+void serialInit();
 
 #endif
\ No newline at end of file