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Dependencies:   Classic_PID iC_MU mbed-rtos mbed

ServiceKeyboard.cpp@1:1ad84260ff59, 2015-05-18 (annotated)

Committer:
ms523
Date:
Mon May 18 09:06:07 2015 +0000
Revision:
1:1ad84260ff59
Parent:
0:7ce0bc67f60f
Child:
2:dc684c402296
current latest code - not revision controlled

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ms523 0:7ce0bc67f60f 1 #include "mbed.h"
ms523 0:7ce0bc67f60f 2 #include "iC_MU.h"
ms523 0:7ce0bc67f60f 3 #include "rtos.h"
ms523 0:7ce0bc67f60f 4 #include "Classic_PID.h"
ms523 0:7ce0bc67f60f 5
ms523 0:7ce0bc67f60f 6 extern Serial pc;
ms523 0:7ce0bc67f60f 7 extern Classic_PID PanVelocityPID;
ms523 0:7ce0bc67f60f 8 extern Classic_PID TiltVelocityPID;
ms523 0:7ce0bc67f60f 9
ms523 0:7ce0bc67f60f 10 extern bool joystick;
ms523 0:7ce0bc67f60f 11
ms523 0:7ce0bc67f60f 12 // Returns the new set point entered via the keyboard
ms523 0:7ce0bc67f60f 13 int ServiceKeyboard ()
ms523 0:7ce0bc67f60f 14 {
ms523 0:7ce0bc67f60f 15 int key; // The keypress by the user
ms523 0:7ce0bc67f60f 16 int value = 0; // The variable to return
ms523 0:7ce0bc67f60f 17
ms523 0:7ce0bc67f60f 18 key = pc.getc(); // Read the intial keypress
ms523 0:7ce0bc67f60f 19
ms523 0:7ce0bc67f60f 20 if (key == 'j') {
ms523 0:7ce0bc67f60f 21 joystick = !joystick;
ms523 0:7ce0bc67f60f 22 if(joystick) {
ms523 1:1ad84260ff59 23 pc.printf("\n\r Under Joystick Control");
ms523 0:7ce0bc67f60f 24 } else {
ms523 1:1ad84260ff59 25 // Stop both axes
ms523 1:1ad84260ff59 26 PanVelocityPID.setSetPoint(0);
ms523 1:1ad84260ff59 27 TiltVelocityPID.setSetPoint(0);
ms523 1:1ad84260ff59 28 pc.printf("\n\r Under PC Control");
ms523 0:7ce0bc67f60f 29 }
ms523 0:7ce0bc67f60f 30 }
ms523 0:7ce0bc67f60f 31 // Set Velocity for Pan and Tilt here...
ms523 0:7ce0bc67f60f 32 else if(key == 'p') {
ms523 0:7ce0bc67f60f 33 // We are going to set the speed of pan...
ms523 0:7ce0bc67f60f 34 pc.printf("\n\r New Pan Vel: ");
ms523 0:7ce0bc67f60f 35 key = pc.getc();
ms523 0:7ce0bc67f60f 36 if (key == 0x1B) {
ms523 0:7ce0bc67f60f 37 if(pc.getc() == 0x4F) {
ms523 0:7ce0bc67f60f 38 if(pc.getc() == 0x53) {
ms523 0:7ce0bc67f60f 39 pc.printf("-");
ms523 0:7ce0bc67f60f 40 do {
ms523 0:7ce0bc67f60f 41 key = pc.getc(); // Wait for a keypress
ms523 0:7ce0bc67f60f 42 if(key >= '0' && key <= '9') { // Check it is a number
ms523 0:7ce0bc67f60f 43 value *= 10; // Index the old number
ms523 0:7ce0bc67f60f 44 value += (key - '0'); // Add on the new number
ms523 0:7ce0bc67f60f 45 pc.printf("%c",key); // Display the new number
ms523 0:7ce0bc67f60f 46 }
ms523 0:7ce0bc67f60f 47 } while(key != 0x0D);
ms523 0:7ce0bc67f60f 48 PanVelocityPID.setSetPoint(value * -1);
ms523 0:7ce0bc67f60f 49 }
ms523 0:7ce0bc67f60f 50 }
ms523 0:7ce0bc67f60f 51 } else if(key >= '0' && key <= '9') { // Check it is a number
ms523 0:7ce0bc67f60f 52 pc.printf("%c",key);
ms523 0:7ce0bc67f60f 53 value = (key - '0');
ms523 0:7ce0bc67f60f 54 do {
ms523 0:7ce0bc67f60f 55 key = pc.getc(); // Wait for a keypress
ms523 0:7ce0bc67f60f 56 if(key >= '0' && key <= '9') { // Check it is a number
ms523 0:7ce0bc67f60f 57 value *= 10; // Index the old number
ms523 0:7ce0bc67f60f 58 value += (key - '0'); // Add on the new number
ms523 0:7ce0bc67f60f 59 pc.printf("%c",key); // Display the new number
ms523 0:7ce0bc67f60f 60 }
ms523 0:7ce0bc67f60f 61 } while(key != 0x0D);
ms523 0:7ce0bc67f60f 62 PanVelocityPID.setSetPoint(value);
ms523 0:7ce0bc67f60f 63 }
ms523 0:7ce0bc67f60f 64 } else if(key == 't') {
ms523 0:7ce0bc67f60f 65 // We are going to set the speed of tilt...
ms523 0:7ce0bc67f60f 66 pc.printf("\n\r New Tilt Vel: ");
ms523 0:7ce0bc67f60f 67 key = pc.getc();
ms523 0:7ce0bc67f60f 68 if (key == 0x1B) {
ms523 0:7ce0bc67f60f 69 if(pc.getc() == 0x4F) {
ms523 0:7ce0bc67f60f 70 if(pc.getc() == 0x53) {
ms523 0:7ce0bc67f60f 71 pc.printf("-");
ms523 0:7ce0bc67f60f 72 do {
ms523 0:7ce0bc67f60f 73 key = pc.getc(); // Wait for a keypress
ms523 0:7ce0bc67f60f 74 if(key >= '0' && key <= '9') { // Check it is a number
ms523 0:7ce0bc67f60f 75 value *= 10; // Index the old number
ms523 0:7ce0bc67f60f 76 value += (key - '0'); // Add on the new number
ms523 0:7ce0bc67f60f 77 pc.printf("%c",key); // Display the new number
ms523 0:7ce0bc67f60f 78 }
ms523 0:7ce0bc67f60f 79 } while(key != 0x0D);
ms523 0:7ce0bc67f60f 80 TiltVelocityPID.setSetPoint(value * -1);
ms523 0:7ce0bc67f60f 81 }
ms523 0:7ce0bc67f60f 82 }
ms523 0:7ce0bc67f60f 83 } else if(key >= '0' && key <= '9') { // Check it is a number
ms523 0:7ce0bc67f60f 84 pc.printf("%c",key);
ms523 0:7ce0bc67f60f 85 value = (key - '0');
ms523 0:7ce0bc67f60f 86 do {
ms523 0:7ce0bc67f60f 87 key = pc.getc(); // Wait for a keypress
ms523 0:7ce0bc67f60f 88 if(key >= '0' && key <= '9') { // Check it is a number
ms523 0:7ce0bc67f60f 89 value *= 10; // Index the old number
ms523 0:7ce0bc67f60f 90 value += (key - '0'); // Add on the new number
ms523 0:7ce0bc67f60f 91 pc.printf("%c",key); // Display the new number
ms523 0:7ce0bc67f60f 92 }
ms523 0:7ce0bc67f60f 93 } while(key != 0x0D);
ms523 0:7ce0bc67f60f 94 TiltVelocityPID.setSetPoint(value);
ms523 0:7ce0bc67f60f 95 }
ms523 0:7ce0bc67f60f 96 }
ms523 0:7ce0bc67f60f 97 return(1);
ms523 1:1ad84260ff59 98 }