Diff: main.cpp

Revision:

8:7e48229d678c

Parent:

7:7464fbb0f3e1

Child:

9:ada61082bbaa

diff -r 7464fbb0f3e1 -r 7e48229d678c main.cpp
--- a/main.cpp	Wed Jan 26 23:08:24 2022 +0000
+++ b/main.cpp	Fri Jan 28 13:01:19 2022 +0000
@@ -4,6 +4,18 @@
 #include "Joystick.h"
 #include "main.h"
 
+/***************************************************************************//**
+*
+* the main code below sets all the interrupts to pull down and also for the start
+* and back buttons it is sent to the specific start and back functions which sets
+* the flags which are then used in other functions.
+*
+* the mu.startUpdates() is where the ultrasonic sensor is told to start measuring
+* the distances.
+* the joystick and lcd are then initialised and the man menu function is then
+* called.
+*
+*******************************************************************************/
 
 int main()
 {
@@ -14,57 +26,79 @@
     Start.rise(Start_isr);
     Back.mode(PullDown);
     Back.rise(Back_isr);
-    mu.startUpdates();//start mesuring the distance
+    // printf("set buttons");
+    
+    mu.startUpdates();
+    // printf ("Ultrasonic Updates started");
     
     joystick.init();
+    // printf("initialise joystick")
     init_display();
+    
     main_menu();
     
 }
 
+/***************************************************************************//**
+*
+* added function which initalise the display and sets the contrast, this is
+* called from the int main and so the LCD boots up on startup.
+*
+*******************************************************************************/
+
 void init_display(){
-        
+    
+    // printf("initialise display");    
     lcd.init();
     lcd.setContrast(0.4);
-    lcd.clear(); /// clear screen (init)  
+    lcd.clear(); 
         
     }
-        
+
+/***************************************************************************//**
+*
+* this function is the main menu for the program, it is called at the start and 
+* depending on what string is selected, clicking the start uton will send the
+* user to the specified function.
+*
+*******************************************************************************/      
     
 void main_menu(){
     
+    // printf("main menu");
+    
     lcd.clear();
     Start_flag = 0;
     int select = 0;
-    output = 63; //set all LEDs to off
+    output = 63; // 63 on the bus output sets all LEDs to off
 
     while (1) {
         
     Direction d = joystick.get_direction();   
-    printf("Direction = %i\n",d);
+    // printf("Direction = %i\n",d);
     
         switch(select) {
             case 0:
                 switch(d) {
-                    case 1:
+                    case N:
                         select = 1;
-                    printf("UP");
+                    // printf("UP");
                         break;
-                    case 5:
+                    case S:
                         select = 1;
-                    printf("Down");
+                    // printf("Down");
                         break;
 }
                 break;
             case 1:
                 switch(d) {
-                    case 1:
+                    case N:
                         select = 0;
-                    printf("UP");
+                    // printf("UP");
                         break;
-                    case 5:
+                    case S:
                         select = 0;
-                    printf("Down");
+                    // printf("Down");
                         break;
 }
                 break;
@@ -72,6 +106,7 @@
         }
                 wait(0.1);
         if (select == 0) {
+            // printf("main menu - sense object");
             lcd.clear();
             lcd.printString("Detect",27,0);
             lcd.printString("Sense Object",7,2);
@@ -84,6 +119,7 @@
                 sense_object();
             }
         } else if (select == 1) {
+            // printf("main menu - calibration");
             lcd.clear();
             lcd.printString("Detect",27,0);
             lcd.printString("Sense Object", 7,2);
@@ -99,8 +135,15 @@
     }
 }
 
+/***************************************************************************//**
+*
+* this function is for sensing the object
+*
+*******************************************************************************/ 
+
 void sense_object(){
-        
+    
+    // printf("sense object");  
         
     // set inital state 
     int state = 0;
@@ -108,7 +151,9 @@
     while(1)
     {
     output = fsm[state];  // output current state
-        // check which state we are in and see which the next state should be
+    // printf("state = %d\r\n",state);
+    
+    // check which state we are in and see which the next state should be
     switch(state) {
         case 0:
         lcd.clear();
@@ -194,15 +239,29 @@
         ThisThread::sleep_for(200);
         }
         }
-        
+
+/***************************************************************************//**
+*
+* this function is for calibrating the distance in which the object centre point
+* should be away from the sensor, it checks the current distance and then though
+* the function "void dist" displays the current distance on the screen.
+* this function also tells the user the distance away from the target centre 
+* point this should be, this is so that the board is the right distance away and
+* will be able to detect the object better.
+*
+* in order to print the distance onto the LCD the current distance is printed to
+* a buffer which is a max length of 14 (the amount of characters that can fit
+* width ways on the screen) this can then be printed on the screen using print
+* string.
+*
+*******************************************************************************/
+     
 void calibrate_object(){
      
      while(1)
     {
+        mu.checkDistance();     
         
-        mu.checkDistance();     //call checkDistance() as much as possible, as this is where
-                                //the class checks if dist needs to be called.
-     
         if (Back_flag == 1) {
             Back_flag = 0;
             main_menu();}
@@ -214,29 +273,36 @@
 void dist(int distance)
 
 {
-    printf("Distance changed to %dmm\r\n", distance);
+    // printf("Distance changed to %dmm\r\n", distance);
 
      lcd.clear();
      
-     char buffer[14]; // each character is 6 pixels wide, screen is 84 pixels (84/6 = 14)
-    // so can display a string of a maximum 14 characters in length
-    // or create formatted strings - ensure they aren't more than 14 characters long
-    int length = sprintf(buffer,"%dmm", distance); // print formatted data to buffer
-    // it is important the format specifier ensures the length will fit in the buffer
-    if (length <= 14) // if string will fit on display (assuming printing at x=0)
+     char buffer[14];
+     int length = sprintf(buffer,"%dmm", distance);
+     if (length <= 14)
     
-        lcd.printString("set object to xxx",0,0);
-        lcd.printString(buffer,0,3); // display on screen
-        lcd.refresh();
+     lcd.printString("set object to",0,0);
+     lcd.printString("    1000mm",0,1);
+     lcd.printString(    buffer,0,3);
+     lcd.refresh();
     }
-        
+
+/***************************************************************************//**
+*
+* these functions are for setting the flags for the start and back butons which
+* are used in the other functions.
+*
+*******************************************************************************/
+      
 void Start_isr()
     {
+    // printf("start button pressed"); 
     Start_flag = 1;
     }
 
 void Back_isr()
     {
+    // printf("back button pressed"); 
     Back_flag = 1;
     }
     
\ No newline at end of file