Elizabeth Lloyd
Test program for the RenBuggy drive boards
Dependencies: mbed SevenSegmentDisplay
Diff: main.cpp
- Revision:
- 1:c6cf7028e4a8
- Parent:
- 0:f4c08d1eeaf1
--- a/main.cpp Thu Mar 13 13:29:36 2014 +0000
+++ b/main.cpp Fri Mar 21 09:41:47 2014 +0000
@@ -1,28 +1,350 @@
#include "mbed.h"
+#include "SevenSegmentDisplay.h"
+
+#define PLUS 1
+#define DRIVE 2
+#define MOTOR 3
+#define STOP 4
+#define MINUS 5
+
-/*Pins needed: *
- - DIP24 Open drain *
- D DIP25 PwmOut *
- M DIP27 InterruptIn *
- S DIP28 DigitalOut *
- + DIP30 DigitalOut */
+
+DigitalInOut D(P0_11); //Drive
+DigitalInOut M(P0_13); //Motor
+DigitalInOut S(P0_14); //Stop (brake)
-DigitalIn Minus(p24); //0V
-PwmOut D(p25); //Drive
-InterruptIn M(p27); //Motor
-DigitalOut S(p28); //Stop (brake)
-DigitalIn Plus(p30); //V+ - 3v3? (will be digital out eventually)
+
+
+void DisplayError(int, int);
+
+SevenSegmentDisplay Screens(INSTANT);
int main()
{
- Minus.mode(OpenDrain); //Open drain to act as a GND
- Plus.mode(OpenDrain); //Seeing if any pins want to behave
- //Set up the PWM - 50% duty to check the output of the M pin.
- //Period defaults to 20ms. I think that's acceptable.
- D = 0.5; //Duty cycle set to 50%
- while (1)
+ int Test = 0;
+
+ D.input();
+ M.input();
+ S.input();
+
+ D.mode(PullUp);
+ M.mode(PullUp);
+ S.mode(PullDown);
+
+
+ /*************************************************************** TEST 1 - all pull ups, 0V = 0 **************************************************************/
+
+ Test = 1;
+ Screens.DisplayDigits(Test, 36); //Say we're doing test 1
+ wait(0.5);
+
+ if (D == 1) { //Marling = 0 Amp board = 0 Marling + motor = 1
+ //if (S == 1) {
+ if (M == 0) //Marling = 0 Amp board = 1 Marling + motor = 0
+ {}
+ else {
+ DisplayError(Test, MOTOR);
+ }
+ //} else {
+ // DisplayError(Test, STOP);
+ //}
+ } else {
+ DisplayError(Test, DRIVE);
+ }
+
+ /*************************************************************** TEST 2 - ALL PULL UPS, D = 0V **************************************************************/
+
+ //Minus reverts to pull up, D is now pulled down.
+ D.output();
+ D = 0;
+
+ Test = 2;
+
+ Screens.DisplayDigits(Test, 36);
+ wait(0.5);
+
+ if (M == 1) {
+ // if (S == 1)
+ // {}
+ // else
+ // {
+ // DisplayError(Test, STOP);
+ // }
+ }
+ else
+ {
+ DisplayError(Test, MOTOR);
+ }
+
+
+
+ /*************************************************************** TEST 3 - All pull ups, M = 0 ***************************************************************/
+
+
+ Test = 3;
+ Screens.DisplayDigits(Test, 36);
+ wait(0.5);
+
+ D.input(); //Set D back to an input so I can read it
+ D.mode(PullUp); //And I'm testing things with pull ups
+
+ M.output(); //Make it so I can drive M.
+ M = 0; //Drive M low
+
+
+ if (D == 1) { //Marling = 0 Amp board = 0 Marling + motor = 1
+ //if (S == 1)
+ //{}
+ //else
+ // {
+ // DisplayError(Test, STOP);
+ // }
+ }
+ else
{
- D = 0.5;
+ DisplayError(Test, DRIVE);
+ }
+
+
+ /*************************************************************** TEST 4 - ALL PULL UPS, S = 0 ***************************************************************/
+
+ //Test = 4;
+
+ //M.input(); //M is back to an input
+ //M.mode(PullUp);
+ //S.output(); //Set S to be an output
+ //S = 0; // and drive it low.
+
+ //Screens.DisplayDigits(Test, 36);
+ //wait(0.5);
+
+ // if (D == 0) {
+ // if (M == 1)
+ // {}
+ // else {
+ // DisplayError(Test, MOTOR);
+ // }
+ //} else {
+ // DisplayError(Test, DRIVE);
+ // }
+
+
+ /*************************************************************** TEST 5 - ALL PULL DOWNS, 0V = 1 ************************************************************/
+ Test = 5;
+ Screens.DisplayDigits(Test, 36);
+ wait(0.5);
+
+ //S.input(); //Set S back to being an input
+ //S.mode(PullDown); //We're testing pull downs now.
+
+ D.mode(PullDown);
+ M.mode(PullDown);
+
+ if (D == 0) {
+ if (M == 0) { //Marling = 0 amp board = 1 Marling + motor = 0
+ //if (S == 0)
+ // {}
+ // else {
+ // DisplayError(Test, STOP);
+ // }
+ } else {
+ DisplayError(Test, MOTOR);
+ }
+ } else {
+ DisplayError(Test, DRIVE);
+ }
+
+ /*************************************************************** TEST 6 - ALL PULL DOWNS, D = 1 *************************************************************/
+ Test = 6;
+ Screens.DisplayDigits(Test, 36);
+ wait(0.5);
+
+ D.output();
+ D = 1; //Drive D high
+
+
+ if (M == 1) { //Marling = 0 Amp board = 1
+ //if (S == 0)
+ // {}
+ // else {
+ // DisplayError(Test, STOP);
+ // }
+ } else {
+ DisplayError(Test, MOTOR);
+ }
+
+
+
+ /*************************************************************** TEST 7 - ALL PULL DOWNS, M = 1 *************************************************************/
+
+ Test = 7;
+ Screens.DisplayDigits(Test, 36);
+ wait(0.5);
+
+ D.input();
+ D.mode(PullDown);
+
+ M.output(); //Testing M now
+ M = 1;
+
+
+ if (D == 0) {
+ //if (S == 0)
+ // {}
+ //else {
+ // DisplayError(Test, STOP);
+ //}
+ } else {
+ DisplayError(Test, DRIVE);
+ }
+
+ /*************************************************************** TEST 8 - ALL PULL DOWNS, S = 1 *************************************************************/
+
+ Test = 8;
+ Screens.DisplayDigits(Test, 36);
+ wait(0.5);
+
+ M.input();
+ M.mode(PullDown);
+ // S.output();
+ // S = 1;
+
+
+ // if (D == 0) {
+ // if (M == 1)
+ // {}
+ // else {
+ // DisplayError(Test, MOTOR);
+ // }
+ //} else {
+ // DisplayError(Test, DRIVE);
+ // }
+
+ //S = 0;
+
+ /*************************************************************** TEST 9 - DRIVE THE MOTOR *******************************************************************/
+
+ Test = 9;
+ Screens.DisplayDigits(Test, 36);
+
+ D.output();
+ D = 1;
+ // S.output();
+ //S = 0;
+ M.mode(PullNone); //Highlight if there's a problem
+
+ wait(0.5); //LEDs still aren't turning on.
+
+
+ if (M == 0)
+ {}
+ else
+ {
+ DisplayError(Test, MOTOR);
+ }
+ D = 0; //Making it look like there's a break between tests
+ wait (0.3);
+
+
+
+ /*************************************************************** TEST 10 - BRAKE THE MOTOR ******************************************************************/
+//This seems to be giving an odd result.
+ // Test = 10;
+ // Screens.DisplayDigits(1, 0);
+//wait(0.5);
+//D = 0;
+//S.output();
+//S = 1;
+ // D = 0; //Turn the drive off
+ // S = 1; //Turn the brake on
+ // M.mode(PullNone); //I have to pull this down to make it perform as expected.
+
+ // wait(0.5); //Wait a little while to make sure the LEDs turn on, and panic if they don't.
+
+
+
+ // if (M == 1)
+ // {}
+ // else
+ // {
+ // DisplayError(Test, MOTOR);
+ // }
+ //
+ // S = 0; //Turn off the LED for the success display.
+
+/*************************************************************** CONGRATULATIONS ************************************************************************/
+
+ while(1) {
+ Screens.DisplayDigits(36, 28); //_S
+ wait(0.2);
+ Screens.DisplayDigits(28, 31); //SU
+ wait(0.2);
+ Screens.DisplayDigits(31, 12); //UC
+ wait(0.2);
+ Screens.DisplayDigits(12, 12); //CC
+ wait(0.2);
+ Screens.DisplayDigits(12, 14); //CE
+ wait(0.2);
+ Screens.DisplayDigits(14, 28); //ES
+ wait(0.2);
+ Screens.DisplayDigits(28, 28); //SS
+ wait(0.2);
+ Screens.DisplayDigits(28, 36); //S_
+ wait(0.2);
+ Screens.DisplayDigits(36, 36); //__
wait(0.5);
}
-}
\ No newline at end of file
+
+}//End of main
+
+
+/*Displays a message based on where the program thinks the error was found. Sits there blinking until the program is reset. */
+void DisplayError (int WhichTest, int WhereTheProblemIs)
+{
+ int i = 0;
+ D = 0;
+ for (i = 0; i < 3; i++) {
+ Screens.DisplayDigits(8,8); //Flash all segments on and off three times to attract attention.
+ wait(0.3);
+ Screens.DisplayDigits(36,36);
+ wait(0.3);
+ }
+
+ if (WhichTest < 10) {
+ while (1) {
+ switch(WhereTheProblemIs) {
+ case DRIVE: {
+ Screens.DisplayDigits(WhichTest, 13);
+ wait(0.5);
+ break;
+ }
+ case MOTOR: {
+ Screens.DisplayDigits(WhichTest, 22);
+ wait(0.5);
+ break;
+ }
+ } //End switch
+ Screens.DisplayDigits(36, 36);
+ wait(0.5);
+ } //End while loop BUT IT WILL NEVER END MUA HA HA HA HA
+ } //End of if less than 10
+ else {
+ while (1) {
+ switch(WhereTheProblemIs) {
+
+ case DRIVE: {
+ Screens.DisplayDigits(36, 13); //L = off, R = D
+ wait(0.5);
+ break;
+ }
+ case MOTOR: {
+ Screens.DisplayDigits(36, 22); //L = off, R = M
+ wait(0.5);
+ break;
+ } //end case
+ } //end switch
+ Screens.DisplayDigits(WhichTest/10, WhichTest%10); //Display the test number over two digits
+ wait(0.5);
+ } //end while
+ } //end else
+} //End of DisplayError
\ No newline at end of file