BE@R lab / Mbed 2 deprecated SwitchMode

SwitchMode

Dependencies:   BEAR_Protocol InverseLeg iSerial mbed

Fork of SwitchMode by Arsapol Manamunchaiyaporn

main.cpp@1:183e6088a1fa, 2016-01-22 (annotated)

Committer:
icyzkungz
Date:
Fri Jan 22 08:03:29 2016 +0000
Revision:
1:183e6088a1fa
Parent:
0:f73c80b36c20
Child:
2:d6be1c49d9d5
Fixed Push Button problem

Who changed what in which revision?

UserRevisionLine numberNew contents of line
icyzkungz 0:f73c80b36c20 1 #include "string"
icyzkungz 0:f73c80b36c20 2 #include "BEAR_Protocol.h"
icyzkungz 0:f73c80b36c20 3 #include "Kinematic.h"
icyzkungz 0:f73c80b36c20 4
icyzkungz 0:f73c80b36c20 5 Serial pc(SERIAL_TX,SERIAL_RX);
icyzkungz 0:f73c80b36c20 6 Bear_Communicate bcom(PA_15,PB_7,115200);
icyzkungz 0:f73c80b36c20 7
icyzkungz 0:f73c80b36c20 8 DigitalIn button(USER_BUTTON);
icyzkungz 0:f73c80b36c20 9
icyzkungz 0:f73c80b36c20 10 #define LEFT_SIDE 0x01
icyzkungz 0:f73c80b36c20 11 #define RIGHT_SIDE 0x02
icyzkungz 0:f73c80b36c20 12
icyzkungz 0:f73c80b36c20 13 void SwMode()
icyzkungz 0:f73c80b36c20 14 {
icyzkungz 0:f73c80b36c20 15 int option; // user's entered option will be saved in this variable
icyzkungz 0:f73c80b36c20 16 float temp;
icyzkungz 0:f73c80b36c20 17 float LH,LK,RH,RK;
icyzkungz 0:f73c80b36c20 18 float LLink[2],RLink[2];
icyzkungz 0:f73c80b36c20 19 struct max_ang {
icyzkungz 0:f73c80b36c20 20 float Hip;
icyzkungz 0:f73c80b36c20 21 float Knee;
icyzkungz 0:f73c80b36c20 22 };
icyzkungz 0:f73c80b36c20 23 struct min_ang {
icyzkungz 0:f73c80b36c20 24 float Hip;
icyzkungz 0:f73c80b36c20 25 float Knee;
icyzkungz 0:f73c80b36c20 26 };
icyzkungz 0:f73c80b36c20 27 max_ang Lmax,Lmin;
icyzkungz 0:f73c80b36c20 28 min_ang Rmax,Rmin;
icyzkungz 1:183e6088a1fa 29 Lmax.Knee = Lmax.Hip = Lmin.Knee = Lmin.Hip = Rmax.Knee = Rmax.Hip = Rmin.Knee = Rmin.Hip = 0;
icyzkungz 0:f73c80b36c20 30 bool a,b,c,d;
icyzkungz 0:f73c80b36c20 31 a = b = c = d = false;
icyzkungz 0:f73c80b36c20 32 float temp_LH=0,temp_LK=0,temp_RH=0,temp_RK=0;
icyzkungz 0:f73c80b36c20 33 do { // do-while loop starts here.that display menu again and again until user select to exit program
icyzkungz 0:f73c80b36c20 34 // Displaying Options for the menu
icyzkungz 0:f73c80b36c20 35 pc.printf("************Don't Forget to Save Data************\n");
icyzkungz 0:f73c80b36c20 36 pc.printf("*\t1) Motor Left Hip \t\t\t*\n");
icyzkungz 0:f73c80b36c20 37 pc.printf("*\t2) Motor Left Knee \t\t\t*\n");
icyzkungz 0:f73c80b36c20 38 pc.printf("*\t3) Motor Right Hip \t\t\t*\n");
icyzkungz 0:f73c80b36c20 39 pc.printf("*\t4) Motor Right Knee \t\t\t*\n");
icyzkungz 0:f73c80b36c20 40 pc.printf("*\t5) Kp : Left Hip \t\t\t*\n");
icyzkungz 0:f73c80b36c20 41 pc.printf("*\t6) Ki : Left Hip \t\t\t*\n");
icyzkungz 0:f73c80b36c20 42 pc.printf("*\t7) Kd : Left Hip \t\t\t*\n");
icyzkungz 0:f73c80b36c20 43 pc.printf("*\t8) Save Left Hip(p,i,d) data\t\t*\n");
icyzkungz 0:f73c80b36c20 44 pc.printf("*\t9) Kp : Left Knee \t\t\t*\n");
icyzkungz 0:f73c80b36c20 45 pc.printf("*\t10) Ki : Left Knee \t\t\t*\n");
icyzkungz 0:f73c80b36c20 46 pc.printf("*\t11) Kd : Left Knee \t\t\t*\n");
icyzkungz 0:f73c80b36c20 47 pc.printf("*\t12) Save Left Knee(p,i,d) data\t\t*\n");
icyzkungz 0:f73c80b36c20 48 pc.printf("*\t13) Kp : Right Hip \t\t\t*\n");
icyzkungz 0:f73c80b36c20 49 pc.printf("*\t14) Ki : Right Hip \t\t\t*\n");
icyzkungz 0:f73c80b36c20 50 pc.printf("*\t15) Kd : Right Hip \t\t\t*\n");
icyzkungz 0:f73c80b36c20 51 pc.printf("*\t16) Save Right Hip(p,i,d) data\t\t*\n");
icyzkungz 0:f73c80b36c20 52 pc.printf("*\t17) Kp : Right Knee \t\t\t*\n");
icyzkungz 0:f73c80b36c20 53 pc.printf("*\t18) Ki : Right Knee \t\t\t*\n");
icyzkungz 0:f73c80b36c20 54 pc.printf("*\t19) Kd : Right Knee \t\t\t*\n");
icyzkungz 0:f73c80b36c20 55 pc.printf("*\t20) Save Right Knee data\t\t\t*\n");
icyzkungz 0:f73c80b36c20 56 pc.printf("*\t21) Set Left Hip Margin\n");
icyzkungz 0:f73c80b36c20 57 pc.printf("*\t22) Set Left Knee Margin\n");
icyzkungz 0:f73c80b36c20 58 pc.printf("*\t23) Set Right Hip Margin\n");
icyzkungz 0:f73c80b36c20 59 pc.printf("*\t24) Set Right Knee Margin\n");
icyzkungz 1:183e6088a1fa 60 pc.printf("*\t25) Set Offset\n");
icyzkungz 1:183e6088a1fa 61 pc.printf("*\t26) Set Body Lenght of Left Side\n");
icyzkungz 1:183e6088a1fa 62 pc.printf("*\t27) Set Body Lenght of Right Side\n");
icyzkungz 1:183e6088a1fa 63 pc.printf("*\t28) Set Maximum Hip Angle Range\n");
icyzkungz 1:183e6088a1fa 64 pc.printf("*\t29) Set Minimum Hip Angle Range\n");
icyzkungz 1:183e6088a1fa 65 pc.printf("*\t30) Set Maximum Knee Angle Range\n");
icyzkungz 1:183e6088a1fa 66 pc.printf("*\t31) Set Minimum Knee Angle Range\n");
icyzkungz 0:f73c80b36c20 67
icyzkungz 0:f73c80b36c20 68 pc.printf("*\t40) Exit Program \t\t\t*\n");
icyzkungz 0:f73c80b36c20 69 pc.printf("************Don't Forget to Save Data************\n");
icyzkungz 0:f73c80b36c20 70 // Prompting user to enter an option according to menu
icyzkungz 0:f73c80b36c20 71 pc.printf("Please select an option : ");
icyzkungz 0:f73c80b36c20 72
icyzkungz 0:f73c80b36c20 73 pc.scanf("%d",&option);
icyzkungz 0:f73c80b36c20 74
icyzkungz 0:f73c80b36c20 75 pc.printf("\n");
icyzkungz 0:f73c80b36c20 76
icyzkungz 0:f73c80b36c20 77 if(option == 1)// Left Hip
icyzkungz 0:f73c80b36c20 78 do {
icyzkungz 0:f73c80b36c20 79 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 80 //Send Position to Motor
icyzkungz 0:f73c80b36c20 81 pc.printf("Input Degree : \n");
icyzkungz 0:f73c80b36c20 82 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 83 if(temp!=9999) {
icyzkungz 0:f73c80b36c20 84 LH = temp;
icyzkungz 0:f73c80b36c20 85 pc.printf("Move Left Hip Motor to %f Degree\n",LH);
icyzkungz 0:f73c80b36c20 86
icyzkungz 0:f73c80b36c20 87 bcom.setMotorPos(LEFT_SIDE,LH,temp_LK);
icyzkungz 0:f73c80b36c20 88 temp_LH = LH;
icyzkungz 0:f73c80b36c20 89
icyzkungz 0:f73c80b36c20 90 /********************Save Data*********************/
icyzkungz 0:f73c80b36c20 91 } else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_UPPER_ANG);
icyzkungz 0:f73c80b36c20 92
icyzkungz 0:f73c80b36c20 93 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 94
icyzkungz 0:f73c80b36c20 95 else if(option == 2) //Left Knee
icyzkungz 0:f73c80b36c20 96 do {
icyzkungz 0:f73c80b36c20 97 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 98
icyzkungz 0:f73c80b36c20 99 //Send Position to Motor
icyzkungz 0:f73c80b36c20 100 pc.printf("Input Degree : \n");
icyzkungz 0:f73c80b36c20 101 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 102 if(temp!=9999) {
icyzkungz 0:f73c80b36c20 103 LK = temp;
icyzkungz 0:f73c80b36c20 104 pc.printf("Move Left Knee Motor to %f Degree\n",LK);
icyzkungz 0:f73c80b36c20 105
icyzkungz 0:f73c80b36c20 106 bcom.setMotorPos(LEFT_SIDE,temp_LH,LK);
icyzkungz 0:f73c80b36c20 107 temp_LK = LK;
icyzkungz 0:f73c80b36c20 108
icyzkungz 0:f73c80b36c20 109
icyzkungz 0:f73c80b36c20 110 /********************Save Data*********************/
icyzkungz 0:f73c80b36c20 111 } else bcom.saveDataToEEPROM(LEFT_SIDE,MOTOR_LOWER_ANG);
icyzkungz 0:f73c80b36c20 112
icyzkungz 0:f73c80b36c20 113 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 114
icyzkungz 0:f73c80b36c20 115
icyzkungz 0:f73c80b36c20 116 else if(option == 3) { //Right Hip
icyzkungz 0:f73c80b36c20 117 do {
icyzkungz 0:f73c80b36c20 118 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 119
icyzkungz 0:f73c80b36c20 120 //Send Position to Motor
icyzkungz 0:f73c80b36c20 121 pc.printf("Input Degree : \n");
icyzkungz 0:f73c80b36c20 122 pc.scanf("%f",&RH);
icyzkungz 0:f73c80b36c20 123 if(temp!=9999) {
icyzkungz 0:f73c80b36c20 124 RH = temp;
icyzkungz 0:f73c80b36c20 125 pc.printf("Move Right Hip Motor to %f Degree\n",RH);
icyzkungz 0:f73c80b36c20 126
icyzkungz 0:f73c80b36c20 127 bcom.setMotorPos(RIGHT_SIDE,RH,temp_RK);
icyzkungz 0:f73c80b36c20 128 temp_RH = RH;
icyzkungz 0:f73c80b36c20 129
icyzkungz 0:f73c80b36c20 130
icyzkungz 0:f73c80b36c20 131 /********************Save Data*********************/
icyzkungz 0:f73c80b36c20 132 } else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_UPPER_ANG);
icyzkungz 0:f73c80b36c20 133
icyzkungz 0:f73c80b36c20 134 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 135
icyzkungz 0:f73c80b36c20 136 } else if(option == 4) { //Right Knee
icyzkungz 0:f73c80b36c20 137 do {
icyzkungz 0:f73c80b36c20 138 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 139
icyzkungz 0:f73c80b36c20 140 //Send Position to Motor
icyzkungz 0:f73c80b36c20 141 pc.printf("Input Degree : \n");
icyzkungz 0:f73c80b36c20 142 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 143
icyzkungz 0:f73c80b36c20 144 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 145 RK = temp;
icyzkungz 0:f73c80b36c20 146 pc.printf("Move Right Knee Motor to %f Degree\n",RK);
icyzkungz 0:f73c80b36c20 147
icyzkungz 0:f73c80b36c20 148 bcom.setMotorPos(RIGHT_SIDE,temp_RH,RK);
icyzkungz 0:f73c80b36c20 149 temp_RK = RK;
icyzkungz 0:f73c80b36c20 150
icyzkungz 0:f73c80b36c20 151
icyzkungz 0:f73c80b36c20 152 /********************Save Data*********************/
icyzkungz 0:f73c80b36c20 153 } else bcom.saveDataToEEPROM(RIGHT_SIDE,MOTOR_LOWER_ANG);
icyzkungz 0:f73c80b36c20 154
icyzkungz 0:f73c80b36c20 155 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 156
icyzkungz 0:f73c80b36c20 157 } else if(option == 5) { //Left Hip
icyzkungz 0:f73c80b36c20 158 do {
icyzkungz 0:f73c80b36c20 159 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 160 pc.printf("\nInput Kp of Left Hip\n");
icyzkungz 0:f73c80b36c20 161 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 162
icyzkungz 0:f73c80b36c20 163 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 164 pc.printf("\nChange Kp of Left Hip to %f",temp);
icyzkungz 0:f73c80b36c20 165
icyzkungz 0:f73c80b36c20 166 bcom.setUpMotorKp(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 167 } else bcom.saveDataToEEPROM(LEFT_SIDE,KP_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 168
icyzkungz 0:f73c80b36c20 169 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 170
icyzkungz 0:f73c80b36c20 171 } else if(option == 6) { //Left Hip
icyzkungz 0:f73c80b36c20 172 do {
icyzkungz 0:f73c80b36c20 173 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 174 pc.printf("\nInput Ki of Left Hip\n");
icyzkungz 0:f73c80b36c20 175 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 176
icyzkungz 0:f73c80b36c20 177 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 178 pc.printf("\nChange Ki of Left Hip to %f",temp);
icyzkungz 0:f73c80b36c20 179
icyzkungz 0:f73c80b36c20 180 bcom.setUpMotorKi(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 181 } else bcom.saveDataToEEPROM(LEFT_SIDE,KI_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 182
icyzkungz 0:f73c80b36c20 183 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 184
icyzkungz 0:f73c80b36c20 185 } else if(option == 7) { //Left Hip
icyzkungz 0:f73c80b36c20 186 do {
icyzkungz 0:f73c80b36c20 187 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 188 pc.printf("\nInput Kd of Left Hip\n");
icyzkungz 0:f73c80b36c20 189 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 190
icyzkungz 0:f73c80b36c20 191 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 192 pc.printf("\nChange Kd of Left Hip to %f",temp);
icyzkungz 0:f73c80b36c20 193
icyzkungz 0:f73c80b36c20 194 bcom.setUpMotorKd(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 195 } else bcom.saveDataToEEPROM(LEFT_SIDE,KD_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 196
icyzkungz 0:f73c80b36c20 197 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 198
icyzkungz 0:f73c80b36c20 199 } else if(option == 8) {
icyzkungz 0:f73c80b36c20 200 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 201 /*******************************Save Left Hip data*************************************/
icyzkungz 0:f73c80b36c20 202
icyzkungz 0:f73c80b36c20 203 } else if(option == 9) { //Left Knee
icyzkungz 0:f73c80b36c20 204 do {
icyzkungz 0:f73c80b36c20 205 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 206 pc.printf("\nInput Kp of Left Knee\n");
icyzkungz 0:f73c80b36c20 207 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 208
icyzkungz 0:f73c80b36c20 209 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 210 pc.printf("\nChange Kp of Left Knee to %f",temp);
icyzkungz 0:f73c80b36c20 211
icyzkungz 0:f73c80b36c20 212 bcom.setLowMotorKp(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 213 } else bcom.saveDataToEEPROM(LEFT_SIDE,KP_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 214
icyzkungz 0:f73c80b36c20 215 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 216
icyzkungz 0:f73c80b36c20 217 } else if(option == 10) { //Left Knee
icyzkungz 0:f73c80b36c20 218 do {
icyzkungz 0:f73c80b36c20 219 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 220 pc.printf("\nInput Ki of Left Knee\n");
icyzkungz 0:f73c80b36c20 221 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 222
icyzkungz 0:f73c80b36c20 223 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 224 pc.printf("\nChange Ki of Left Knee to %f",temp);
icyzkungz 0:f73c80b36c20 225
icyzkungz 0:f73c80b36c20 226 bcom.setLowMotorKi(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 227 } else bcom.saveDataToEEPROM(LEFT_SIDE,KI_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 228
icyzkungz 0:f73c80b36c20 229 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 230
icyzkungz 0:f73c80b36c20 231 } else if(option == 11) { //Left Knee
icyzkungz 0:f73c80b36c20 232 do {
icyzkungz 0:f73c80b36c20 233 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 234 pc.printf("\nInput Kd of Left Knee\n");
icyzkungz 0:f73c80b36c20 235 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 236
icyzkungz 0:f73c80b36c20 237 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 238 pc.printf("\nChange Kd of Left Knee to %f",temp);
icyzkungz 0:f73c80b36c20 239
icyzkungz 0:f73c80b36c20 240 bcom.setLowMotorKd(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 241 } else bcom.saveDataToEEPROM(LEFT_SIDE,KD_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 242
icyzkungz 0:f73c80b36c20 243 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 244
icyzkungz 0:f73c80b36c20 245
icyzkungz 0:f73c80b36c20 246 } else if(option == 12) {
icyzkungz 0:f73c80b36c20 247 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 248 /*******************************Save Left Knee data*************************************/
icyzkungz 0:f73c80b36c20 249
icyzkungz 0:f73c80b36c20 250
icyzkungz 0:f73c80b36c20 251 } else if(option == 13) { //Right Hip
icyzkungz 0:f73c80b36c20 252 do {
icyzkungz 0:f73c80b36c20 253 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 254 pc.printf("\nInput Kp of Right Hip\n");
icyzkungz 0:f73c80b36c20 255 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 256
icyzkungz 0:f73c80b36c20 257 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 258 pc.printf("\nChange Kp of Right Hip to %f",temp);
icyzkungz 0:f73c80b36c20 259
icyzkungz 0:f73c80b36c20 260 bcom.setUpMotorKp(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 261 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KP_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 262
icyzkungz 0:f73c80b36c20 263 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 264
icyzkungz 0:f73c80b36c20 265 } else if(option == 14) { //Right Hip
icyzkungz 0:f73c80b36c20 266 do {
icyzkungz 0:f73c80b36c20 267 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 268 pc.printf("\nInput Ki of Right Hip\n");
icyzkungz 0:f73c80b36c20 269 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 270
icyzkungz 0:f73c80b36c20 271 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 272 pc.printf("\nChange Ki of Right Hip to %f",temp);
icyzkungz 0:f73c80b36c20 273
icyzkungz 0:f73c80b36c20 274 bcom.setUpMotorKi(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 275 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KI_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 276
icyzkungz 0:f73c80b36c20 277 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 278
icyzkungz 0:f73c80b36c20 279 } else if(option == 15) { //Right Hip
icyzkungz 0:f73c80b36c20 280 do {
icyzkungz 0:f73c80b36c20 281 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 282 pc.printf("\nInput Kd of Right Hip\n");
icyzkungz 0:f73c80b36c20 283 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 284
icyzkungz 0:f73c80b36c20 285 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 286 pc.printf("\nChange Kd of Right Hip to %f",temp);
icyzkungz 0:f73c80b36c20 287
icyzkungz 0:f73c80b36c20 288 bcom.setUpMotorKd(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 289 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KD_UPPER_MOTOR);
icyzkungz 0:f73c80b36c20 290
icyzkungz 0:f73c80b36c20 291 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 292
icyzkungz 0:f73c80b36c20 293
icyzkungz 0:f73c80b36c20 294 } else if(option == 16) {
icyzkungz 0:f73c80b36c20 295 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 296 /*******************************Save Right Hip data*************************************/
icyzkungz 0:f73c80b36c20 297
icyzkungz 0:f73c80b36c20 298
icyzkungz 0:f73c80b36c20 299 } else if(option == 17) { //Right Knee
icyzkungz 0:f73c80b36c20 300 do {
icyzkungz 0:f73c80b36c20 301 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 302 pc.printf("\nInput Kp of Right Knee\n");
icyzkungz 0:f73c80b36c20 303 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 304
icyzkungz 0:f73c80b36c20 305 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 306 pc.printf("\nChange Kp of Right Knee to %f",temp);
icyzkungz 0:f73c80b36c20 307
icyzkungz 0:f73c80b36c20 308 bcom.setLowMotorKp(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 309 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KP_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 310
icyzkungz 0:f73c80b36c20 311 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 312
icyzkungz 0:f73c80b36c20 313 } else if(option == 18) { //Right Knee
icyzkungz 0:f73c80b36c20 314 do {
icyzkungz 0:f73c80b36c20 315 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 316 pc.printf("\nInput Ki of Right Knee\n");
icyzkungz 0:f73c80b36c20 317 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 318
icyzkungz 0:f73c80b36c20 319 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 320 pc.printf("\nChange Ki of Right Knee to %f Degree\n",temp);
icyzkungz 0:f73c80b36c20 321
icyzkungz 0:f73c80b36c20 322 bcom.setLowMotorKi(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 323 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KI_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 324
icyzkungz 0:f73c80b36c20 325 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 326
icyzkungz 0:f73c80b36c20 327 } else if(option == 19) { //Right Knee
icyzkungz 0:f73c80b36c20 328 do {
icyzkungz 0:f73c80b36c20 329 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 330 pc.printf("\nInput Kd of Right Knee\n");
icyzkungz 0:f73c80b36c20 331 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 332
icyzkungz 0:f73c80b36c20 333 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 334 pc.printf("\nChange Kd of Right Knee to %f",temp);
icyzkungz 0:f73c80b36c20 335
icyzkungz 0:f73c80b36c20 336 bcom.setLowMotorKd(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 337 } else bcom.saveDataToEEPROM(RIGHT_SIDE,KD_LOWER_MOTOR);
icyzkungz 0:f73c80b36c20 338
icyzkungz 0:f73c80b36c20 339 } while(temp != 9999);
icyzkungz 0:f73c80b36c20 340
icyzkungz 0:f73c80b36c20 341 } else if(option == 20) {
icyzkungz 0:f73c80b36c20 342 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 343 /*******************************Save Right Knee data*************************************/
icyzkungz 0:f73c80b36c20 344
icyzkungz 0:f73c80b36c20 345
icyzkungz 0:f73c80b36c20 346 } else if(option == 21) { //Left Hip Margin
icyzkungz 0:f73c80b36c20 347 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 348 pc.printf("Input Margin\n");
icyzkungz 0:f73c80b36c20 349 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 350
icyzkungz 0:f73c80b36c20 351 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 352 pc.printf("\nChange Left Hip Margin to %f\n",temp);
icyzkungz 0:f73c80b36c20 353 bcom.setUpMargin(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 354 } else bcom.saveDataToEEPROM(LEFT_SIDE,UP_MARGIN);
icyzkungz 0:f73c80b36c20 355 }
icyzkungz 0:f73c80b36c20 356
icyzkungz 0:f73c80b36c20 357 else if(option == 22) { //Left Knee Margin
icyzkungz 0:f73c80b36c20 358 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 359 pc.printf("Input Margin\n");
icyzkungz 0:f73c80b36c20 360 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 361
icyzkungz 0:f73c80b36c20 362 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 363 pc.printf("\nChange Left Knee Margin to %f\n",temp);
icyzkungz 0:f73c80b36c20 364 bcom.setLowMargin(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 365 } else bcom.saveDataToEEPROM(LEFT_SIDE,LOW_MARGIN);
icyzkungz 0:f73c80b36c20 366 }
icyzkungz 0:f73c80b36c20 367
icyzkungz 0:f73c80b36c20 368 else if(option == 23) { //Right Hip Margin
icyzkungz 0:f73c80b36c20 369 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 370 pc.printf("Input Margin\n");
icyzkungz 0:f73c80b36c20 371 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 372
icyzkungz 0:f73c80b36c20 373 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 374 pc.printf("\nChange Right Hip Margin to %f\n",temp);
icyzkungz 0:f73c80b36c20 375 bcom.setUpMargin(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 376 } else bcom.saveDataToEEPROM(RIGHT_SIDE,UP_MARGIN);
icyzkungz 0:f73c80b36c20 377 }
icyzkungz 0:f73c80b36c20 378
icyzkungz 0:f73c80b36c20 379 else if(option == 24) { //Right Knee Margin
icyzkungz 0:f73c80b36c20 380 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 381 pc.printf("Input Margin\n");
icyzkungz 0:f73c80b36c20 382 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 383
icyzkungz 0:f73c80b36c20 384 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 385 pc.printf("\nChange Right Knee Margin to %f\n",temp);
icyzkungz 0:f73c80b36c20 386 bcom.setLowMargin(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 387 } else bcom.saveDataToEEPROM(RIGHT_SIDE,LOW_MARGIN);
icyzkungz 0:f73c80b36c20 388 }
icyzkungz 0:f73c80b36c20 389
icyzkungz 1:183e6088a1fa 390 else if(option == 25) { //Offset
icyzkungz 0:f73c80b36c20 391 if(a == true && b == true && c == true && d == true) {
icyzkungz 0:f73c80b36c20 392 //float HipAngle[2],KneeAngle[2];
icyzkungz 0:f73c80b36c20 393 float LHipAngle,LKneeAngle;
icyzkungz 0:f73c80b36c20 394 float RHipAngle,RKneeAngle;
icyzkungz 0:f73c80b36c20 395 bcom.getMotorPos(LEFT_SIDE,&LHipAngle,&LKneeAngle);
icyzkungz 0:f73c80b36c20 396 bcom.getMotorPos(RIGHT_SIDE,&RHipAngle,&RKneeAngle);
icyzkungz 0:f73c80b36c20 397
icyzkungz 0:f73c80b36c20 398 Kinematic L( 'Z', LLink[0], LLink[1], LHipAngle, LKneeAngle);
icyzkungz 0:f73c80b36c20 399 Kinematic R( 'Z', RLink[0], RLink[1], RHipAngle, RKneeAngle);
icyzkungz 0:f73c80b36c20 400
icyzkungz 0:f73c80b36c20 401 L.ForwardKinematicCalculation();
icyzkungz 0:f73c80b36c20 402 R.ForwardKinematicCalculation();
icyzkungz 0:f73c80b36c20 403
icyzkungz 0:f73c80b36c20 404 float offset_Y,offset_Z;
icyzkungz 0:f73c80b36c20 405 offset_Y = L.get_Position_Y()-R.get_Position_Y();
icyzkungz 0:f73c80b36c20 406 offset_Z = L.get_Position_Z()-R.get_Position_Z();
icyzkungz 0:f73c80b36c20 407
icyzkungz 0:f73c80b36c20 408 bcom.setOffset(LEFT_SIDE,offset_Y,offset_Z);
icyzkungz 0:f73c80b36c20 409 bcom.saveDataToEEPROM(LEFT_SIDE,OFFSET);
icyzkungz 0:f73c80b36c20 410
icyzkungz 0:f73c80b36c20 411 } else pc.printf("\nYou have to do choice 25-28 first\n\n");
icyzkungz 0:f73c80b36c20 412 }
icyzkungz 0:f73c80b36c20 413
icyzkungz 1:183e6088a1fa 414 else if(option == 26) { //Body Lenght of Left Side
icyzkungz 0:f73c80b36c20 415 do {
icyzkungz 0:f73c80b36c20 416 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 417 pc.printf("Input Body Lenght of Left Side\n");
icyzkungz 0:f73c80b36c20 418 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 419
icyzkungz 0:f73c80b36c20 420 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 421 pc.printf("\nBody Lenght = %f\n",temp);
icyzkungz 0:f73c80b36c20 422 bcom.setBodyLength(LEFT_SIDE,temp);
icyzkungz 0:f73c80b36c20 423 } else bcom.saveDataToEEPROM(LEFT_SIDE,BODY_LENGTH);
icyzkungz 0:f73c80b36c20 424
icyzkungz 0:f73c80b36c20 425 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 426 }
icyzkungz 0:f73c80b36c20 427
icyzkungz 1:183e6088a1fa 428 else if(option == 27) { //Body Lenght of Right Side
icyzkungz 0:f73c80b36c20 429 do {
icyzkungz 0:f73c80b36c20 430 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 431 pc.printf("Input Body Lenght of Right Side\n");
icyzkungz 0:f73c80b36c20 432 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 433
icyzkungz 0:f73c80b36c20 434 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 435 pc.printf("\nBody Lenght = %f\n",temp);
icyzkungz 0:f73c80b36c20 436 bcom.setBodyLength(RIGHT_SIDE,temp);
icyzkungz 0:f73c80b36c20 437 } else bcom.saveDataToEEPROM(RIGHT_SIDE,BODY_LENGTH);
icyzkungz 0:f73c80b36c20 438
icyzkungz 0:f73c80b36c20 439 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 440 }
icyzkungz 0:f73c80b36c20 441
icyzkungz 1:183e6088a1fa 442 else if(option == 28) { //Set Maximum Hip Angle Range
icyzkungz 0:f73c80b36c20 443 do {
icyzkungz 0:f73c80b36c20 444 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 445 pc.printf("1) Left Side\n");
icyzkungz 0:f73c80b36c20 446 pc.printf("2) Right Side\n");
icyzkungz 0:f73c80b36c20 447 pc.scanf("%f\n",&temp);
icyzkungz 0:f73c80b36c20 448
icyzkungz 0:f73c80b36c20 449 if(temp==1) { //Left
icyzkungz 0:f73c80b36c20 450 pc.printf("Input Maximum Hip Angle Range of Left Side\n");
icyzkungz 0:f73c80b36c20 451 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 452
icyzkungz 0:f73c80b36c20 453 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 454 pc.printf("\nMaximum Hip Angle Range of Left Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 455 bcom.setUpAngleRange(LEFT_SIDE,temp,Lmin.Hip);
icyzkungz 0:f73c80b36c20 456 Lmax.Hip = temp;
icyzkungz 0:f73c80b36c20 457 } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
icyzkungz 0:f73c80b36c20 458
icyzkungz 0:f73c80b36c20 459 } else if(temp==2) { //Right
icyzkungz 0:f73c80b36c20 460 pc.printf("Input Maximum Hip Angle Range of Right Side\n");
icyzkungz 0:f73c80b36c20 461 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 462
icyzkungz 0:f73c80b36c20 463 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 464 pc.printf("\nMaximum Hip Angle Range of Right Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 465 bcom.setUpAngleRange(RIGHT_SIDE,temp,Rmin.Hip);
icyzkungz 0:f73c80b36c20 466 Rmax.Hip = temp;
icyzkungz 0:f73c80b36c20 467 } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
icyzkungz 0:f73c80b36c20 468 }
icyzkungz 0:f73c80b36c20 469 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 470 }
icyzkungz 0:f73c80b36c20 471
icyzkungz 1:183e6088a1fa 472 else if(option == 29) { //Set Minumum Hip Angle Range
icyzkungz 0:f73c80b36c20 473 do {
icyzkungz 0:f73c80b36c20 474 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 475 pc.printf("1) Left Side\n");
icyzkungz 0:f73c80b36c20 476 pc.printf("2) Right Side\n");
icyzkungz 0:f73c80b36c20 477 pc.scanf("%f\n",&temp);
icyzkungz 0:f73c80b36c20 478
icyzkungz 0:f73c80b36c20 479 if(temp==1) { //Left
icyzkungz 0:f73c80b36c20 480 pc.printf("Input Minumum Hip Angle Range of Left Side\n");
icyzkungz 0:f73c80b36c20 481 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 482
icyzkungz 0:f73c80b36c20 483 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 484 pc.printf("\nMinumum Hip Angle Range of Left Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 485 bcom.setLowAngleRange(LEFT_SIDE,Lmax.Hip,temp);
icyzkungz 0:f73c80b36c20 486 Lmin.Hip = temp;
icyzkungz 0:f73c80b36c20 487 } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_UP);
icyzkungz 0:f73c80b36c20 488
icyzkungz 0:f73c80b36c20 489 } else if(temp==2) { //Right
icyzkungz 0:f73c80b36c20 490 pc.printf("Input Minumum Hip Angle Range of Right Side\n");
icyzkungz 0:f73c80b36c20 491 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 492
icyzkungz 0:f73c80b36c20 493 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 494 pc.printf("\nMinumum Hip Angle Range of Right Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 495 bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Hip,temp);
icyzkungz 0:f73c80b36c20 496 Rmin.Hip = temp;
icyzkungz 0:f73c80b36c20 497 } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_UP);
icyzkungz 0:f73c80b36c20 498 }
icyzkungz 0:f73c80b36c20 499 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 500 }
icyzkungz 0:f73c80b36c20 501
icyzkungz 0:f73c80b36c20 502
icyzkungz 1:183e6088a1fa 503 else if(option == 30) { //Set Maximum Knee Angle Range
icyzkungz 0:f73c80b36c20 504 do {
icyzkungz 0:f73c80b36c20 505 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 506 pc.printf("1) Left Side\n");
icyzkungz 0:f73c80b36c20 507 pc.printf("2) Right Side\n");
icyzkungz 0:f73c80b36c20 508 pc.scanf("%f\n",&temp);
icyzkungz 0:f73c80b36c20 509
icyzkungz 0:f73c80b36c20 510 if(temp==1) { //Left
icyzkungz 0:f73c80b36c20 511 pc.printf("Input Maximum Knee Angle Range of Left Side\n");
icyzkungz 0:f73c80b36c20 512 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 513
icyzkungz 0:f73c80b36c20 514 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 515 pc.printf("\nMaximum Knee Angle Range of Left Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 516 bcom.setLowAngleRange(LEFT_SIDE,temp,Lmin.Knee);
icyzkungz 0:f73c80b36c20 517 Lmax.Knee = temp;
icyzkungz 0:f73c80b36c20 518 } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 0:f73c80b36c20 519
icyzkungz 0:f73c80b36c20 520 } else if(temp==2) { //Right
icyzkungz 0:f73c80b36c20 521 pc.printf("Input Maximum Knee Angle Range of Right Side\n");
icyzkungz 0:f73c80b36c20 522 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 523
icyzkungz 0:f73c80b36c20 524 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 525 pc.printf("\nMaximum Knee Angle Range of Right Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 526 bcom.setLowAngleRange(RIGHT_SIDE,temp,Rmin.Knee);
icyzkungz 0:f73c80b36c20 527 Rmax.Knee = temp;
icyzkungz 0:f73c80b36c20 528 } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 0:f73c80b36c20 529 }
icyzkungz 0:f73c80b36c20 530 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 531 }
icyzkungz 0:f73c80b36c20 532
icyzkungz 1:183e6088a1fa 533 else if(option == 28) { //Set Minumum Knee Angle Range
icyzkungz 0:f73c80b36c20 534 do {
icyzkungz 0:f73c80b36c20 535 pc.printf("\nType 9999 to Exit to Main Menu\n");
icyzkungz 0:f73c80b36c20 536 pc.printf("1) Left Side\n");
icyzkungz 0:f73c80b36c20 537 pc.printf("2) Right Side\n");
icyzkungz 0:f73c80b36c20 538 pc.scanf("%f\n",&temp);
icyzkungz 0:f73c80b36c20 539
icyzkungz 0:f73c80b36c20 540 if(temp==1) { //Left
icyzkungz 0:f73c80b36c20 541 pc.printf("Input Minumum Knee Angle Range of Left Side\n");
icyzkungz 0:f73c80b36c20 542 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 543
icyzkungz 0:f73c80b36c20 544 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 545 pc.printf("\nMinumum Knee Angle Range of Left Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 546 bcom.setLowAngleRange(LEFT_SIDE,Lmax.Knee,temp);
icyzkungz 0:f73c80b36c20 547 Lmin.Knee = temp;
icyzkungz 0:f73c80b36c20 548 } else bcom.saveDataToEEPROM(LEFT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 0:f73c80b36c20 549
icyzkungz 0:f73c80b36c20 550 } else if(temp==2) { //Right
icyzkungz 0:f73c80b36c20 551 pc.printf("Input Minumum Knee Angle Range of Right Side\n");
icyzkungz 0:f73c80b36c20 552 pc.scanf("%f",&temp);
icyzkungz 0:f73c80b36c20 553
icyzkungz 0:f73c80b36c20 554 if(temp != 9999) {
icyzkungz 0:f73c80b36c20 555 pc.printf("\nMinumum Knee Angle Range of Right Side = %f\n",temp);
icyzkungz 0:f73c80b36c20 556 bcom.setLowAngleRange(RIGHT_SIDE,Rmax.Knee,temp);
icyzkungz 0:f73c80b36c20 557 Rmin.Knee = temp;
icyzkungz 0:f73c80b36c20 558 } else bcom.saveDataToEEPROM(RIGHT_SIDE,ANGLE_RANGE_LOW);
icyzkungz 0:f73c80b36c20 559 }
icyzkungz 0:f73c80b36c20 560 } while(temp!=9999);
icyzkungz 0:f73c80b36c20 561 }
icyzkungz 0:f73c80b36c20 562
icyzkungz 0:f73c80b36c20 563
icyzkungz 0:f73c80b36c20 564
icyzkungz 0:f73c80b36c20 565
icyzkungz 0:f73c80b36c20 566
icyzkungz 0:f73c80b36c20 567
icyzkungz 1:183e6088a1fa 568 else if(option == 40) {
icyzkungz 0:f73c80b36c20 569 pc.printf("Are You Sure ?\n");
icyzkungz 0:f73c80b36c20 570 pc.printf("\n1) Yes\n");
icyzkungz 0:f73c80b36c20 571 pc.printf("2) No\n");
icyzkungz 0:f73c80b36c20 572
icyzkungz 0:f73c80b36c20 573 pc.scanf("%d",&option);
icyzkungz 0:f73c80b36c20 574 if(option==1) {
icyzkungz 1:183e6088a1fa 575 option = 40;
icyzkungz 0:f73c80b36c20 576 pc.printf("Please Push Button Restart\n");
icyzkungz 0:f73c80b36c20 577 } else pc.printf("Return to Main Menu\n");
icyzkungz 0:f73c80b36c20 578
icyzkungz 0:f73c80b36c20 579 }
icyzkungz 0:f73c80b36c20 580
icyzkungz 0:f73c80b36c20 581
icyzkungz 0:f73c80b36c20 582 else { // if user has entered invalid choice (other than 1,2,3 or 4)
icyzkungz 0:f73c80b36c20 583 // Displaying error message
icyzkungz 1:183e6088a1fa 584 pc.printf("\nInvalid Option entered\n");
icyzkungz 0:f73c80b36c20 585 }
icyzkungz 0:f73c80b36c20 586 } while(option != 40); // condition of do-while loop
icyzkungz 0:f73c80b36c20 587
icyzkungz 0:f73c80b36c20 588 }
icyzkungz 0:f73c80b36c20 589
icyzkungz 0:f73c80b36c20 590 int main()
icyzkungz 0:f73c80b36c20 591 {
icyzkungz 0:f73c80b36c20 592 pc.baud(115200);
icyzkungz 1:183e6088a1fa 593 pc.printf("Start\n");
icyzkungz 0:f73c80b36c20 594
icyzkungz 1:183e6088a1fa 595 if(!button) {
icyzkungz 1:183e6088a1fa 596 while(!button);
icyzkungz 0:f73c80b36c20 597 SwMode();
icyzkungz 1:183e6088a1fa 598 }
icyzkungz 1:183e6088a1fa 599
icyzkungz 0:f73c80b36c20 600 }
icyzkungz 0:f73c80b36c20 601
icyzkungz 0:f73c80b36c20 602 /*int main()
icyzkungz 0:f73c80b36c20 603 {
icyzkungz 0:f73c80b36c20 604 pc.baud(115200);
icyzkungz 0:f73c80b36c20 605 int num;
icyzkungz 0:f73c80b36c20 606 do {
icyzkungz 0:f73c80b36c20 607 //float num;
icyzkungz 0:f73c80b36c20 608 //Float number --> Working
icyzkungz 0:f73c80b36c20 609 pc.printf("Start\n");
icyzkungz 0:f73c80b36c20 610 pc.scanf("%d",&num);
icyzkungz 0:f73c80b36c20 611 pc.printf("temp : %d\n",num);
icyzkungz 0:f73c80b36c20 612 if( num == 15 )
icyzkungz 0:f73c80b36c20 613 pc.printf("Yes\n");
icyzkungz 0:f73c80b36c20 614 pc.printf("End\n");
icyzkungz 0:f73c80b36c20 615 } while(num!=20);
icyzkungz 0:f73c80b36c20 616 }*/