Diff: ui.cpp

Revision:

9:fe56b888985c

Parent:

8:a0890fa79084

Child:

12:172c448a359e

--- a/ui.cpp	Mon Feb 19 17:42:33 2018 +0000
+++ b/ui.cpp	Fri Feb 23 20:58:34 2018 +0000
@@ -1,9 +1,9 @@
 /******************************************************************************/
 // ECE4333
-// LAB Partner 1: Ahmed Sobhy - ID: 3594449
-// LAB Partner 2: Brandon Kingman - ID: 3470444
-// Project: Autonomous Robot Design
-// Instructor: Prof. Chris Diduch
+// LAB Partner 1:   Ahmed Sobhy - ID: 3594449
+// LAB Partner 2:   Brandon Kingman - ID: 3470444
+// Project:         Autonomous Robot Design
+// Instructor:      Prof. Chris Diduch
 /******************************************************************************/
 // filename: ui.cpp
 // file content description:
@@ -17,14 +17,17 @@
 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;
+Mutex setpointR_mutex;
+Mutex setpointL_mutex;
 
 // speed
-int setpoint = 0;
-float total_time_passed = 0;
+int setpointR = 0;
+int setpointL = 0;
+
 // variable to store character recieved from terminal
 char x;
 
+/*
 extern int16_t dPosition, dTime;
 extern float Ki; 
 extern float Kp;
@@ -33,6 +36,7 @@
 extern int32_t xState;
 extern int32_t u;
 extern int time_passed;
+*/
 
 int16_t position;
 
@@ -65,8 +69,10 @@
     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");
+    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");
 }
 
 
@@ -142,57 +148,68 @@
         if(x == 'r') {
             // reset watchdog timer
             WatchdogReset();
-            setpoint = 0;
+            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') {
-            setpoint_mutex.lock();
-            if ( setpoint < 560 ) 
+            setpointR_mutex.lock();
+            if ( setpointR < 560 ) 
             {
                 //setpoint = setpoint + SPEED_STEP;
-                setpoint = 280;
+                setpointR = 280;
             }
-            setpoint_mutex.unlock();
-
-            // display speed
-            //bluetooth.printf("\r\n %5d", setpoint);
+            setpointR_mutex.unlock();
         }
 
         // if s is pressed decrease the speed
         // by decrementing u
         else if(x == 's') {
 
-            setpoint_mutex.lock();
-            if (setpoint > -560) 
+            setpointR_mutex.lock();
+            if (setpointR > -560) 
             {
-                setpoint = -280;
+                setpointR = -280;
                 //setpoint = setpoint - SPEED_STEP;
             }
                 
-            setpoint_mutex.unlock();
+            setpointR_mutex.unlock();
 
             // display speed
-            bluetooth.printf("\r\n %5d", setpoint);
+            bluetooth.printf("\r\n %5d", setpointR);
         }
+
+/******************************LEFT MOTOR**************************************/        
         else if (x=='i')
         {
-            Ki = Ki + 0.01;
+            setpointL_mutex.lock();
+            if ( setpointL < 560 ) 
+            {
+                //setpoint = setpoint + SPEED_STEP;
+                setpointL = 280;
+            }
+            setpointL_mutex.unlock();
+            
         }
         else if (x=='k')
         {
-            Ki = Ki - 0.01;
+            setpointL_mutex.lock();
+            if (setpointL > -560) 
+            {
+                setpointL = -280;
+                //setpoint = setpoint - SPEED_STEP;
+            }
+                
+            setpointL_mutex.unlock();
+
+            // display speed
+            bluetooth.printf("\r\n %5d", setpointL);
         }
-        else if (x=='o')
-        {
-            Kp = Kp + 0.1;
-        }
-        else if (x=='l')
-        {
-            Kp = Kp - 0.1;    
-        }
+/******************************END MOTOR SETPOINT******************************/
         
         // error wrong input
         else {
@@ -200,20 +217,18 @@
         }
     }   
     
-    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*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);