Diff: main.cpp

Revision:

1:cfa5abca6d43

Parent:

0:7d25c2ade6c5

Child:

2:141cfcafe72b

--- a/main.cpp	Mon Oct 29 13:44:06 2018 +0000
+++ b/main.cpp	Tue Oct 30 11:01:00 2018 +0000
@@ -1,26 +1,71 @@
 #include "mbed.h"
 
+#include "Button.h"
 
-enum states {wait, calib_motor, calib_bicep1, calib_bicep2, homing, operation, failure}; // The possible states of the state machine
+
+enum States {waiting, calib_motor, calib_bicep1, calib_bicep2, homing, operation, failure}; // The possible states of the state machine
 
 // Global variables
 const double PI = 3.14159265359;
-const double PULSES_PER_ROTATION = 6533;
-states current_state;   // Defining the state we are currently in
+// Main loop wait time per cycle. This does not influence the motor PID or EMG reading frequencies.
+const double main_loop_wait_time = 0.01;
+
+
+States current_state;   // Defining the state we are currently in
 Ticker loop_ticker;     // Ticker for the loop function
-float emg1_unfiltered, emg1_filtered; // Floats for EMG bicep 1
-float emg2_unfiltered, emg2_filtered; // Floats for EMG bicep 2
-float u1, u2;           // Floats for motor duty cycle
-float des_motor1_angle, des_motor2_angle;           // Floats for position end-effector
+
+// Order of buttons: up_down, left_right, panic
+// D2, D3, D8
+Button ud_button(PTA4);
+Button lr_button(PTC6);
+Button p_button(D8);
 
-void measure_everything() {
-    motor1_angle = motor1_counts * 2.0f * PI/PULSES_PER_ROTATION; // Gives angle of motor1
-    motor2_angle = motor2_counts * 2.0f * PI/PULSES_PER_ROTATION; // Gives angle of motor2
+DigitalOut led_red(LED_RED);
+DigitalOut led_green(LED_GREEN);
+
+void main_loop()
+{
+    ud_button.update();
+    lr_button.update();
+    p_button.update();
     
 
-
+    led_red = !ud_button.has_just_been_pressed();
+    
+    led_green = lr_button.is_pressed();
+    
+    switch (current_state) {
+        case waiting:
+            //do_state_waiting():
+            break;
+        case calib_motor:
+            //do_state_calib_motor():
+            break;
+        case calib_bicep1:
+            //do_state_calib_bicep1():
+            break;
+        case calib_bicep2:
+            //do_state_calib_bicep2():
+            break;
+        case homing:
+            //do_state_homing():
+            break;
+        case operation:
+            //do_state_operation():
+            break;
+        case failure:
+            //do_state_failure():
+            break;
+    }
+    
+}
 
-void 
-
-
-
+int main()
+{
+    led_red = 1;
+    current_state = waiting;
+    while (true) {
+        main_loop();
+        wait(main_loop_wait_time);
+    }
+}
\ No newline at end of file