EASE w/ LCD & Motor Shield Using RaspberryPi Master Tutorial

/** @file
 *  @brief This file contains the template for the main program for the Esmacat slave
 *  project */
/*****************************************************************************************
 * INCLUDES
 ****************************************************************************************/
#include <iostream>
#include "my_app.h"

/*****************************************************************************************
 * FUNCTIONS
 ****************************************************************************************/
/**
 * @brief Initializes the execution of the Ethercat communication and
 *        primary real-time loop for your application for the desired
 *        slave
 * @return
 */

int main()
{
    //this is defined in my_app.cpp and my_app.h
    my_app app;

    // if you already know the ethernet adapter name for EtherCAT, uncomment and use the line below
    //    app.set_ethercat_adapter_name(" WRITE YOUR ETHERNET ADAPTER NAME");

    // If the name is not known, select through the terminal an ethernet adapter (the slave)
    // you'd like to communicate with over EtherCAT
    app.set_ethercat_adapter_name_through_terminal();

    // start the esmacat application customized for your slave
    app.start();

    //the application runs as long as the esmacat master and slave are in communication
    while (app.is_esmacat_master_closed() == FALSE );
    return 0;
}

/** @file
 * @brief This file contains the definition of the functions associated with the user-defined
 * application for the Esmacat slave project */
 /*****************************************************************************************
 * INCLUDES
 ****************************************************************************************/
#include "my_app.h"

/*****************************************************************************************
 * FUNCTIONS
 ****************************************************************************************/
/**
 * @brief Identifies the actual Esmacat slave sequence in the EtherCAT communication chain.
 */
void my_app::assign_slave_sequence(){
    // tell the master what type of slave is at which point in the chain
    assign_esmacat_slave_index(&ease_motor_shield, 1);  //<-- The Motor Shield is connected in number 0
    assign_esmacat_slave_index(&ease_lcd_shield, 0);   //<-- The LCD Shield is connected in number 1
}

/**
 * @brief Configure your Esmacat slave.
 * Link Esmacat slave object with the actual Esmacat slave in the EtherCAT communication chain.
 * Functions beginning with 'configure_slave' must only be executed in this function
 */
void my_app::configure_slaves(){
    // add initialization code here
    // Functions starting with "configure_slave" work only in configure_slaves() function
}

/** @brief Initialization that needs to happen on the first iteration of the loop
 */
void my_app::init()
{ 
    // LCD Shield Initialization
    ease_lcd_shield.set_output_variable_0_OUT_GEN_INT0(0);
    ease_lcd_shield.set_output_variable_1_OUT_GEN_INT1(0);
    ease_lcd_shield.set_output_variable_2_OUT_GEN_INT2(0);
    ease_lcd_shield.set_output_variable_3_OUT_GEN_INT3(0);
    ease_lcd_shield.set_output_variable_4_OUT_GEN_INT4(0);

    // Motor Shield Initialization
    ease_motor_shield.set_output_variable_0_OUT_GEN_INT0(0);
    ease_motor_shield.set_output_variable_1_OUT_GEN_INT1(0);
    ease_motor_shield.set_output_variable_2_OUT_GEN_INT2(0);
    ease_motor_shield.set_output_variable_3_OUT_GEN_INT3(0);

    cout << "Servo Motor Selected \n";

    // Intialisation of the variables
    motor_select = 0;
    servo_postion = 0;
    dc_speed = 0;
    stepper_speed = 0;
    prev_analog_value = 0;
    lcd_analog_input_value = 1023;   // Random value initialization
    button_pressed_flag = FALSE;
}
/*
   EASE LCD Shield Register Mapping
   |--------------------------------------------------|
   |   Register Number   |           Mapping          |
   |--------------------------------------------------|
   |         0           |   LCD analog input value   |
   |         1           |         Servo Angle        |
   |         2           |       DC Motor Speed       |
   |         3           |     Stepper motor Speed    |
   |         4           |         Motor Select       |
   |--------------------------------------------------|
*/

/*
   EASE Motor Shield Register Mapping
   |--------------------------------------------------|
   |   Register Number   |           Mapping          |
   |--------------------------------------------------|
   |         0           |         Motor Select       |
   |         1           |         Servo Angle        |
   |         2           |       DC Motor Speed       |
   |         3           |     Stepper motor Speed    |
   |--------------------------------------------------|
/**

 * @brief Executes functions at the defined loop rate
 */
void my_app::loop(){
    // add functions below that are to be executed at the loop rate
    lcd_analog_input_value = ease_lcd_shield.get_input_variable_0_IN_GEN_INT0();

    // cout << lcd_analog_input_value << " ";
    // <----------------------------------------------------------------------->
    //                            LCD Shield  Code 
    // <----------------------------------------------------------------------->


    if (lcd_analog_input_value >= 50 && lcd_analog_input_value <= 150)   // Up Button Increase Speed
    {
        // cout << lcd_analog_input_value << "\t";
        if (motor_select == 0)
        {
            servo_postion += 1;
            ease_lcd_shield.set_output_variable_1_OUT_GEN_INT1(servo_postion % 180);
            cout << "Servo position Increased \n";
        }

        else if (motor_select == 1)
        {
            dc_speed += 1;
            ease_lcd_shield.set_output_variable_2_OUT_GEN_INT2(dc_speed);
            cout << "DC Motor Speed Increased \n";
        }

        else
        {
            stepper_speed += 1;
            ease_lcd_shield.set_output_variable_3_OUT_GEN_INT3(stepper_speed);
            cout << "Stepper Motor Speed Increased \n";
        }

    }

    if (lcd_analog_input_value >= 150 && lcd_analog_input_value <= 300)   // Down Button Decrease Speed
    {
        // cout << lcd_analog_input_value << "\t";
        if (motor_select == 0)
        {
            servo_postion -= 1;
            ease_lcd_shield.set_output_variable_1_OUT_GEN_INT1(servo_postion % 180);
            cout << "Servo position decreased \n";
        }

        else if (motor_select == 1)
        {
            dc_speed -= 1;
            ease_lcd_shield.set_output_variable_2_OUT_GEN_INT2(dc_speed);
            cout << "DC Motor Speed decreased \n";
        }

        else
        {
            stepper_speed -= 1;
            ease_lcd_shield.set_output_variable_3_OUT_GEN_INT3(stepper_speed);
            cout << "Stepper Motor Speed decreeased \n";
        }
    }


    if (lcd_analog_input_value >= 500 && lcd_analog_input_value <= 750)
    {
        cout << lcd_analog_input_value << "\t";
        motor_select = (motor_select + 1) % 3;
        ease_lcd_shield.set_output_variable_4_OUT_GEN_INT4(motor_select);
        if (motor_select == 0)   cout << "Servo Motor Selected" << endl;
        if (motor_select == 1)   cout << "DC Motor Selected" << endl;
        if (motor_select == 2)   cout << "Stepper Motor Selected" << endl;
    }

    // <----------------------------------------------------------------------->
    //                            Motor Shield  Code 
    // <----------------------------------------------------------------------->
    ease_motor_shield.set_output_variable_0_OUT_GEN_INT0(motor_select);
    ease_motor_shield.set_output_variable_1_OUT_GEN_INT1(servo_postion);
    ease_motor_shield.set_output_variable_2_OUT_GEN_INT2(dc_speed);
    ease_motor_shield.set_output_variable_3_OUT_GEN_INT3(stepper_speed);
    prev_analog_value = lcd_analog_input_value;  
}

/** @file
 * @brief This file contains the declaration of the class associated with the user-defined
 * application for the Esmacat slave project */

#ifndef MY_APP_H
#define MY_APP_H

/*****************************************************************************************
 * INCLUDES
 ****************************************************************************************/
#include <iostream>
#include "application.h"
//Include the header file for the Esmacat slave you plan to use for e.g. Analog Input slave
//#include "esmacat_analog_input.h"
#include "ethercat_arduino_shield_by_esmacat.h"
using namespace std;

/*****************************************************************************************
 * CLASSES
 ****************************************************************************************/
/**
 * @brief Description of your custom application class
 *
 * Your custom application class my_app inherits the class 'esmacat_application'
 * Write functions to override the parent functions of 'esmacat_application'
 * Declare an object of your slave class (e.g. ecat_ai)
 * Declare any other variables you might want to add
 * Define the constructor for initialization
 */
class my_app : public esmacat_application
{
private:
    void assign_slave_sequence(); /** identify sequence of slaves and their types*/
    void configure_slaves(); /** setup the slave*/
    void init(); /** code to be executed in the first iteration of the loop */
    void loop(); /** control loop*/

    // Creating objects for the slave class
    esmacat_ethercat_arduino_shield_by_esmacat ease_lcd_shield;  /** < create a Esmacat slave object for the EASE with LCD shield */
    esmacat_ethercat_arduino_shield_by_esmacat ease_motor_shield;   /** < create a Esmacat slave object for the EASE with Motor shield */
    
    // Declaring the required variables
    uint32_t lcd_analog_input_value;
    uint32_t servo_postion;
    uint32_t dc_speed;
    uint32_t stepper_speed;
    uint32_t motor_select;
    uint32_t prev_analog_value;
    bool button_pressed_flag;

public:
    /** A constructor- sets initial values for class members */
    my_app()
    {
    }
};

#endif // MY_APP_H

file(GLOB MY_PROJECT_HEADERS *.h)
file(GLOB MY_PROJECT_SOURCES *.cpp *.c)

add_executable(ease_lcd_motor_control ${MY_PROJECT_SOURCES} ${MY_PROJECT_HEADERS})

target_link_libraries(ease_lcd_motor_control ethercat_driver esmacat)

install(TARGETS ease_lcd_motor_control DESTINATION ./bin)