Snackotron - Snack dispenser that is triggered by SMS over the…

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Chris Styles / Mbed 2 deprecated Snackotron

Snack dispenser that is triggered by SMS over the internet

Dependencies: EthernetNetIf TextLCD mbed AX12

main.cpp@1:051c84fbac55, 2011-04-11 (annotated)

Committer:: chris
Date:: Mon Apr 11 23:18:50 2011 +0000
Revision:: 1:051c84fbac55
Parent:: 0:529c89c58910

Who changed what in which revision?

User	Revision	Line number	New contents of line
chris	0:529c89c58910	1	#include "mbed.h"
chris	0:529c89c58910	2	#include "EthernetNetIf.h"
chris	0:529c89c58910	3	#include "HTTPClient.h"
chris	0:529c89c58910	4	#include "AX12.h"
chris	0:529c89c58910	5	#include "TextLCD.h"
chris	0:529c89c58910	6
chris	0:529c89c58910	7	TextLCD lcd(p15, p16, p17, p18, p19, p20); // rs, e, d4-d7
chris	0:529c89c58910	8
chris	0:529c89c58910	9	DigitalOut led1(LED1);
chris	0:529c89c58910	10	DigitalOut led2(LED2);
chris	0:529c89c58910	11	DigitalOut led3(LED3);
chris	0:529c89c58910	12	DigitalOut led4(LED4);
chris	0:529c89c58910	13
chris	0:529c89c58910	14	AX12 sm1 (p9, p10, 1);
chris	0:529c89c58910	15	AX12 sm2 (p9, p10, 2);
chris	0:529c89c58910	16
chris	0:529c89c58910	17	EthernetNetIf eth;
chris	0:529c89c58910	18	HTTPClient http;
chris	0:529c89c58910	19
chris	0:529c89c58910	20	void DeliverSnack1 () {
chris	0:529c89c58910	21
chris	0:529c89c58910	22	float pos = 0.0;
chris	0:529c89c58910	23	float goal = 0.0;
chris	0:529c89c58910	24
chris	0:529c89c58910	25	led1 = 1;
chris	0:529c89c58910	26
chris	0:529c89c58910	27	// read the position of the servo
chris	0:529c89c58910	28	pos = sm1.GetPosition();
chris	0:529c89c58910	29
chris	0:529c89c58910	30	// work out where we need to position the servo
chris	0:529c89c58910	31	// we always align to 60^ boundary
chris	0:529c89c58910	32
chris	0:529c89c58910	33	sm1.SetCRSpeed(0.7);
chris	0:529c89c58910	34	if ((pos > 0.0) && (pos < 60.0)) {
chris	0:529c89c58910	35	goal = 60.0;
chris	0:529c89c58910	36	} else if ((pos > 60.0) && (pos < 120.0)) {
chris	0:529c89c58910	37	goal = 120.0;
chris	0:529c89c58910	38	} else if ((pos > 120.0) && (pos < 180.0)) {
chris	0:529c89c58910	39	goal = 180.0;
chris	0:529c89c58910	40	} else if ((pos > 180.0) && (pos < 240.0)) {
chris	0:529c89c58910	41	goal = 240.0;
chris	0:529c89c58910	42	} else if ((pos > 240.0) && (pos < 295.0)) {
chris	0:529c89c58910	43	goal = 295.0;
chris	0:529c89c58910	44	} else {
chris	0:529c89c58910	45	goal = 2.0;
chris	0:529c89c58910	46	}
chris	0:529c89c58910	47
chris	0:529c89c58910	48	do {
chris	0:529c89c58910	49	pos = sm1.GetPosition();
chris	0:529c89c58910	50	// there is a quirk in the 300-360 dead band of the AX12
chris	0:529c89c58910	51	// where it reads ~120^, briefly
chris	0:529c89c58910	52	if ((goal == 2.0) && (pos > 50.0)) {
chris	0:529c89c58910	53	pos = 0.0;
chris	0:529c89c58910	54	}
chris	0:529c89c58910	55	printf("%.2f\n",pos);
chris	0:529c89c58910	56	} while (pos < goal);
chris	0:529c89c58910	57
chris	0:529c89c58910	58
chris	0:529c89c58910	59	sm1.SetCRSpeed(0.0);
chris	0:529c89c58910	60
chris	0:529c89c58910	61	wait (2.0);
chris	0:529c89c58910	62	led1 = 0;
chris	0:529c89c58910	63	}
chris	0:529c89c58910	64
chris	0:529c89c58910	65	void DeliverSnack2 () {
chris	0:529c89c58910	66
chris	0:529c89c58910	67	float pos = 0.0;
chris	0:529c89c58910	68	float goal = 0.0;
chris	0:529c89c58910	69
chris	0:529c89c58910	70	led2 = 1;
chris	0:529c89c58910	71
chris	0:529c89c58910	72	// read the position of the servo
chris	0:529c89c58910	73	pos = sm2.GetPosition();
chris	0:529c89c58910	74
chris	0:529c89c58910	75	// work out where we need to position the servo
chris	0:529c89c58910	76	// we always align to 60^ boundary
chris	0:529c89c58910	77	sm2.SetCRSpeed(0.7);
chris	0:529c89c58910	78	if ((pos > 0.0) && (pos < 60.0)) {
chris	0:529c89c58910	79	goal = 60.0;
chris	0:529c89c58910	80	} else if ((pos > 60.0) && (pos < 120.0)) {
chris	0:529c89c58910	81	goal = 120.0;
chris	0:529c89c58910	82	} else if ((pos > 120.0) && (pos < 180.0)) {
chris	0:529c89c58910	83	goal = 180.0;
chris	0:529c89c58910	84	} else if ((pos > 180.0) && (pos < 240.0)) {
chris	0:529c89c58910	85	goal = 240.0;
chris	0:529c89c58910	86	} else if ((pos > 240.0) && (pos < 295.0)) {
chris	0:529c89c58910	87	goal = 295.0;
chris	0:529c89c58910	88	} else {
chris	0:529c89c58910	89	goal = 2.0;
chris	0:529c89c58910	90	}
chris	0:529c89c58910	91
chris	0:529c89c58910	92	do {
chris	0:529c89c58910	93	pos = sm2.GetPosition();
chris	0:529c89c58910	94	// there is a quirk in the 300-360 dead band of the AX12
chris	0:529c89c58910	95	// where it reads ~120^, briefly
chris	0:529c89c58910	96	if ((goal == 2.0) && (pos > 50.0)) {
chris	0:529c89c58910	97	pos = 0.0;
chris	0:529c89c58910	98	}
chris	0:529c89c58910	99	printf("%.2f\n",pos);
chris	0:529c89c58910	100	} while (pos < goal);
chris	0:529c89c58910	101
chris	0:529c89c58910	102	sm2.SetCRSpeed(0.0);
chris	0:529c89c58910	103
chris	0:529c89c58910	104	wait (2.0);
chris	0:529c89c58910	105	led2 = 0;
chris	0:529c89c58910	106	}
chris	0:529c89c58910	107
chris	0:529c89c58910	108
chris	0:529c89c58910	109	int main() {
chris	0:529c89c58910	110
chris	0:529c89c58910	111	lcd.cls();
chris	0:529c89c58910	112	lcd.locate(0,0);
chris	0:529c89c58910	113	lcd.printf("Snack-o-tron");
chris	0:529c89c58910	114	lcd.locate(0,1);
chris	0:529c89c58910	115
chris	0:529c89c58910	116	// set Servo to continusous rotation
chris	0:529c89c58910	117	lcd.printf(" Init Motors");
chris	0:529c89c58910	118	//sm1.SetMode(1);
chris	0:529c89c58910	119	wait(0.5);
chris	0:529c89c58910	120
chris	0:529c89c58910	121	lcd.locate(0,1);
chris	0:529c89c58910	122	lcd.printf(" Done ");
chris	0:529c89c58910	123	wait(0.5);
chris	0:529c89c58910	124
chris	0:529c89c58910	125	lcd.locate(0,1);
chris	0:529c89c58910	126	lcd.printf(" Init Network");
chris	0:529c89c58910	127
chris	0:529c89c58910	128	printf("Setting up...\n");
chris	0:529c89c58910	129	EthernetErr ethErr = eth.setup();
chris	0:529c89c58910	130	if (ethErr) {
chris	0:529c89c58910	131	printf("Error %d in setup.\n", ethErr);
chris	0:529c89c58910	132	lcd.locate(0,1);
chris	0:529c89c58910	133	lcd.printf("Network Error %d",ethErr);
chris	0:529c89c58910	134	return -1;
chris	0:529c89c58910	135	}
chris	0:529c89c58910	136
chris	0:529c89c58910	137	// let the world know all is well!
chris	0:529c89c58910	138	printf("Setup OK\n");
chris	0:529c89c58910	139	lcd.locate(0,1);
chris	0:529c89c58910	140	lcd.printf(" Done ");
chris	0:529c89c58910	141	wait (2.0);
chris	0:529c89c58910	142	lcd.cls();
chris	0:529c89c58910	143
chris	0:529c89c58910	144	HTTPText txt;
chris	0:529c89c58910	145
chris	0:529c89c58910	146	while (1) {
chris	0:529c89c58910	147
chris	0:529c89c58910	148	lcd.cls();
chris	0:529c89c58910	149	lcd.locate(0,0);
chris	0:529c89c58910	150	lcd.printf("Ready");
chris	0:529c89c58910	151
chris	0:529c89c58910	152	led4 = 1; // this LED flashed with every HTTP request, for sanity
chris	1:051c84fbac55	153	HTTPResult r = http.get("http://example.com/snackcheck", &txt);
chris	0:529c89c58910	154
chris	0:529c89c58910	155	if (r==HTTP_OK) {
chris	0:529c89c58910	156
chris	0:529c89c58910	157	char sender[20];
chris	0:529c89c58910	158	char snack[20];
chris	0:529c89c58910	159
chris	0:529c89c58910	160	sscanf(txt.gets(),"%s\n%s\n",sender,snack);
chris	0:529c89c58910	161
chris	0:529c89c58910	162	if ( (strcmp ("0",sender)) == 0) {
chris	0:529c89c58910	163	printf("No snacks today\n");
chris	0:529c89c58910	164	} else {
chris	0:529c89c58910	165
chris	0:529c89c58910	166	printf("Sender : %s, Snack : %s\n", sender, snack);
chris	0:529c89c58910	167	lcd.cls();
chris	0:529c89c58910	168	lcd.locate(0,0);
chris	0:529c89c58910	169	lcd.printf("%s",sender);
chris	0:529c89c58910	170	lcd.locate(0,1);
chris	0:529c89c58910	171	lcd.printf("Snack %s",snack);
chris	0:529c89c58910	172
chris	0:529c89c58910	173	// What to do if snack 1 is ordered
chris	0:529c89c58910	174	if ( (strcmp ("1",snack)) == 0) {
chris	0:529c89c58910	175	DeliverSnack1();
chris	0:529c89c58910	176	}
chris	0:529c89c58910	177	// what to do if snack 2 is ordered
chris	0:529c89c58910	178	else if ( (strcmp ("2",snack)) == 0) {
chris	0:529c89c58910	179	DeliverSnack2();
chris	0:529c89c58910	180	}
chris	0:529c89c58910	181	}
chris	0:529c89c58910	182
chris	0:529c89c58910	183	} else {
chris	0:529c89c58910	184	// HTTP error
chris	0:529c89c58910	185	printf("Error %d\n", r);
chris	0:529c89c58910	186	}
chris	0:529c89c58910	187
chris	0:529c89c58910	188	// clear LEDs
chris	0:529c89c58910	189	led4 = 0;
chris	0:529c89c58910	190	wait (1.0);
chris	0:529c89c58910	191	}
chris	0:529c89c58910	192	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	11 Apr 2011
Imports:	3
Forks:	0
Commits:	2
Dependents:	0
Dependencies:	5
Followers:	2

main.cpp@1:051c84fbac55, 2011-04-11 (annotated)

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