Fa2018-es200-3321-proj2-GoodTeam#2
DE refactored as state machine
Revision 0:d531bdb9c2c7, committed 2018-10-22
- Comitter:
- evangeli
- Date:
- Mon Oct 22 14:34:09 2018 +0000
- Commit message:
- DE helped refactor code as state machine
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Mon Oct 22 14:34:09 2018 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Mon Oct 22 14:34:09 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/teams/Fa2018-es200-3321-proj2-GoodTeam2/code/Motor/#57154dd179bb
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/README.md Mon Oct 22 14:34:09 2018 +0000 @@ -0,0 +1,57 @@ +# Getting started with Blinky on mbed OS + +This guide reviews the steps required to get Blinky working on an mbed OS platform. + +Please install [mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli). + +## Import the example application + +From the command-line, import the example: + +``` +mbed import mbed-os-example-blinky +cd mbed-os-example-blinky +``` + +### Now compile + +Invoke `mbed compile`, and specify the name of your platform and your favorite toolchain (`GCC_ARM`, `ARM`, `IAR`). For example, for the ARM Compiler 5: + +``` +mbed compile -m K64F -t ARM +``` + +Your PC may take a few minutes to compile your code. At the end, you see the following result: + +``` +[snip] ++----------------------------+-------+-------+------+ +| Module | .text | .data | .bss | ++----------------------------+-------+-------+------+ +| Misc | 13939 | 24 | 1372 | +| core/hal | 16993 | 96 | 296 | +| core/rtos | 7384 | 92 | 4204 | +| features/FEATURE_IPV4 | 80 | 0 | 176 | +| frameworks/greentea-client | 1830 | 60 | 44 | +| frameworks/utest | 2392 | 512 | 292 | +| Subtotals | 42618 | 784 | 6384 | ++----------------------------+-------+-------+------+ +Allocated Heap: unknown +Allocated Stack: unknown +Total Static RAM memory (data + bss): 7168 bytes +Total RAM memory (data + bss + heap + stack): 7168 bytes +Total Flash memory (text + data + misc): 43402 bytes +Image: .\.build\K64F\ARM\mbed-os-example-blinky.bin +``` + +### Program your board + +1. Connect your mbed device to the computer over USB. +1. Copy the binary file to the mbed device. +1. Press the reset button to start the program. + +The LED on your platform turns on and off. + +## Troubleshooting + +If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it.
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Mon Oct 22 14:34:09 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 22 14:34:09 2018 +0000
@@ -0,0 +1,119 @@
+/*
+ES200 3321 Project 2
+MIDN 3/C Dietrich, Schwind, Silver
+*/
+
+#include "mbed.h"
+#include "rtos.h"
+#include "stdlib.h"
+#include "Motor.h"
+#include "Servo.h"
+
+// global hardware objects
+Serial pc(USBTX,USBRX);
+
+Servo servo_1(p24);//rotates hand between palm facing up and palm facing in
+Servo servo_2(p21); //on jar to rotate it in hand
+Motor motor(p29, p30, p26); // drive arm from 90 degrees to forehead
+DigitalIn switch_1(p17); //on protoboard - hit to start
+DigitalIn switch_2(p18); //on "hand" - hits forehead to turn motor off
+DigitalIn switch_3(p12); //on protoboard - returns arm to start position
+DigitalIn switch_4(p10); //on "hand" - hits desk when going down to turn motor off
+
+
+
+int main() {
+ // setup
+ pc.printf("ES200 3321 Team Peanut Butter Beat Army\r\n");
+ servo_1.calibrate(0.0009, 45.0); //Calibrates the servo_1 timing by setting the pulse width and range of motion (45*2 = 90 degrees)
+ servo_2.calibrate(0.0009, 90.0); //Calibrates the servo_2 timing by setting the pulse width and range of motion (45*2 = 90 degrees)
+
+ // state machines start here
+ while(1){
+
+ // idle state
+ do {
+ pc.printf("main() in idle state, awaiting sw1\r\n");
+ servo_1.write(0.25); //Sets the servo in the initial position - palm facing in
+ servo_2.write(0.0); //Sets the servo in the initial position - Does not matter where
+ ThisThread::sleep_for(200);
+ } while (!switch_1.read());
+
+ // peanut butter rotation
+ pc.printf("main() in peanut butter rotation state LATER\r\n");
+
+
+ // palm up state
+ pc.printf("main() going to palm up state\r\n");
+ servo_1.write(.75); //turn the hand to the "palm up" position
+ ThisThread::sleep_for(2000); //wait for hand to get into "palm up" position
+
+ // smash state
+ pc.printf("main() smash PB against head state\r\n");
+ motor.speed(0.7); //turn motor on to drive arm up
+ while (!switch_2.read()){
+ pc.printf("main() awaiting palm switch 2 to finish PB head smash\r\n");
+ ThisThread::sleep_for(100);
+ }
+ motor.speed(0.0);
+
+ // play sound
+ pc.printf("main() in play sound state LATER\r\n");
+ while (!switch_3.read()){
+ pc.printf("main() awaiting switch_3 to recycle\r\n");
+ ThisThread::sleep_for(200);
+ };
+
+ // lower arm
+ pc.printf("main() lowering arm\r\n");
+ motor.speed(-0.5); //turns the motor on to return the arm to the original position
+ while (!switch_4.read()) {
+ pc.printf("main() awaiting switch_4 during recycle\r\n");
+ ThisThread::sleep_for(200);
+ }
+ motor.speed(0.0); // motor will turn off
+ ThisThread::sleep_for(1000); //wait 1 second for arm to level out
+
+ // palm to side
+ pc.printf("main() palm to side position\r\n");
+ servo_1.write(0.25); //Servo 1 will turn on returning the hand to the original "palm in" position
+
+ pc.printf("main() returning to idle state\r\n");
+ } // while(1)
+} // main()
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+if (switch_1.read() == 1) //User hits switch 1 (button on protoboard)
+{
+
+
+
+/*
+{motor.speed(0); //turn motor off
+int a = rand()%1;} //Generate random integer 0 or 1 to determine if the jar will open or not - what sound will play and if jar opens
+
+if (a == 1) {
+ servo_1.write(...); //Servo on wrist turns to allow pb to come out
+ pc.printf("1\n"); // send signal to Matlab to play Beat Army sound
+ wait(10.0); // wait for Matlab to finish playing the sound NATHAN'S CODE???
+
+else if (a == 0)
+{
+ pc.printf("2\n"); // send signal to Matlab to play boo sound
+ wait(10.0); // wait for Matlab to finish playing the sound NATHAN'S CODE???
+}
+*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Mon Oct 22 14:34:09 2018 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#e1bea44212b8275f7d8ce7253e758c2e25c57482