Betago
first publish
Dependents: CleaningMachine_Betago CleaningMachine_Betago clean_V1 CleaningM-Palm ... more
Revision 0:da168b469315, committed 2016-02-15
- Comitter:
- icyzkungz
- Date:
- Mon Feb 15 17:44:04 2016 +0000
- Commit message:
- first publish
Changed in this revision
diff -r 000000000000 -r da168b469315 SystemStateConfig.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SystemStateConfig.h Mon Feb 15 17:44:04 2016 +0000 @@ -0,0 +1,7 @@ +#define STATE_WALK1 1 +#define STATE_WALK2 2 +#define STATE_WALK3 3 +#define STATE_SWEEPING 4 +#define STATE_NOT_SWEEPING 5 +#define STATE_WATERING 6 +#define STATE_NOT_WATERING 7 \ No newline at end of file
diff -r 000000000000 -r da168b469315 UI.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/UI.cpp Mon Feb 15 17:44:04 2016 +0000
@@ -0,0 +1,267 @@
+#include "UI.h"
+
+UI::UI(PinName a,PinName b,PinName c,PinName d,PinName e ,PinName f) : SwWalk1(a), SwWalk2(b), SwWalk3(c), SwSweep(d), SwWater(e), SwEmergency(f)
+{
+#ifdef UI_DEBUG
+ pc = new Serial(USBTX, USBRX);
+ pc->baud(115200);
+#endif
+
+ //LED = new BusOut(LED_WALK1, LED_WALK2, LED_WALK3, LED_SWEEP, LED_WATER, LED_STATUS);
+ LedWalk1 = new DigitalOut(LED_WALK1);
+ LedWalk2 = new DigitalOut(LED_WALK2);
+ LedWalk3 = new DigitalOut(LED_WALK3);
+ LedSweep = new DigitalOut(LED_SWEEP);
+ LedWater = new DigitalOut(LED_WATER);
+ LedStatus = new DigitalOut(LED_STATUS);
+
+ LedWalk1->write(0);
+ LedWalk2->write(0);
+ LedWalk3->write(0);
+ LedSweep->write(0);
+ LedWater->write(0);
+ LedStatus->write(0);
+
+ SwEmergency.rise(this, &UI::SwEmergencyPush);
+ SwEmergency.fall(this, &UI::SwEmergencyRelease);
+
+ VelocityBar = new BusOut(LED_BAR1_1, LED_BAR1_2, LED_BAR1_3, LED_BAR1_4, LED_BAR1_5, LED_BAR1_6, LED_BAR1_7, LED_BAR1_8, LED_BAR1_9, LED_BAR1_10);
+ BatteryBar = new BusOut(LED_BAR2_1, LED_BAR2_2, LED_BAR2_3, LED_BAR2_4, LED_BAR2_5, LED_BAR2_6, LED_BAR2_7, LED_BAR2_8, LED_BAR2_9, LED_BAR2_10);
+
+ count[0] = count[1] = count[2] = 0;
+ last_state = now_state = 0;
+
+ state[0] = state[1] = false;
+
+ EmergencyCheck = false;
+
+ SystemState = 0;
+
+ //now = 0;
+ //t.start(); // for LED Status
+ //last = t.read(); // check this again (read or read_ms)
+}
+
+int UI::LEDState()
+{
+#ifdef UI_DEBUG
+ pc->printf("LEDState\n");
+#endif
+ if(1/*Everything Ready*/) {
+ LedStatus->write(1);
+ return 1;
+
+ } else if(1/*Cannot Communicate*/) {
+ LedStatus->write(0);
+ return 0;
+ }
+
+ else if(1/*Communicated but press Emergency button*/) {
+
+ //check communicate by ping
+
+
+
+ LedStatus->write(1);
+ wait_ms(300);
+ LedStatus->write(0);
+ wait_ms(300);
+ /*now = t.read();
+ if((last-now) > 500) {
+ if(LedStatus->read()==0) LedStatus->write(1);
+ else LedStatus->write(0);
+ last = now;
+ }*/
+ return 0;
+ }
+}
+
+void UI::LEDWalkOnOff(int x, int y, int z)
+{
+ if(x==1) LedWalk1->write(1);
+ else LedWalk1->write(0);
+ if(y==1) LedWalk2->write(1);
+ else LedWalk2->write(0);
+ if(z==1) LedWalk3->write(1);
+ else LedWalk3->write(0);
+}
+
+
+void UI::SwWalk1Tick()
+{
+ if(!EmergencyCheck) {
+#ifdef UI_DEBUG
+ pc->printf("SwitchWalk 1 Ticked\n");
+#endif
+ now_state = 1;
+
+ if(last_state != now_state) {
+
+ //Walk Style Command
+
+ //Turn LED on
+ LEDWalkOnOff(1,0,0);
+
+ last_state = 1;
+ }
+ }
+}
+
+void UI::SwWalk2Tick()
+{
+ if(!EmergencyCheck) {
+#ifdef UI_DEBUG
+ pc->printf("SwitchWalk 2 Ticked\n");
+#endif
+
+ now_state = 2;
+
+ if(last_state != now_state) {
+
+ //Walk Style Command
+
+ //Turn LED on
+ LEDWalkOnOff(0,1,0);
+
+ last_state = 2;
+ }
+ }
+}
+
+void UI::SwWalk3Tick()
+{
+ if(!EmergencyCheck) {
+#ifdef UI_DEBUG
+ pc->printf("SwitchWalk 3 Ticked\n");
+#endif
+ now_state = 3;
+
+ if(last_state != now_state) {
+
+ //Walk Style Command
+
+ //Turn LED on
+ LEDWalkOnOff(0,0,1);
+ last_state = 3;
+ }
+ }
+}
+
+void UI::SwSweepTick()
+{
+ if(!EmergencyCheck) {
+ count[0]++;
+
+#ifdef UI_DEBUG
+ pc->printf("Switch Sweep Ticked\n");
+#endif
+
+ if(count[0]%2!=0) {
+ LedSweep->write(1);
+#ifdef UI_DEBUG
+ pc->printf("Sweep On\n");
+#endif
+ } else {
+ LedSweep->write(0);
+#ifdef UI_DEBUG
+ pc->printf("Sweep Off\n");
+#endif
+ }
+
+ //Send Sweep Command
+
+ }
+}
+
+void UI::SwWaterTick()
+{
+ if(!EmergencyCheck) {
+ count[1]++;
+
+#ifdef UI_DEBUG
+ pc->printf("Switch Water Ticked\n");
+#endif
+
+ if(count[1]%2!=0) {
+ LedWater->write(1);
+#ifdef UI_DEBUG
+ pc->printf("Water On\n");
+#endif
+ } else {
+ LedWater->write(0);
+#ifdef UI_DEBUG
+ pc->printf("Water Off\n");
+#endif
+ }
+
+ //Send Water Command
+
+ }
+}
+
+
+void UI::SwEmergencyPush()
+{
+ EmergencyCheck = true;
+ //Send communication command to 'Stop Walking '
+
+
+ //Turn all LEDs off except 'status LED'
+ LEDWalkOnOff(0,0,0);
+ LedSweep->write(0);
+ LedWater->write(0);
+
+ VelocityBar->write(0b0000000000);
+
+#ifdef UI_DEBUG
+ pc->printf("Emergency Button PUSHING\n");
+#endif
+ count[0] = count[1] = count[2] = 0;
+}
+
+void UI::SwEmergencyRelease()
+{
+ EmergencyCheck = false;
+ //Send communication command to 'Stop Walking '
+
+
+ //Turn all LEDs off except 'status LED'
+
+
+
+#ifdef UI_DEBUG
+ pc->printf("Emergency Button RELEASE\n");
+#endif
+}
+
+void UI::BatteryBarLevel()
+{
+ float value; //Delete this after you get DigitalIn value from battery
+ if(value >= 100)
+ BatteryBar->write(0b1111111111);
+}
+
+void UI::RunSystem()
+{
+ if(SwWalk1==1) SwWalk1Tick();
+ else if(SwWalk2==1) SwWalk2Tick();
+ else if(SwWalk3==1) SwWalk3Tick();
+
+ if(SwSweep==1){
+ SwSweepTick();
+ state[0] = true;
+ }
+ if(state[0]==true && SwSweep==1){
+ SwSweepTick();
+ state[0] = false;
+ }
+
+ if(SwWater==1){
+ SwWaterTick();
+ state[1] = true;
+ }
+ if(state[1]==true && SwWater==1){
+ SwWaterTick();
+ state[1] = false;
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r da168b469315 UI.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/UI.h Mon Feb 15 17:44:04 2016 +0000
@@ -0,0 +1,67 @@
+#ifndef UI_H
+#define UI_H
+
+#include "mbed.h"
+#include "pinconfig.h"
+#include "SystemStateConfig.h"
+
+#define UI_DEBUG
+
+class UI
+{
+public:
+ //UI();
+ UI(PinName,PinName,PinName,PinName,PinName,PinName);
+ int LEDState();
+ void LEDWalkOnOff(int,int,int);
+
+ void SwWalk1Tick();
+ void SwWalk2Tick();
+ void SwWalk3Tick();
+
+ void SwSweepTick();
+ void SwWaterTick();
+ void SwEmergencyPush();
+ void SwEmergencyRelease();
+
+ void BatteryBarLevel();
+ void VelocityBarLevel();
+
+ void RunSystem();
+
+ bool getEmergencyStatus() {
+ return EmergencyCheck;
+ }
+ int getSystemState() {
+ return SystemState;
+ }
+
+private:
+ Serial *pc;
+ BusOut *VelocityBar,*BatteryBar;
+ DigitalOut *LedWalk1, *LedWalk2, *LedWalk3, *LedSweep, *LedWater, *LedStatus;
+
+ DigitalIn SwWalk1, SwWalk2, SwWalk3, SwSweep, SwWater;
+ InterruptIn SwEmergency;
+
+
+ //Timer t;
+ //float now;
+ //float last;
+
+ volatile int count[3];
+
+ bool EmergencyCheck;
+
+ bool state[2];
+
+ int last_state;
+ int now_state;
+
+ int SystemState;
+
+
+
+};
+
+#endif
\ No newline at end of file
diff -r 000000000000 -r da168b469315 pinconfig.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pinconfig.h Mon Feb 15 17:44:04 2016 +0000 @@ -0,0 +1,38 @@ +//LED +#define LED_WALK1 PA_4 +#define LED_WALK2 PA_1 +#define LED_WALK3 PA_0 +#define LED_SWEEP PD_2 +#define LED_WATER PC_11 +#define LED_STATUS PC_3 + +//LED Bar +#define LED_BAR1_1 PA_14 +#define LED_BAR1_2 PA_13 +#define LED_BAR1_3 PA_10 +#define LED_BAR1_4 PB_3 +#define LED_BAR1_5 PB_5 +#define LED_BAR1_6 PB_4 +#define LED_BAR1_7 PB_10 +#define LED_BAR1_8 PA_8 +#define LED_BAR1_9 PA_9 +#define LED_BAR1_10 PC_7 + +#define LED_BAR2_1 PB_6 +#define LED_BAR2_2 PA_7 +#define LED_BAR2_3 PA_6 +#define LED_BAR2_4 PA_5 +#define LED_BAR2_5 PB_9 +#define LED_BAR2_6 PB_8 +#define LED_BAR2_7 PC_9 +#define LED_BAR2_8 PC_0 +#define LED_BAR2_9 PC_1 +#define LED_BAR2_10 PB_0 + +//Swtich +#define SW_WALK1 PC_4 +#define SW_WALK2 PB_13 +#define SW_WALK3 PB_14 +#define SW_SWEEP PB_15 +#define SW_WATER PB_1 +#define EMERGENCY PB_2