Revision 57:aba1296e51b1, committed 2018-08-15

Comitter:

thomasmorris

Date:

Wed Aug 15 21:34:59 2018 +0000

Parent:

56:bc5345bc6650

Commit message:

Final Version

Changed in this revision

diff -r bc5345bc6650 -r aba1296e51b1 COLOURS.cpp
--- a/COLOURS.cpp	Mon Jul 16 10:51:47 2018 +0000
+++ b/COLOURS.cpp	Wed Aug 15 21:34:59 2018 +0000
@@ -43,6 +43,19 @@
     }
     return colours_return_value;   
 }
+
+char Value_convert (Colours value)
+{
+    char Return_value;
+    if(value == White){Return_value = 'W';}
+    else if(value == Orange){Return_value = 'O';}
+    else if(value == Blue){Return_value = 'B';}
+    else if(value == Red){Return_value = 'R';}
+    else if(value == Green){Return_value = 'G';}
+    else if(value == Yellow){Return_value = 'Y';}
+        
+    return Return_value;   
+}
 void Store_Cubelet_data()
 {    
     if((8 >= colour_data) && (colour_data <= 15))

diff -r bc5345bc6650 -r aba1296e51b1 COLOURS.hpp
--- a/COLOURS.hpp	Mon Jul 16 10:51:47 2018 +0000
+++ b/COLOURS.hpp	Wed Aug 15 21:34:59 2018 +0000
@@ -12,6 +12,7 @@
 enum Colours;
 static int colour_data = 0;
 Colours convert (int Colour);
+char Value_convert (Colours value);
 void Store_Cubelet_data();
 
 #endif
\ No newline at end of file

diff -r bc5345bc6650 -r aba1296e51b1 MOVES.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MOVES.cpp	Wed Aug 15 21:34:59 2018 +0000
@@ -0,0 +1,84 @@
+//This is where the algorithms movements will be defined
+#include "MOVES.hpp"
+
+int side = 0; //Sides
+void List_Execution()
+{
+    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");
+}
+void White_Cross()
+{
+    
+}
+
+
+void White_Cross_Position()
+{
+    if(CubeMap[1][0][1] == White )//Top middle
+    {
+        //rotate 180
+    }
+    if(CubeMap[1][1][0] == White )//Middle Left
+    {
+        //rotate 90
+    }
+    if(CubeMap[1][1][2] == White )//Middle Right
+    {
+        //rotate 0
+    }
+    if(CubeMap[1][2][1] == White )//Bottom Middle
+    {
+        //rotate 270
+    }
+}
+void White_Cross_Orientate()
+{
+    
+}
+void White_Centre_Swap()
+{
+    
+}
+
+void White_Corners()
+{
+    
+}
+void Middle_Layer()
+{
+
+}
+void Top_Cross()
+{
+    
+}
+void Top_Layer()
+{
+    
+}
+void Corner_Positioning()
+{
+    
+}
+void Edge_Orientation()
+{
+    
+}
\ No newline at end of file

diff -r bc5345bc6650 -r aba1296e51b1 MOVES.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MOVES.hpp	Wed Aug 15 21:34:59 2018 +0000
@@ -0,0 +1,36 @@
+//This is where the algorithms movements will be defined
+#ifndef MOVES_HPP//Header Guards Prevents Multiple includes
+#define MOVES_HPP
+#include "ALGORITHM.hpp"
+#include "STEPPER_MOTOR.hpp"
+static STEPPER_MOTOR STEPPER_MOTOR_1(D0,D1);//step then direction
+static STEPPER_MOTOR STEPPER_MOTOR_2(D2,D3);//step then direction
+static STEPPER_MOTOR STEPPER_MOTOR_3(D4,D5);//step then direction
+static STEPPER_MOTOR STEPPER_MOTOR_4(D6,D7);//step then direction
+static STEPPER_MOTOR STEPPER_MOTOR_5(D8,D9);//step then direction
+static STEPPER_MOTOR STEPPER_MOTOR_6(D10,D11);//step then direction
+
+
+static int Move_list[200]; //Creates a move list of 200 which is defaulted to 0
+
+static int Move_list_pointer;
+
+void White_Cross();
+
+//White Cross funcitons
+void White_Cross_Position();
+void White_Cross_Orientate();
+void White_Centre_Swap();
+
+
+void White_Corners();
+// White Corner functions
+void Middle_Layer();
+void Top_Cross();
+void Top_Layer();
+void Corner_Positioning();
+void Edge_Orientation();
+
+void List_Execution();
+
+#endif
\ No newline at end of file

diff -r bc5345bc6650 -r aba1296e51b1 Moves.cpp
--- a/Moves.cpp	Mon Jul 16 10:51:47 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,62 +0,0 @@
-//This is where the algorithms movements will be defined
-#include "Moves.hpp"
-
-int side = 0; //Sides
-void White_Cross()
-{
-    
-}
-
-
-void White_Cross_Position()
-{
-    if(CubeMap[1][0][1] == White )//Top middle
-    {
-        //rotate 180
-    }
-    if(CubeMap[1][1][0] == White )//Middle Left
-    {
-        //rotate 90
-    }
-    if(CubeMap[1][1][2] == White )//Middle Right
-    {
-        //rotate 0
-    }
-    if(CubeMap[1][2][1] == White )//Bottom Middle
-    {
-        //rotate 270
-    }
-}
-void White_Cross_Orientate()
-{
-    
-}
-void White_Centre_Swap()
-{
-    
-}
-
-void White_Corners()
-{
-    
-}
-void Middle_Layer()
-{
-
-}
-void Top_Cross()
-{
-    
-}
-void Top_Layer()
-{
-    
-}
-void Corner_Positioning()
-{
-    
-}
-void Edge_Orientation()
-{
-    
-}
\ No newline at end of file

diff -r bc5345bc6650 -r aba1296e51b1 Moves.hpp
--- a/Moves.hpp	Mon Jul 16 10:51:47 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,18 +0,0 @@
-//This is where the algorithms movements will be defined
-#include "ALGORITHM.hpp"
-void White_Cross();
-
-//White Cross funcitons
-void White_Cross_Position();
-void White_Cross_Orientate();
-void White_Centre_Swap();
-
-
-
-void White_Corners();
-// White Corner functions
-void Middle_Layer();
-void Top_Cross();
-void Top_Layer();
-void Corner_Positioning();
-void Edge_Orientation();
\ No newline at end of file

diff -r bc5345bc6650 -r aba1296e51b1 SERIAL_COMMANDS.cpp
--- 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

diff -r bc5345bc6650 -r aba1296e51b1 SERIAL_COMMANDS.hpp
--- a/SERIAL_COMMANDS.hpp	Mon Jul 16 10:51:47 2018 +0000
+++ b/SERIAL_COMMANDS.hpp	Wed Aug 15 21:34:59 2018 +0000
@@ -8,6 +8,7 @@
 #include "TIME.hpp"
 #include "SERIAL.hpp"
 #include "LED_LOGGING.hpp"
+#include "MOVES.hpp"
 
 extern float Sample_Rate;       
 void Serial_Commands_Output();

diff -r bc5345bc6650 -r aba1296e51b1 SETUP.hpp
--- a/SETUP.hpp	Mon Jul 16 10:51:47 2018 +0000
+++ b/SETUP.hpp	Wed Aug 15 21:34:59 2018 +0000
@@ -34,13 +34,6 @@
 void Console_Output_ISR();
 void Rotate_Steps();
 
-//Object creations
-static STEPPER_MOTOR STEPPER_MOTOR_1(D0,D1);//step then direction
-static STEPPER_MOTOR STEPPER_MOTOR_2(D2,D3);//step then direction
-static STEPPER_MOTOR STEPPER_MOTOR_3(D4,D5);//step then direction
-static STEPPER_MOTOR STEPPER_MOTOR_4(D6,D7);//step then direction
-static STEPPER_MOTOR STEPPER_MOTOR_5(D8,D9);//step then direction
-static STEPPER_MOTOR STEPPER_MOTOR_6(D10,D11);//step then direction
 
 //Sets up the sides of the cube
 static SIDE SIDE1();

diff -r bc5345bc6650 -r aba1296e51b1 SPI.cpp
--- a/SPI.cpp	Mon Jul 16 10:51:47 2018 +0000
+++ b/SPI.cpp	Wed Aug 15 21:34:59 2018 +0000
@@ -1,7 +1,7 @@
 #include "SPI.hpp"
 //File for SPI communication
 
-int SPI_RX_DATA = 0;
+//int SPI_RX_DATA = 0;
 
 void SPI_INIT()
 {
@@ -40,6 +40,7 @@
 
 void SPI_INTERFACE_SERIAL()
 {
+    /*
     //pc.printf("SPI Test \n");
     Thread::wait(1000);
     cs= 0;
@@ -48,5 +49,7 @@
     cs= 1;
     colour_data = SPI_RX_DATA;
     if(Log_Value == 1){pc.printf("Received data = %d\n", SPI_RX_DATA);}
+    pc.printf("Received data = %d\n", SPI_RX_DATA);
     Thread::wait(1000); 
+    */
 }
\ No newline at end of file

diff -r bc5345bc6650 -r aba1296e51b1 STEPPER_MOTOR.hpp
--- a/STEPPER_MOTOR.hpp	Mon Jul 16 10:51:47 2018 +0000
+++ b/STEPPER_MOTOR.hpp	Wed Aug 15 21:34:59 2018 +0000
@@ -27,4 +27,6 @@
 };
 #endif//STEPPER_MOTOR_HPP
 
+//Object creations
 
+

diff -r bc5345bc6650 -r aba1296e51b1 main.cpp
--- a/main.cpp	Mon Jul 16 10:51:47 2018 +0000
+++ b/main.cpp	Wed Aug 15 21:34:59 2018 +0000
@@ -12,14 +12,28 @@
 5 = Green
 6 = Yellow
 */
-
-//Colours Cubelet_Colours_string[];
+int SPI_RX_DATA = 0;
 
 
 void Serial_Commands(){while(1){Serial_Commands_Output();}}//Enable Serial Commands
 void LED_Logging(){while(1){Log_Leds();}}                  //Flashes the yellow led to indicate the logging mode
-void SPI_INTERFACE(){while(1){SPI_INTERFACE_SERIAL();}}    //Outputs SPI data to serial
-
+//void SPI_INTERFACE(){while(1){SPI_INTERFACE_SERIAL();}}    //Outputs SPI data to serial
+void SPI_INTERFACE()
+{
+    //pc.printf("SPI Test \n");
+    Thread::wait(1000);
+    while(1)
+    {
+        cs= 0;
+        SPI_RX_DATA = spi.write(0xF0);
+        wait_us(3);
+        cs= 1;
+        colour_data = SPI_RX_DATA;
+        if(Log_Value == 1){pc.printf("Received data = %d\n", SPI_RX_DATA);}
+        
+        Thread::wait(1000);
+    }   
+}
 void Motor_Control()
 {
     while(1)
@@ -72,7 +86,8 @@
     spi.format(16,1); // 8 Data bits phase 0 polarity 0 //CHECK THIS
     spi.frequency(1000000);//Output clock frequency 1Mhz
     //post();                                                 //Power on Self Test
-
+    memset(Move_list, 0, sizeof(Move_list));
+    Move_list_pointer = 0;
     //Start Threads
     t1.start(Motor_Control);
     t2.start(SPI_INTERFACE);