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#include <stdio.h>
#include <string.h>
#include <math.h>
#include "OSP.h"
/**
* Declarations for stepper motor 1 (at the base)
* All the pins below are connected to digital pins of Arduino Nano.
*/
#define dir1 11
#define step1 12
#define enable1 10
#define relay1 2
#define relay2 4
#define relay3 5
#define relay4 6
/**
* Declarations for stepper motor 2 (at top holding LASER)
*/
#define dir2 8
#define step2 9
#define enable2 7
/**
* Digital pin to control the LASER
* This pin is connected to gate (G) of IRF540
*/
int laserPin = 3;
/**
* Library for control the device.
*/
OSP Axes = OSP();
String m_data, sac_data, salt_data; // to store LASER coorinates
void setup(){
Serial.begin(9600);
pinMode(relay1,OUTPUT);
pinMode(relay2,OUTPUT);
pinMode(relay3,OUTPUT);
pinMode(relay4,OUTPUT);
digitalWrite(relay1, HIGH);
digitalWrite(relay2, HIGH);
digitalWrite(relay3, HIGH);
digitalWrite(relay4, HIGH);
pinMode(laserPin, OUTPUT);
laserOff();
Axes.setMotorsPins(dir1, step1, enable1, dir2, step2, enable2);
Axes.delayValue = 30; // to adjust motor speed as Coarse and Fine
}
/**
* Turn LASER on at given intensity
*/
void laserOn(int intensity){
analogWrite(laserPin, intensity);
}
/**
* Turn LASER Off
*/
void laserOff(){
digitalWrite(laserPin, LOW);
}
void getAcAlt(){
char bytes[40];
int nbytes = 0;
bool recv=false;
while(!recv){
while(nbytes < 17){
if(Serial.available() > 0){
bytes[nbytes] = Serial.read();
nbytes++;
}
recv=true;
}
}
/**
* As LASER coordinates, we receive string like movem_-4.5434_-2.5254.
* This string is chunked to extract ac and alt values.
*/
String data= String(bytes);
data.trim();
int len=data.length();
m_data=data;
sac_data=data;
salt_data=data;
m_data.remove(1,len-1);
sac_data.remove(0,2);
len=sac_data.length();
sac_data.remove(7,len-7);
len=salt_data.length();
salt_data=salt_data.substring(10,17);
}
void loop(){
float ac, alt;
char comm[5];
int bytes_recv = 0;
bool mov_end;
comm[4]='\0';
while(bytes_recv < 4){
//Waiting for a command from serial monitor
if (Serial.available() > 0)
comm[bytes_recv++] = Serial.read();
//Serial.println("here");
//Serial.println(analogRead(smps));
}
if(strcmp(comm, "move")==0){
Serial.println("float");
getAcAlt();
Serial.println("done_move");
Axes.goToRads(sac_data.toFloat(),salt_data.toFloat());
}
if(strcmp(comm, "movl")==0){
mov_end=Axes.movx(false,step1,dir1);
if(mov_end)
Serial.println("done_movl");
}
else if(strcmp(comm, "movr")==0){
mov_end=Axes.movx(true,step1,dir1);
if(mov_end)
Serial.println("done_movr");
}
else if(strcmp(comm, "movu")==0){
mov_end=Axes.movy(false,step2,dir2);
if(mov_end)
Serial.println("done_movu");
}
else if(strcmp(comm, "movd")==0){
mov_end=Axes.movy(true,step2,dir2);
if(mov_end)
Serial.println("done_movd");
}
else if(strcmp(comm, "init")==0){
delay(1000);
digitalWrite(relay1,LOW);
digitalWrite(relay2,LOW);
digitalWrite(relay3,LOW);
digitalWrite(relay4,LOW);
Axes.init();
Serial.println("done_init");
}
else if(strcmp(comm, "laon")==0){
laserOn(50);
Serial.println("done_laon");
}
else if(strcmp(comm, "loff")==0){
laserOff();
Serial.println("done_loff");
}
else if(strcmp(comm, "post")==0){
ac=Axes.getX();
alt=Axes.getY();
Serial.print("t_");
Serial.print(ac,6);
Serial.print("_");
Serial.println(alt,6);
}
else if(strcmp(comm,"stop")==0){
Axes.stopper=1;
}
else if(strcmp(comm,"coad")==0){
Axes.delayValue = 3;
Serial.println("done_high_speed");
}
else if(strcmp(comm,"fiad")==0){
Axes.delayValue = 30;
Serial.println("done_low_speed");
}
else if(strcmp(comm,"clos")==0){
digitalWrite(relay1, HIGH);
digitalWrite(relay2, HIGH);
digitalWrite(relay3, HIGH);
digitalWrite(relay4, HIGH);
laserOff();
Serial.println("done_close");
}
else if(strcmp(comm,"lase")==0){
Serial.println("done_lase");
char bytes[40];
int nbytes = 0;
bool recv=false;
while(!recv){
while(nbytes < 4){
if(Serial.available() > 0){
bytes[nbytes] = Serial.read();
nbytes++;
}
recv=true;
}
}
String data= String(bytes);
int intensity=data.toInt();
laserOn(intensity);
}
else{
}
}
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