Biorobotics / Mbed 2 deprecated piano_robot

newest version,

Dependencies:   QEI mbed

check_state_change.cpp@3:11c2175b4478, 2015-10-26 (annotated)

Committer:
roosbulthuis
Date:
Mon Oct 26 11:42:17 2015 +0000
Revision:
3:11c2175b4478
Parent:
0:fc6fa085d591 
New file for filters without classes, check if input and output are correct. Should be pasted into main code.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NickDGreg 0:fc6fa085d591 1 /*
NickDGreg 0:fc6fa085d591 2 * check_state_change.cpp
NickDGreg 0:fc6fa085d591 3 *
NickDGreg 0:fc6fa085d591 4 * Created on: Oct 20, 2015
NickDGreg 0:fc6fa085d591 5 * Author: User
NickDGreg 0:fc6fa085d591 6 */
NickDGreg 0:fc6fa085d591 7
NickDGreg 0:fc6fa085d591 8 #include "mbed.h"
NickDGreg 0:fc6fa085d591 9 #include <iostream>
NickDGreg 0:fc6fa085d591 10
NickDGreg 0:fc6fa085d591 11 //threashold to turn on the system if it is off
NickDGreg 0:fc6fa085d591 12 double threashold_turn_on = 10;
NickDGreg 0:fc6fa085d591 13
NickDGreg 0:fc6fa085d591 14 //threashold to turn of the system if it is on
NickDGreg 0:fc6fa085d591 15 double threashold_turn_off = 9;
NickDGreg 0:fc6fa085d591 16
NickDGreg 0:fc6fa085d591 17 void check_state_change(std::string &state, std::string newState, int &num_on_inputs, double &threashold)
NickDGreg 0:fc6fa085d591 18 {
NickDGreg 0:fc6fa085d591 19 if (state == newState)
NickDGreg 0:fc6fa085d591 20 {
NickDGreg 0:fc6fa085d591 21 //add one to the count to track how long the muscle is tense for (update() moves motor if tensed for 0.25s)
NickDGreg 0:fc6fa085d591 22 //if at rest then still tracked but update function will not move the motor only reset num_on_inputs
NickDGreg 0:fc6fa085d591 23 num_on_inputs++;
NickDGreg 0:fc6fa085d591 24
NickDGreg 0:fc6fa085d591 25 }
NickDGreg 0:fc6fa085d591 26 else
NickDGreg 0:fc6fa085d591 27 {
NickDGreg 0:fc6fa085d591 28 //state change so reset the values of on inputs
NickDGreg 0:fc6fa085d591 29 num_on_inputs = 0;
NickDGreg 0:fc6fa085d591 30 //change state to newState
NickDGreg 0:fc6fa085d591 31 state = newState;
NickDGreg 0:fc6fa085d591 32
NickDGreg 0:fc6fa085d591 33 //change the threashold as there has been a change of state
NickDGreg 0:fc6fa085d591 34 if (newState == "rest")
NickDGreg 0:fc6fa085d591 35 {
NickDGreg 0:fc6fa085d591 36 //we know the system has switched from on to off so set threashold to turn on threashold
NickDGreg 0:fc6fa085d591 37 threashold = threashold_turn_on;
NickDGreg 0:fc6fa085d591 38 }
NickDGreg 0:fc6fa085d591 39
NickDGreg 0:fc6fa085d591 40 else
NickDGreg 0:fc6fa085d591 41 {
NickDGreg 0:fc6fa085d591 42 //we know the system has switched from rest to left, right, or keypress i.e. off to on
NickDGreg 0:fc6fa085d591 43 threashold = threashold_turn_off;
NickDGreg 0:fc6fa085d591 44 }
NickDGreg 0:fc6fa085d591 45 }
NickDGreg 0:fc6fa085d591 46 }
NickDGreg 0:fc6fa085d591 47
NickDGreg 0:fc6fa085d591 48
NickDGreg 0:fc6fa085d591 49
NickDGreg 0:fc6fa085d591 50
NickDGreg 0:fc6fa085d591 51