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ManualControl
Dependencies: TPixy-Interface
Fork of MbedOS_Robot_Team by
ui.cpp
- Committer:
- asobhy
- Date:
- 2018-02-03
- Revision:
- 2:ca2a7430739b
- Parent:
- 1:3e9684e81312
- Child:
- 4:417e475239c7
File content as of revision 2:ca2a7430739b:
#include "mbed.h" #include "WatchdogThread.h" #include "ui.h" Serial bluetooth(p9,p10); // Define the bluetooth channel and IO pins Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel Mutex setpoint_mutex; // speed int setpoint = 0; // variable to store character recieved from terminal char x; extern int16_t dPosition, dTime; extern float Ki; extern float Kp; extern int vel; extern int32_t e; extern int32_t xState; extern int32_t u; int16_t position; /****************************************************************************** A function to test blutooth communication ******************************************************************************/ void twoTerminalsTest() { if (pc.readable()) { // If a key is pressed on the pc channel x=pc.getc(); // read the character and send it to both the bluetooth.putc(x); // bluetooth channel and the pc channel for pc.putc(x); // display. } if (bluetooth.readable()) { x=bluetooth.getc(); // If there’s a keypress on the bluetooth pc.putc(x); // channel, read the character and send it to bluetooth.putc(x); // both the pc channel and the bluetooth } // channel for display } /****************************************************************************** A function to Display startup Messsage ******************************************************************************/ void displayStartupMsg() { bluetooth.printf("\r\n************************************"); bluetooth.printf("\r\n**** DC Motor Control using PWM ****"); bluetooth.printf("\r\n************************************"); bluetooth.printf("\r\n-Enter r to reset the watchdog timer"); bluetooth.printf("\r\n-press w to increase motor speed"); bluetooth.printf("\r\n-press s to decrease motor speed"); } /****************************************************************************** User interface ******************************************************************************/ void consoleUI(void) { if (bluetooth.readable()) { x = bluetooth.getc(); // if input from console is the letter 'r' if(x == 'r') { // reset watchdog timer WatchdogReset(); bluetooth.printf("\r\nWatchdog has been reset"); } // if w is pressed increase the speed // by incrementing u else if(x == 'w') { setpoint_mutex.lock(); if ( setpoint < 560 ) { //setpoint = setpoint + SPEED_STEP; setpoint = 100; } setpoint_mutex.unlock(); // display speed bluetooth.printf("\r\n %5d", setpoint); } // if s is pressed decrease the speed // by decrementing u else if(x == 's') { setpoint_mutex.lock(); if (setpoint > -560) { setpoint = -100; //setpoint = setpoint - SPEED_STEP; } setpoint_mutex.unlock(); // display speed bluetooth.printf("\r\n %5d", setpoint); } // error wrong input else { 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"); } } position += dPosition; 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); } /****************************************************************************** User interface 2 ******************************************************************************/ void consoleUI2(void) { if (bluetooth.readable()) { x = bluetooth.getc(); // if input from console is the letter 'r' if(x == 'r') { // reset watchdog timer WatchdogReset(); setpoint = 0; bluetooth.printf("\r\nWatchdog has been reset"); } // if w is pressed increase the speed // by incrementing u else if(x == 'w') { setpoint_mutex.lock(); if ( setpoint < 506 ) { //setpoint = setpoint + SPEED_STEP; setpoint = 200; } setpoint_mutex.unlock(); // display speed bluetooth.printf("\r\n %5d", setpoint); } // if s is pressed decrease the speed // by decrementing u else if(x == 's') { setpoint_mutex.lock(); if (setpoint > -560) { setpoint = -200; //setpoint = setpoint - SPEED_STEP; } setpoint_mutex.unlock(); // display speed bluetooth.printf("\r\n %5d", setpoint); } else if (x=='e') { Ki = Ki + 0.005; } else if (x=='d') { Ki = Ki - 0.005; } else if (x=='t') { Kp = Kp + 0.05; } else if (x=='g') { Kp = Kp - 0.05; } // error wrong input else { 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"); } } position += dPosition; //bluetooth.printf("\r\nPos: %d, dP: %d, dT: %d, Kp: %f, Ki: %f, vel: %d, e: %d", position, dPosition, dTime, Kp, Ki, vel, e); bluetooth.printf("\r\ndP: %d, vel: %d, Kp: %f, Ki: %f, e: %d, xState: %d", dPosition, vel, Kp, Ki, e, xState); //bluetooth.printf("\r\ne: %d, Pos: %d, dP: %d, xState: %d, u: %d, dT: %d", e, position, dPosition, xState, u, dTime); }