EtherCAT Arduino Shield by Esmacat with LCD Shield 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 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*/

    esmacat_ethercat_arduino_shield_by_esmacat ease_1;  /** < create a Esmacat slave object for the EASE shield */
    uint32_t lcd_analog_input_value;
//    uint32_t prev_analog_value;
public:
    /** A constructor- sets initial values for class members */
    my_app()
    {
        // lcd_analog_input_value = 1023;   // Initialize the variable to some random value
    }
};

#endif // MY_APP_H

/** @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_1, 0);  //<-- The arduino is connected in number 0
}

/**
 * @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()
{ 
    // prev_analog_value = 1023;
}

/**
 * @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_1.get_input_variable_0_IN_GEN_INT0();

    cout << lcd_analog_input_value << "\t";
    // Determine the button pressed based on the analog value received
    if (lcd_analog_input_value >= 0 && lcd_analog_input_value <= 50)
    {
        ease_1.set_output_variable_1_OUT_GEN_INT1(4);  // <-- Write the corresponding encoding for right
        cout << "Right Button Pressed" << endl;   // <-- Printing message onto the terminal
        ease_1.set_output_variable_2_OUT_GEN_INT2(lcd_analog_input_value);   //<-- Send the anlog value back to arduino to print in the Serial Monitor
    }
    if (lcd_analog_input_value >= 50 && lcd_analog_input_value <= 150)
    {
        ease_1.set_output_variable_1_OUT_GEN_INT1(2);  // <-- Write the corresponding encoding for up
        cout << "Up Button Pressed" << endl;
        ease_1.set_output_variable_2_OUT_GEN_INT2(lcd_analog_input_value);
    }
    if (lcd_analog_input_value >= 150 && lcd_analog_input_value <= 300)
    {
        ease_1.set_output_variable_1_OUT_GEN_INT1(3);  // <-- Write the corresponding encoding for down
        cout << "Down Button Pressed" << endl;
        ease_1.set_output_variable_2_OUT_GEN_INT2(lcd_analog_input_value);
    }
    if (lcd_analog_input_value >= 300 && lcd_analog_input_value <= 500)
    {
        ease_1.set_output_variable_1_OUT_GEN_INT1(1);  // <-- Write the corresponding encoding for left
        cout << "Left Button Pressed" << endl;
        ease_1.set_output_variable_2_OUT_GEN_INT2(lcd_analog_input_value);
    }
    if (lcd_analog_input_value >= 500 && lcd_analog_input_value <= 750)
    {
        ease_1.set_output_variable_1_OUT_GEN_INT1(5);  // <-- Write the corresponding encoding for Select
        cout << "Select Button Pressed" << endl;
        ease_1.set_output_variable_2_OUT_GEN_INT2(lcd_analog_input_value);
    }
}

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

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

target_link_libraries(ease_with_lcd ethercat_driver esmacat)

install(TARGETS ease_with_lcd DESTINATION ./bin)