CatPot 2015-2016 / Mbed 2 deprecated CatPot_Main_T_2v00

Main Program

Dependencies:   mbed AQM1602 HMC6352 PID

main_processing/setup_command_active/command.cpp@27:769cb5a7ea37, 2016-01-31 (annotated)

Committer:
lilac0112_1
Date:
Sun Jan 31 15:46:19 2016 +0000
Revision:
27:769cb5a7ea37
Parent:
26:fbb03281fc7d
Child:
28:8ac6c3c1e643
plan; solenoid; ir_turn; line stop

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 27:769cb5a7ea37 31 if((x!=0)&&(data.init_point_flag==1)){
lilac0112_1 27:769cb5a7ea37 32 data.init_point_flag=0;
lilac0112_1 27:769cb5a7ea37 33 y = 1;
lilac0112_1 27:769cb5a7ea37 34 }
lilac0112_1 19:342da3a5a474 35 x=0;
lilac0112_1 19:342da3a5a474 36 Lcd.cls();
lilac0112_1 19:342da3a5a474 37 Lcd.locate(0, 0);
lilac0112_1 19:342da3a5a474 38 Lcd.print(lcdstr[y][0]);
lilac0112_1 19:342da3a5a474 39 Lcd.locate(7, 0);
lilac0112_1 19:342da3a5a474 40 Lcd.print(">");
lilac0112_1 19:342da3a5a474 41 Lcd.locate(9, 0);
lilac0112_1 19:342da3a5a474 42 if(x!=0) Lcd.print(lcdstr[y][x]);
lilac0112_1 19:342da3a5a474 43 }
lilac0112_1 19:342da3a5a474 44 //Z==1...Once
lilac0112_1 19:342da3a5a474 45 //Z==0...Endless
lilac0112_1 19:342da3a5a474 46 }
lilac0112_1 19:342da3a5a474 47 continue;
lilac0112_1 19:342da3a5a474 48 }
lilac0112_1 19:342da3a5a474 49 if(SwState == UP){
lilac0112_1 19:342da3a5a474 50 y += -1 + STATE_NUM_Y;
lilac0112_1 19:342da3a5a474 51 y %= STATE_NUM_Y;
lilac0112_1 19:342da3a5a474 52 x=0;
lilac0112_1 19:342da3a5a474 53 }
lilac0112_1 19:342da3a5a474 54 if(SwState == DOWN){
lilac0112_1 19:342da3a5a474 55 y++;
lilac0112_1 19:342da3a5a474 56 y %= STATE_NUM_Y;
lilac0112_1 19:342da3a5a474 57 x=0;
lilac0112_1 19:342da3a5a474 58 }
lilac0112_1 19:342da3a5a474 59 if(SwState == RIGHT){
lilac0112_1 19:342da3a5a474 60 if(lcdstr[y][1][0]==0) x=0;
lilac0112_1 19:342da3a5a474 61 else x++;
lilac0112_1 21:d69a8f3c76e1 62 if(x==STATE_NUM_X) x=0;
lilac0112_1 19:342da3a5a474 63 if(lcdstr[y][x][0]==0) x=0;
lilac0112_1 19:342da3a5a474 64 else x %= STATE_NUM_X;
lilac0112_1 19:342da3a5a474 65 }
lilac0112_1 19:342da3a5a474 66 if(SwState == LEFT){
lilac0112_1 19:342da3a5a474 67 if((x!=0)&&(data.init_point_flag==1)){
lilac0112_1 19:342da3a5a474 68 data.init_point_flag=0;
lilac0112_1 19:342da3a5a474 69 y = 1;
lilac0112_1 19:342da3a5a474 70 }
lilac0112_1 19:342da3a5a474 71 x=0;
lilac0112_1 19:342da3a5a474 72 }
lilac0112_1 19:342da3a5a474 73 Lcd.cls();
lilac0112_1 19:342da3a5a474 74 Lcd.locate(0, 0);
lilac0112_1 19:342da3a5a474 75 Lcd.print(lcdstr[y][0]);
lilac0112_1 19:342da3a5a474 76 Lcd.locate(7, 0);
lilac0112_1 19:342da3a5a474 77 Lcd.print(">");
lilac0112_1 19:342da3a5a474 78 Lcd.locate(9, 0);
lilac0112_1 19:342da3a5a474 79 if(x!=0) Lcd.print(lcdstr[y][x]);
lilac0112_1 19:342da3a5a474 80 }
lilac0112_1 19:342da3a5a474 81 }
lilac0112_1 19:342da3a5a474 82 uint8_t LoopFunction0(uint8_t x){
lilac0112_1 19:342da3a5a474 83 char buf[0x10];
lilac0112_1 23:d95d8d3e89f3 84 sprintf(buf, "Strategy:%2d", data.strategy);
lilac0112_1 22:a95f7c63af3c 85 Lcd.locate(0, 1);Lcd.print(buf);wait_ms(50);return 0;
lilac0112_1 19:342da3a5a474 86 }
lilac0112_1 19:342da3a5a474 87 uint8_t LoopFunction1(uint8_t x){
lilac0112_1 19:342da3a5a474 88 char buf[0x10];
lilac0112_1 19:342da3a5a474 89 sprintf(buf, "CatPot");
lilac0112_1 19:342da3a5a474 90 Lcd.locate(0, 1);Lcd.print(buf);
lilac0112_1 19:342da3a5a474 91 ActiveLoop();
lilac0112_1 19:342da3a5a474 92 return 1;
lilac0112_1 19:342da3a5a474 93 }
lilac0112_1 19:342da3a5a474 94 uint8_t LoopFunction2(uint8_t x){
lilac0112_1 19:342da3a5a474 95 char buf[0x10];
lilac0112_1 23:d95d8d3e89f3 96 ReadIr();
lilac0112_1 23:d95d8d3e89f3 97
lilac0112_1 23:d95d8d3e89f3 98 if(x==1) sprintf(buf, "SHRT:%2d, LNG:%2d", data.irSpot[0], data.irSpot[1]);
lilac0112_1 23:d95d8d3e89f3 99 if(x==2) sprintf(buf, "NOTE:%2d", data.irNotice);
lilac0112_1 26:fbb03281fc7d 100 if(x==3) sprintf(buf, "POSITION:%2d", data.irPosition);
lilac0112_1 22:a95f7c63af3c 101 Lcd.locate(0, 1);Lcd.print(buf);wait_ms(50);return 0;
lilac0112_1 19:342da3a5a474 102 }
lilac0112_1 23:d95d8d3e89f3 103 uint8_t LoopFunction3(uint8_t x){
lilac0112_1 23:d95d8d3e89f3 104 char buf[0x10];
lilac0112_1 27:769cb5a7ea37 105 sprintf(buf, "A:%1d B:%1d C:%1d ", Line[0].read(), Line[1].read(), Line[2].read());
lilac0112_1 23:d95d8d3e89f3 106 Lcd.locate(0, 1);Lcd.print(buf);wait_ms(50);return 0;
lilac0112_1 23:d95d8d3e89f3 107 }
lilac0112_1 19:342da3a5a474 108 uint8_t LoopFunction4(uint8_t x){
lilac0112_1 19:342da3a5a474 109 char buf[0x10];
lilac0112_1 23:d95d8d3e89f3 110 PidUpdate();
lilac0112_1 24:9fb74ea3c25d 111 sprintf(buf, "In:%03.0f Out:%+02d", data.InputPID, data.OutputPID);
lilac0112_1 22:a95f7c63af3c 112 Lcd.locate(0, 1);Lcd.print(buf);wait_ms(50);return 0;
lilac0112_1 19:342da3a5a474 113 }
lilac0112_1 22:a95f7c63af3c 114 uint8_t LoopFunction5(uint8_t x){
lilac0112_1 22:a95f7c63af3c 115 char buf[0x10];
lilac0112_1 22:a95f7c63af3c 116 sprintf(buf, "Enter");
lilac0112_1 22:a95f7c63af3c 117 Lcd.locate(0, 1);Lcd.print(buf);
lilac0112_1 22:a95f7c63af3c 118 hmc.setCalibrationMode(HMC6352_EXIT_CALIB);
lilac0112_1 22:a95f7c63af3c 119 return 1;
lilac0112_1 22:a95f7c63af3c 120 }
lilac0112_1 22:a95f7c63af3c 121 uint8_t LoopFunction6(uint8_t x){
lilac0112_1 22:a95f7c63af3c 122 char buf[0x10];
lilac0112_1 22:a95f7c63af3c 123 sprintf(buf, "Exit");
lilac0112_1 22:a95f7c63af3c 124 Lcd.locate(0, 1);Lcd.print(buf);
lilac0112_1 22:a95f7c63af3c 125 hmc.setCalibrationMode(HMC6352_ENTER_CALIB);
lilac0112_1 22:a95f7c63af3c 126 return 1;
lilac0112_1 22:a95f7c63af3c 127 }
lilac0112_1 27:769cb5a7ea37 128 uint8_t LoopFunction7(uint8_t x){
lilac0112_1 27:769cb5a7ea37 129 char buf[0x10];
lilac0112_1 27:769cb5a7ea37 130 data.init_point_flag=1;
lilac0112_1 27:769cb5a7ea37 131 sprintf(buf, "FaceToFront!");
lilac0112_1 27:769cb5a7ea37 132 Lcd.locate(0, 1);Lcd.print(buf);
lilac0112_1 27:769cb5a7ea37 133 for(int i=0; i<5; i++){
lilac0112_1 27:769cb5a7ea37 134 ReadCmps();
lilac0112_1 27:769cb5a7ea37 135 data.CmpsInitialValue = data.cmps;
lilac0112_1 27:769cb5a7ea37 136 wait_ms(100);
lilac0112_1 27:769cb5a7ea37 137 }
lilac0112_1 27:769cb5a7ea37 138 data.CmpsDiff = REFERENCE - data.cmps;
lilac0112_1 27:769cb5a7ea37 139 data.FrontDeg=0;
lilac0112_1 27:769cb5a7ea37 140 return 1;
lilac0112_1 27:769cb5a7ea37 141 }
lilac0112_1 19:342da3a5a474 142 uint8_t LoopFunction8(uint8_t x){ return 0; }
lilac0112_1 19:342da3a5a474 143 uint8_t LoopFunction9(uint8_t x){ return 0; }
lilac0112_1 27:769cb5a7ea37 144 uint8_t LoopFunctionA(uint8_t x){
lilac0112_1 27:769cb5a7ea37 145 char buf[0x10];
lilac0112_1 27:769cb5a7ea37 146 sprintf(buf, "SeeYouAgain!");
lilac0112_1 27:769cb5a7ea37 147 Lcd.locate(0, 1);Lcd.print(buf);wait(0.5);
lilac0112_1 27:769cb5a7ea37 148 NVIC_SystemReset();
lilac0112_1 27:769cb5a7ea37 149 return 1;
lilac0112_1 27:769cb5a7ea37 150 }
lilac0112_1 22:a95f7c63af3c 151 uint8_t LoopFunctionB(uint8_t x){
lilac0112_1 22:a95f7c63af3c 152 char buf[0x10];
lilac0112_1 22:a95f7c63af3c 153 if(x==1) data.strategy = 6;
lilac0112_1 22:a95f7c63af3c 154 if(x==2) data.strategy = 7;
lilac0112_1 22:a95f7c63af3c 155 if(x==3) data.strategy = 8;
lilac0112_1 22:a95f7c63af3c 156 data.init_point_flag=1;
lilac0112_1 22:a95f7c63af3c 157 sprintf(buf, "Make a strategy");
lilac0112_1 22:a95f7c63af3c 158 Lcd.locate(0, 1);Lcd.print(buf);return 0;
lilac0112_1 22:a95f7c63af3c 159 }
lilac0112_1 22:a95f7c63af3c 160 uint8_t LoopFunctionC(uint8_t x){
lilac0112_1 22:a95f7c63af3c 161 char buf[0x10];
lilac0112_1 22:a95f7c63af3c 162 if(x==1) data.strategy = 9;
lilac0112_1 22:a95f7c63af3c 163 if(x==2) data.strategy = 10;
lilac0112_1 22:a95f7c63af3c 164 if(x==3) data.strategy = 11;
lilac0112_1 22:a95f7c63af3c 165 data.init_point_flag=1;
lilac0112_1 22:a95f7c63af3c 166 sprintf(buf, "Make a strategy");
lilac0112_1 22:a95f7c63af3c 167 Lcd.locate(0, 1);Lcd.print(buf);return 0;
lilac0112_1 22:a95f7c63af3c 168 }
lilac0112_1 19:342da3a5a474 169 uint8_t LoopFunctionD(uint8_t x){
lilac0112_1 19:342da3a5a474 170 char buf[0x10];
lilac0112_1 19:342da3a5a474 171 if(x==1) data.strategy = 0;
lilac0112_1 19:342da3a5a474 172 if(x==2) data.strategy = 1;
lilac0112_1 19:342da3a5a474 173 if(x==3) data.strategy = 2;
lilac0112_1 19:342da3a5a474 174 data.init_point_flag=1;
lilac0112_1 19:342da3a5a474 175 sprintf(buf, "Make a strategy");
lilac0112_1 19:342da3a5a474 176 Lcd.locate(0, 1);Lcd.print(buf);return 0;
lilac0112_1 19:342da3a5a474 177 }
lilac0112_1 19:342da3a5a474 178 uint8_t LoopFunctionE(uint8_t x){
lilac0112_1 19:342da3a5a474 179 char buf[0x10];
lilac0112_1 19:342da3a5a474 180 if(x==1) data.strategy = 3;
lilac0112_1 19:342da3a5a474 181 if(x==2) data.strategy = 4;
lilac0112_1 19:342da3a5a474 182 if(x==3) data.strategy = 5;
lilac0112_1 19:342da3a5a474 183 data.init_point_flag=1;
lilac0112_1 19:342da3a5a474 184 sprintf(buf, "Make a strategy");
lilac0112_1 19:342da3a5a474 185 Lcd.locate(0, 1);Lcd.print(buf);return 0;
lilac0112_1 19:342da3a5a474 186 }
lilac0112_1 19:342da3a5a474 187 uint8_t LoopFunctionF(uint8_t x){ return 0; }