caperren/osurc_mars_rover_2017_2018
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Updated mining readouts for addition of science cam controls. Working science cam controls. Fixed missing soil probe transports.

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This commit is contained in:
Corwin Perren
2018-08-12 01:25:20 -07:00
parent 03cdd2e3a6
commit a4f04eda7e
8 changed files with 466 additions and 354 deletions
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41
software/firmware/mining/mining.ino
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@@ -1,6 +1,7 @@
////////// Includes //////////
#include "HX711.h"
#include <ModbusRtu.h>
#include <camera.h>
////////// Hardware / Data Enumerations //////////
enum HARDWARE {
@@ -65,13 +66,12 @@ enum MODBUS_REGISTERS {
ZOOM_OUT = 11,
FULL_ZOOM_IN = 12,
FULL_ZOOM_OUT = 13,
FOCUS = 14,
SHOOT = 15,
SHOOT = 14,
// Outputs
CURRENT_POSITION_LIFT = 16,
CURRENT_POSITION_TILT = 17,
MEASURED_WEIGHT = 18
CURRENT_POSITION_LIFT = 15,
CURRENT_POSITION_TILT = 16,
MEASURED_WEIGHT = 17
};
enum CAMERA_VIEW_MODES {
@@ -92,7 +92,7 @@ float last_calibration_factor = -120000; //for the scale
// modbus stuff
const uint8_t node_id = 2;
const uint8_t mobus_serial_port_number = 2;
uint16_t modbus_data[] = {0, 0, 0, 0, 9999, 9999, 0, 0, 895, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
uint16_t modbus_data[] = {0, 0, 0, 0, 9999, 9999, 0, 0, 895, 0, 0, 0, 0, 0, 0, 0, 0, 0};
uint8_t num_modbus_registers = 0;
int8_t poll_state = 0;
bool communication_good = false;
@@ -107,10 +107,11 @@ uint8_t message_count = 0;
////////// Class Instantiations //////////
HX711 scale(HARDWARE::SCALE_DOUT, HARDWARE::SCALE_CLK);
Modbus slave(node_id, mobus_serial_port_number, HARDWARE::RS485_EN);
camera science_camera(HARDWARE::CAMERA_CONTROL);
void setup() {
Serial.begin(9600); // debug
while(!Serial);
// while(!Serial);
setup_hardware();
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
@@ -291,33 +292,23 @@ void apply_camera_commands(){
////// Zoom controls, process all, even if conflicting ///////
if(modbus_data[MODBUS_REGISTERS::ZOOM_IN]){
Serial.println("ZOOM IN");
science_camera.slowZoomIn();
modbus_data[MODBUS_REGISTERS::ZOOM_IN] = 0;
}else if(modbus_data[MODBUS_REGISTERS::ZOOM_OUT]){
Serial.println("ZOOM OUT");
science_camera.slowZoomOut();
modbus_data[MODBUS_REGISTERS::ZOOM_OUT] = 0;
}else if(modbus_data[MODBUS_REGISTERS::FULL_ZOOM_IN]){
Serial.println("FULL ZOOM IN");
science_camera.fullZoomIn();
modbus_data[MODBUS_REGISTERS::FULL_ZOOM_IN] = 0;
}
if(modbus_data[MODBUS_REGISTERS::FULL_ZOOM_OUT]){
Serial.println("FULL ZOOM OUT");
}else if(modbus_data[MODBUS_REGISTERS::FULL_ZOOM_OUT]){
science_camera.fullZoomOut();
modbus_data[MODBUS_REGISTERS::FULL_ZOOM_OUT] = 0;
}
////// Focus and shoot controls ///////
if(modbus_data[MODBUS_REGISTERS::FOCUS]){
Serial.println("FOCUS");
modbus_data[MODBUS_REGISTERS::FOCUS] = 0;
}
if(modbus_data[MODBUS_REGISTERS::SHOOT]){
Serial.println("SHOOT");
} else if(modbus_data[MODBUS_REGISTERS::SHOOT]){
science_camera.shoot();
modbus_data[MODBUS_REGISTERS::SHOOT] = 0;
}
///// camera process here
science_camera.update();
}
//---Set Motor Output---//