Plymouth ELEC351 Group T
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Plymouth ELEC351 Group T
Diff: SERIAL_COMMANDS.cpp
- Revision:
- 57:aba1296e51b1
- Parent:
- 56:bc5345bc6650
--- a/SERIAL_COMMANDS.cpp Mon Jul 16 10:51:47 2018 +0000
+++ b/SERIAL_COMMANDS.cpp Wed Aug 15 21:34:59 2018 +0000
@@ -5,6 +5,10 @@
int direction = 1;
int Motor_To_Select = 1;
float angle = 0;
+bool move_loop = 0;
+bool List_move_loop = 0;
+
+
//Mutex Locks
void Serial_Commands_Output() //Used for getting input from the user to determine the opperations to perform
@@ -14,18 +18,11 @@
for (int x = 0; x < 100; x++){input[x] = ' ';}; //Fill input with spaces
pc.printf("Please type in a command\n"); //Request command in the terminal
- cin.getline(input,sizeof(input),'\r'); //Scan into input from the start of the line to the return character
- //cout << "Input is : " << input << endl;
-
- //READ ALL
- if(input[0] == 'R' & input[1] == 'E' & input[2] == 'A' & input[3] == 'D' & input[4] == ' ' & input[5] == 'A' & input[6] == 'L' & input[7] == 'L')
- {
- if(Log_Value == 4){pc.printf("READ ALL Confirmed\n");} //If logging is enabled, print debug statement
-
- }
+ cin.getline(input,sizeof(input),'\r'); //Scan into input from the start of the line to the return character
+
//LOGGING
- else if(input[0] == 'L' & input[1] == 'O' & input[2] == 'G' & input[3] == 'G' & input[4] == 'I' & input[5] == 'N' & input[6] == 'G' & input[7] == ' ')
+ if(input[0] == 'L' & input[1] == 'O' & input[2] == 'G' & input[3] == 'G' & input[4] == 'I' & input[5] == 'N' & input[6] == 'G' & input[7] == ' ')
{
int NumberOfChars = 0; int ArrayAddress = 0; string LoggingNumber; int NumberToLogging; //Declare required variables
while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;} //Count the number of characters entered into the console
@@ -33,12 +30,7 @@
stringstream Number(LoggingNumber); //Convert string to stringstream
Number >> NumberToLogging; //Convert stringstream to integer
if (NumberToLogging == 0){pc.printf("NOT LOGGING\n");} //Not Logging
- else if (NumberToLogging == 1){pc.printf("LOGGING Serial\n");} //Logging LCD
- else if (NumberToLogging == 2){pc.printf("LOGGING NETWORKING\n");} //Logging Networking
- else if (NumberToLogging == 3){pc.printf("LOGGING SAMPLING\n");} //Logging Sampling
- else if (NumberToLogging == 4){pc.printf("LOGGING SERIAL COMMANDS\n");} //Logging serial commands
- else if (NumberToLogging == 5){pc.printf("LOGGING SD CARD\n");} //Logging SD card
- else if (NumberToLogging >= 6){pc.printf("INVALID LOGGING COMMAND\n");} //Invalud Logging Command
+ else if (NumberToLogging == 1){pc.printf("LOGGING SPI\n");} //Logging SPI
if (NumberToLogging <= 5){Log_Value = NumberToLogging;} //If inputted value is within bounds equate it to the log state
}
@@ -81,21 +73,236 @@
//MOVE
else if(input[0] == 'M' & input[1] == 'O' & input[2] == 'V' & input[3] == 'E')
{
- pc.printf("Enter the Move\n"); //Request command in the terminal
- cin.getline(input,sizeof(input),'\r');;
- if(input[0] == 'C' & input[1] == 'L')
+ move_loop = 1;
+ pc.printf("Enter the Move\n"); //Request command in the terminal
+ while(move_loop == 1)
+ {
+ cin.getline(input,sizeof(input),'\r');
+
+ if(input[0] == 'A' & input[1] == 'F'){STEPPER_MOTOR_1.Rotate_Steps(50 ,1);}
+ else if(input[0] == 'C' & input[1] == 'F'){STEPPER_MOTOR_1.Rotate_Steps(50 ,0);}
+ else if(input[0] == 'A' & input[1] == 'B'){STEPPER_MOTOR_2.Rotate_Steps(50 ,1);}
+ else if(input[0] == 'C' & input[1] == 'B'){STEPPER_MOTOR_2.Rotate_Steps(50 ,0);}
+ else if(input[0] == 'A' & input[1] == 'L'){STEPPER_MOTOR_3.Rotate_Steps(50 ,1);}
+ else if(input[0] == 'C' & input[1] == 'L'){STEPPER_MOTOR_3.Rotate_Steps(50 ,0);}
+ else if(input[0] == 'A' & input[1] == 'R'){STEPPER_MOTOR_4.Rotate_Steps(50 ,1);}
+ else if(input[0] == 'C' & input[1] == 'R'){STEPPER_MOTOR_4.Rotate_Steps(50 ,0);}
+ else if(input[0] == 'A' & input[1] == 'U'){STEPPER_MOTOR_5.Rotate_Steps(50 ,1);}
+ else if(input[0] == 'C' & input[1] == 'U'){STEPPER_MOTOR_5.Rotate_Steps(50 ,0);}
+ else if(input[0] == 'A' & input[1] == 'D'){STEPPER_MOTOR_6.Rotate_Steps(50 ,1);}
+ else if(input[0] == 'C' & input[1] == 'D'){STEPPER_MOTOR_6.Rotate_Steps(50 ,0);}
+ else if(input[0] == 'M' & input[1] == 'O' & input[2] == 'V' & input[3] == 'E')
+ {
+ move_loop = 0;
+ pc.printf("Exiting Move loop\n");
+ //Exit moves function
+ }
+ else
+ {
+ pc.printf("Error please enter a allowed move\n");
+ //Error case
+ }
+
+ }
+ }
+ //LIST
+ else if(input[0] == 'L' & input[1] == 'I' & input[2] == 'S' & input[3] == 'T')//This is where the move list shall be added to
+ {
+ List_move_loop = 1;
+ pc.printf("Entered the Move_List Section\n"); //Request command in the terminal
+ while(List_move_loop == 1)
+ {
+ cin.getline(input,sizeof(input),'\r');
+
+ if(input[0] == 'A' & input[1] == 'F'){Move_list[Move_list_pointer] = 1; Move_list_pointer = Move_list_pointer + 1;}
+ else if(input[0] == 'C' & input[1] == 'F'){Move_list[Move_list_pointer] = 2; Move_list_pointer = Move_list_pointer + 1;}
+ else if(input[0] == 'A' & input[1] == 'B'){Move_list[Move_list_pointer] = 3; Move_list_pointer = Move_list_pointer + 1;}
+ else if(input[0] == 'C' & input[1] == 'B'){Move_list[Move_list_pointer] = 4; Move_list_pointer = Move_list_pointer + 1;}
+ else if(input[0] == 'A' & input[1] == 'L'){Move_list[Move_list_pointer] = 5; Move_list_pointer = Move_list_pointer + 1;}
+ else if(input[0] == 'C' & input[1] == 'L'){Move_list[Move_list_pointer] = 6; Move_list_pointer = Move_list_pointer + 1;}
+ else if(input[0] == 'A' & input[1] == 'R'){Move_list[Move_list_pointer] = 7; Move_list_pointer = Move_list_pointer + 1;}
+ else if(input[0] == 'C' & input[1] == 'R'){Move_list[Move_list_pointer] = 8; Move_list_pointer = Move_list_pointer + 1;}
+ else if(input[0] == 'A' & input[1] == 'U'){Move_list[Move_list_pointer] = 9; Move_list_pointer = Move_list_pointer + 1;}
+ else if(input[0] == 'C' & input[1] == 'U'){Move_list[Move_list_pointer] = 10;Move_list_pointer = Move_list_pointer + 1;}
+ else if(input[0] == 'A' & input[1] == 'D'){Move_list[Move_list_pointer] = 11;Move_list_pointer = Move_list_pointer + 1;}
+ else if(input[0] == 'C' & input[1] == 'D'){Move_list[Move_list_pointer] = 12;Move_list_pointer = Move_list_pointer + 1;}
+
+
+ else if(input[0] == 'D' & input[1] == 'E' & input[2] == 'L' & input[3] == 'E' & input[4] =='T' & input[5] == 'E')
+ {
+ pc.printf("Delete Clear Test\n");
+ memset(Move_list, 0, sizeof(Move_list));
+ Move_list_pointer = 0;
+ pc.printf("Move List array and pointer reset\n");
+ List_move_loop = 0;
+ pc.printf("Exiting Move List loop\n");
+ }
+ else if(input[0] == 'L' & input[1] == 'I' & input[2] == 'S' & input[3] == 'T')
+ {
+ List_move_loop = 0;
+ pc.printf("Exiting Move List loop\n");
+ //Exit moves function
+ }
+ else if(input[0] == 'R' & input[1] == 'E' & input[2] == 'A' & input[3] == 'D')
+ {
+ pc.printf("Printing out the move list\n");
+ for(int i=0;i <= Move_list_pointer; i+=1)
+ {
+ pc.printf("Value %d is %d\n",i,Move_list[i]);
+ }
+ pc.printf("Move List test passed\n");
+ List_move_loop = 0;
+ pc.printf("Exiting Move List loop\n");
+ //Exit moves function
+ }
+ else if(input[0] == 'R' & input[1] == 'U' & input[2] == 'N')
+ {
+ List_move_loop = 0;
+ {
+ pc.printf("Move point value is : %d\n",Move_list_pointer);
+ for(int i = 0; i<= Move_list_pointer; i += 1)
+ {
+ if(Move_list[i] == 0){pc.printf("Move List Finished\n");}
+ else if (Move_list[i] == 1){STEPPER_MOTOR_1.Rotate_Steps(50 ,1);}
+ else if (Move_list[i] == 2){STEPPER_MOTOR_1.Rotate_Steps(50 ,0);}
+ else if (Move_list[i] == 3){STEPPER_MOTOR_2.Rotate_Steps(50 ,1);}
+ else if (Move_list[i] == 4){STEPPER_MOTOR_2.Rotate_Steps(50 ,0);}
+ else if (Move_list[i] == 5){STEPPER_MOTOR_3.Rotate_Steps(50 ,1);}
+ else if (Move_list[i] == 6){STEPPER_MOTOR_3.Rotate_Steps(50 ,0);}
+ else if (Move_list[i] == 7){STEPPER_MOTOR_4.Rotate_Steps(50 ,1);}
+ else if (Move_list[i] == 8){STEPPER_MOTOR_4.Rotate_Steps(50 ,0);}
+ else if (Move_list[i] == 9){STEPPER_MOTOR_5.Rotate_Steps(50 ,1);}
+ else if (Move_list[i] == 10){STEPPER_MOTOR_5.Rotate_Steps(50 ,0);}
+ else if (Move_list[i] == 11){STEPPER_MOTOR_6.Rotate_Steps(50 ,1);}
+ else if (Move_list[i] == 12){STEPPER_MOTOR_6.Rotate_Steps(50 ,0);}
+ else pc.printf("Finished\n");
+ }
+ pc.printf("List Run sucessful\n");
+ }
+ pc.printf("List execution finished\n");
+ }
+ //TEST RUN
+ else if(input[0] == 'T' & input[1] == 'E' & input[2] == 'S' & input[3] == 'T' & input[4] == '_' & input[5] == 'R' & input[6] == 'U' & input[7] == 'N')//This is the test run code
+ {
+ memset(Move_list, 0, sizeof(Move_list));
+ Move_list_pointer = 0;
+ Move_list[Move_list_pointer] = 1 ;Move_list_pointer = Move_list_pointer + 1;
+ Move_list[Move_list_pointer] = 2 ;Move_list_pointer = Move_list_pointer + 1;
+ Move_list[Move_list_pointer] = 3 ;Move_list_pointer = Move_list_pointer + 1;
+ Move_list[Move_list_pointer] = 4 ;Move_list_pointer = Move_list_pointer + 1;
+ Move_list[Move_list_pointer] = 5 ;Move_list_pointer = Move_list_pointer + 1;
+ Move_list[Move_list_pointer] = 6 ;Move_list_pointer = Move_list_pointer + 1;
+ Move_list[Move_list_pointer] = 7 ;Move_list_pointer = Move_list_pointer + 1;
+ Move_list[Move_list_pointer] = 8 ;Move_list_pointer = Move_list_pointer + 1;
+ Move_list[Move_list_pointer] = 9 ;Move_list_pointer = Move_list_pointer + 1;
+ Move_list[Move_list_pointer] = 10 ;Move_list_pointer = Move_list_pointer + 1;
+ Move_list[Move_list_pointer] = 11 ;Move_list_pointer = Move_list_pointer + 1;
+ Move_list[Move_list_pointer] = 12 ;Move_list_pointer = Move_list_pointer + 1;
+
+ pc.printf("Array filled for test\n");
+ List_move_loop = 0;
+ pc.printf("Exiting Move List loop\n");
+ }
+ else
+ {
+ pc.printf("Error please enter a allowed move\n");
+ //Error case
+ }
+
+ }
+ }
+ //Colours
+ if(input[0] == 'C' & input[1] == 'O' & input[2] == 'L' & input[3] == 'O' & input[4] == 'U' & input[5] == 'R' & input[6] == 'S' & input[7] == ' ')
{
- pc.printf("Test Successful\n");
+ int NumberOfChars = 0; int ArrayAddress = 0; string COLOURSNUBMER; int NUMBERTOCOLOUR; //Declare required variables
+ while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;} //Count the number of characters entered into the console
+ for(int x=8; x < NumberOfChars; x++){COLOURSNUBMER += input[x];} //Concatenate the characters between the space and the end
+ stringstream Number(COLOURSNUBMER); //Convert string to stringstream
+ Number >> NUMBERTOCOLOUR;
+ int n = NUMBERTOCOLOUR -1 ; //Convert stringstream to integer
+ pc.printf("Showing side %D\n",NUMBERTOCOLOUR);
+
+
+ pc.printf("%c,%c,%c\n%c,%c,%c\n%c,%c,%c\n",
+ Value_convert(CubeMap[n][0][0]),Value_convert(CubeMap[n][0][1]),Value_convert(CubeMap[n][0][2])
+ ,Value_convert(CubeMap[n][1][0]),Value_convert(CubeMap[n][1][1]),Value_convert(CubeMap[n][1][2])
+ ,Value_convert(CubeMap[n][2][0]),Value_convert(CubeMap[n][2][1]),Value_convert(CubeMap[n][2][2]));;//Side n
+
+
+ }
+ //SIDE_ADD
+ if(input[0] == 'S' & input[1] == 'I' & input[2] == 'D' & input[3] == 'E' & input[4] == '_' & input[5] == 'A' & input[6] == 'D' & input[7] == 'D' & input[8] == ' ')
+ {
+ int NumberOfChars = 0; int ArrayAddress = 0; string SIDENUMBER; int NUMBERTOSIDE; //Declare required variables
+ while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;} //Count the number of characters entered into the console
+ for(int x=9; x < NumberOfChars; x++){SIDENUMBER += input[x];} //Concatenate the characters between the space and the end
+ stringstream Number(SIDENUMBER); //Convert string to stringstream
+ Number >> NUMBERTOSIDE;
+ pc.printf("Please enter in the colour of segment 1:\n");
+ int Colour_value;
+ cin >>Colour_value;
+ NUMBERTOSIDE = NUMBERTOSIDE - 1;
+
+ CubeMap[NUMBERTOSIDE][0][0] = convert(Colour_value);
+ pc.printf("Please enter in the colour of segment 2:\n");
+ cin >>Colour_value;
+ CubeMap[NUMBERTOSIDE][0][1] = convert(Colour_value);
+ pc.printf("Please enter in the colour of segment 3:\n");
+ cin >>Colour_value;
+ CubeMap[NUMBERTOSIDE][0][2] = convert(Colour_value);
+ pc.printf("Please enter in the colour of segment 4:\n");
+ cin >>Colour_value;
+ CubeMap[NUMBERTOSIDE][1][0] = convert(Colour_value);
+ pc.printf("Please enter in the colour of segment 5:\n");
+ cin >>Colour_value;
+ CubeMap[NUMBERTOSIDE][1][1] = convert(Colour_value);
+ pc.printf("Please enter in the colour of segment 6:\n");
+ cin >>Colour_value;
+ CubeMap[NUMBERTOSIDE][1][2] = convert(Colour_value);
+ pc.printf("Please enter in the colour of segment 7:\n");
+ cin >>Colour_value;
+ CubeMap[NUMBERTOSIDE][2][0] = convert(Colour_value);
+ pc.printf("Please enter in the colour of segment 8:\n");
+ cin >>Colour_value;
+ CubeMap[NUMBERTOSIDE][2][1] = convert(Colour_value);
+ pc.printf("Please enter in the colour of segment 9:\n");
+ cin >>Colour_value;
+ CubeMap[NUMBERTOSIDE][2][2] = convert(Colour_value);
+ pc.printf("Side filled\n");
+ cin.getline(input,sizeof(input),'\r');
+ }
+ //SIDE_CLEAR
+ if(input[0] == 'S' & input[1] == 'I' & input[2] == 'D' & input[3] == 'E' & input[4] == '_' & input[5] == 'C' & input[6] == 'L' & input[7] == 'E' & input[8] == 'A' & input[9] == 'R')
+ {
+
+ for(int i =0; i<=6;i++)
+ {
+ CubeMap[i][0][0] = convert(0);
+ CubeMap[i][0][1] = convert(0);
+ CubeMap[i][0][2] = convert(0);
+ CubeMap[i][1][0] = convert(0);
+ CubeMap[i][1][1] = convert(0);
+ CubeMap[i][1][2] = convert(0);
+ CubeMap[i][2][0] = convert(0);
+ CubeMap[i][2][1] = convert(0);
+ CubeMap[i][2][2] = convert(0);
+ }
+ pc.printf("All sides cleared of data\n");
}
//HELP
else if(input[0] == 'H' & input[1] == 'E' & input[2] == 'L' & input[3] == 'P')
{
- pc.printf("Avalible Commands are: \n"); //Print introduction line
- pc.printf("Motor x selects a motor in the range of 1-6\n"); //Print list of commands
+ pc.printf("Please specify the function you would like help in\nMOTOR , LOGGING , MOVE \n"); //Print introduction line
+ cin.getline(input,sizeof(input),'\r');
+ if(input[0] == 'M' & input[1] == 'O' & input[2] == 'T' & input[3] == 'O' & input[4] == 'R'){pc.printf("Motor x selects a motor in the range of 1-6\nThen you issue the angle which is a number either positive or negative\n");}
+ else if(input[0] == 'L' & input[1] == 'O' & input[2] == 'G' & input[3] == 'G' & input[4] == 'I' & input[5] == 'N' & input[6] == 'G'){pc.printf("Logging enables to user to get more information from the specific area which is logged\n");}
+ else if(input[0] == 'M' & input[1] == 'O' & input[2] == 'V' & input[3] == 'E'){pc.printf("Allows the user to enter in a movement\n");}
+ else if(input[0] == 'L' & input[1] == 'I' & input[2] == 'S' & input[3] == 'T'){pc.printf("Allows the user to to view / set a list of movements that can be performed\n");}
+ else if(input[0] == 'C' & input[1] == 'O' & input[2] == 'L' & input[3] == 'O' & input[4] == 'U' & input[5] == 'R' & input[6] == 'S'){pc.printf("Allows the user to view and set the information upon the cubemap\n");}
+ else{pc.printf("Enter the specific help area for more information\n");}
}
else
{
pc.printf("Please enter an acceptable command\n");
}
-}
}
\ No newline at end of file