Biorobotics / Mbed 2 deprecated piano_robot

newest version,

Dependencies:   QEI mbed

update.cpp@0:fc6fa085d591, 2015-10-23 (annotated)

Committer:
NickDGreg
Date:
Fri Oct 23 13:14:57 2015 +0000
Revision:
0:fc6fa085d591
move_motor compiles, working on filter.  Cannot pass AnalogIn as input, says no default constructor. Cannot pass as pinName as analogIn declared in constructor cannot be seen  by methods; ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NickDGreg 0:fc6fa085d591 1 /*
NickDGreg 0:fc6fa085d591 2 * update.cpp
NickDGreg 0:fc6fa085d591 3 *
NickDGreg 0:fc6fa085d591 4 * Created on: Oct 16, 2015
NickDGreg 0:fc6fa085d591 5 * Author: User
NickDGreg 0:fc6fa085d591 6 */
NickDGreg 0:fc6fa085d591 7
NickDGreg 0:fc6fa085d591 8
NickDGreg 0:fc6fa085d591 9 #include <iostream>
NickDGreg 0:fc6fa085d591 10 #include <string>
NickDGreg 0:fc6fa085d591 11 #include "move_motor.h";
NickDGreg 0:fc6fa085d591 12 /*
NickDGreg 0:fc6fa085d591 13 * takes state and num_on_inputs as input variables, if num_on_inputs means been in one state for 0.25s
NickDGreg 0:fc6fa085d591 14 * it calls the motor movement function according to the state (left/right or key press)
NickDGreg 0:fc6fa085d591 15 */
NickDGreg 0:fc6fa085d591 16 void update(std::string state, int &num_on_inputs)
NickDGreg 0:fc6fa085d591 17 {
NickDGreg 0:fc6fa085d591 18 //check if system has been in one state long enough to move
NickDGreg 0:fc6fa085d591 19 if (num_on_inputs == 250)
NickDGreg 0:fc6fa085d591 20 {
NickDGreg 0:fc6fa085d591 21 //reset the number of on inputs so that once function finishes robot is 'reinitialised'
NickDGreg 0:fc6fa085d591 22 num_on_inputs = 0;
NickDGreg 0:fc6fa085d591 23 //run left/right motor, key press motor or do nothing depending on the state
NickDGreg 0:fc6fa085d591 24 if (state == "left" or state == "right" or state == "keypress")
NickDGreg 0:fc6fa085d591 25 {
NickDGreg 0:fc6fa085d591 26 //function to be created and included as h file
NickDGreg 0:fc6fa085d591 27 move_motor(state);
NickDGreg 0:fc6fa085d591 28 //std::cout << "left or right \n";
NickDGreg 0:fc6fa085d591 29 }
NickDGreg 0:fc6fa085d591 30
NickDGreg 0:fc6fa085d591 31 else if (state == "rest")
NickDGreg 0:fc6fa085d591 32 {
NickDGreg 0:fc6fa085d591 33 //if at rest do nothing
NickDGreg 0:fc6fa085d591 34 //std::cout << "rest ";
NickDGreg 0:fc6fa085d591 35 }
NickDGreg 0:fc6fa085d591 36 else
NickDGreg 0:fc6fa085d591 37 {
NickDGreg 0:fc6fa085d591 38 //throw an error somehow
NickDGreg 0:fc6fa085d591 39 //std::cout << "error \n ";
NickDGreg 0:fc6fa085d591 40 }
NickDGreg 0:fc6fa085d591 41 }
NickDGreg 0:fc6fa085d591 42 else if (num_on_inputs > 250)
NickDGreg 0:fc6fa085d591 43 {
NickDGreg 0:fc6fa085d591 44 //std::cout << "error \n ";
NickDGreg 0:fc6fa085d591 45 }
NickDGreg 0:fc6fa085d591 46 }
NickDGreg 0:fc6fa085d591 47
NickDGreg 0:fc6fa085d591 48 /*
NickDGreg 0:fc6fa085d591 49 void update(std::string state, int &num_on_inputs)
NickDGreg 0:fc6fa085d591 50 {
NickDGreg 0:fc6fa085d591 51 //check if system has been in one state long enough to move
NickDGreg 0:fc6fa085d591 52 if (num_on_inputs == 250)
NickDGreg 0:fc6fa085d591 53 {
NickDGreg 0:fc6fa085d591 54 //reset the number of on inputs so that once function finishes robot is 'reinitialised'
NickDGreg 0:fc6fa085d591 55 num_on_inputs = 0;
NickDGreg 0:fc6fa085d591 56 //run left/right motor, key press motor or do nothing depending on the state
NickDGreg 0:fc6fa085d591 57 if (state == "left" or state == "right")
NickDGreg 0:fc6fa085d591 58 {
NickDGreg 0:fc6fa085d591 59 //function to be created and included as h file
NickDGreg 0:fc6fa085d591 60 //move_horizontal_motor(state)
NickDGreg 0:fc6fa085d591 61 std::cout << "left or right \n";
NickDGreg 0:fc6fa085d591 62 }
NickDGreg 0:fc6fa085d591 63 else if (state == "keypress")
NickDGreg 0:fc6fa085d591 64 {
NickDGreg 0:fc6fa085d591 65 //function to be created and its h file included
NickDGreg 0:fc6fa085d591 66 //move_keypress_motor()
NickDGreg 0:fc6fa085d591 67 std::cout << "keypress \n ";
NickDGreg 0:fc6fa085d591 68 }
NickDGreg 0:fc6fa085d591 69 else if (state == "rest")
NickDGreg 0:fc6fa085d591 70 {
NickDGreg 0:fc6fa085d591 71 //if at rest do nothing
NickDGreg 0:fc6fa085d591 72 std::cout << "rest ";
NickDGreg 0:fc6fa085d591 73 }
NickDGreg 0:fc6fa085d591 74 else
NickDGreg 0:fc6fa085d591 75 {
NickDGreg 0:fc6fa085d591 76 //throw an error somehow
NickDGreg 0:fc6fa085d591 77 std::cout << "error \n ";
NickDGreg 0:fc6fa085d591 78 }
NickDGreg 0:fc6fa085d591 79 }
NickDGreg 0:fc6fa085d591 80 else if (num_on_inputs > 250)
NickDGreg 0:fc6fa085d591 81 {
NickDGreg 0:fc6fa085d591 82 std::cout << "error \n ";
NickDGreg 0:fc6fa085d591 83 }
NickDGreg 0:fc6fa085d591 84 }
NickDGreg 0:fc6fa085d591 85
NickDGreg 0:fc6fa085d591 86 int main()
NickDGreg 0:fc6fa085d591 87 {
NickDGreg 0:fc6fa085d591 88 std::string state = "left";
NickDGreg 0:fc6fa085d591 89 int num_on_inputs = 250;
NickDGreg 0:fc6fa085d591 90
NickDGreg 0:fc6fa085d591 91 update(state, num_on_inputs);
NickDGreg 0:fc6fa085d591 92
NickDGreg 0:fc6fa085d591 93 std::cout << num_on_inputs << "!\n";
NickDGreg 0:fc6fa085d591 94
NickDGreg 0:fc6fa085d591 95 return 0;
NickDGreg 0:fc6fa085d591 96 }
NickDGreg 0:fc6fa085d591 97 */
NickDGreg 0:fc6fa085d591 98
NickDGreg 0:fc6fa085d591 99
NickDGreg 0:fc6fa085d591 100