CatPot 2015-2016 / Mbed 2 deprecated CatPot_Main_T_2v00

Main Program

Dependencies:   mbed AQM1602 HMC6352 PID

main_processing/setup_command_active/command.cpp@19:342da3a5a474, 2016-01-21 (annotated)

Committer:
lilac0112_1
Date:
Thu Jan 21 07:11:08 2016 +0000
Revision:
19:342da3a5a474
Child:
21:d69a8f3c76e1
Main part was reconstructed.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 19:342da3a5a474 1 #include "mbed.h"
lilac0112_1 19:342da3a5a474 2 #include "extern.h"
lilac0112_1 19:342da3a5a474 3
lilac0112_1 19:342da3a5a474 4 void CommandLoop(void){
lilac0112_1 19:342da3a5a474 5 uint8_t SwState,x=0,y=0, z;
lilac0112_1 19:342da3a5a474 6 uint8_t (*Function[STATE_NUM_Y])(uint8_t x) = {
lilac0112_1 19:342da3a5a474 7 LoopFunction0,
lilac0112_1 19:342da3a5a474 8 LoopFunction1,
lilac0112_1 19:342da3a5a474 9 LoopFunction2,
lilac0112_1 19:342da3a5a474 10 LoopFunction3,
lilac0112_1 19:342da3a5a474 11 LoopFunction4,
lilac0112_1 19:342da3a5a474 12 LoopFunction5,
lilac0112_1 19:342da3a5a474 13 LoopFunction6,
lilac0112_1 19:342da3a5a474 14 LoopFunction7,
lilac0112_1 19:342da3a5a474 15 LoopFunction8,
lilac0112_1 19:342da3a5a474 16 LoopFunction9,
lilac0112_1 19:342da3a5a474 17 LoopFunctionA,
lilac0112_1 19:342da3a5a474 18 LoopFunctionB,
lilac0112_1 19:342da3a5a474 19 LoopFunctionC,
lilac0112_1 19:342da3a5a474 20 LoopFunctionD,
lilac0112_1 19:342da3a5a474 21 LoopFunctionE,
lilac0112_1 19:342da3a5a474 22 LoopFunctionF
lilac0112_1 19:342da3a5a474 23 };
lilac0112_1 19:342da3a5a474 24 data.init_point_flag=0;
lilac0112_1 19:342da3a5a474 25 while(1){
lilac0112_1 19:342da3a5a474 26 SwState = ReadSw();
lilac0112_1 19:342da3a5a474 27 if(SwState == NONE){
lilac0112_1 19:342da3a5a474 28 if(x!=0){
lilac0112_1 19:342da3a5a474 29 z = (*Function[y])(x);
lilac0112_1 19:342da3a5a474 30 if(z==1){
lilac0112_1 19:342da3a5a474 31 x=0;
lilac0112_1 19:342da3a5a474 32 Lcd.cls();
lilac0112_1 19:342da3a5a474 33 Lcd.locate(0, 0);
lilac0112_1 19:342da3a5a474 34 Lcd.print(lcdstr[y][0]);
lilac0112_1 19:342da3a5a474 35 Lcd.locate(7, 0);
lilac0112_1 19:342da3a5a474 36 Lcd.print(">");
lilac0112_1 19:342da3a5a474 37 Lcd.locate(9, 0);
lilac0112_1 19:342da3a5a474 38 if(x!=0) Lcd.print(lcdstr[y][x]);
lilac0112_1 19:342da3a5a474 39 }
lilac0112_1 19:342da3a5a474 40 //Z==1...Once
lilac0112_1 19:342da3a5a474 41 //Z==0...Endless
lilac0112_1 19:342da3a5a474 42 }
lilac0112_1 19:342da3a5a474 43 continue;
lilac0112_1 19:342da3a5a474 44 }
lilac0112_1 19:342da3a5a474 45 if(SwState == UP){
lilac0112_1 19:342da3a5a474 46 y += -1 + STATE_NUM_Y;
lilac0112_1 19:342da3a5a474 47 y %= STATE_NUM_Y;
lilac0112_1 19:342da3a5a474 48 x=0;
lilac0112_1 19:342da3a5a474 49 }
lilac0112_1 19:342da3a5a474 50 if(SwState == DOWN){
lilac0112_1 19:342da3a5a474 51 y++;
lilac0112_1 19:342da3a5a474 52 y %= STATE_NUM_Y;
lilac0112_1 19:342da3a5a474 53 x=0;
lilac0112_1 19:342da3a5a474 54 }
lilac0112_1 19:342da3a5a474 55 if(SwState == RIGHT){
lilac0112_1 19:342da3a5a474 56 if(lcdstr[y][1][0]==0) x=0;
lilac0112_1 19:342da3a5a474 57 else x++;
lilac0112_1 19:342da3a5a474 58 if(lcdstr[y][x][0]==0) x=0;
lilac0112_1 19:342da3a5a474 59 else x %= STATE_NUM_X;
lilac0112_1 19:342da3a5a474 60 }
lilac0112_1 19:342da3a5a474 61 if(SwState == LEFT){
lilac0112_1 19:342da3a5a474 62 if((x!=0)&&(data.init_point_flag==1)){
lilac0112_1 19:342da3a5a474 63 data.init_point_flag=0;
lilac0112_1 19:342da3a5a474 64 y = 1;
lilac0112_1 19:342da3a5a474 65 }
lilac0112_1 19:342da3a5a474 66 x=0;
lilac0112_1 19:342da3a5a474 67 }
lilac0112_1 19:342da3a5a474 68 Lcd.cls();
lilac0112_1 19:342da3a5a474 69 Lcd.locate(0, 0);
lilac0112_1 19:342da3a5a474 70 Lcd.print(lcdstr[y][0]);
lilac0112_1 19:342da3a5a474 71 Lcd.locate(7, 0);
lilac0112_1 19:342da3a5a474 72 Lcd.print(">");
lilac0112_1 19:342da3a5a474 73 Lcd.locate(9, 0);
lilac0112_1 19:342da3a5a474 74 if(x!=0) Lcd.print(lcdstr[y][x]);
lilac0112_1 19:342da3a5a474 75
lilac0112_1 19:342da3a5a474 76 if(x==0){
lilac0112_1 19:342da3a5a474 77 LineSignalHolder=0x0;
lilac0112_1 19:342da3a5a474 78 }
lilac0112_1 19:342da3a5a474 79 else{
lilac0112_1 19:342da3a5a474 80 LineSignalHolder=0x7;
lilac0112_1 19:342da3a5a474 81 }
lilac0112_1 19:342da3a5a474 82 }
lilac0112_1 19:342da3a5a474 83 }
lilac0112_1 19:342da3a5a474 84 uint8_t LoopFunction0(uint8_t x){
lilac0112_1 19:342da3a5a474 85 char buf[0x10];
lilac0112_1 19:342da3a5a474 86 sprintf(buf, "CAR%d", x);
lilac0112_1 19:342da3a5a474 87 Lcd.locate(0, 1);Lcd.print(buf);return 0;
lilac0112_1 19:342da3a5a474 88 }
lilac0112_1 19:342da3a5a474 89 uint8_t LoopFunction1(uint8_t x){
lilac0112_1 19:342da3a5a474 90 char buf[0x10];
lilac0112_1 19:342da3a5a474 91 sprintf(buf, "CatPot");
lilac0112_1 19:342da3a5a474 92 Lcd.locate(0, 1);Lcd.print(buf);
lilac0112_1 19:342da3a5a474 93 ActiveLoop();
lilac0112_1 19:342da3a5a474 94 return 1;
lilac0112_1 19:342da3a5a474 95 }
lilac0112_1 19:342da3a5a474 96 uint8_t LoopFunction2(uint8_t x){
lilac0112_1 19:342da3a5a474 97 char buf[0x10];
lilac0112_1 19:342da3a5a474 98 sprintf(buf, "RR%d", x);
lilac0112_1 19:342da3a5a474 99 Lcd.locate(0, 1);Lcd.print(buf);return 0;
lilac0112_1 19:342da3a5a474 100 }
lilac0112_1 19:342da3a5a474 101 uint8_t LoopFunction3(uint8_t x){ return 0; }
lilac0112_1 19:342da3a5a474 102 uint8_t LoopFunction4(uint8_t x){
lilac0112_1 19:342da3a5a474 103 char buf[0x10];
lilac0112_1 19:342da3a5a474 104 uint8_t linedata=0, line[3];
lilac0112_1 19:342da3a5a474 105 if(x==1){
lilac0112_1 19:342da3a5a474 106 linedata = RawLineSignal;
lilac0112_1 19:342da3a5a474 107 }
lilac0112_1 19:342da3a5a474 108 if(x==2){
lilac0112_1 19:342da3a5a474 109 linedata = HeldLineSignal;
lilac0112_1 19:342da3a5a474 110 }
lilac0112_1 19:342da3a5a474 111 line[2] = (0x4 & linedata)>>2;
lilac0112_1 19:342da3a5a474 112 line[1] = (0x2 & linedata)>>1;
lilac0112_1 19:342da3a5a474 113 line[0] = (0x1 & linedata)>>0;
lilac0112_1 19:342da3a5a474 114 sprintf(buf, "A:%1d B:%1d C:%1d ", line[2], line[1], line[0]);
lilac0112_1 19:342da3a5a474 115 Lcd.locate(0, 1);Lcd.print(buf);return 0;
lilac0112_1 19:342da3a5a474 116 }
lilac0112_1 19:342da3a5a474 117 uint8_t LoopFunction5(uint8_t x){ return 0; }
lilac0112_1 19:342da3a5a474 118 uint8_t LoopFunction6(uint8_t x){ return 0; }
lilac0112_1 19:342da3a5a474 119 uint8_t LoopFunction7(uint8_t x){ return 0; }
lilac0112_1 19:342da3a5a474 120 uint8_t LoopFunction8(uint8_t x){ return 0; }
lilac0112_1 19:342da3a5a474 121 uint8_t LoopFunction9(uint8_t x){ return 0; }
lilac0112_1 19:342da3a5a474 122 uint8_t LoopFunctionA(uint8_t x){ return 0; }
lilac0112_1 19:342da3a5a474 123 uint8_t LoopFunctionB(uint8_t x){ return 0; }
lilac0112_1 19:342da3a5a474 124 uint8_t LoopFunctionC(uint8_t x){ return 0; }
lilac0112_1 19:342da3a5a474 125 uint8_t LoopFunctionD(uint8_t x){
lilac0112_1 19:342da3a5a474 126 char buf[0x10];
lilac0112_1 19:342da3a5a474 127 if(x==1) data.strategy = 0;
lilac0112_1 19:342da3a5a474 128 if(x==2) data.strategy = 1;
lilac0112_1 19:342da3a5a474 129 if(x==3) data.strategy = 2;
lilac0112_1 19:342da3a5a474 130 data.init_point_flag=1;
lilac0112_1 19:342da3a5a474 131 sprintf(buf, "Make a strategy");
lilac0112_1 19:342da3a5a474 132 Lcd.locate(0, 1);Lcd.print(buf);return 0;
lilac0112_1 19:342da3a5a474 133 }
lilac0112_1 19:342da3a5a474 134 uint8_t LoopFunctionE(uint8_t x){
lilac0112_1 19:342da3a5a474 135 char buf[0x10];
lilac0112_1 19:342da3a5a474 136 if(x==1) data.strategy = 3;
lilac0112_1 19:342da3a5a474 137 if(x==2) data.strategy = 4;
lilac0112_1 19:342da3a5a474 138 if(x==3) data.strategy = 5;
lilac0112_1 19:342da3a5a474 139 data.init_point_flag=1;
lilac0112_1 19:342da3a5a474 140 sprintf(buf, "Make a strategy");
lilac0112_1 19:342da3a5a474 141 Lcd.locate(0, 1);Lcd.print(buf);return 0;
lilac0112_1 19:342da3a5a474 142 }
lilac0112_1 19:342da3a5a474 143 uint8_t LoopFunctionF(uint8_t x){ return 0; }