Diff: ui.cpp

Revision:

22:c09acff62e6a

Parent:

20:9118203f7c9c

Child:

23:1839085ffdcf

Child:

28:00b21c648d31

--- a/ui.cpp	Fri Mar 23 22:32:38 2018 +0000
+++ b/ui.cpp	Fri Mar 23 22:42:41 2018 +0000
@@ -19,84 +19,12 @@
 Serial bluetooth(p9,p10); // Define the bluetooth channel and IO pins
 Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel
 
-Mutex setpointR_mutex;
-Mutex setpointL_mutex;
-
-
-// speed
-int setpointR = 0;
-int setpointL = 0;
-
-
 bool killRobot = false;
 
 // variable to store character recieved from terminal
 char x;
-int16_t position;
 
 
-/******************************************************************************
-                           User interface 3 Object Follower
-******************************************************************************/
-void consoleUIcamera(void){
-
-    cameraData_mutex.lock();
-    bluetooth.printf("\r\nsetpointR: %d   setpointL: %d    ObjectWidth: %d     ObjectXcoordinate: %d   SteeringError: %d   DistanceError: %d", setpointR, setpointL, ObjectWidth, xR, SteeringError, DistanceError);    
-    cameraData_mutex.unlock();
-    //bluetooth.printf("\r\nsetpointR: %d   setpointL: %d    ObjectWidth: %d     ObjectXcoordinate: %d   SteeringError: %d   DistanceError: %d", setpointR, setpointL, ObjectWidth, xR, SteeringError, DistanceError);       
-
-    // safety mechanism
-    if (bluetooth.readable()){
-        x = bluetooth.getc();
-        if (x == 't')
-        {
-            killRobot = true;
-        }
-        else if (x == 'r')
-        {
-            killRobot = false;
-        }
-        
-        
-    }
-    
-}
-
-
-
-/******************************************************************************
-            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_old()
-{
-    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 speedR");
-    bluetooth.printf("\r\n-press s to decrease motor speedR");
-    bluetooth.printf("\r\n-press i to increase motor speedL");
-    bluetooth.printf("\r\n-press k to decrease motor speedL");
-}
-
 void displayStartupMsg()
 {
     bluetooth.printf("\r\n************************************");
@@ -106,159 +34,6 @@
 }
 
 /******************************************************************************
-                           User interface 1 - PI tunning
-******************************************************************************/
-/*
-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 - old
-******************************************************************************/
-
-void consoleUIold(void)
-{
-     
-    if (bluetooth.readable()) {
-        x = bluetooth.getc();
-        
-        // if input from console is the letter 'r'
-        if(x == 'r') {
-            // reset watchdog timer
-            WatchdogReset();
-            setpointR = 0;
-            setpointL = 0;
-            bluetooth.printf("\r\nWatchdog has been reset");
-        }
-        
-/******************************RIGHT MOTOR*************************************/
-        // if w is pressed increase the speed
-        // by incrementing u
-        else if(x == 'w') {
-            setpointR_mutex.lock();
-            //setpoint = setpoint + SPEED_STEP;
-            setpointR = 25;
-            setpointR_mutex.unlock();
-            
-            bluetooth.printf("\r\n %5d", setpointR);
-        }
-
-        // if s is pressed decrease the speed
-        // by decrementing u
-        else if(x == 's') {
-
-            setpointR_mutex.lock();
-
-            setpointR = -25;
-            //setpoint = setpoint - SPEED_STEP;
-
-            setpointR_mutex.unlock();
-
-            // display speed
-            //bluetooth.printf("\r\n %5d", setpointR);
-        }
-
-/******************************LEFT MOTOR**************************************/        
-        else if (x=='i')
-        {
-            setpointL_mutex.lock();
-
- 
-                //setpoint = setpoint + SPEED_STEP;
-                setpointL = 25;
-
-            setpointL_mutex.unlock();
-            //bluetooth.printf("\r\n %5d", setpointL);
-        }
-        else if (x=='k')
-        {
-            setpointL_mutex.lock();
-
-            setpointL = -25;
-            //setpoint = setpoint - SPEED_STEP;
-  
-            setpointL_mutex.unlock();
-
-            // display speed
-            //bluetooth.printf("\r\n %5d", setpointL);
-        }
-/******************************END MOTOR 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");
-        }
-    }   
-    
-    
-    
-    //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*e) Kp: %f, (Ki*xState) Ki: %f, e: %d, xState: %d, u: %d", dPosition, vel, Kp, Ki, e, xState , u);
-    
-    /*
-    bluetooth.printf("\r\n %d,   ", e);
-    bluetooth.printf("%d,   ", dPosition);
-    bluetooth.printf("%d,   ", xState);
-    bluetooth.printf("%d,   ", u);
-    */
-    
-    //bluetooth.printf("\r\ne: %d, Pos: %d, dP: %d, xState: %d, u: %d, dT: %d", e, position, dPosition, xState, u, dTime);
-    
-}
-
-/******************************************************************************
                            User interface 3 - Manual Control
 ******************************************************************************/