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ManualControl
Dependencies: TPixy-Interface
Fork of MbedOS_Robot_Team by
ui.cpp@8:a0890fa79084, 2018-02-19 (annotated)
- Committer:
- asobhy
- Date:
- Mon Feb 19 17:42:33 2018 +0000
- Revision:
- 8:a0890fa79084
- Parent:
- 6:e7ce340fe91e
- Child:
- 9:fe56b888985c
added more comments
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
asobhy | 8:a0890fa79084 | 1 | /******************************************************************************/ |
asobhy | 8:a0890fa79084 | 2 | // ECE4333 |
asobhy | 8:a0890fa79084 | 3 | // LAB Partner 1: Ahmed Sobhy - ID: 3594449 |
asobhy | 8:a0890fa79084 | 4 | // LAB Partner 2: Brandon Kingman - ID: 3470444 |
asobhy | 8:a0890fa79084 | 5 | // Project: Autonomous Robot Design |
asobhy | 8:a0890fa79084 | 6 | // Instructor: Prof. Chris Diduch |
asobhy | 8:a0890fa79084 | 7 | /******************************************************************************/ |
asobhy | 8:a0890fa79084 | 8 | // filename: ui.cpp |
asobhy | 8:a0890fa79084 | 9 | // file content description: |
asobhy | 8:a0890fa79084 | 10 | // * Functions to display and manage the user interface on the PC terminal. |
asobhy | 8:a0890fa79084 | 11 | /******************************************************************************/ |
asobhy | 8:a0890fa79084 | 12 | |
asobhy | 0:a355e511bc5d | 13 | #include "mbed.h" |
asobhy | 0:a355e511bc5d | 14 | #include "WatchdogThread.h" |
asobhy | 0:a355e511bc5d | 15 | #include "ui.h" |
asobhy | 0:a355e511bc5d | 16 | |
asobhy | 0:a355e511bc5d | 17 | Serial bluetooth(p9,p10); // Define the bluetooth channel and IO pins |
asobhy | 0:a355e511bc5d | 18 | Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel |
asobhy | 0:a355e511bc5d | 19 | |
asobhy | 0:a355e511bc5d | 20 | Mutex setpoint_mutex; |
asobhy | 0:a355e511bc5d | 21 | |
asobhy | 0:a355e511bc5d | 22 | // speed |
asobhy | 1:3e9684e81312 | 23 | int setpoint = 0; |
asobhy | 8:a0890fa79084 | 24 | float total_time_passed = 0; |
asobhy | 0:a355e511bc5d | 25 | // variable to store character recieved from terminal |
asobhy | 0:a355e511bc5d | 26 | char x; |
asobhy | 0:a355e511bc5d | 27 | |
asobhy | 1:3e9684e81312 | 28 | extern int16_t dPosition, dTime; |
asobhy | 1:3e9684e81312 | 29 | extern float Ki; |
asobhy | 1:3e9684e81312 | 30 | extern float Kp; |
asobhy | 1:3e9684e81312 | 31 | extern int vel; |
asobhy | 2:ca2a7430739b | 32 | extern int32_t e; |
asobhy | 2:ca2a7430739b | 33 | extern int32_t xState; |
asobhy | 2:ca2a7430739b | 34 | extern int32_t u; |
asobhy | 8:a0890fa79084 | 35 | extern int time_passed; |
asobhy | 1:3e9684e81312 | 36 | |
asobhy | 1:3e9684e81312 | 37 | int16_t position; |
asobhy | 1:3e9684e81312 | 38 | |
asobhy | 2:ca2a7430739b | 39 | |
asobhy | 0:a355e511bc5d | 40 | |
asobhy | 0:a355e511bc5d | 41 | /****************************************************************************** |
asobhy | 0:a355e511bc5d | 42 | A function to test blutooth communication |
asobhy | 0:a355e511bc5d | 43 | ******************************************************************************/ |
asobhy | 0:a355e511bc5d | 44 | void twoTerminalsTest() |
asobhy | 0:a355e511bc5d | 45 | { |
asobhy | 0:a355e511bc5d | 46 | if (pc.readable()) { // If a key is pressed on the pc channel |
asobhy | 0:a355e511bc5d | 47 | x=pc.getc(); // read the character and send it to both the |
asobhy | 0:a355e511bc5d | 48 | bluetooth.putc(x); // bluetooth channel and the pc channel for |
asobhy | 0:a355e511bc5d | 49 | pc.putc(x); // display. |
asobhy | 0:a355e511bc5d | 50 | } |
asobhy | 0:a355e511bc5d | 51 | if (bluetooth.readable()) { |
asobhy | 0:a355e511bc5d | 52 | x=bluetooth.getc(); // If there’s a keypress on the bluetooth |
asobhy | 0:a355e511bc5d | 53 | pc.putc(x); // channel, read the character and send it to |
asobhy | 0:a355e511bc5d | 54 | bluetooth.putc(x); // both the pc channel and the bluetooth |
asobhy | 0:a355e511bc5d | 55 | } // channel for display |
asobhy | 0:a355e511bc5d | 56 | } |
asobhy | 0:a355e511bc5d | 57 | |
asobhy | 0:a355e511bc5d | 58 | |
asobhy | 0:a355e511bc5d | 59 | /****************************************************************************** |
asobhy | 0:a355e511bc5d | 60 | A function to Display startup Messsage |
asobhy | 0:a355e511bc5d | 61 | ******************************************************************************/ |
asobhy | 0:a355e511bc5d | 62 | void displayStartupMsg() |
asobhy | 0:a355e511bc5d | 63 | { |
asobhy | 1:3e9684e81312 | 64 | bluetooth.printf("\r\n************************************"); |
asobhy | 1:3e9684e81312 | 65 | bluetooth.printf("\r\n**** DC Motor Control using PWM ****"); |
asobhy | 1:3e9684e81312 | 66 | bluetooth.printf("\r\n************************************"); |
asobhy | 1:3e9684e81312 | 67 | bluetooth.printf("\r\n-Enter r to reset the watchdog timer"); |
asobhy | 1:3e9684e81312 | 68 | bluetooth.printf("\r\n-press w to increase motor speed"); |
asobhy | 1:3e9684e81312 | 69 | bluetooth.printf("\r\n-press s to decrease motor speed"); |
asobhy | 0:a355e511bc5d | 70 | } |
asobhy | 0:a355e511bc5d | 71 | |
asobhy | 0:a355e511bc5d | 72 | |
asobhy | 0:a355e511bc5d | 73 | /****************************************************************************** |
asobhy | 8:a0890fa79084 | 74 | User interface 1 |
asobhy | 0:a355e511bc5d | 75 | ******************************************************************************/ |
asobhy | 4:417e475239c7 | 76 | /* |
asobhy | 0:a355e511bc5d | 77 | void consoleUI(void) |
asobhy | 0:a355e511bc5d | 78 | { |
asobhy | 1:3e9684e81312 | 79 | if (bluetooth.readable()) { |
asobhy | 1:3e9684e81312 | 80 | x = bluetooth.getc(); |
asobhy | 1:3e9684e81312 | 81 | |
asobhy | 0:a355e511bc5d | 82 | // if input from console is the letter 'r' |
asobhy | 0:a355e511bc5d | 83 | if(x == 'r') { |
asobhy | 0:a355e511bc5d | 84 | // reset watchdog timer |
asobhy | 0:a355e511bc5d | 85 | WatchdogReset(); |
asobhy | 1:3e9684e81312 | 86 | bluetooth.printf("\r\nWatchdog has been reset"); |
asobhy | 0:a355e511bc5d | 87 | } |
asobhy | 0:a355e511bc5d | 88 | |
asobhy | 0:a355e511bc5d | 89 | // if w is pressed increase the speed |
asobhy | 0:a355e511bc5d | 90 | // by incrementing u |
asobhy | 0:a355e511bc5d | 91 | else if(x == 'w') { |
asobhy | 1:3e9684e81312 | 92 | setpoint_mutex.lock(); |
asobhy | 1:3e9684e81312 | 93 | if ( setpoint < 560 ) |
asobhy | 1:3e9684e81312 | 94 | { |
asobhy | 1:3e9684e81312 | 95 | //setpoint = setpoint + SPEED_STEP; |
asobhy | 1:3e9684e81312 | 96 | setpoint = 100; |
asobhy | 0:a355e511bc5d | 97 | } |
asobhy | 1:3e9684e81312 | 98 | setpoint_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 99 | |
asobhy | 0:a355e511bc5d | 100 | // display speed |
asobhy | 1:3e9684e81312 | 101 | bluetooth.printf("\r\n %5d", setpoint); |
asobhy | 0:a355e511bc5d | 102 | } |
asobhy | 0:a355e511bc5d | 103 | |
asobhy | 0:a355e511bc5d | 104 | // if s is pressed decrease the speed |
asobhy | 0:a355e511bc5d | 105 | // by decrementing u |
asobhy | 0:a355e511bc5d | 106 | else if(x == 's') { |
asobhy | 1:3e9684e81312 | 107 | |
asobhy | 1:3e9684e81312 | 108 | setpoint_mutex.lock(); |
asobhy | 1:3e9684e81312 | 109 | if (setpoint > -560) |
asobhy | 1:3e9684e81312 | 110 | { |
asobhy | 1:3e9684e81312 | 111 | setpoint = -100; |
asobhy | 1:3e9684e81312 | 112 | //setpoint = setpoint - SPEED_STEP; |
asobhy | 0:a355e511bc5d | 113 | } |
asobhy | 1:3e9684e81312 | 114 | |
asobhy | 1:3e9684e81312 | 115 | setpoint_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 116 | |
asobhy | 0:a355e511bc5d | 117 | // display speed |
asobhy | 1:3e9684e81312 | 118 | bluetooth.printf("\r\n %5d", setpoint); |
asobhy | 0:a355e511bc5d | 119 | } |
asobhy | 0:a355e511bc5d | 120 | |
asobhy | 0:a355e511bc5d | 121 | // error wrong input |
asobhy | 0:a355e511bc5d | 122 | else { |
asobhy | 1:3e9684e81312 | 123 | 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 | 124 | } |
asobhy | 0:a355e511bc5d | 125 | } |
asobhy | 0:a355e511bc5d | 126 | position += dPosition; |
asobhy | 2:ca2a7430739b | 127 | bluetooth.printf("\r\nPos: %d, dP: %d, dT: %d, Kp: %f, Ki: %f, vel: %d, e: %d", position, dPosition, xState, dTime, Kp, Ki, vel, e); |
asobhy | 0:a355e511bc5d | 128 | |
asobhy | 0:a355e511bc5d | 129 | } |
asobhy | 4:417e475239c7 | 130 | */ |
asobhy | 1:3e9684e81312 | 131 | /****************************************************************************** |
asobhy | 1:3e9684e81312 | 132 | User interface 2 |
asobhy | 1:3e9684e81312 | 133 | ******************************************************************************/ |
asobhy | 1:3e9684e81312 | 134 | |
asobhy | 4:417e475239c7 | 135 | void consoleUI(void) |
asobhy | 1:3e9684e81312 | 136 | { |
asobhy | 1:3e9684e81312 | 137 | |
asobhy | 1:3e9684e81312 | 138 | if (bluetooth.readable()) { |
asobhy | 1:3e9684e81312 | 139 | x = bluetooth.getc(); |
asobhy | 1:3e9684e81312 | 140 | |
asobhy | 1:3e9684e81312 | 141 | // if input from console is the letter 'r' |
asobhy | 1:3e9684e81312 | 142 | if(x == 'r') { |
asobhy | 1:3e9684e81312 | 143 | // reset watchdog timer |
asobhy | 1:3e9684e81312 | 144 | WatchdogReset(); |
asobhy | 1:3e9684e81312 | 145 | setpoint = 0; |
asobhy | 1:3e9684e81312 | 146 | bluetooth.printf("\r\nWatchdog has been reset"); |
asobhy | 1:3e9684e81312 | 147 | } |
asobhy | 1:3e9684e81312 | 148 | |
asobhy | 1:3e9684e81312 | 149 | // if w is pressed increase the speed |
asobhy | 1:3e9684e81312 | 150 | // by incrementing u |
asobhy | 1:3e9684e81312 | 151 | else if(x == 'w') { |
asobhy | 1:3e9684e81312 | 152 | setpoint_mutex.lock(); |
asobhy | 8:a0890fa79084 | 153 | if ( setpoint < 560 ) |
asobhy | 1:3e9684e81312 | 154 | { |
asobhy | 1:3e9684e81312 | 155 | //setpoint = setpoint + SPEED_STEP; |
asobhy | 8:a0890fa79084 | 156 | setpoint = 280; |
asobhy | 1:3e9684e81312 | 157 | } |
asobhy | 1:3e9684e81312 | 158 | setpoint_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 159 | |
asobhy | 1:3e9684e81312 | 160 | // display speed |
asobhy | 8:a0890fa79084 | 161 | //bluetooth.printf("\r\n %5d", setpoint); |
asobhy | 1:3e9684e81312 | 162 | } |
asobhy | 1:3e9684e81312 | 163 | |
asobhy | 1:3e9684e81312 | 164 | // if s is pressed decrease the speed |
asobhy | 1:3e9684e81312 | 165 | // by decrementing u |
asobhy | 1:3e9684e81312 | 166 | else if(x == 's') { |
asobhy | 1:3e9684e81312 | 167 | |
asobhy | 1:3e9684e81312 | 168 | setpoint_mutex.lock(); |
asobhy | 2:ca2a7430739b | 169 | if (setpoint > -560) |
asobhy | 1:3e9684e81312 | 170 | { |
asobhy | 8:a0890fa79084 | 171 | setpoint = -280; |
asobhy | 1:3e9684e81312 | 172 | //setpoint = setpoint - SPEED_STEP; |
asobhy | 1:3e9684e81312 | 173 | } |
asobhy | 1:3e9684e81312 | 174 | |
asobhy | 1:3e9684e81312 | 175 | setpoint_mutex.unlock(); |
asobhy | 1:3e9684e81312 | 176 | |
asobhy | 1:3e9684e81312 | 177 | // display speed |
asobhy | 1:3e9684e81312 | 178 | bluetooth.printf("\r\n %5d", setpoint); |
asobhy | 1:3e9684e81312 | 179 | } |
asobhy | 4:417e475239c7 | 180 | else if (x=='i') |
asobhy | 1:3e9684e81312 | 181 | { |
asobhy | 6:e7ce340fe91e | 182 | Ki = Ki + 0.01; |
asobhy | 1:3e9684e81312 | 183 | } |
asobhy | 4:417e475239c7 | 184 | else if (x=='k') |
asobhy | 1:3e9684e81312 | 185 | { |
asobhy | 6:e7ce340fe91e | 186 | Ki = Ki - 0.01; |
asobhy | 1:3e9684e81312 | 187 | } |
asobhy | 4:417e475239c7 | 188 | else if (x=='o') |
asobhy | 1:3e9684e81312 | 189 | { |
asobhy | 6:e7ce340fe91e | 190 | Kp = Kp + 0.1; |
asobhy | 1:3e9684e81312 | 191 | } |
asobhy | 4:417e475239c7 | 192 | else if (x=='l') |
asobhy | 1:3e9684e81312 | 193 | { |
asobhy | 6:e7ce340fe91e | 194 | Kp = Kp - 0.1; |
asobhy | 1:3e9684e81312 | 195 | } |
asobhy | 1:3e9684e81312 | 196 | |
asobhy | 1:3e9684e81312 | 197 | // error wrong input |
asobhy | 1:3e9684e81312 | 198 | else { |
asobhy | 1:3e9684e81312 | 199 | 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 | 200 | } |
asobhy | 1:3e9684e81312 | 201 | } |
asobhy | 1:3e9684e81312 | 202 | |
asobhy | 1:3e9684e81312 | 203 | position += dPosition; |
asobhy | 2:ca2a7430739b | 204 | |
asobhy | 8:a0890fa79084 | 205 | |
asobhy | 8:a0890fa79084 | 206 | |
asobhy | 1:3e9684e81312 | 207 | //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 | 2:ca2a7430739b | 208 | |
asobhy | 8:a0890fa79084 | 209 | //bluetooth.printf("\r\ndP: %d, vel: %d, (Kp*e) Kp: %f, (Ki*xState) Ki: %f, e: %d, xState: %d, u: %d", dPosition, vel, Kp, Ki, e, xState , u); |
asobhy | 8:a0890fa79084 | 210 | |
asobhy | 8:a0890fa79084 | 211 | |
asobhy | 8:a0890fa79084 | 212 | bluetooth.printf("\r\n %d, ", e); |
asobhy | 8:a0890fa79084 | 213 | bluetooth.printf("%d, ", dPosition); |
asobhy | 8:a0890fa79084 | 214 | bluetooth.printf("%d, ", xState); |
asobhy | 8:a0890fa79084 | 215 | bluetooth.printf("%d, ", u); |
asobhy | 8:a0890fa79084 | 216 | |
asobhy | 2:ca2a7430739b | 217 | |
asobhy | 2:ca2a7430739b | 218 | //bluetooth.printf("\r\ne: %d, Pos: %d, dP: %d, xState: %d, u: %d, dT: %d", e, position, dPosition, xState, u, dTime); |
asobhy | 1:3e9684e81312 | 219 | |
asobhy | 1:3e9684e81312 | 220 | } |