William Lange
Same as mallet... but distance
Dependencies: EthernetInterface NetworkAPI mbed-rtos mbed
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MalletFirmware
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Impact-Echo
Revision 24:a5891669afc5, committed 2014-12-03
- Comitter:
- timmey9
- Date:
- Wed Dec 03 07:18:27 2014 +0000
- Parent:
- 23:9e5141647775
- Child:
- 25:abbc19af13f9
- Commit message:
- Added angle encoder over ethernet functionality
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed Dec 03 06:22:46 2014 +0000
+++ b/main.cpp Wed Dec 03 07:18:27 2014 +0000
@@ -1,5 +1,6 @@
// Server code
#include "mbed.h"
+#include <stdio.h>
// Ethernet
#include "EthernetInterface.h"
@@ -142,7 +143,7 @@
led_red = 1;
pc.baud(230400);
- pc.printf("Starting Server\r\n");
+ pc.printf("Starting %s\r\n",NAME);
analog_initialization(A0);
analog_initialization(A2);
@@ -188,7 +189,7 @@
#endif
interface.connect();
- pc.printf(NAME);
+ //pc.printf(NAME);
pc.printf("IP Address is: %s\n\r", interface.getIPAddress());
pc.printf("Network Mask is: %s\n\r", interface.getNetworkMask());
pc.printf("MAC address is: %s\n\r", interface.getMACAddress());
@@ -330,6 +331,73 @@
led_green = !led_green;
client[index].write((void *)"Data\n",5);
client[index].write((void *)&sample_array,TOTAL_SAMPLES);
+ break;
+ case '1':
+ // run motor and sample
+ break;
+ case '2':
+ // run just the motor
+ break;
+ case 'a':
+ if(angle_encoder.set_zero(&rotary_count)) {
+ client[index].write((void *) "Zero set\n",9);
+ }
+ else {
+ client[index].write((void *) "Zero NOT set\n",13);
+ }
+ break;
+ case 's':
+ {
+ char buf[16];
+ sprintf(buf,"NOP: %x\n",angle_encoder.nop());
+ client[index].write((void *) buf,16);
+ break;
+ }
+ case 'd':
+ {
+ char buf[29];
+ sprintf(buf,"Angle: %i %i\n",angle_encoder.absolute_angle(), rotary_count);
+ client[index].write((void *) buf,29);
+ break;
+ }
+ /*
+
+ // for motor testing
+ if(temp == 'k') // motor backward
+ {
+ motor.backward(duty_cycle, duration[5]);
+ }
+
+ if(temp == 'u' && duty_cycle < 1.00f) pc.printf("%f \r\n", duty_cycle += 0.01f);
+ if(temp == 'i' && duty_cycle > 0.00f) pc.printf("%f \r\n", duty_cycle -= 0.01f);
+
+ if(temp == '=') // you can hit the '+' key to increment "duration" without holding down "shift"
+ {
+ if(pointer < 7) pointer++;
+ pc.printf("Duration[%i]: %i\r\n",pointer, duration[pointer]);
+ }
+ if(temp == '-')
+ {
+ if(pointer > 0) pointer--;
+ pc.printf("Duration[%i]: %i\r\n",pointer, duration[pointer]);
+ }
+ if(temp == ']') // you can hit the '+' key to increment "duration" without holding down "shift"
+ {
+ duration[pointer] += 1000;
+ pc.printf(" %i\r\n", duration[pointer]);
+ }
+ if(temp == '[')
+ {
+ if(duration[pointer] > 0) duration[pointer]-= 1000;
+ pc.printf(" %i\r\n", duration[pointer]);
+ }
+
+ }
+
+ */
+
+
+
}
}
else {
@@ -378,6 +446,124 @@
}
} while (server.getStatus() == network::Socket::Listening);
+
+ /*
+ while(1){
+ uint32_t current_SW3 = SW3_switch;
+ if(pc.readable() > 0)
+ {
+ char temp = pc.getc();
+ while(pc.readable() > 0) pc.getc();
+
+ if(temp == '1') current_SW3 = 0;
+ else current_SW3 = 1;
+ if(temp == '2') SW2_switch = 0;
+ else SW2_switch = 1;
+
+ // for angle encoder testing
+ if(temp == 'a') pc.printf(angle_encoder.set_zero(&rotary_count)?"Zero set\r\n":"False\r\n");
+ if(temp == 's') pc.printf("NOP: %x\r\n",angle_encoder.nop());
+ if(temp == 'd') pc.printf("Angle: %i %i\r\n",angle_encoder.absolute_angle(), rotary_count);
+
+ if(temp == 't')
+ {
+
+ }
+
+
+ // for motor testing
+ if(temp == 'k') // motor backward
+ {
+ motor.backward(duty_cycle, duration[5]);
+ }
+
+ if(temp == 'u' && duty_cycle < 1.00f) pc.printf("%f \r\n", duty_cycle += 0.01f);
+ if(temp == 'i' && duty_cycle > 0.00f) pc.printf("%f \r\n", duty_cycle -= 0.01f);
+
+ if(temp == '=') // you can hit the '+' key to increment "duration" without holding down "shift"
+ {
+ if(pointer < 7) pointer++;
+ pc.printf("Duration[%i]: %i\r\n",pointer, duration[pointer]);
+ }
+ if(temp == '-')
+ {
+ if(pointer > 0) pointer--;
+ pc.printf("Duration[%i]: %i\r\n",pointer, duration[pointer]);
+ }
+ if(temp == ']') // you can hit the '+' key to increment "duration" without holding down "shift"
+ {
+ duration[pointer] += 1000;
+ pc.printf(" %i\r\n", duration[pointer]);
+ }
+ if(temp == '[')
+ {
+ if(duration[pointer] > 0) duration[pointer]-= 1000;
+ pc.printf(" %i\r\n", duration[pointer]);
+ }
+
+ }
+ else
+ {
+ SW2_switch = 1;
+ current_SW3 = 1;
+ }
+
+ if (current_SW3 == 0) {
+
+ if (SW3_past == 1) {
+ pc.printf("All duration settings:\r\n");
+ for(int i = 0; i < 8; i++)
+ {
+ pc.printf("Duration[%i]: %i\r\n", i, duration[i]);
+ }
+ // release mallet
+ // add code here
+
+ __enable_irq(); // Enable Interrupts
+
+ current_sample_index = BEGIN_SAMPLING;
+ trigger_count++;
+ while (current_sample_index != WAITING_TO_BEGIN){
+ wait_us(10);
+ }
+
+ __disable_irq(); // Disable Interrupts
+
+ // reset mallet
+ // add code here
+
+
+ output_data(trigger_count);
+ }
+ }
+ SW3_past = current_SW3;
+
+
+ if (SW2_switch == 0) { // To advance motor
+ pc.printf("All duration settings 2:\r\n");
+ for(int i = 0; i < 8; i++)
+ {
+ pc.printf("Duration[%i]: %i\r\n", i, duration[i]);
+ }
+
+
+ SW2_switch = 1;
+
+ // release mallet
+ motor.forward(duration[0]); // move motor forward
+ wait_us(duration[1]); // wait
+ motor.backward(0.7, duration[2]); // stop motor using reverse
+
+ // time for sampling
+ wait_us(SAMPLING_RATE*TOTAL_SAMPLES);
+
+ // reset mallet
+ motor.backward(duration[3]); // move motor backward
+ motor.backward(0.75, duration[4]);
+ motor.backward(duty_cycle, duration[5]);
+
+ }
+ */
}
void timed_sampling() {