Diff: state_control.h

Revision:

2:c857935f928e

Child:

4:8b1d52dab862

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/state_control.h	Mon Oct 25 01:28:53 2021 +0000
@@ -0,0 +1,100 @@
+/* 
+    This file controls the three states of the car 
+    
+*/
+InterruptIn stop_button(PTD0); 
+InterruptIn wait_button(PTD5);  
+InterruptIn run_button(PTA13);
+DigitalOut red_led(PTA16);
+DigitalOut green_led(PTA17);
+DigitalOut yellow_led(PTE31);
+   
+// Available states 
+enum states {STOP, WAIT, RUN}; 
+
+// Available LED colors 
+enum led_colors {RED, YELLOW, GREEN};
+
+void turn_leds_off(void){ yellow_led =0; green_led =0; red_led=0;};
+
+// turns an led 
+void turn_led(led_colors Color){
+       turn_leds_off();
+        switch(Color) {
+        case RED    :    {red_led = 1;    green_led=0;   yellow_led=0;};  break;
+        case YELLOW :    {yellow_led = 1; green_led =0;  red_led=0;};     break;
+        case GREEN  :    {green_led = 1;  yellow_led =0; red_led=0;};     break;
+        } 
+    };
+
+void _stop(void){
+   steering_enabled =false;
+    // TODO: Activate brakes. Example: 
+    // left_brakes_enabled = true; 
+    // right_brakes_enabled = true; 
+    // motor_enabled = false;  
+    turn_led(RED); 
+ 
+    }; 
+void _run(void){
+    // TODO: realease brakes, start the motors 
+    // motor_enabled = true; 
+    turn_led(GREEN); 
+    };
+void _wait(void){
+     // release brakes, turn on steering system, do not start the motor
+     // left_brakes_enabled = false; 
+     // right_brakes_enabled = false; 
+     // motor_enabled = false;
+    steering_enabled = true;
+     turn_led(YELLOW);
+     };
+     
+states current_state = WAIT;    // By default the car waits
+states prev_state = WAIT;
+volatile bool _fault = false;
+// This function gets called when a button is pushed
+void state_update (void){ 
+    current_state = (stop_button.read()==1 || _fault == true) ? STOP: ((run_button.read() ==1 && prev_state == WAIT) ? RUN : (wait_button.read() ==1 )? WAIT:  prev_state); 
+    switch(current_state) {
+        case STOP :  _stop();   break;
+        case WAIT :  _wait();   break;
+        case RUN  :  _run();    break;
+        }
+      prev_state = current_state;
+    }
+enum fault_list {CLEAR,OFF_TRACK, BUMPER, LOW_VOLTAGE};
+fault_list fault_type=CLEAR;
+void fault_check(void){
+  
+    if (left_distance_sensor.read()*3.3 < 0.700 && right_distance_sensor.read()*3.3 < 0.700)
+        {
+          _fault = true;
+          fault_type = OFF_TRACK;
+        }
+    else { 
+   
+        _fault = false; 
+        fault_type = CLEAR;
+        };
+           
+         /*
+    else if (hit something){
+             
+             _fault = true; 
+             fault_type = BUMPER;
+         } 
+     
+    else if(low battery)
+         _fault = true;
+         fault_type = LOW_VOLTAGE;
+    else {
+        _faule =false; 
+        fault_type = CLEAR;
+        };
+    */
+    //_fault=true;
+    
+    state_update();
+    };
+