ServiceKeyboard.cpp

00001 #include "mbed.h"
00002 #include "iC_MU.h"
00003 #include "rtos.h"
00004 #include "Classic_PID.h"
00005 
00006 extern Serial pc;
00007 extern Classic_PID PanVelocityPID;
00008 extern Classic_PID TiltVelocityPID;
00009 void Profile(void);
00010 extern float Demand_Count_Rate;
00011 
00012 extern bool joystick;
00013 extern bool scoping;
00014 
00015 extern float fade_tilt;
00016 extern float fade_time;
00017 extern float D;
00018 extern float T;
00019 extern float ts;
00020 extern int DoMove;
00021 extern float T_Position;
00022 extern float T_Kp;
00023 extern float Vff;
00024 float setting;
00025 extern float  Time;
00026 
00027 extern float Joy_Zoom;
00028 
00029 extern double drive;
00030 
00031 // Returns the new set point entered via the keyboard
00032 int ServiceKeyboard ()
00033 {
00034     int key;                                            // The keypress by the user
00035     int value = 0;                                      // The variable to return
00036 
00037     key = pc.getc();                                    // Read the intial keypress
00038 
00039     switch (key)   {
00040 // List keypresses used:
00041         case 'q':
00042             pc.printf("\n\r Toggle joystick = j \n\r Scope = s \n\r Fade = f \n\r Stop = c \n\r Set POS gains k, v, \n\r Set Vel Vff, kp: l, m \n\r Set fade time: t \n\r Save Shot = 1");
00043             pc.printf("\n\r Zoom Value (1-10) = z  \n\r Drive const speed = d");
00044             break;
00045 // Save a shot position:
00046         case '1':
00047 
00048             fade_tilt = T_Position;
00049             pc.printf("\n\r Saving this postion as %f", fade_tilt);
00050             break;
00051 // Switch Joystick Mode on and off
00052         case 'j':
00053             joystick = !joystick;
00054             if(joystick) {
00055                 pc.printf("\n\r Under Joystick Control");
00056             } else {
00057                 // Stop both axes
00058                 //PanVelocityPID.setSetPoint(0);
00059                 //TiltVelocityPID.setSetPoint(0);
00060                 pc.printf("\n\r Under Full Profiler Control");
00061                 pc.printf("\n\r");
00062             }
00063             break;
00064 // Turn on Scope Tool:
00065         case 's':
00066             if (!scoping) {
00067                 Time = 0;
00068                 pc.printf("\n\r Time, Tilt_JoyStickDem, P_Error, T_Position, P, Motor_Speed, Demand_Speed");
00069 
00070                 scoping = true;
00071             } else {
00072                 scoping = false;
00073             }
00074 
00075             break;
00076 // Calling A Fade:
00077         case 'f':
00078             if (DoMove == 0) {
00079                 //fade_time = 15;
00080                 Profile();
00081                 pc.printf("\n\r Fade Distance: %f", D);
00082                 pc.printf("\n\r Fade Time = %f,  Ramp segment =  %f",T, ts);
00083                 DoMove = 1;
00084             }
00085             break;
00086             // We are going to set the fade time...
00087         case 't':
00088             pc.printf("\n\r New Fade Time: ");
00089             key = pc.getc();
00090             do {
00091                 key = pc.getc();                            // Wait for a keypress
00092                 if(key >= '0' && key <= '9') {              // Check it is a number
00093                     value *= 10;                            // Index the old number
00094                     value += (key - '0');                   // Add on the new number
00095                     pc.printf("%c",key);                    // Display the new number
00096                 }
00097             } while(key != 0x0D);
00098             setting = value;
00099             fade_time = (setting);
00100             pc.printf("\n\r");
00101             break;
00102 // Stop a fade
00103         case 'c':
00104             if (DoMove == 1) {
00105                 pc.printf("\n\r Fade Stop");
00106                 DoMove = 0;
00107                 //TiltVelocityPID.setSetPoint(0);
00108             }
00109             break;
00110 // Set Tilt Kp
00111         case 'k':
00112             pc.printf("\n\r New Tilt Pos Kp (Multiply by 100): ");
00113             key = pc.getc();
00114             do {
00115                 key = pc.getc();                            // Wait for a keypress
00116                 if(key >= '0' && key <= '9') {              // Check it is a number
00117                     value *= 10;                            // Index the old number
00118                     value += (key - '0');                   // Add on the new number
00119                     pc.printf("%c",key);                    // Display the new number
00120                 }
00121             } while(key != 0x0D);
00122             setting = value;
00123             T_Kp = (setting/100);
00124             //TiltVelocityPID.setKp(value);
00125             pc.printf("\n\r");
00126             break;
00127 // We are going to set Pos Feedforward gain for tilt...
00128         case 'v':
00129             pc.printf("\n\r New Tilt Pos Vff (Multiply by 100): ");
00130             key = pc.getc();
00131             do {
00132                 key = pc.getc();                            // Wait for a keypress
00133                 if(key >= '0' && key <= '9') {              // Check it is a number
00134                     value *= 10;                            // Index the old number
00135                     value += (key - '0');                   // Add on the new number
00136                     pc.printf("%c",key);                    // Display the new number
00137                 }
00138             } while(key != 0x0D);
00139             setting = value;
00140             Vff = (setting/100);
00141             pc.printf("\n\r");
00142             break;
00143 // We are going to set Kvelff gain for tilt...
00144         case 'l':
00145             pc.printf("\n\r New Tilt Velocity Vff (Multiply by 100): ");
00146             key = pc.getc();
00147             do {
00148                 key = pc.getc();                            // Wait for a keypress
00149                 if(key >= '0' && key <= '9') {              // Check it is a number
00150                     value *= 10;                            // Index the old number
00151                     value += (key - '0');                   // Add on the new number
00152                     pc.printf("%c",key);                    // Display the new number
00153                 }
00154             } while(key != 0x0D);
00155             setting = value;
00156             TiltVelocityPID.setKvelff(setting/100);
00157             pc.printf("\n\r");
00158             break;
00159 // Set Tilt Velocity Kp
00160         case 'm':
00161             pc.printf("\n\r New Tilt Velocity Kp (Multiply by 100): ");
00162             key = pc.getc();
00163             do {
00164                 key = pc.getc();                            // Wait for a keypress
00165                 if(key >= '0' && key <= '9') {              // Check it is a number
00166                     value *= 10;                            // Index the old number
00167                     value += (key - '0');                   // Add on the new number
00168                     pc.printf("%c",key);                    // Display the new number
00169                 }
00170             } while(key != 0x0D);
00171             setting = value;
00172             TiltVelocityPID.setKp(setting/100);
00173             pc.printf("\n\r");
00174             break;
00175 // Set Zoom level for Zoom proportional
00176         case 'z':
00177             pc.printf("\n\r Set Zoom Scalar Low 1-9 High): ");
00178             key = pc.getc();
00179             do {
00180                 key = pc.getc();                            // Wait for a keypress
00181                 if(key >= '0' && key <= '9') {              // Check it is a number
00182                     value *= 10;                            // Index the old number
00183                     value += (key - '0');                   // Add on the new number
00184                     pc.printf("%c",key);                    // Display the new number
00185                 }
00186             } while(key != 0x0D);
00187             setting = value;
00188             Joy_Zoom = (setting);
00189             pc.printf("\n\r");
00190             break;
00191             // We are going to set Pos Feedforward gain for tilt...
00192         case 'd':
00193             pc.printf("\n\r Drive const speed (Multiply by 100): ");
00194             key = pc.getc();
00195             do {
00196                 key = pc.getc();                            // Wait for a keypress
00197                 if(key >= '0' && key <= '9') {              // Check it is a number
00198                     value *= 10;                            // Index the old number
00199                     value += (key - '0');                   // Add on the new number
00200                     pc.printf("%c",key);                    // Display the new number
00201                 }
00202             } while(key != 0x0D);
00203             setting = value;
00204             drive = setting;
00205             pc.printf("\n\r New Speed is = %f", (drive/100));
00206             break;
00207     }
00208     return(1);
00209 }
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