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ManualControl
Dependencies: TPixy-Interface
Fork of MbedOS_Robot_Team by
ui.cpp@1:3e9684e81312, 2018-02-03 (annotated)
- Committer:
- asobhy
- Date:
- Sat Feb 03 00:05:08 2018 +0000
- Revision:
- 1:3e9684e81312
- Parent:
- 0:a355e511bc5d
- Child:
- 2:ca2a7430739b
setpoint represent velocity
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
asobhy | 0:a355e511bc5d | 1 | #include "mbed.h" |
asobhy | 0:a355e511bc5d | 2 | #include "WatchdogThread.h" |
asobhy | 0:a355e511bc5d | 3 | #include "ui.h" |
asobhy | 0:a355e511bc5d | 4 | |
asobhy | 0:a355e511bc5d | 5 | Serial bluetooth(p9,p10); // Define the bluetooth channel and IO pins |
asobhy | 0:a355e511bc5d | 6 | Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel |
asobhy | 0:a355e511bc5d | 7 | |
asobhy | 0:a355e511bc5d | 8 | Mutex setpoint_mutex; |
asobhy | 0:a355e511bc5d | 9 | |
asobhy | 0:a355e511bc5d | 10 | // speed |
asobhy | 1:3e9684e81312 | 11 | int setpoint = 0; |
asobhy | 0:a355e511bc5d | 12 | |
asobhy | 0:a355e511bc5d | 13 | // variable to store character recieved from terminal |
asobhy | 0:a355e511bc5d | 14 | char x; |
asobhy | 0:a355e511bc5d | 15 | |
asobhy | 1:3e9684e81312 | 16 | extern int16_t dPosition, dTime; |
asobhy | 1:3e9684e81312 | 17 | |
asobhy | 1:3e9684e81312 | 18 | extern float Ki; |
asobhy | 1:3e9684e81312 | 19 | extern float Kp; |
asobhy | 0:a355e511bc5d | 20 | |
asobhy | 1:3e9684e81312 | 21 | extern int vel; |
asobhy | 1:3e9684e81312 | 22 | |
asobhy | 1:3e9684e81312 | 23 | int16_t position; |
asobhy | 1:3e9684e81312 | 24 | |
asobhy | 1:3e9684e81312 | 25 | extern int32_t e; |
asobhy | 0:a355e511bc5d | 26 | |
asobhy | 0:a355e511bc5d | 27 | /****************************************************************************** |
asobhy | 0:a355e511bc5d | 28 | A function to test blutooth communication |
asobhy | 0:a355e511bc5d | 29 | ******************************************************************************/ |
asobhy | 0:a355e511bc5d | 30 | void twoTerminalsTest() |
asobhy | 0:a355e511bc5d | 31 | { |
asobhy | 0:a355e511bc5d | 32 | if (pc.readable()) { // If a key is pressed on the pc channel |
asobhy | 0:a355e511bc5d | 33 | x=pc.getc(); // read the character and send it to both the |
asobhy | 0:a355e511bc5d | 34 | bluetooth.putc(x); // bluetooth channel and the pc channel for |
asobhy | 0:a355e511bc5d | 35 | pc.putc(x); // display. |
asobhy | 0:a355e511bc5d | 36 | } |
asobhy | 0:a355e511bc5d | 37 | if (bluetooth.readable()) { |
asobhy | 0:a355e511bc5d | 38 | x=bluetooth.getc(); // If there’s a keypress on the bluetooth |
asobhy | 0:a355e511bc5d | 39 | pc.putc(x); // channel, read the character and send it to |
asobhy | 0:a355e511bc5d | 40 | bluetooth.putc(x); // both the pc channel and the bluetooth |
asobhy | 0:a355e511bc5d | 41 | } // channel for display |
asobhy | 0:a355e511bc5d | 42 | } |
asobhy | 0:a355e511bc5d | 43 | |
asobhy | 0:a355e511bc5d | 44 | |
asobhy | 0:a355e511bc5d | 45 | /****************************************************************************** |
asobhy | 0:a355e511bc5d | 46 | A function to Display startup Messsage |
asobhy | 0:a355e511bc5d | 47 | ******************************************************************************/ |
asobhy | 0:a355e511bc5d | 48 | void displayStartupMsg() |
asobhy | 0:a355e511bc5d | 49 | { |
asobhy | 1:3e9684e81312 | 50 | bluetooth.printf("\r\n************************************"); |
asobhy | 1:3e9684e81312 | 51 | bluetooth.printf("\r\n**** DC Motor Control using PWM ****"); |
asobhy | 1:3e9684e81312 | 52 | bluetooth.printf("\r\n************************************"); |
asobhy | 1:3e9684e81312 | 53 | bluetooth.printf("\r\n-Enter r to reset the watchdog timer"); |
asobhy | 1:3e9684e81312 | 54 | bluetooth.printf("\r\n-press w to increase motor speed"); |
asobhy | 1:3e9684e81312 | 55 | bluetooth.printf("\r\n-press s to decrease motor speed"); |
asobhy | 0:a355e511bc5d | 56 | } |
asobhy | 0:a355e511bc5d | 57 | |
asobhy | 0:a355e511bc5d | 58 | |
asobhy | 0:a355e511bc5d | 59 | /****************************************************************************** |
asobhy | 1:3e9684e81312 | 60 | User interface |
asobhy | 0:a355e511bc5d | 61 | ******************************************************************************/ |
asobhy | 0:a355e511bc5d | 62 | void consoleUI(void) |
asobhy | 0:a355e511bc5d | 63 | { |
asobhy | 1:3e9684e81312 | 64 | if (bluetooth.readable()) { |
asobhy | 1:3e9684e81312 | 65 | x = bluetooth.getc(); |
asobhy | 1:3e9684e81312 | 66 | |
asobhy | 0:a355e511bc5d | 67 | // if input from console is the letter 'r' |
asobhy | 0:a355e511bc5d | 68 | if(x == 'r') { |
asobhy | 0:a355e511bc5d | 69 | // reset watchdog timer |
asobhy | 0:a355e511bc5d | 70 | WatchdogReset(); |
asobhy | 1:3e9684e81312 | 71 | bluetooth.printf("\r\nWatchdog has been reset"); |
asobhy | 0:a355e511bc5d | 72 | } |
asobhy | 0:a355e511bc5d | 73 | |
asobhy | 0:a355e511bc5d | 74 | // if w is pressed increase the speed |
asobhy | 0:a355e511bc5d | 75 | // by incrementing u |
asobhy | 0:a355e511bc5d | 76 | else if(x == 'w') { |
asobhy | 1:3e9684e81312 | 77 | setpoint_mutex.lock(); |
asobhy | 1:3e9684e81312 | 78 | if ( setpoint < 560 ) |
asobhy | 1:3e9684e81312 | 79 | { |
asobhy | 1:3e9684e81312 | 80 | //setpoint = setpoint + SPEED_STEP; |
asobhy | 1:3e9684e81312 | 81 | setpoint = 100; |
asobhy | 0:a355e511bc5d | 82 | } |
asobhy | 1:3e9684e81312 | 83 | setpoint_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 84 | |
asobhy | 0:a355e511bc5d | 85 | // display speed |
asobhy | 1:3e9684e81312 | 86 | bluetooth.printf("\r\n %5d", setpoint); |
asobhy | 0:a355e511bc5d | 87 | } |
asobhy | 0:a355e511bc5d | 88 | |
asobhy | 0:a355e511bc5d | 89 | // if s is pressed decrease the speed |
asobhy | 0:a355e511bc5d | 90 | // by decrementing u |
asobhy | 0:a355e511bc5d | 91 | else if(x == 's') { |
asobhy | 1:3e9684e81312 | 92 | |
asobhy | 1:3e9684e81312 | 93 | setpoint_mutex.lock(); |
asobhy | 1:3e9684e81312 | 94 | if (setpoint > -560) |
asobhy | 1:3e9684e81312 | 95 | { |
asobhy | 1:3e9684e81312 | 96 | setpoint = -100; |
asobhy | 1:3e9684e81312 | 97 | //setpoint = setpoint - SPEED_STEP; |
asobhy | 0:a355e511bc5d | 98 | } |
asobhy | 1:3e9684e81312 | 99 | |
asobhy | 1:3e9684e81312 | 100 | setpoint_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 101 | |
asobhy | 0:a355e511bc5d | 102 | // display speed |
asobhy | 1:3e9684e81312 | 103 | bluetooth.printf("\r\n %5d", setpoint); |
asobhy | 0:a355e511bc5d | 104 | } |
asobhy | 0:a355e511bc5d | 105 | |
asobhy | 0:a355e511bc5d | 106 | // error wrong input |
asobhy | 0:a355e511bc5d | 107 | else { |
asobhy | 1:3e9684e81312 | 108 | bluetooth.printf("\r\nwrong input please enter \'w\' to increase the speed, \'s\' to reduce it or move in the opposite direction and \'r\' to reset the watchdog"); |
asobhy | 0:a355e511bc5d | 109 | } |
asobhy | 0:a355e511bc5d | 110 | } |
asobhy | 0:a355e511bc5d | 111 | position += dPosition; |
asobhy | 1:3e9684e81312 | 112 | bluetooth.printf("\r\nPos: %d, dP: %d, dT: %d, Kp: %f, Ki: %f, vel: %d, e: %d", position, dPosition, dTime, Kp, Ki, vel, e); |
asobhy | 0:a355e511bc5d | 113 | |
asobhy | 0:a355e511bc5d | 114 | } |
asobhy | 0:a355e511bc5d | 115 | |
asobhy | 1:3e9684e81312 | 116 | /****************************************************************************** |
asobhy | 1:3e9684e81312 | 117 | User interface 2 |
asobhy | 1:3e9684e81312 | 118 | ******************************************************************************/ |
asobhy | 1:3e9684e81312 | 119 | |
asobhy | 1:3e9684e81312 | 120 | void consoleUI2(void) |
asobhy | 1:3e9684e81312 | 121 | { |
asobhy | 1:3e9684e81312 | 122 | |
asobhy | 1:3e9684e81312 | 123 | if (bluetooth.readable()) { |
asobhy | 1:3e9684e81312 | 124 | x = bluetooth.getc(); |
asobhy | 1:3e9684e81312 | 125 | |
asobhy | 1:3e9684e81312 | 126 | // if input from console is the letter 'r' |
asobhy | 1:3e9684e81312 | 127 | if(x == 'r') { |
asobhy | 1:3e9684e81312 | 128 | // reset watchdog timer |
asobhy | 1:3e9684e81312 | 129 | WatchdogReset(); |
asobhy | 1:3e9684e81312 | 130 | setpoint = 0; |
asobhy | 1:3e9684e81312 | 131 | bluetooth.printf("\r\nWatchdog has been reset"); |
asobhy | 1:3e9684e81312 | 132 | } |
asobhy | 1:3e9684e81312 | 133 | |
asobhy | 1:3e9684e81312 | 134 | // if w is pressed increase the speed |
asobhy | 1:3e9684e81312 | 135 | // by incrementing u |
asobhy | 1:3e9684e81312 | 136 | else if(x == 'w') { |
asobhy | 1:3e9684e81312 | 137 | setpoint_mutex.lock(); |
asobhy | 1:3e9684e81312 | 138 | if ( setpoint < 703 ) |
asobhy | 1:3e9684e81312 | 139 | { |
asobhy | 1:3e9684e81312 | 140 | //setpoint = setpoint + SPEED_STEP; |
asobhy | 1:3e9684e81312 | 141 | setpoint = 200; |
asobhy | 1:3e9684e81312 | 142 | } |
asobhy | 1:3e9684e81312 | 143 | setpoint_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 144 | |
asobhy | 1:3e9684e81312 | 145 | // display speed |
asobhy | 1:3e9684e81312 | 146 | bluetooth.printf("\r\n %5d", setpoint); |
asobhy | 1:3e9684e81312 | 147 | } |
asobhy | 1:3e9684e81312 | 148 | |
asobhy | 1:3e9684e81312 | 149 | // if s is pressed decrease the speed |
asobhy | 1:3e9684e81312 | 150 | // by decrementing u |
asobhy | 1:3e9684e81312 | 151 | else if(x == 's') { |
asobhy | 1:3e9684e81312 | 152 | |
asobhy | 1:3e9684e81312 | 153 | setpoint_mutex.lock(); |
asobhy | 1:3e9684e81312 | 154 | if (setpoint > -703) |
asobhy | 1:3e9684e81312 | 155 | { |
asobhy | 1:3e9684e81312 | 156 | setpoint = -200; |
asobhy | 1:3e9684e81312 | 157 | //setpoint = setpoint - SPEED_STEP; |
asobhy | 1:3e9684e81312 | 158 | } |
asobhy | 1:3e9684e81312 | 159 | |
asobhy | 1:3e9684e81312 | 160 | setpoint_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 161 | |
asobhy | 1:3e9684e81312 | 162 | // display speed |
asobhy | 1:3e9684e81312 | 163 | bluetooth.printf("\r\n %5d", setpoint); |
asobhy | 1:3e9684e81312 | 164 | } |
asobhy | 1:3e9684e81312 | 165 | else if (x=='e') |
asobhy | 1:3e9684e81312 | 166 | { |
asobhy | 1:3e9684e81312 | 167 | Ki = Ki + 0.005; |
asobhy | 1:3e9684e81312 | 168 | } |
asobhy | 1:3e9684e81312 | 169 | else if (x=='d') |
asobhy | 1:3e9684e81312 | 170 | { |
asobhy | 1:3e9684e81312 | 171 | Ki = Ki - 0.005; |
asobhy | 1:3e9684e81312 | 172 | } |
asobhy | 1:3e9684e81312 | 173 | else if (x=='t') |
asobhy | 1:3e9684e81312 | 174 | { |
asobhy | 1:3e9684e81312 | 175 | Kp = Kp + 0.05; |
asobhy | 1:3e9684e81312 | 176 | } |
asobhy | 1:3e9684e81312 | 177 | else if (x=='g') |
asobhy | 1:3e9684e81312 | 178 | { |
asobhy | 1:3e9684e81312 | 179 | Kp = Kp - 0.05; |
asobhy | 1:3e9684e81312 | 180 | } |
asobhy | 1:3e9684e81312 | 181 | |
asobhy | 1:3e9684e81312 | 182 | // error wrong input |
asobhy | 1:3e9684e81312 | 183 | else { |
asobhy | 1:3e9684e81312 | 184 | bluetooth.printf("\r\nwrong input please enter \'w\' to increase the speed, \'s\' to reduce it or move in the opposite direction and \'r\' to reset the watchdog"); |
asobhy | 1:3e9684e81312 | 185 | } |
asobhy | 1:3e9684e81312 | 186 | } |
asobhy | 1:3e9684e81312 | 187 | |
asobhy | 1:3e9684e81312 | 188 | position += dPosition; |
asobhy | 1:3e9684e81312 | 189 | //bluetooth.printf("\r\nPos: %d, dP: %d, dT: %d, Kp: %f, Ki: %f, vel: %d, e: %d", position, dPosition, dTime, Kp, Ki, vel, e); |
asobhy | 1:3e9684e81312 | 190 | bluetooth.printf("\r\nKp: %f, Ki: %f, vel: %d, e: %d", Kp, Ki, vel, e); |
asobhy | 1:3e9684e81312 | 191 | |
asobhy | 1:3e9684e81312 | 192 | } |