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/**
 * This library is included main.cpp. 
 * class "machine" whitch machine functions are structured.
 */

#ifndef MACHINE_H
#define MACHINE_H

/**
 * Includes
 */
#include "mbed.h"
#include "QEI.h"
#include "PID.h"
#include "PinDefined_and_Setting_ps3.h"
#include "Parameters_ps3.h"

/**
 * Functions prototype.
 */
inline void initializeMotors();
inline void initializeControllers();
void Move_r(float speed1);
void Move_l(float speed2);
inline void mesure_move_r_velocity();
inline void mesure_move_l_velocity();
inline void mesure_swing_velocity();
inline void data_clear();
inline void data_check();
inline void SBDBT_interrupt();
inline void initializeSBDBT();
inline void calculate_diff();
inline void Move_r_speed_following();
inline void Move_l_speed_following();
inline void Swing_speed_following();
void Emergency_toggle();
short toggle=0,edge=0;

/**
 * include function header files.
 */
#include "communicate.h"
 
/**
 * Defines
 */
#define RATE 0.01

/**
 * Set functions.
 */
 
/***PID Controller***/
PID move_r_controller(MOVE_R_Kc, MOVE_R_TAUi, MOVE_R_TAUd, RATE);
PID move_l_controller(MOVE_L_Kc, MOVE_L_TAUi, MOVE_L_TAUd, RATE);
//diff
PID diff_controller(DIFF_Kc, DIFF_TAUi, DIFF_TAUd, RATE);
//swing
PID swing_controller(SWING_Kc, SWING_TAUi, SWING_TAUd, RATE);

/***Ticker***/
//Ticker interrupt;

/***Variables***/
double Pulses_move_r=0.0;
double Pulses_move_l=0.0;
double Pulses_swing=0.0;
double PrefPulses_move_r=0.0;
double PrefPulses_move_l=0.0;
double PrefPulses_swing=0.0;
double move_r_velocity=0.0;
double move_l_velocity=0.0;
double swing_velocity=0.0;
//double Prefmove_r_velocity=0.0;
//double Prefmove_l_velocity=0.0;
double targ_move_r_velocity=0.0;
double targ_move_l_velocity=0.0;
double targ_swing_velocity=0.0;
double diff=0.0;
//const double alpha=0.9;

/**
 * Functions.
 */

/***The function is motors initialize.***/
inline void initializeMotors(){
    Move_r_Motor_PWM.period_us(MOVE_R_PERIOD_US);
    Move_l_Motor_PWM.period_us(MOVE_L_PERIOD_US);
    Motor_swing_pwm.period_us(SWING_PERIOD_US);
}

/***The function is PID controller initialize.***/
inline void initializeControllers(){    

    move_r_controller.setInputLimits(MOVE_R_INPUT_LIMIT_BOTTOM, MOVE_R_INPUT_LIMIT_TOP);
    move_l_controller.setInputLimits(MOVE_L_INPUT_LIMIT_BOTTOM, MOVE_L_INPUT_LIMIT_TOP);
    diff_controller.setInputLimits(DIFF_INPUT_LIMIT_BOTTOM, DIFF_INPUT_LIMIT_TOP);
    swing_controller.setInputLimits(SWING_INPUT_LIMIT_BOTTOM, SWING_INPUT_LIMIT_TOP);
    
    //Pwm output from MOVE_OUTPUT_LIMIT_BOTTOM to MOVE_OUTPUT_LIMIT_TOP
    move_r_controller.setOutputLimits(MOVE_R_OUTPUT_LIMIT_BOTTOM, MOVE_R_OUTPUT_LIMIT_TOP);
    move_l_controller.setOutputLimits(MOVE_L_OUTPUT_LIMIT_BOTTOM, MOVE_L_OUTPUT_LIMIT_TOP);
    swing_controller.setOutputLimits(SWING_OUTPUT_LIMIT_BOTTOM, SWING_OUTPUT_LIMIT_TOP);
    
    //set bias.
    move_r_controller.setBias(MOVE_R_BIAS);
    move_l_controller.setBias(MOVE_L_BIAS);
    diff_controller.setBias(DIFF_BIAS);
    swing_controller.setBias(SWING_BIAS);
    
    //set mode.
    move_r_controller.setMode(AUTO_MODE);
    move_l_controller.setMode(AUTO_MODE);
    diff_controller.setMode(AUTO_MODE);
    swing_controller.setMode(AUTO_MODE);
    
    //set point.
    diff_controller.setSetPoint(0.0);
}

/***The function is Move on field.***/ 
//Right
void Move_r(float speed1){ 
    if(speed1<0){
        Move_r_Motor_CCW = 1;
        Move_r_Motor_CW = 0;
        Move_r_Motor_PWM = abs(speed1);
    }
    else{
        Move_r_Motor_CCW = 0;
        Move_r_Motor_CW = 1;
        Move_r_Motor_PWM = speed1;
    }
}
//Left
void Move_l(float speed2){ 
    if(speed2<0){
        Move_l_Motor_CCW = 1;
        Move_l_Motor_CW = 0;
        Move_l_Motor_PWM = abs(speed2);
    }
    else{
        Move_l_Motor_CCW = 0;
        Move_l_Motor_CW = 1;
        Move_l_Motor_PWM = speed2;
    }
}

/***Caluculate move velocity.***/
inline void mesure_move_r_velocity(){
    Pulses_move_r = (double)Move_r_sense.getPulses();
    move_r_velocity = Pulses_move_r - PrefPulses_move_r;
    //move_r_velocity += (1.0-alpha)*Prefmove_r_velocity;
    //Prefmove_r_velocity = move_r_velocity;
    PrefPulses_move_r = Pulses_move_r;
}
inline void mesure_move_l_velocity(){
    Pulses_move_l = (double)Move_l_sense.getPulses();
    move_l_velocity = Pulses_move_l - PrefPulses_move_l;
    //move_l_velocity += (1.0-alpha)*Prefmove_l_velocity;
    //Prefmove_l_velocity = move_l_velocity;
    PrefPulses_move_l = Pulses_move_l;
}
inline void mesure_swing_velocity(){
    Pulses_swing = (double)Swing_speed_sens.getPulses();
    swing_velocity = Pulses_swing - PrefPulses_swing;
    PrefPulses_swing = Pulses_swing;
}

/***The function is following move speed.***/
float cont_move_r=0.0,cont_move_l=0.0,cont_swing=0.0;
short r=0,l=0;

inline void calculate_diff(){
    diff=move_r_velocity-move_l_velocity;
    diff_controller.setProcessValue(diff);
    if(diff<0) r=1,l=0;
    else r=0,l=1;
}

inline void Move_r_speed_following(){
    move_r_controller.setSetPoint((float)targ_move_r_velocity);
    move_r_controller.setProcessValue((float)move_r_velocity);
    cont_move_r = move_r_controller.compute();
    //if(r) cont_move_r=move_r_controller.compute()+diff_controller.compute();
    //else cont_move_r=move_r_controller.compute();
    Move_r(cont_move_r);
}
inline void Move_l_speed_following(){
    move_l_controller.setSetPoint((float)targ_move_l_velocity);
    move_l_controller.setProcessValue((float)move_l_velocity);
    cont_move_l = move_l_controller.compute();
    //if(l) cont_move_l=move_l_controller.compute()+diff_controller.compute();
    //else cont_move_l=move_l_controller.compute();
    Move_l(cont_move_l);
}
inline void Swing_speed_following(){
    swing_controller.setSetPoint((float)targ_swing_velocity);
    swing_controller.setProcessValue((float)swing_velocity);
    cont_swing = swing_controller.compute();
    Motor_swing_pwm = cont_swing;
}

/***Emergency stop.***/
void Emergency_toggle(){
    if(edge){
        edge=0;
        if(toggle) toggle=0,Emergency_stop=0;
        else toggle=1,Emergency_stop=1;
    }
}

#endif /*machine.h*/