PROJ515 / Mbed 2 deprecated CoilingRigV13

This has increased comments and a readme

Dependencies:   mbed mbed-rtos TextLCD

Interface/Interface.cpp@25:9751619fa030, 2019-02-18 (annotated)

Committer:
thomasmorris
Date:
Mon Feb 18 22:04:54 2019 +0000
Revision:
25:9751619fa030
Parent:
24:728de4bf961e
Child:
26:83550fc299aa
GET IN THE BIN

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thomasmorris 23:07a368f2cdb1 1 #include "Interface.hpp" //Include the header file, this acts like a series of forward declarations
thomasmorris 16:9f98ec0ededb 2 //Constructor
thomasmorris 25:9751619fa030 3 INTERFACE::INTERFACE(){}//Set all values to 0
thomasmorris 25:9751619fa030 4
thomasmorris 16:9f98ec0ededb 5 INTERFACE::~INTERFACE(){} //Destructor
thomasmorris 16:9f98ec0ededb 6 //Interrupt run functions
thomasmorris 17:68b3fdabe4c5 7 void INTERFACE::Interface_Init()//Set all values to 0 bar the default turns
thomasmorris 16:9f98ec0ededb 8 {
thomasmorris 24:728de4bf961e 9 Led_Select_Left_mutex.lock();
thomasmorris 24:728de4bf961e 10 Led_Select_Left = 0;
thomasmorris 24:728de4bf961e 11 Led_Select_Left_mutex.unlock();
thomasmorris 24:728de4bf961e 12
thomasmorris 24:728de4bf961e 13 Led_Select_Right_mutex.lock();
thomasmorris 24:728de4bf961e 14 Led_Select_Right= 0;
thomasmorris 24:728de4bf961e 15 Led_Select_Right_mutex.unlock();
thomasmorris 24:728de4bf961e 16
thomasmorris 23:07a368f2cdb1 17 _Function_mutex.lock();
thomasmorris 25:9751619fa030 18 _Function =2;
thomasmorris 23:07a368f2cdb1 19 _Function_mutex.unlock();
thomasmorris 23:07a368f2cdb1 20
thomasmorris 23:07a368f2cdb1 21 _Twist_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 22 _Twist_Go =0;
thomasmorris 23:07a368f2cdb1 23 _Twist_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 24
thomasmorris 23:07a368f2cdb1 25 _Anneal_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 26 _Anneal_Go =0;
thomasmorris 23:07a368f2cdb1 27 _Anneal_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 28
thomasmorris 23:07a368f2cdb1 29 _Test_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 30 _Test_Go =0;
thomasmorris 23:07a368f2cdb1 31 _Test_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 32
thomasmorris 23:07a368f2cdb1 33 _Select_mutex.lock();
thomasmorris 17:68b3fdabe4c5 34 _Select =0;
thomasmorris 23:07a368f2cdb1 35 _Select_mutex.unlock();
thomasmorris 23:07a368f2cdb1 36
thomasmorris 23:07a368f2cdb1 37 _Turns_Done_mutex.lock();
thomasmorris 17:68b3fdabe4c5 38 _Turns_Done =0;
thomasmorris 23:07a368f2cdb1 39 _Turns_Done_mutex.unlock();
thomasmorris 23:07a368f2cdb1 40
thomasmorris 23:07a368f2cdb1 41 _Turns_Todo_mutex.lock();
thomasmorris 25:9751619fa030 42 if(Type_of_Rig == 2)
thomasmorris 25:9751619fa030 43 {
thomasmorris 25:9751619fa030 44 _Turns_Todo = Default_Coiling_Turns;
thomasmorris 25:9751619fa030 45 }
thomasmorris 25:9751619fa030 46 else if(Type_of_Rig == 3)
thomasmorris 25:9751619fa030 47 {
thomasmorris 25:9751619fa030 48 _Turns_Todo = Default_Twisting_Turns;
thomasmorris 25:9751619fa030 49 }
thomasmorris 23:07a368f2cdb1 50 _Turns_Todo_mutex.unlock();
thomasmorris 23:07a368f2cdb1 51
thomasmorris 23:07a368f2cdb1 52 _Loop_mutex.lock();
thomasmorris 25:9751619fa030 53 _Loop =6;
thomasmorris 23:07a368f2cdb1 54 _Loop_mutex.unlock();
thomasmorris 23:07a368f2cdb1 55
thomasmorris 25:9751619fa030 56 _On_Time_mutex.lock();
thomasmorris 25:9751619fa030 57 _On_Time =6;
thomasmorris 25:9751619fa030 58 _On_Time_mutex.unlock();
thomasmorris 25:9751619fa030 59
thomasmorris 25:9751619fa030 60 _Off_Time_mutex.lock();
thomasmorris 25:9751619fa030 61 _Off_Time =6;
thomasmorris 25:9751619fa030 62 _Off_Time_mutex.unlock();
thomasmorris 23:07a368f2cdb1 63
thomasmorris 23:07a368f2cdb1 64 _Duty_Cycle_mutex.lock();
thomasmorris 17:68b3fdabe4c5 65 _Duty_Cycle =0;
thomasmorris 23:07a368f2cdb1 66 _Duty_Cycle_mutex.unlock();
thomasmorris 23:07a368f2cdb1 67
thomasmorris 23:07a368f2cdb1 68 _Power_Time_mutex.lock();
thomasmorris 17:68b3fdabe4c5 69 _Power_Time =0;
thomasmorris 23:07a368f2cdb1 70 _Power_Time_mutex.unlock();
thomasmorris 23:07a368f2cdb1 71
thomasmorris 23:07a368f2cdb1 72 Led_Select_Left_mutex.lock();
thomasmorris 23:07a368f2cdb1 73 Led_Select_Left = 0;
thomasmorris 23:07a368f2cdb1 74 Led_Select_Left_mutex.unlock();
thomasmorris 23:07a368f2cdb1 75
thomasmorris 23:07a368f2cdb1 76 Led_Select_Right_mutex.lock();
thomasmorris 23:07a368f2cdb1 77 Led_Select_Right= 0;
thomasmorris 23:07a368f2cdb1 78 Led_Select_Right_mutex.unlock();
thomasmorris 23:07a368f2cdb1 79
thomasmorris 23:07a368f2cdb1 80 Led_Power_mutex.lock();
thomasmorris 23:07a368f2cdb1 81 Led_Power =0;
thomasmorris 23:07a368f2cdb1 82 Led_Power_mutex.unlock();
thomasmorris 23:07a368f2cdb1 83
thomasmorris 23:07a368f2cdb1 84 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 85 _System_Running =0;
thomasmorris 23:07a368f2cdb1 86 _System_Running_mutex.unlock();
thomasmorris 24:728de4bf961e 87
thomasmorris 24:728de4bf961e 88
thomasmorris 24:728de4bf961e 89 Led_Select_Left_mutex.lock();
thomasmorris 24:728de4bf961e 90 Led_Select_Left = 0;
thomasmorris 24:728de4bf961e 91 Led_Select_Left_mutex.unlock();
thomasmorris 24:728de4bf961e 92
thomasmorris 24:728de4bf961e 93 Led_Select_Right_mutex.lock();
thomasmorris 24:728de4bf961e 94 Led_Select_Right= 1;
thomasmorris 24:728de4bf961e 95 Led_Select_Right_mutex.unlock();
thomasmorris 16:9f98ec0ededb 96 }
thomasmorris 17:68b3fdabe4c5 97 void INTERFACE::Up()//Up Routine
thomasmorris 16:9f98ec0ededb 98 {
thomasmorris 25:9751619fa030 99 if (_Function == 2 || _Function == 3 )//Coiling or twist Function
thomasmorris 16:9f98ec0ededb 100 {
thomasmorris 23:07a368f2cdb1 101 _Turns_Todo_mutex.lock();
thomasmorris 25:9751619fa030 102 while(button_up.read() == 1)
thomasmorris 25:9751619fa030 103 {
thomasmorris 25:9751619fa030 104 _Turns_Todo = _Turns_Todo +1;
thomasmorris 25:9751619fa030 105 Thread::wait(100);
thomasmorris 25:9751619fa030 106 }
thomasmorris 23:07a368f2cdb1 107 _Turns_Todo_mutex.unlock();
thomasmorris 16:9f98ec0ededb 108 }
thomasmorris 25:9751619fa030 109 else if (_Function == 0)//Annealing Function
thomasmorris 16:9f98ec0ededb 110 {
thomasmorris 25:9751619fa030 111 if (_Select == 0)//Select = 0
thomasmorris 23:07a368f2cdb1 112 {
thomasmorris 23:07a368f2cdb1 113 _Loop_mutex.lock();
thomasmorris 16:9f98ec0ededb 114 _Loop = _Loop + 1; //Increases Repetitions in Annealing
thomasmorris 23:07a368f2cdb1 115 _Loop_mutex.unlock();
thomasmorris 16:9f98ec0ededb 116 }
thomasmorris 25:9751619fa030 117 else if (_Select == 1)//Select = 1
thomasmorris 16:9f98ec0ededb 118 {
thomasmorris 25:9751619fa030 119 _On_Time_mutex.lock();
thomasmorris 25:9751619fa030 120 _On_Time = _On_Time + 1; //Increases On time
thomasmorris 25:9751619fa030 121 _On_Time_mutex.unlock();
thomasmorris 25:9751619fa030 122 }
thomasmorris 25:9751619fa030 123 else if (_Select == 2)//Select = 1
thomasmorris 25:9751619fa030 124 {
thomasmorris 25:9751619fa030 125 _Off_Time_mutex.lock();
thomasmorris 25:9751619fa030 126 _Off_Time = _On_Time + 1; //Increases Off time
thomasmorris 25:9751619fa030 127 _Off_Time_mutex.unlock();
thomasmorris 16:9f98ec0ededb 128 }
thomasmorris 16:9f98ec0ededb 129 }
thomasmorris 25:9751619fa030 130 else if (_Function == 1)//Test Function
thomasmorris 16:9f98ec0ededb 131 {
thomasmorris 25:9751619fa030 132 if (_Select == 0)//Select = 0
thomasmorris 16:9f98ec0ededb 133 {
thomasmorris 16:9f98ec0ededb 134 if (_Duty_Cycle < 100)
thomasmorris 16:9f98ec0ededb 135 {
thomasmorris 23:07a368f2cdb1 136 _Duty_Cycle_mutex.lock();
thomasmorris 16:9f98ec0ededb 137 _Duty_Cycle = _Duty_Cycle + 10; //Increases Testing Duty Cycle
thomasmorris 23:07a368f2cdb1 138 _Duty_Cycle_mutex.unlock();
thomasmorris 16:9f98ec0ededb 139 }
thomasmorris 24:728de4bf961e 140 }
thomasmorris 25:9751619fa030 141 else if (_Select == 1)//Select = 1
thomasmorris 24:728de4bf961e 142 {
thomasmorris 24:728de4bf961e 143 _Power_Time_mutex.lock();
thomasmorris 24:728de4bf961e 144 _Power_Time = _Power_Time + 1; //Increases time on
thomasmorris 24:728de4bf961e 145 _Power_Time_mutex.unlock();
thomasmorris 16:9f98ec0ededb 146 }
thomasmorris 16:9f98ec0ededb 147 }
thomasmorris 16:9f98ec0ededb 148 }
thomasmorris 17:68b3fdabe4c5 149 void INTERFACE::Down()//Down Routine
thomasmorris 16:9f98ec0ededb 150 {
thomasmorris 25:9751619fa030 151 if (_Function == 2 || _Function == 3)//Coiling or twist Function
thomasmorris 25:9751619fa030 152 {
thomasmorris 23:07a368f2cdb1 153 _Turns_Todo_mutex.lock();
thomasmorris 25:9751619fa030 154 while(button_up.read() == 1)
thomasmorris 25:9751619fa030 155 {
thomasmorris 25:9751619fa030 156 _Turns_Todo = _Turns_Todo -1;
thomasmorris 25:9751619fa030 157 Thread::wait(100);
thomasmorris 25:9751619fa030 158 }
thomasmorris 23:07a368f2cdb1 159 _Turns_Todo_mutex.unlock();
thomasmorris 16:9f98ec0ededb 160 }
thomasmorris 25:9751619fa030 161 else if (_Function == 0)//Anneal Function
thomasmorris 16:9f98ec0ededb 162 {
thomasmorris 25:9751619fa030 163 if (_Select == 0)//Select = 0
thomasmorris 16:9f98ec0ededb 164 {
thomasmorris 21:6d9f6a986647 165
thomasmorris 16:9f98ec0ededb 166 if (_Loop > 0)
thomasmorris 16:9f98ec0ededb 167 {
thomasmorris 23:07a368f2cdb1 168 _Loop_mutex.lock();
thomasmorris 16:9f98ec0ededb 169 _Loop = _Loop - 1;
thomasmorris 23:07a368f2cdb1 170 _Loop_mutex.unlock();
thomasmorris 16:9f98ec0ededb 171 }
thomasmorris 24:728de4bf961e 172 }
thomasmorris 25:9751619fa030 173 else if (_Select == 1)//Select = 1
thomasmorris 24:728de4bf961e 174 {
thomasmorris 25:9751619fa030 175 _On_Time_mutex.lock();
thomasmorris 25:9751619fa030 176 _On_Time = _On_Time - 1; //Decrease On time
thomasmorris 25:9751619fa030 177 _On_Time_mutex.unlock();
thomasmorris 25:9751619fa030 178 }
thomasmorris 25:9751619fa030 179 else if (_Select == 2)//Select = 1
thomasmorris 25:9751619fa030 180 {
thomasmorris 25:9751619fa030 181 _Off_Time_mutex.lock();
thomasmorris 25:9751619fa030 182 _Off_Time = _On_Time - 1; //Decrements Off time
thomasmorris 25:9751619fa030 183 _Off_Time_mutex.unlock();
thomasmorris 16:9f98ec0ededb 184 }
thomasmorris 16:9f98ec0ededb 185 }
thomasmorris 25:9751619fa030 186 else if (_Function == 1)//Test Function
thomasmorris 16:9f98ec0ededb 187 {
thomasmorris 25:9751619fa030 188 if (_Select == 0)//Select = 0
thomasmorris 16:9f98ec0ededb 189 {
thomasmorris 16:9f98ec0ededb 190 if (_Duty_Cycle > 0)
thomasmorris 16:9f98ec0ededb 191 {
thomasmorris 23:07a368f2cdb1 192 _Duty_Cycle_mutex.lock();
thomasmorris 16:9f98ec0ededb 193 _Duty_Cycle = _Duty_Cycle - 10; //Decreases duty
thomasmorris 23:07a368f2cdb1 194 _Duty_Cycle_mutex.unlock();
thomasmorris 16:9f98ec0ededb 195 }
thomasmorris 24:728de4bf961e 196 }
thomasmorris 25:9751619fa030 197 else if (_Select == 1)//Select = 1
thomasmorris 24:728de4bf961e 198 {
thomasmorris 24:728de4bf961e 199 if (_Power_Time > 0)
thomasmorris 16:9f98ec0ededb 200 {
thomasmorris 24:728de4bf961e 201 _Power_Time_mutex.lock();
thomasmorris 24:728de4bf961e 202 _Power_Time = _Power_Time - 1; //Decreases Time on
thomasmorris 24:728de4bf961e 203 _Power_Time_mutex.unlock();
thomasmorris 16:9f98ec0ededb 204 }
thomasmorris 16:9f98ec0ededb 205 }
thomasmorris 24:728de4bf961e 206
thomasmorris 16:9f98ec0ededb 207 }
thomasmorris 16:9f98ec0ededb 208 }
thomasmorris 17:68b3fdabe4c5 209 void INTERFACE::Start_Stop()//Start / Stop Routine
thomasmorris 16:9f98ec0ededb 210 {
thomasmorris 24:728de4bf961e 211
thomasmorris 24:728de4bf961e 212 if(_System_Running != 2)
thomasmorris 24:728de4bf961e 213 {
thomasmorris 24:728de4bf961e 214 _System_Running = !_System_Running;
thomasmorris 24:728de4bf961e 215 }
thomasmorris 23:07a368f2cdb1 216 //System not running cases (START)
thomasmorris 24:728de4bf961e 217 printf("Function is: %d, System is: %d\n",_Function,_System_Running);
thomasmorris 24:728de4bf961e 218
thomasmorris 24:728de4bf961e 219 //System Running cases (Unpause)
thomasmorris 25:9751619fa030 220 if ((_Function == 2 || _Function == 3) & _System_Running == 2)//Coil Twist selected to be unpaused
thomasmorris 23:07a368f2cdb1 221 {
thomasmorris 24:728de4bf961e 222 _Twist_Stop_mutex.lock();
thomasmorris 24:728de4bf961e 223 _Twist_Stop = false;
thomasmorris 24:728de4bf961e 224 _Twist_Stop_mutex.unlock();
thomasmorris 24:728de4bf961e 225
thomasmorris 23:07a368f2cdb1 226 _Twist_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 227 _Twist_Go = true;//toggle used for coiling and twisting and Running the code
thomasmorris 23:07a368f2cdb1 228 _Twist_Go_mutex.unlock();
thomasmorris 24:728de4bf961e 229
thomasmorris 24:728de4bf961e 230 STEPPER_MOTOR_1.Unpause_Code();
thomasmorris 24:728de4bf961e 231
thomasmorris 25:9751619fa030 232 if(_Function == 2)//Coiling
thomasmorris 25:9751619fa030 233 {
thomasmorris 25:9751619fa030 234 printf("Coiling Code unpaused\n");
thomasmorris 25:9751619fa030 235 }
thomasmorris 25:9751619fa030 236 if(_Function == 3)//Twisiting
thomasmorris 25:9751619fa030 237 {
thomasmorris 25:9751619fa030 238 printf("Twisting Code unpaused\n");
thomasmorris 25:9751619fa030 239 }
thomasmorris 24:728de4bf961e 240 _System_Running = 0;
thomasmorris 24:728de4bf961e 241
thomasmorris 23:07a368f2cdb1 242 }
thomasmorris 25:9751619fa030 243 else if (_Function == 0 & _System_Running == 2) //Annealing selected to be unpaused
thomasmorris 23:07a368f2cdb1 244 {
thomasmorris 24:728de4bf961e 245 _Anneal_Stop_mutex.lock();
thomasmorris 24:728de4bf961e 246 _Anneal_Stop = false;
thomasmorris 24:728de4bf961e 247 _Anneal_Stop_mutex.unlock();
thomasmorris 24:728de4bf961e 248 printf("Annealing Code unpaused\n");
thomasmorris 24:728de4bf961e 249
thomasmorris 23:07a368f2cdb1 250 _Anneal_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 251 _Anneal_Go = true;//toggle and Run the code
thomasmorris 23:07a368f2cdb1 252 _Anneal_Go_mutex.unlock();
thomasmorris 24:728de4bf961e 253 _System_Running = 0;
thomasmorris 23:07a368f2cdb1 254 }
thomasmorris 25:9751619fa030 255 else if (_Function == 1 & _System_Running == 2) //Testing selected to be re run
thomasmorris 16:9f98ec0ededb 256 {
thomasmorris 24:728de4bf961e 257 _Test_Stop_mutex.lock();
thomasmorris 24:728de4bf961e 258 _Test_Stop = false;
thomasmorris 24:728de4bf961e 259 _Test_Stop_mutex.unlock();
thomasmorris 24:728de4bf961e 260 printf("Testing Code unpaused\n");
thomasmorris 23:07a368f2cdb1 261 _Test_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 262 _Test_Go = true;//toggle and run the code
thomasmorris 23:07a368f2cdb1 263 _Test_Go_mutex.unlock();
thomasmorris 24:728de4bf961e 264 _System_Running = 0;
thomasmorris 24:728de4bf961e 265
thomasmorris 16:9f98ec0ededb 266 }
thomasmorris 23:07a368f2cdb1 267 //System Running cases (STOP)
thomasmorris 25:9751619fa030 268 else if ((_Function == 2 || _Function == 3) & _System_Running == 1)//Coiling / Twisting selected to be stopped
thomasmorris 23:07a368f2cdb1 269 {
thomasmorris 23:07a368f2cdb1 270 _Twist_Stop_mutex.lock();
thomasmorris 23:07a368f2cdb1 271 _Twist_Stop = true;
thomasmorris 23:07a368f2cdb1 272 _Twist_Stop_mutex.unlock();
thomasmorris 25:9751619fa030 273
thomasmorris 25:9751619fa030 274 if(_Function == 2)
thomasmorris 25:9751619fa030 275 {
thomasmorris 25:9751619fa030 276 printf("Coiling Code Paused\n");
thomasmorris 25:9751619fa030 277 }
thomasmorris 25:9751619fa030 278 if(_Function == 3)
thomasmorris 25:9751619fa030 279 {
thomasmorris 25:9751619fa030 280 printf("Twisting Code Paused\n");
thomasmorris 25:9751619fa030 281 }
thomasmorris 23:07a368f2cdb1 282 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 283 _System_Running = 2;
thomasmorris 23:07a368f2cdb1 284 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 285 STEPPER_MOTOR_1.Pause_Code();
thomasmorris 23:07a368f2cdb1 286 }
thomasmorris 25:9751619fa030 287 else if (_Function == 0 & _System_Running == 1) //Annealing selected to be stopped
thomasmorris 23:07a368f2cdb1 288 {
thomasmorris 23:07a368f2cdb1 289 _Anneal_Stop_mutex.lock();
thomasmorris 23:07a368f2cdb1 290 _Anneal_Stop = true;
thomasmorris 23:07a368f2cdb1 291 _Anneal_Stop_mutex.unlock();
thomasmorris 23:07a368f2cdb1 292 printf("Annealing Code Paused\n");
thomasmorris 23:07a368f2cdb1 293 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 294 _System_Running = 2;
thomasmorris 23:07a368f2cdb1 295 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 296 }
thomasmorris 25:9751619fa030 297 else if (_Function == 1 & _System_Running == 1) //Testing selected to be stopped
thomasmorris 16:9f98ec0ededb 298 {
thomasmorris 23:07a368f2cdb1 299 _Test_Stop_mutex.lock();
thomasmorris 23:07a368f2cdb1 300 _Test_Stop = true;
thomasmorris 23:07a368f2cdb1 301 _Test_Stop_mutex.unlock();
thomasmorris 24:728de4bf961e 302
thomasmorris 23:07a368f2cdb1 303 printf("Testing Code Paused\n");
thomasmorris 24:728de4bf961e 304
thomasmorris 23:07a368f2cdb1 305 _Tendon_mutex.lock();
thomasmorris 23:07a368f2cdb1 306 Tendon_Power=0;
thomasmorris 23:07a368f2cdb1 307 _Tendon_mutex.unlock();
thomasmorris 23:07a368f2cdb1 308
thomasmorris 23:07a368f2cdb1 309 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 310 _System_Running = 2;
thomasmorris 23:07a368f2cdb1 311 _System_Running_mutex.unlock();
thomasmorris 16:9f98ec0ededb 312 }
thomasmorris 24:728de4bf961e 313 //Start Cases
thomasmorris 25:9751619fa030 314 else if ((_Function == 2 || _Function == 3) & _System_Running == 0)//Twist selected
thomasmorris 23:07a368f2cdb1 315 {
thomasmorris 23:07a368f2cdb1 316 _Twist_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 317 _Twist_Go = true;//toggle used for coiling and twisting and Running the code
thomasmorris 23:07a368f2cdb1 318 _Twist_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 319 }
thomasmorris 25:9751619fa030 320 else if (_Function == 0 & _System_Running == 0) //Annealing selected
thomasmorris 16:9f98ec0ededb 321 {
thomasmorris 23:07a368f2cdb1 322 _Anneal_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 323 _Anneal_Go = true;//toggle and Run the code
thomasmorris 23:07a368f2cdb1 324 _Anneal_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 325 }
thomasmorris 25:9751619fa030 326 else if (_Function == 1 & _System_Running == 0) //Testing selected
thomasmorris 23:07a368f2cdb1 327 {
thomasmorris 23:07a368f2cdb1 328 _Test_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 329 _Test_Go = true;//toggle and run the code
thomasmorris 23:07a368f2cdb1 330 _Test_Go_mutex.unlock();
thomasmorris 16:9f98ec0ededb 331 }
thomasmorris 16:9f98ec0ededb 332 }
thomasmorris 17:68b3fdabe4c5 333 void INTERFACE::Function()//Function Routine used to increment through the three functions
thomasmorris 16:9f98ec0ededb 334 {
thomasmorris 17:68b3fdabe4c5 335 /*
thomasmorris 25:9751619fa030 336 Function 0 = Anneal
thomasmorris 25:9751619fa030 337 Function 1 = Test
thomasmorris 25:9751619fa030 338 Function 2 = Coiling
thomasmorris 25:9751619fa030 339 Function 3 = Twisting
thomasmorris 17:68b3fdabe4c5 340 */
thomasmorris 25:9751619fa030 341
thomasmorris 25:9751619fa030 342 if(Type_of_Rig == 2)
thomasmorris 25:9751619fa030 343 {
thomasmorris 25:9751619fa030 344 if(_Function < 2)
thomasmorris 25:9751619fa030 345 {
thomasmorris 25:9751619fa030 346 _Function_mutex.lock();
thomasmorris 25:9751619fa030 347 _Function = _Function + 1;
thomasmorris 25:9751619fa030 348 _Function_mutex.unlock();
thomasmorris 25:9751619fa030 349 }
thomasmorris 25:9751619fa030 350 else if(_Function == 2)
thomasmorris 25:9751619fa030 351 {
thomasmorris 25:9751619fa030 352 _Function_mutex.lock();
thomasmorris 25:9751619fa030 353 _Function = 0;
thomasmorris 25:9751619fa030 354 _Function_mutex.unlock();
thomasmorris 25:9751619fa030 355 }
thomasmorris 16:9f98ec0ededb 356 }
thomasmorris 25:9751619fa030 357 else if(Type_of_Rig == 3)
thomasmorris 16:9f98ec0ededb 358 {
thomasmorris 25:9751619fa030 359 if(_Function == 3)
thomasmorris 25:9751619fa030 360 {
thomasmorris 25:9751619fa030 361 _Function_mutex.lock();
thomasmorris 25:9751619fa030 362 _Function = 0;
thomasmorris 25:9751619fa030 363 _Function_mutex.unlock();
thomasmorris 25:9751619fa030 364 }
thomasmorris 25:9751619fa030 365 else if(_Function < 2)
thomasmorris 25:9751619fa030 366 {
thomasmorris 25:9751619fa030 367 _Function_mutex.lock();
thomasmorris 25:9751619fa030 368 _Function = _Function + 1;
thomasmorris 25:9751619fa030 369 _Function_mutex.unlock();
thomasmorris 25:9751619fa030 370 }
thomasmorris 25:9751619fa030 371 else if(_Function == 2)
thomasmorris 25:9751619fa030 372 {
thomasmorris 25:9751619fa030 373 _Function_mutex.lock();
thomasmorris 25:9751619fa030 374 _Function = 3;
thomasmorris 25:9751619fa030 375 _Function_mutex.unlock();
thomasmorris 25:9751619fa030 376 }
thomasmorris 16:9f98ec0ededb 377 }
thomasmorris 16:9f98ec0ededb 378 }
thomasmorris 17:68b3fdabe4c5 379 void INTERFACE::Select()//Select Routine
thomasmorris 16:9f98ec0ededb 380 {
thomasmorris 23:07a368f2cdb1 381 _Select_mutex.lock();
thomasmorris 25:9751619fa030 382 if(_Select == 0 & _Function == !2)//All but anneal have 2 component menu's
thomasmorris 25:9751619fa030 383 {
thomasmorris 25:9751619fa030 384 _Select = 1;
thomasmorris 25:9751619fa030 385 }
thomasmorris 25:9751619fa030 386 else if(_Select == 1 & _Function == !2)//Toggle the value
thomasmorris 25:9751619fa030 387 {
thomasmorris 25:9751619fa030 388 _Select = 0;
thomasmorris 25:9751619fa030 389 }
thomasmorris 25:9751619fa030 390 else if(_Function == 1 & _Select < 2)
thomasmorris 25:9751619fa030 391 {
thomasmorris 25:9751619fa030 392 _Select = _Select + 1;
thomasmorris 25:9751619fa030 393 }
thomasmorris 25:9751619fa030 394 else if(_Select == 2 & _Function == 1)//Set select to 0 if the function is anneal, as anneal has 3 components in the menu
thomasmorris 25:9751619fa030 395 {
thomasmorris 25:9751619fa030 396 _Select = 0;
thomasmorris 25:9751619fa030 397 }
thomasmorris 23:07a368f2cdb1 398 _Select_mutex.unlock();
thomasmorris 23:07a368f2cdb1 399 if(_Function == 0)
thomasmorris 21:6d9f6a986647 400 {
thomasmorris 23:07a368f2cdb1 401 Led_Select_Left_mutex.lock();
thomasmorris 23:07a368f2cdb1 402 Led_Select_Right = 1;
thomasmorris 23:07a368f2cdb1 403 Led_Select_Left_mutex.unlock();
thomasmorris 23:07a368f2cdb1 404 }
thomasmorris 25:9751619fa030 405 else if(_Function == 1 & _Select == false)
thomasmorris 23:07a368f2cdb1 406 {
thomasmorris 23:07a368f2cdb1 407 Led_Select_Left_mutex.lock();
thomasmorris 21:6d9f6a986647 408 Led_Select_Left = 1;
thomasmorris 23:07a368f2cdb1 409 Led_Select_Left_mutex.unlock();
thomasmorris 23:07a368f2cdb1 410
thomasmorris 23:07a368f2cdb1 411 Led_Select_Right_mutex.lock();
thomasmorris 21:6d9f6a986647 412 Led_Select_Right= 0;
thomasmorris 23:07a368f2cdb1 413 Led_Select_Right_mutex.unlock();
thomasmorris 21:6d9f6a986647 414 }
thomasmorris 25:9751619fa030 415 else if(_Function == 1 & _Select == true)
thomasmorris 21:6d9f6a986647 416 {
thomasmorris 23:07a368f2cdb1 417 Led_Select_Left_mutex.lock();
thomasmorris 21:6d9f6a986647 418 Led_Select_Left = 0;
thomasmorris 23:07a368f2cdb1 419 Led_Select_Left_mutex.unlock();
thomasmorris 23:07a368f2cdb1 420
thomasmorris 23:07a368f2cdb1 421 Led_Select_Right_mutex.lock();
thomasmorris 21:6d9f6a986647 422 Led_Select_Right= 1;
thomasmorris 23:07a368f2cdb1 423 Led_Select_Right_mutex.unlock();
thomasmorris 21:6d9f6a986647 424 }
thomasmorris 25:9751619fa030 425 else if(_Function == 2 & _Select == false)
thomasmorris 25:9751619fa030 426 {
thomasmorris 25:9751619fa030 427 Led_Select_Left_mutex.lock();
thomasmorris 25:9751619fa030 428 Led_Select_Left = 1;
thomasmorris 25:9751619fa030 429 Led_Select_Left_mutex.unlock();
thomasmorris 25:9751619fa030 430
thomasmorris 25:9751619fa030 431 Led_Select_Right_mutex.lock();
thomasmorris 25:9751619fa030 432 Led_Select_Right= 0;
thomasmorris 25:9751619fa030 433 Led_Select_Right_mutex.unlock();
thomasmorris 25:9751619fa030 434 }
thomasmorris 25:9751619fa030 435 else if(_Function == 2 & _Select == true)
thomasmorris 25:9751619fa030 436 {
thomasmorris 25:9751619fa030 437 Led_Select_Left_mutex.lock();
thomasmorris 25:9751619fa030 438 Led_Select_Left = 0;
thomasmorris 25:9751619fa030 439 Led_Select_Left_mutex.unlock();
thomasmorris 25:9751619fa030 440
thomasmorris 25:9751619fa030 441 Led_Select_Right_mutex.lock();
thomasmorris 25:9751619fa030 442 Led_Select_Right= 1;
thomasmorris 25:9751619fa030 443 Led_Select_Right_mutex.unlock();
thomasmorris 25:9751619fa030 444 }
thomasmorris 16:9f98ec0ededb 445 }
thomasmorris 17:68b3fdabe4c5 446 void INTERFACE::Interface_main()//Main Routine to execute commands when the start button has been pressed
thomasmorris 16:9f98ec0ededb 447 {
thomasmorris 25:9751619fa030 448 if (_Function == 2 || _Function == 3) //Turning Code
thomasmorris 16:9f98ec0ededb 449 {
thomasmorris 16:9f98ec0ededb 450 if (_Twist_Go == true)
thomasmorris 16:9f98ec0ededb 451 {
thomasmorris 23:07a368f2cdb1 452 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 453 Led_Power = 1;
thomasmorris 23:07a368f2cdb1 454 Led_Power_mutex.unlock();
thomasmorris 23:07a368f2cdb1 455
thomasmorris 23:07a368f2cdb1 456 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 457 _System_Running = 1;
thomasmorris 23:07a368f2cdb1 458 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 459
thomasmorris 25:9751619fa030 460 STEPPER_MOTOR_1.Rotate_Steps(_Turns_Todo,_Function);//Rotates for the specified number of steps given
thomasmorris 23:07a368f2cdb1 461
thomasmorris 23:07a368f2cdb1 462 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 463 _System_Running = 0;
thomasmorris 23:07a368f2cdb1 464 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 465
thomasmorris 23:07a368f2cdb1 466
thomasmorris 23:07a368f2cdb1 467 _Twist_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 468 _Twist_Go = false;
thomasmorris 23:07a368f2cdb1 469 _Twist_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 470
thomasmorris 23:07a368f2cdb1 471 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 472 Led_Power = 0;
thomasmorris 23:07a368f2cdb1 473 Led_Power_mutex.unlock();
thomasmorris 16:9f98ec0ededb 474 }
thomasmorris 16:9f98ec0ededb 475 }
thomasmorris 25:9751619fa030 476 else if (_Function == 0) //Annealing Code
thomasmorris 16:9f98ec0ededb 477 {
thomasmorris 16:9f98ec0ededb 478 if (_Anneal_Go == true)
thomasmorris 16:9f98ec0ededb 479 {
thomasmorris 23:07a368f2cdb1 480 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 481 Led_Power = 1;
thomasmorris 23:07a368f2cdb1 482 Led_Power_mutex.unlock();
thomasmorris 23:07a368f2cdb1 483
thomasmorris 23:07a368f2cdb1 484 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 485 _System_Running = 1;
thomasmorris 23:07a368f2cdb1 486 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 487
thomasmorris 16:9f98ec0ededb 488 for ( int counter = 0; counter < _Loop; counter++) //Loop value, check if works
thomasmorris 16:9f98ec0ededb 489 {
thomasmorris 23:07a368f2cdb1 490 if(_System_Running == 1)
thomasmorris 23:07a368f2cdb1 491 {
thomasmorris 23:07a368f2cdb1 492 _Tendon_mutex.lock();
thomasmorris 23:07a368f2cdb1 493 Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare
thomasmorris 23:07a368f2cdb1 494 Tendon_Power=1; // set duty cycle to 100%
thomasmorris 25:9751619fa030 495 _On_Time_mutex.lock();
thomasmorris 25:9751619fa030 496 wait(_On_Time);//Variable
thomasmorris 25:9751619fa030 497 _On_Time_mutex.unlock();
thomasmorris 23:07a368f2cdb1 498 Tendon_Power=0; // set duty cycle to 0%
thomasmorris 25:9751619fa030 499 _Off_Time_mutex.lock();
thomasmorris 25:9751619fa030 500 wait(_Off_Time);//Fixed off time
thomasmorris 25:9751619fa030 501 _Off_Time_mutex.unlock();
thomasmorris 23:07a368f2cdb1 502 _Tendon_mutex.unlock();
thomasmorris 23:07a368f2cdb1 503 }
thomasmorris 23:07a368f2cdb1 504 while(_System_Running == 2)//Stops the system and just spins in this while loop until system running is not paused
thomasmorris 23:07a368f2cdb1 505 {
thomasmorris 23:07a368f2cdb1 506 _Tendon_mutex.lock();
thomasmorris 23:07a368f2cdb1 507 Tendon_Power =0;
thomasmorris 23:07a368f2cdb1 508 _Tendon_mutex.unlock();
thomasmorris 23:07a368f2cdb1 509 }
thomasmorris 16:9f98ec0ededb 510 }
thomasmorris 23:07a368f2cdb1 511
thomasmorris 23:07a368f2cdb1 512 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 513 _System_Running = 0;
thomasmorris 23:07a368f2cdb1 514 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 515
thomasmorris 23:07a368f2cdb1 516 _Anneal_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 517 _Anneal_Go = false;
thomasmorris 23:07a368f2cdb1 518 _Anneal_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 519
thomasmorris 23:07a368f2cdb1 520 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 521 Led_Power = 0;
thomasmorris 23:07a368f2cdb1 522 Led_Power_mutex.unlock();
thomasmorris 16:9f98ec0ededb 523 }
thomasmorris 16:9f98ec0ededb 524 }
thomasmorris 25:9751619fa030 525 else if (_Function == 1) //Testing Code //This code is paused / unpaused in start / stop note this code is not paused it is re run.
thomasmorris 16:9f98ec0ededb 526 {
thomasmorris 16:9f98ec0ededb 527 if (_Test_Go == true)
thomasmorris 16:9f98ec0ededb 528 {
thomasmorris 23:07a368f2cdb1 529 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 530 Led_Power = 1;
thomasmorris 23:07a368f2cdb1 531 Led_Power_mutex.unlock();
thomasmorris 23:07a368f2cdb1 532
thomasmorris 23:07a368f2cdb1 533 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 534 _System_Running = 1;
thomasmorris 23:07a368f2cdb1 535 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 536
thomasmorris 23:07a368f2cdb1 537 _Tendon_mutex.lock();
thomasmorris 16:9f98ec0ededb 538 Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare
thomasmorris 16:9f98ec0ededb 539 Tendon_Power= _Duty_Cycle / 100; // set duty cycle to variable input from buttons between 0-1 (on lcd this is a percentage) also increment by values of 10
thomasmorris 16:9f98ec0ededb 540 wait(_Power_Time);//Variable on time for power on
thomasmorris 16:9f98ec0ededb 541 Tendon_Power=0; // set duty cycle to 0% and power off
thomasmorris 23:07a368f2cdb1 542 _Tendon_mutex.unlock();
thomasmorris 23:07a368f2cdb1 543
thomasmorris 23:07a368f2cdb1 544 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 545 _System_Running = 0;
thomasmorris 23:07a368f2cdb1 546 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 547
thomasmorris 23:07a368f2cdb1 548 _Test_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 549 _Test_Go = false;
thomasmorris 23:07a368f2cdb1 550 _Test_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 551
thomasmorris 23:07a368f2cdb1 552 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 553 Led_Power = 0;
thomasmorris 23:07a368f2cdb1 554 Led_Power_mutex.unlock();
thomasmorris 16:9f98ec0ededb 555 }
thomasmorris 16:9f98ec0ededb 556 }
thomasmorris 16:9f98ec0ededb 557 }
thomasmorris 17:68b3fdabe4c5 558 //Setter functions
thomasmorris 23:07a368f2cdb1 559 void INTERFACE::Set_System_Running(int System_Running){_System_Running_mutex.lock(); _System_Running = System_Running; _System_Running_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 560 void INTERFACE::Set_Function(int Function){_Function_mutex.lock();_Function = Function;_Function_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 561 void INTERFACE::Set_Twist_Go(bool Twist_Go){_Twist_Go_mutex.lock();_Twist_Go = Twist_Go;_Twist_Go_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 562 void INTERFACE::Set_Anneal_Go(bool Anneal_Go){_Anneal_Go_mutex.lock();_Anneal_Go = Anneal_Go;_Anneal_Go_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 563 void INTERFACE::Set_Test_Go(bool Test_Go){_Test_Go_mutex.lock();_Test_Go = Test_Go;_Test_Go_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 564 void INTERFACE::Set_Twist_Stop(bool Twist_Stop){_Twist_Stop_mutex.lock();_Twist_Stop = Twist_Stop;_Twist_Stop_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 565 void INTERFACE::Set_Anneal_Stop(bool Anneal_Stop){_Anneal_Stop_mutex.lock();_Anneal_Stop = Anneal_Stop;_Anneal_Stop_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 566 void INTERFACE::Set_Test_Stop(bool Test_Stop){_Test_Stop_mutex.lock();_Test_Go = Test_Stop;_Test_Stop_mutex.unlock();}
thomasmorris 25:9751619fa030 567 void INTERFACE::Set_Select(int Select){_Select_mutex.lock();_Select = Select;_Select_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 568 void INTERFACE::Set_Turns_Done(int Turns_Done){_Turns_Done_mutex.lock();_Turns_Done = Turns_Done;_Turns_Done_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 569 void INTERFACE::Set_Turns_To_Do(int Turns_Todo){_Turns_Todo_mutex.lock();_Turns_Todo = Turns_Todo;_Turns_Todo_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 570 void INTERFACE::Set_Loop(int Loop){_Loop_mutex.lock();Loop = Loop;_Loop_mutex.unlock();}
thomasmorris 25:9751619fa030 571 void INTERFACE::Set_On_Time(int On_Time){_On_Time_mutex.lock();_On_Time = On_Time;_On_Time_mutex.unlock();}
thomasmorris 25:9751619fa030 572 void INTERFACE::Set_Off_Time(int Off_Time){_Off_Time_mutex.lock();_Off_Time = Off_Time;_Off_Time_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 573 void INTERFACE::Set_Duty_Cycle(int Duty_Cycle){_Duty_Cycle_mutex.lock();_Duty_Cycle = Duty_Cycle;_Duty_Cycle_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 574 void INTERFACE::Set_Power_Time(float Power_Time){_Power_Time_mutex.lock();_Power_Time = Power_Time;_Power_Time_mutex.unlock();}
thomasmorris 17:68b3fdabe4c5 575 //Getter functions
thomasmorris 23:07a368f2cdb1 576 int INTERFACE::Get_System_Running(){return _System_Running;}
thomasmorris 23:07a368f2cdb1 577 int INTERFACE::Get_Function(){return _Function;}
thomasmorris 16:9f98ec0ededb 578 bool INTERFACE::Get_Twist_Go(){return _Twist_Go;}
thomasmorris 16:9f98ec0ededb 579 bool INTERFACE::Get_Anneal_Go(){return _Anneal_Go;}
thomasmorris 16:9f98ec0ededb 580 bool INTERFACE::Get_Test_Go(){return _Test_Go;}
thomasmorris 23:07a368f2cdb1 581 bool INTERFACE::Get_Twist_Stop(){return _Twist_Stop;}
thomasmorris 23:07a368f2cdb1 582 bool INTERFACE::Get_Anneal_Stop(){return _Anneal_Stop;}
thomasmorris 23:07a368f2cdb1 583 bool INTERFACE::Get_Test_Stop(){return _Test_Stop;}
thomasmorris 25:9751619fa030 584 int INTERFACE::Get_Select(){return _Select;}
thomasmorris 18:3523660f3930 585 int INTERFACE::Get_Turns_Done(){_Turns_Done = STEPPER_MOTOR_1.Get_Turns(); return _Turns_Done;}
thomasmorris 16:9f98ec0ededb 586 int INTERFACE::Get_Turns_To_Do(){return _Turns_Todo;}
thomasmorris 16:9f98ec0ededb 587 int INTERFACE::Get_Loop(){return _Loop;}
thomasmorris 25:9751619fa030 588 int INTERFACE::Get_On_Time(){return _On_Time;}
thomasmorris 25:9751619fa030 589 int INTERFACE::Get_Off_Time(){return _Off_Time;}
thomasmorris 16:9f98ec0ededb 590 int INTERFACE::Get_Duty_Cycle(){return _Duty_Cycle;}
thomasmorris 23:07a368f2cdb1 591 int INTERFACE::Get_Power_Time(){return _Power_Time;}