Example #1
0
void Mech_Init(void)
{
	RC_Init();
	
	RC_AddPins(GRAB_PIN);

        RC_SetPulseTime(GRAB_PIN, GRAB_UP_TIME);
}
Example #2
0
void set_ESC_pulse(unsigned int pulse_width) {
    if (pulse_width > 2000)
        pulse_width = 2000;

    if (pulse_width < 1000)
        pulse_width = 1000;

    RC_SetPulseTime(ESC_PIN, pulse_width);
}
Example #3
0
void init_ESC_pulse(void) {
    // currently using RCpin x4 as defined by RC_Servo.h
    //look to IO_ports.h to figure out what pin this corresponds to on the micro
    //corresponds to B0 on the micro and J5 15 on the UNO32

    RC_Init();
    RC_AddPins(ESC_PIN);
    int i = 0;
    for (i; i < 1000000; i++);
    RC_SetPulseTime(ESC_PIN, 1500); //set intial speed to 0 rpm

}
Example #4
0
void Mech_Grabber(uint8_t dir)
{
	if (dir == GRAB_INIT)
	{
		RC_SetPulseTime(GRAB_PIN, GRAB_INIT_TIME);
	}
	else if (dir == GRAB_DOWN)
	{
		RC_SetPulseTime(GRAB_PIN, GRAB_DOWN_TIME);
	}
        else if (dir == GRAB_UP)
        {
            RC_SetPulseTime(GRAB_PIN, GRAB_UP_TIME);
        }
        else if (dir == SHAKE_UP)
        {
            RC_SetPulseTime(GRAB_PIN, SHAKE_UP_TIME);
        }
        else if (dir == SHAKE_DOWN)
        {
            RC_SetPulseTime(GRAB_PIN, SHAKE_DOWN_TIME);
        }

}
Example #5
0
/**
 * Function: Gate_Open
 * @return SUCCESS or ERROR
 * @remark Sets the Gate wheel to the closed position
 */
char Gate_Open() {

    RC_SetPulseTime(SERVO, OPEN_WIDTH);
    //dbprintf("\nGate released (%d)", OPEN_WIDTH);
    return SUCCESS;
}
Example #6
0
/**
 * Function: Gate_Close
 * @return SUCCESS or ERROR
 * @remark Sets the Gate wheel to the loading position
 */
char Gate_Close() {

    RC_SetPulseTime(SERVO, CLOSE_WIDTH);
    //dbprintf("\nGate closed (%d)", CLOSE_WIDTH);
    return SUCCESS;
}
Example #7
0
void Mech_Test(void)
{
	char c = 0;
	int pulsetime = GRAB_INIT_TIME;
	char modified = 0;
	
	printf("Servo test\n");
	printf("Instructions: 'a'->+1; 'b'->+10; 'c'->100; the capital cases do the minus operation;\n");
        printf("'u'->UP position; 'd'->DOWN position\n");
	printf("Instructions: pulsetime range %d ~ %d\n", MINPULSE, MAXPULSE);
        printf("pulsetime = %d\n", pulsetime);
	
	while(c != 'q')
	{
		c = getchar();
		
		switch(c)
		{
			case 'a':
				pulsetime++;
				modified = 1;
				break;
			
			case 'b':
				pulsetime += 10;
				modified = 1;
				break;
			
			case 'c':
				pulsetime += 100;
				modified = 1;
				break;
			
			case 'A':
				pulsetime--;
				modified = 1;
				break;
			
			case 'B':
				pulsetime -= 10;
				modified = 1;
				break;
			
			case 'C':
				pulsetime -= 100;
				modified = 1;
				break;

                    case 'i':
                        pulsetime = GRAB_INIT_TIME;
                        modified = 1;
                        break;

                    case 'd':
                        pulsetime = GRAB_DOWN_TIME;
                        modified = 1;
                        break;
                    case 'u':
                        pulsetime = GRAB_UP_TIME;
                        modified = 1;
                        break;

		}
		
		if (modified)
		{
			if (pulsetime >= MINPULSE)
			{
				RC_SetPulseTime(GRAB_PIN, pulsetime);
			}
			printf("pulsetime = %d\n", pulsetime);
			
			modified = 0;
		}
	}
	printf("Mechanical parts pest ended\n");
}
Example #8
0
int main(void) {

    // ----------------- Initialization --------------
    SERIAL_Init();
    AD_Init(POT_INPUT);

    // Initialize interrupts
    INTEnableSystemMultiVectoredInt();

    RC_Init(RC_PORT);
    unsigned int wait = 0;
    for (wait = 0; wait <= 1000000; wait++)
        asm("nop");
    RC_SetPulseTime(RC_PORT, 2000);

    printf("\nHello,...");

    while (1) {
        
        // Read and print potentiometer
        unsigned int potValue = ReadPotentiometer();
        //printf("\nPot. reading: %x", potValue);

        // Pause if desired
        #ifdef ADC_PAUSE
        
        #endif

        unsigned int newSpeed = potValue +1000;
        printf("\nPot value to %u", potValue);

        // bound it
        newSpeed = max(newSpeed,MINPULSE);
        newSpeed = min(newSpeed,MAXPULSE);
        // effect the motor
        if (RC_SetPulseTime(RC_PORT, newSpeed) == SUCCESS) {
            printf("\nSuccessfully set PWM to %u", newSpeed);
        }
        else {
            printf("\nFailed to set PWM to %u", newSpeed);
        }
         
/*
        char keyPressed = GetChar();
        if (keyPressed != 0) {
            /*
            if (keyPressed == 'f') {
                // forward
                printf("\nforward");
                if (DIRECTION != FORWARD)
                    DIRECTION = FORWARD;
            }
            else if(keyPressed == 'r') {
                 // reverse
                printf("\nreverse");
                if (DIRECTION != REVERSE)
                    DIRECTION = REVERSE;
            }
            else if(keyPressed == 'q') {
                printf("\nGoodbye!");
                PWM_End();
                return 0;
            }
             
            if(keyPressed == 't') {
                unsigned short int stringMax = 4;
                unsigned short int i = 0;
                char charNumber[1];
                charNumber[0] = 0;
                char stringNumber[stringMax+1];
                printf("\nPlease enter a frequency:");

                while(charNumber[0] != 46) {
                        charNumber[0] = GetChar();
                        //printf("\nGot %s", charNumber);
                        if ((charNumber[0] <= 57 && charNumber[0] >= 48)) {
                            stringNumber[i] = charNumber[0];
                            stringNumber[i+1] = '\0';
                            //printf("\nAppended %c to '%s'",charNumber[0],stringNumber);
                            //stringNumber = strcat(stringNumber, charNumber);
                            i++;
                        }

                        if (i >= stringMax)
                            break;
                        
                }
                //printf("\ni=%u stmax=%u", i, stringMax);
                printf("\nDone");

                unsigned int newFreq = atoi(stringNumber);
                newFreq = max(newFreq,MINPULSE);
                newFreq = min(newFreq,MAXPULSE);
                printf("\nPulse width set to %u",newFreq);
                RC_SetPulseTime(RC_PORT,newFreq);
                
            }
        } // end of keyPressed
        */
 
        while (!IsTransmitEmpty()); // bad, this is blocking code
    } // end of while loop

    return 0;
}