ECE4333 - 2018 - Ahmed & Brandon / Mbed OS PlayBack

PlayBack

Dependencies:   TPixy-Interface

Fork of ManualControlFinal by ECE4333 - 2018 - Ahmed & Brandon

ui.cpp@2:ca2a7430739b, 2018-02-03 (annotated)

Committer:
asobhy
Date:
Sat Feb 03 00:37:57 2018 +0000
Revision:
2:ca2a7430739b
Parent:
1:3e9684e81312
Child:
4:417e475239c7
before trying a different control algorithm

Who changed what in which revision?

UserRevisionLine numberNew 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 extern float Ki;
asobhy 1:3e9684e81312 18 extern float Kp;
asobhy 1:3e9684e81312 19 extern int vel;
asobhy 2:ca2a7430739b 20 extern int32_t e;
asobhy 2:ca2a7430739b 21 extern int32_t xState;
asobhy 2:ca2a7430739b 22 extern int32_t u;
asobhy 1:3e9684e81312 23
asobhy 1:3e9684e81312 24 int16_t position;
asobhy 1:3e9684e81312 25
asobhy 2:ca2a7430739b 26
asobhy 0:a355e511bc5d 27
asobhy 0:a355e511bc5d 28 /******************************************************************************
asobhy 0:a355e511bc5d 29 A function to test blutooth communication
asobhy 0:a355e511bc5d 30 ******************************************************************************/
asobhy 0:a355e511bc5d 31 void twoTerminalsTest()
asobhy 0:a355e511bc5d 32 {
asobhy 0:a355e511bc5d 33 if (pc.readable()) { // If a key is pressed on the pc channel
asobhy 0:a355e511bc5d 34 x=pc.getc(); // read the character and send it to both the
asobhy 0:a355e511bc5d 35 bluetooth.putc(x); // bluetooth channel and the pc channel for
asobhy 0:a355e511bc5d 36 pc.putc(x); // display.
asobhy 0:a355e511bc5d 37 }
asobhy 0:a355e511bc5d 38 if (bluetooth.readable()) {
asobhy 0:a355e511bc5d 39 x=bluetooth.getc(); // If there’s a keypress on the bluetooth
asobhy 0:a355e511bc5d 40 pc.putc(x); // channel, read the character and send it to
asobhy 0:a355e511bc5d 41 bluetooth.putc(x); // both the pc channel and the bluetooth
asobhy 0:a355e511bc5d 42 } // channel for display
asobhy 0:a355e511bc5d 43 }
asobhy 0:a355e511bc5d 44
asobhy 0:a355e511bc5d 45
asobhy 0:a355e511bc5d 46 /******************************************************************************
asobhy 0:a355e511bc5d 47 A function to Display startup Messsage
asobhy 0:a355e511bc5d 48 ******************************************************************************/
asobhy 0:a355e511bc5d 49 void displayStartupMsg()
asobhy 0:a355e511bc5d 50 {
asobhy 1:3e9684e81312 51 bluetooth.printf("\r\n************************************");
asobhy 1:3e9684e81312 52 bluetooth.printf("\r\n**** DC Motor Control using PWM ****");
asobhy 1:3e9684e81312 53 bluetooth.printf("\r\n************************************");
asobhy 1:3e9684e81312 54 bluetooth.printf("\r\n-Enter r to reset the watchdog timer");
asobhy 1:3e9684e81312 55 bluetooth.printf("\r\n-press w to increase motor speed");
asobhy 1:3e9684e81312 56 bluetooth.printf("\r\n-press s to decrease motor speed");
asobhy 0:a355e511bc5d 57 }
asobhy 0:a355e511bc5d 58
asobhy 0:a355e511bc5d 59
asobhy 0:a355e511bc5d 60 /******************************************************************************
asobhy 1:3e9684e81312 61 User interface
asobhy 0:a355e511bc5d 62 ******************************************************************************/
asobhy 0:a355e511bc5d 63 void consoleUI(void)
asobhy 0:a355e511bc5d 64 {
asobhy 1:3e9684e81312 65 if (bluetooth.readable()) {
asobhy 1:3e9684e81312 66 x = bluetooth.getc();
asobhy 1:3e9684e81312 67
asobhy 0:a355e511bc5d 68 // if input from console is the letter 'r'
asobhy 0:a355e511bc5d 69 if(x == 'r') {
asobhy 0:a355e511bc5d 70 // reset watchdog timer
asobhy 0:a355e511bc5d 71 WatchdogReset();
asobhy 1:3e9684e81312 72 bluetooth.printf("\r\nWatchdog has been reset");
asobhy 0:a355e511bc5d 73 }
asobhy 0:a355e511bc5d 74
asobhy 0:a355e511bc5d 75 // if w is pressed increase the speed
asobhy 0:a355e511bc5d 76 // by incrementing u
asobhy 0:a355e511bc5d 77 else if(x == 'w') {
asobhy 1:3e9684e81312 78 setpoint_mutex.lock();
asobhy 1:3e9684e81312 79 if ( setpoint < 560 )
asobhy 1:3e9684e81312 80 {
asobhy 1:3e9684e81312 81 //setpoint = setpoint + SPEED_STEP;
asobhy 1:3e9684e81312 82 setpoint = 100;
asobhy 0:a355e511bc5d 83 }
asobhy 1:3e9684e81312 84 setpoint_mutex.unlock();
asobhy 1:3e9684e81312 85
asobhy 0:a355e511bc5d 86 // display speed
asobhy 1:3e9684e81312 87 bluetooth.printf("\r\n %5d", setpoint);
asobhy 0:a355e511bc5d 88 }
asobhy 0:a355e511bc5d 89
asobhy 0:a355e511bc5d 90 // if s is pressed decrease the speed
asobhy 0:a355e511bc5d 91 // by decrementing u
asobhy 0:a355e511bc5d 92 else if(x == 's') {
asobhy 1:3e9684e81312 93
asobhy 1:3e9684e81312 94 setpoint_mutex.lock();
asobhy 1:3e9684e81312 95 if (setpoint > -560)
asobhy 1:3e9684e81312 96 {
asobhy 1:3e9684e81312 97 setpoint = -100;
asobhy 1:3e9684e81312 98 //setpoint = setpoint - SPEED_STEP;
asobhy 0:a355e511bc5d 99 }
asobhy 1:3e9684e81312 100
asobhy 1:3e9684e81312 101 setpoint_mutex.unlock();
asobhy 1:3e9684e81312 102
asobhy 0:a355e511bc5d 103 // display speed
asobhy 1:3e9684e81312 104 bluetooth.printf("\r\n %5d", setpoint);
asobhy 0:a355e511bc5d 105 }
asobhy 0:a355e511bc5d 106
asobhy 0:a355e511bc5d 107 // error wrong input
asobhy 0:a355e511bc5d 108 else {
asobhy 1:3e9684e81312 109 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 110 }
asobhy 0:a355e511bc5d 111 }
asobhy 0:a355e511bc5d 112 position += dPosition;
asobhy 2:ca2a7430739b 113 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 114
asobhy 0:a355e511bc5d 115 }
asobhy 0:a355e511bc5d 116
asobhy 1:3e9684e81312 117 /******************************************************************************
asobhy 1:3e9684e81312 118 User interface 2
asobhy 1:3e9684e81312 119 ******************************************************************************/
asobhy 1:3e9684e81312 120
asobhy 1:3e9684e81312 121 void consoleUI2(void)
asobhy 1:3e9684e81312 122 {
asobhy 1:3e9684e81312 123
asobhy 1:3e9684e81312 124 if (bluetooth.readable()) {
asobhy 1:3e9684e81312 125 x = bluetooth.getc();
asobhy 1:3e9684e81312 126
asobhy 1:3e9684e81312 127 // if input from console is the letter 'r'
asobhy 1:3e9684e81312 128 if(x == 'r') {
asobhy 1:3e9684e81312 129 // reset watchdog timer
asobhy 1:3e9684e81312 130 WatchdogReset();
asobhy 1:3e9684e81312 131 setpoint = 0;
asobhy 1:3e9684e81312 132 bluetooth.printf("\r\nWatchdog has been reset");
asobhy 1:3e9684e81312 133 }
asobhy 1:3e9684e81312 134
asobhy 1:3e9684e81312 135 // if w is pressed increase the speed
asobhy 1:3e9684e81312 136 // by incrementing u
asobhy 1:3e9684e81312 137 else if(x == 'w') {
asobhy 1:3e9684e81312 138 setpoint_mutex.lock();
asobhy 2:ca2a7430739b 139 if ( setpoint < 506 )
asobhy 1:3e9684e81312 140 {
asobhy 1:3e9684e81312 141 //setpoint = setpoint + SPEED_STEP;
asobhy 1:3e9684e81312 142 setpoint = 200;
asobhy 1:3e9684e81312 143 }
asobhy 1:3e9684e81312 144 setpoint_mutex.unlock();
asobhy 1:3e9684e81312 145
asobhy 1:3e9684e81312 146 // display speed
asobhy 1:3e9684e81312 147 bluetooth.printf("\r\n %5d", setpoint);
asobhy 1:3e9684e81312 148 }
asobhy 1:3e9684e81312 149
asobhy 1:3e9684e81312 150 // if s is pressed decrease the speed
asobhy 1:3e9684e81312 151 // by decrementing u
asobhy 1:3e9684e81312 152 else if(x == 's') {
asobhy 1:3e9684e81312 153
asobhy 1:3e9684e81312 154 setpoint_mutex.lock();
asobhy 2:ca2a7430739b 155 if (setpoint > -560)
asobhy 1:3e9684e81312 156 {
asobhy 1:3e9684e81312 157 setpoint = -200;
asobhy 1:3e9684e81312 158 //setpoint = setpoint - SPEED_STEP;
asobhy 1:3e9684e81312 159 }
asobhy 1:3e9684e81312 160
asobhy 1:3e9684e81312 161 setpoint_mutex.unlock();
asobhy 1:3e9684e81312 162
asobhy 1:3e9684e81312 163 // display speed
asobhy 1:3e9684e81312 164 bluetooth.printf("\r\n %5d", setpoint);
asobhy 1:3e9684e81312 165 }
asobhy 1:3e9684e81312 166 else if (x=='e')
asobhy 1:3e9684e81312 167 {
asobhy 1:3e9684e81312 168 Ki = Ki + 0.005;
asobhy 1:3e9684e81312 169 }
asobhy 1:3e9684e81312 170 else if (x=='d')
asobhy 1:3e9684e81312 171 {
asobhy 1:3e9684e81312 172 Ki = Ki - 0.005;
asobhy 1:3e9684e81312 173 }
asobhy 1:3e9684e81312 174 else if (x=='t')
asobhy 1:3e9684e81312 175 {
asobhy 1:3e9684e81312 176 Kp = Kp + 0.05;
asobhy 1:3e9684e81312 177 }
asobhy 1:3e9684e81312 178 else if (x=='g')
asobhy 1:3e9684e81312 179 {
asobhy 1:3e9684e81312 180 Kp = Kp - 0.05;
asobhy 1:3e9684e81312 181 }
asobhy 1:3e9684e81312 182
asobhy 1:3e9684e81312 183 // error wrong input
asobhy 1:3e9684e81312 184 else {
asobhy 1:3e9684e81312 185 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 186 }
asobhy 1:3e9684e81312 187 }
asobhy 1:3e9684e81312 188
asobhy 1:3e9684e81312 189 position += dPosition;
asobhy 2:ca2a7430739b 190
asobhy 1:3e9684e81312 191 //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 192
asobhy 2:ca2a7430739b 193 bluetooth.printf("\r\ndP: %d, vel: %d, Kp: %f, Ki: %f, e: %d, xState: %d", dPosition, vel, Kp, Ki, e, xState);
asobhy 2:ca2a7430739b 194
asobhy 2:ca2a7430739b 195 //bluetooth.printf("\r\ne: %d, Pos: %d, dP: %d, xState: %d, u: %d, dT: %d", e, position, dPosition, xState, u, dTime);
asobhy 1:3e9684e81312 196
asobhy 1:3e9684e81312 197 }