James Hilder / PR_RobotArmController

For YRL Robot Arm

Dependents:   PR_RobotArm_Show_Positions

Fork of PR-RobotArmController by James Hilder

display.cpp@1:aa92ba95a4bb, 2017-03-03 (annotated)

Committer:
jah128
Date:
Fri Mar 03 13:37:44 2017 +0000
Revision:
1:aa92ba95a4bb
Parent:
0:b14dfd8816da 
fixed wrist bug;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:b14dfd8816da 1 /* University of York Robotics Laboratory Robot Arm Controller Board
jah128 0:b14dfd8816da 2 *
jah128 0:b14dfd8816da 3 * Copyright 2017 University of York
jah128 0:b14dfd8816da 4 *
jah128 0:b14dfd8816da 5 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
jah128 0:b14dfd8816da 6 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
jah128 0:b14dfd8816da 7 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
jah128 0:b14dfd8816da 8 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jah128 0:b14dfd8816da 9 * See the License for the specific language governing permissions and limitations under the License.
jah128 0:b14dfd8816da 10 *
jah128 0:b14dfd8816da 11 * File: display.cpp
jah128 0:b14dfd8816da 12 *
jah128 0:b14dfd8816da 13 * (C) Dept. Electronics & Computer Science, University of York
jah128 0:b14dfd8816da 14 *
jah128 0:b14dfd8816da 15 * James Hilder, Alan Millard, Shuhei Miyashita, Homero Elizondo, Jon Timmis
jah128 0:b14dfd8816da 16 *
jah128 0:b14dfd8816da 17 *
jah128 0:b14dfd8816da 18 * January 2017
jah128 0:b14dfd8816da 19 *
jah128 0:b14dfd8816da 20 * Driver for the Midas 16x2 I2C LCD Display (MCCOG21605x6W) LCD
jah128 0:b14dfd8816da 21 * [Farnell part 2218942 or 2063206]
jah128 0:b14dfd8816da 22 *
jah128 0:b14dfd8816da 23 */
jah128 0:b14dfd8816da 24
jah128 0:b14dfd8816da 25 #include "robotarm.h"
jah128 0:b14dfd8816da 26
jah128 0:b14dfd8816da 27
jah128 0:b14dfd8816da 28 Timeout init_timeout;
jah128 0:b14dfd8816da 29
jah128 0:b14dfd8816da 30
jah128 0:b14dfd8816da 31 Display::Display(PinName sda, PinName scl) : Stream("display"), _i2c(sda,scl)
jah128 0:b14dfd8816da 32 {
jah128 0:b14dfd8816da 33 }
jah128 0:b14dfd8816da 34
jah128 0:b14dfd8816da 35 Display::Display() : Stream("display"), _i2c(p28,p27)
jah128 0:b14dfd8816da 36 {
jah128 0:b14dfd8816da 37 }
jah128 0:b14dfd8816da 38
jah128 0:b14dfd8816da 39 int Display::i2c_message(char byte)
jah128 0:b14dfd8816da 40 {
jah128 0:b14dfd8816da 41 char bytes [2];
jah128 0:b14dfd8816da 42 bytes[0]=0x80;
jah128 0:b14dfd8816da 43 bytes[1]=byte;
jah128 0:b14dfd8816da 44 int ret=_i2c.write(LCD_ADDRESS,bytes,2);
jah128 0:b14dfd8816da 45 wait(0.01);
jah128 0:b14dfd8816da 46 return ret;
jah128 0:b14dfd8816da 47 }
jah128 0:b14dfd8816da 48
jah128 0:b14dfd8816da 49 int Display::disp_putc(int c)
jah128 0:b14dfd8816da 50 {
jah128 0:b14dfd8816da 51 char message [2];
jah128 0:b14dfd8816da 52 message[0]=0x40;
jah128 0:b14dfd8816da 53 message[1]=c;
jah128 0:b14dfd8816da 54 _i2c.write(LCD_ADDRESS,message,2);
jah128 0:b14dfd8816da 55 wait(0.01);
jah128 0:b14dfd8816da 56 return c;
jah128 0:b14dfd8816da 57 }
jah128 0:b14dfd8816da 58
jah128 0:b14dfd8816da 59 void Display::init()
jah128 0:b14dfd8816da 60 {
jah128 0:b14dfd8816da 61 //Set initial states: display on, cursor off
jah128 0:b14dfd8816da 62 display_on = 1;
jah128 0:b14dfd8816da 63 cursor_on = 0;
jah128 0:b14dfd8816da 64 blink_on = 0;
jah128 0:b14dfd8816da 65
jah128 0:b14dfd8816da 66 i2c_message(0x38);
jah128 0:b14dfd8816da 67 i2c_message(0x39);
jah128 0:b14dfd8816da 68 i2c_message(0x14);
jah128 0:b14dfd8816da 69 i2c_message(0x74);
jah128 0:b14dfd8816da 70 i2c_message(0x54);
jah128 0:b14dfd8816da 71 i2c_message(0x6F);
jah128 0:b14dfd8816da 72 _set_display();
jah128 0:b14dfd8816da 73 clear_display();
jah128 0:b14dfd8816da 74 wait(0.05);
jah128 0:b14dfd8816da 75 clear_display();
jah128 0:b14dfd8816da 76 set_position(0,0);
jah128 0:b14dfd8816da 77 write_string(" YORK ROBOTICS");
jah128 0:b14dfd8816da 78 set_position(1,0);
jah128 0:b14dfd8816da 79 write_string(" LABORATORY");
jah128 0:b14dfd8816da 80 init_timeout.attach(this,&Display::post_init,0.3);
jah128 0:b14dfd8816da 81 wait(0.62);
jah128 0:b14dfd8816da 82 }
jah128 0:b14dfd8816da 83
jah128 0:b14dfd8816da 84 void Display::post_init()
jah128 0:b14dfd8816da 85 {
jah128 0:b14dfd8816da 86 clear_display();
jah128 0:b14dfd8816da 87 home();
jah128 0:b14dfd8816da 88 write_string("ROBOTIC ARM");
jah128 0:b14dfd8816da 89 set_position(1,0);
jah128 0:b14dfd8816da 90 char line [17];
jah128 0:b14dfd8816da 91 sprintf(line,"VERSION %1.2f", SOFTWARE_VERSION_CODE );
jah128 0:b14dfd8816da 92 set_position(1,0);
jah128 0:b14dfd8816da 93 write_string(line);
jah128 0:b14dfd8816da 94 init_timeout.attach(this,&Display::post_post_init,0.3);
jah128 0:b14dfd8816da 95 }
jah128 0:b14dfd8816da 96
jah128 0:b14dfd8816da 97 void Display::post_post_init()
jah128 0:b14dfd8816da 98 {
jah128 0:b14dfd8816da 99 clear_display();
jah128 0:b14dfd8816da 100 home();
jah128 0:b14dfd8816da 101 }
jah128 0:b14dfd8816da 102
jah128 0:b14dfd8816da 103 void Display::write_string(char * message)
jah128 0:b14dfd8816da 104 {
jah128 0:b14dfd8816da 105 size_t length = strlen(message);
jah128 0:b14dfd8816da 106 if (length > 16) length = 16;
jah128 0:b14dfd8816da 107 char to_send [length+1];
jah128 0:b14dfd8816da 108 to_send[0]=0x40;
jah128 0:b14dfd8816da 109 for(int i=0; i<length; i++) {
jah128 0:b14dfd8816da 110 to_send[i+1] = message[i];
jah128 0:b14dfd8816da 111 }
jah128 0:b14dfd8816da 112 _i2c.write(LCD_ADDRESS,to_send,length+1);
jah128 0:b14dfd8816da 113
jah128 0:b14dfd8816da 114 }
jah128 0:b14dfd8816da 115
jah128 0:b14dfd8816da 116
jah128 0:b14dfd8816da 117 void Display::write_string(char * message, char length)
jah128 0:b14dfd8816da 118 {
jah128 0:b14dfd8816da 119 char to_send [length+1];
jah128 0:b14dfd8816da 120 to_send[0]=0x40;
jah128 0:b14dfd8816da 121 for(int i=0; i<length; i++) {
jah128 0:b14dfd8816da 122 to_send[i+1] = message[i];
jah128 0:b14dfd8816da 123 }
jah128 0:b14dfd8816da 124 _i2c.write(LCD_ADDRESS,to_send,length+1);
jah128 0:b14dfd8816da 125
jah128 0:b14dfd8816da 126 }
jah128 0:b14dfd8816da 127
jah128 0:b14dfd8816da 128 void Display::set_position(char row, char column)
jah128 0:b14dfd8816da 129 {
jah128 0:b14dfd8816da 130 if(row < 2 && column < 16) {
jah128 0:b14dfd8816da 131 char pos = 128 +((row * 64)+column);
jah128 0:b14dfd8816da 132 i2c_message(pos);
jah128 0:b14dfd8816da 133 }
jah128 0:b14dfd8816da 134 }
jah128 0:b14dfd8816da 135
jah128 0:b14dfd8816da 136 void Display::set_cursor(char enable)
jah128 0:b14dfd8816da 137 {
jah128 0:b14dfd8816da 138 cursor_on=enable;
jah128 0:b14dfd8816da 139 _set_display();
jah128 0:b14dfd8816da 140 }
jah128 0:b14dfd8816da 141
jah128 0:b14dfd8816da 142 void Display::set_blink(char enable)
jah128 0:b14dfd8816da 143 {
jah128 0:b14dfd8816da 144 blink_on=enable;
jah128 0:b14dfd8816da 145 _set_display();
jah128 0:b14dfd8816da 146 }
jah128 0:b14dfd8816da 147
jah128 0:b14dfd8816da 148 void Display::set_display(char enable)
jah128 0:b14dfd8816da 149 {
jah128 0:b14dfd8816da 150 display_on=enable;
jah128 0:b14dfd8816da 151 _set_display();
jah128 0:b14dfd8816da 152 }
jah128 0:b14dfd8816da 153
jah128 0:b14dfd8816da 154
jah128 0:b14dfd8816da 155 void Display::clear_display()
jah128 0:b14dfd8816da 156 {
jah128 0:b14dfd8816da 157 i2c_message(0x01);
jah128 0:b14dfd8816da 158 }
jah128 0:b14dfd8816da 159
jah128 0:b14dfd8816da 160 void Display::home()
jah128 0:b14dfd8816da 161 {
jah128 0:b14dfd8816da 162 i2c_message(0x02);
jah128 0:b14dfd8816da 163 }
jah128 0:b14dfd8816da 164
jah128 0:b14dfd8816da 165
jah128 0:b14dfd8816da 166 void Display::_set_display()
jah128 0:b14dfd8816da 167 {
jah128 0:b14dfd8816da 168 char mode = 8;
jah128 0:b14dfd8816da 169 if(display_on>0) mode += 4;
jah128 0:b14dfd8816da 170 if(cursor_on>0) mode += 2;
jah128 0:b14dfd8816da 171 if(blink_on>0) mode ++;
jah128 0:b14dfd8816da 172 i2c_message(mode);
jah128 0:b14dfd8816da 173 }
jah128 0:b14dfd8816da 174
jah128 0:b14dfd8816da 175
jah128 0:b14dfd8816da 176 int Display::_putc (int c)
jah128 0:b14dfd8816da 177 {
jah128 0:b14dfd8816da 178 putc(c);
jah128 0:b14dfd8816da 179 return(c);
jah128 0:b14dfd8816da 180 }
jah128 0:b14dfd8816da 181
jah128 0:b14dfd8816da 182 int Display::_getc (void)
jah128 0:b14dfd8816da 183 {
jah128 0:b14dfd8816da 184 char r = 0;
jah128 0:b14dfd8816da 185 return(r);
jah128 0:b14dfd8816da 186 }
jah128 0:b14dfd8816da 187
jah128 0:b14dfd8816da 188 /*
jah128 0:b14dfd8816da 189 * Copyright 2017 University of York
jah128 0:b14dfd8816da 190 *
jah128 0:b14dfd8816da 191 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
jah128 0:b14dfd8816da 192 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
jah128 0:b14dfd8816da 193 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
jah128 0:b14dfd8816da 194 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
jah128 0:b14dfd8816da 195 * See the License for the specific language governing permissions and limitations under the License.
jah128 0:b14dfd8816da 196 */