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SERIAL_COMMANDS.cpp@57:aba1296e51b1, 2018-08-15 (annotated)

Committer:
thomasmorris
Date:
Wed Aug 15 21:34:59 2018 +0000
Revision:
57:aba1296e51b1
Parent:
56:bc5345bc6650 
Final Version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thomasmorris 47:6d128e500875 1 #include "SERIAL_COMMANDS.hpp"
thomasmorris 52:99915f5240b2 2 int NetworkWaitTime; //Waiting time to update the network
thomasmorris 52:99915f5240b2 3 char input[100] = {}; //Character array initialised to NULL
thomasmorris 53:71f59e195f06 4 int steps = 0;
thomasmorris 53:71f59e195f06 5 int direction = 1;
thomasmorris 53:71f59e195f06 6 int Motor_To_Select = 1;
thomasmorris 53:71f59e195f06 7 float angle = 0;
thomasmorris 57:aba1296e51b1 8 bool move_loop = 0;
thomasmorris 57:aba1296e51b1 9 bool List_move_loop = 0;
thomasmorris 57:aba1296e51b1 10
thomasmorris 57:aba1296e51b1 11
thomasmorris 52:99915f5240b2 12 //Mutex Locks
thomasmorris 52:99915f5240b2 13
thomasmorris 52:99915f5240b2 14 void Serial_Commands_Output() //Used for getting input from the user to determine the opperations to perform
thomasmorris 47:6d128e500875 15 {
thomasmorris 52:99915f5240b2 16 if(Log_Value == 4){pc.printf("In Serial_Commands\n");} //If logging is enabled, print debug statement
thomasmorris 47:6d128e500875 17
thomasmorris 52:99915f5240b2 18 for (int x = 0; x < 100; x++){input[x] = ' ';}; //Fill input with spaces
thomasmorris 47:6d128e500875 19
thomasmorris 52:99915f5240b2 20 pc.printf("Please type in a command\n"); //Request command in the terminal
thomasmorris 57:aba1296e51b1 21 cin.getline(input,sizeof(input),'\r'); //Scan into input from the start of the line to the return character
thomasmorris 57:aba1296e51b1 22
thomasmorris 55:e0e684531825 23
thomasmorris 52:99915f5240b2 24 //LOGGING
thomasmorris 57:aba1296e51b1 25 if(input[0] == 'L' & input[1] == 'O' & input[2] == 'G' & input[3] == 'G' & input[4] == 'I' & input[5] == 'N' & input[6] == 'G' & input[7] == ' ')
thomasmorris 52:99915f5240b2 26 {
thomasmorris 52:99915f5240b2 27 int NumberOfChars = 0; int ArrayAddress = 0; string LoggingNumber; int NumberToLogging; //Declare required variables
thomasmorris 52:99915f5240b2 28 while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;} //Count the number of characters entered into the console
thomasmorris 52:99915f5240b2 29 for(int x=8; x < NumberOfChars; x++){LoggingNumber += input[x];} //Concatenate the characters between the space and the end
thomasmorris 52:99915f5240b2 30 stringstream Number(LoggingNumber); //Convert string to stringstream
thomasmorris 52:99915f5240b2 31 Number >> NumberToLogging; //Convert stringstream to integer
thomasmorris 52:99915f5240b2 32 if (NumberToLogging == 0){pc.printf("NOT LOGGING\n");} //Not Logging
thomasmorris 57:aba1296e51b1 33 else if (NumberToLogging == 1){pc.printf("LOGGING SPI\n");} //Logging SPI
thomasmorris 52:99915f5240b2 34
thomasmorris 52:99915f5240b2 35 if (NumberToLogging <= 5){Log_Value = NumberToLogging;} //If inputted value is within bounds equate it to the log state
thomasmorris 52:99915f5240b2 36 }
thomasmorris 55:e0e684531825 37
thomasmorris 53:71f59e195f06 38 //Motor Control
thomasmorris 53:71f59e195f06 39 else if(input[0] == 'M' & input[1] == 'o' & input[2] == 't' & input[3] == 'o' & input[4] == 'r' & input[5] == ' ')
thomasmorris 53:71f59e195f06 40 {
thomasmorris 53:71f59e195f06 41 int NumberOfChars = 0; int ArrayAddress = 0; string MotorNumber; int Motor_Number; //Declare required variables
thomasmorris 53:71f59e195f06 42 while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;} //Count the number of characters entered into the console
thomasmorris 53:71f59e195f06 43 for(int x=6; x < NumberOfChars; x++){MotorNumber += input[x];} //Concatenate the characters between the space and the end
thomasmorris 53:71f59e195f06 44 stringstream Number(MotorNumber); //Convert string to stringstream
thomasmorris 53:71f59e195f06 45 Number >> Motor_Number; //Convert stringstream to integer
thomasmorris 53:71f59e195f06 46 if(Motor_Number < 1 || Motor_Number > 6)
thomasmorris 53:71f59e195f06 47 {
thomasmorris 53:71f59e195f06 48 Motor_Number =0;
thomasmorris 53:71f59e195f06 49 pc.printf("Please Select a motor from 1-6\n");
thomasmorris 53:71f59e195f06 50 }
thomasmorris 53:71f59e195f06 51 Motor_To_Select = Motor_Number;
thomasmorris 53:71f59e195f06 52 //Step Control
thomasmorris 53:71f59e195f06 53 pc.printf("Enter the angle to rotate\n"); //Request command in the terminal
thomasmorris 53:71f59e195f06 54 scanf("%f",&angle);
thomasmorris 53:71f59e195f06 55 //cin.getline(input,sizeof(input),'\r'); //Scan into input from the start of the line to the return character
thomasmorris 53:71f59e195f06 56 //if(input[0] == 'S' & input[1] == 't' & input[2] == 'e' & input[3] == 'p' & input[4] == 's' & input[5] == ' ')
thomasmorris 53:71f59e195f06 57 {
thomasmorris 53:71f59e195f06 58 //angle = input;
thomasmorris 53:71f59e195f06 59 if(angle < 0)
thomasmorris 53:71f59e195f06 60 {
thomasmorris 55:e0e684531825 61 direction = 0;//Anti Clockwise
thomasmorris 53:71f59e195f06 62 }
thomasmorris 53:71f59e195f06 63 else
thomasmorris 53:71f59e195f06 64 {
thomasmorris 55:e0e684531825 65 direction = 1;//Clockwise
thomasmorris 53:71f59e195f06 66 }
thomasmorris 55:e0e684531825 67 float new_angle = abs(angle/1.8);//Converts input to steps
thomasmorris 53:71f59e195f06 68 steps = new_angle;
thomasmorris 53:71f59e195f06 69 pc.printf("The Motor is: %d\n The Number to step is: %d\n", Motor_Number, steps);
thomasmorris 53:71f59e195f06 70 }
thomasmorris 53:71f59e195f06 71
thomasmorris 53:71f59e195f06 72 }
thomasmorris 56:bc5345bc6650 73 //MOVE
thomasmorris 56:bc5345bc6650 74 else if(input[0] == 'M' & input[1] == 'O' & input[2] == 'V' & input[3] == 'E')
thomasmorris 56:bc5345bc6650 75 {
thomasmorris 57:aba1296e51b1 76 move_loop = 1;
thomasmorris 57:aba1296e51b1 77 pc.printf("Enter the Move\n"); //Request command in the terminal
thomasmorris 57:aba1296e51b1 78 while(move_loop == 1)
thomasmorris 57:aba1296e51b1 79 {
thomasmorris 57:aba1296e51b1 80 cin.getline(input,sizeof(input),'\r');
thomasmorris 57:aba1296e51b1 81
thomasmorris 57:aba1296e51b1 82 if(input[0] == 'A' & input[1] == 'F'){STEPPER_MOTOR_1.Rotate_Steps(50 ,1);}
thomasmorris 57:aba1296e51b1 83 else if(input[0] == 'C' & input[1] == 'F'){STEPPER_MOTOR_1.Rotate_Steps(50 ,0);}
thomasmorris 57:aba1296e51b1 84 else if(input[0] == 'A' & input[1] == 'B'){STEPPER_MOTOR_2.Rotate_Steps(50 ,1);}
thomasmorris 57:aba1296e51b1 85 else if(input[0] == 'C' & input[1] == 'B'){STEPPER_MOTOR_2.Rotate_Steps(50 ,0);}
thomasmorris 57:aba1296e51b1 86 else if(input[0] == 'A' & input[1] == 'L'){STEPPER_MOTOR_3.Rotate_Steps(50 ,1);}
thomasmorris 57:aba1296e51b1 87 else if(input[0] == 'C' & input[1] == 'L'){STEPPER_MOTOR_3.Rotate_Steps(50 ,0);}
thomasmorris 57:aba1296e51b1 88 else if(input[0] == 'A' & input[1] == 'R'){STEPPER_MOTOR_4.Rotate_Steps(50 ,1);}
thomasmorris 57:aba1296e51b1 89 else if(input[0] == 'C' & input[1] == 'R'){STEPPER_MOTOR_4.Rotate_Steps(50 ,0);}
thomasmorris 57:aba1296e51b1 90 else if(input[0] == 'A' & input[1] == 'U'){STEPPER_MOTOR_5.Rotate_Steps(50 ,1);}
thomasmorris 57:aba1296e51b1 91 else if(input[0] == 'C' & input[1] == 'U'){STEPPER_MOTOR_5.Rotate_Steps(50 ,0);}
thomasmorris 57:aba1296e51b1 92 else if(input[0] == 'A' & input[1] == 'D'){STEPPER_MOTOR_6.Rotate_Steps(50 ,1);}
thomasmorris 57:aba1296e51b1 93 else if(input[0] == 'C' & input[1] == 'D'){STEPPER_MOTOR_6.Rotate_Steps(50 ,0);}
thomasmorris 57:aba1296e51b1 94 else if(input[0] == 'M' & input[1] == 'O' & input[2] == 'V' & input[3] == 'E')
thomasmorris 57:aba1296e51b1 95 {
thomasmorris 57:aba1296e51b1 96 move_loop = 0;
thomasmorris 57:aba1296e51b1 97 pc.printf("Exiting Move loop\n");
thomasmorris 57:aba1296e51b1 98 //Exit moves function
thomasmorris 57:aba1296e51b1 99 }
thomasmorris 57:aba1296e51b1 100 else
thomasmorris 57:aba1296e51b1 101 {
thomasmorris 57:aba1296e51b1 102 pc.printf("Error please enter a allowed move\n");
thomasmorris 57:aba1296e51b1 103 //Error case
thomasmorris 57:aba1296e51b1 104 }
thomasmorris 57:aba1296e51b1 105
thomasmorris 57:aba1296e51b1 106 }
thomasmorris 57:aba1296e51b1 107 }
thomasmorris 57:aba1296e51b1 108 //LIST
thomasmorris 57:aba1296e51b1 109 else if(input[0] == 'L' & input[1] == 'I' & input[2] == 'S' & input[3] == 'T')//This is where the move list shall be added to
thomasmorris 57:aba1296e51b1 110 {
thomasmorris 57:aba1296e51b1 111 List_move_loop = 1;
thomasmorris 57:aba1296e51b1 112 pc.printf("Entered the Move_List Section\n"); //Request command in the terminal
thomasmorris 57:aba1296e51b1 113 while(List_move_loop == 1)
thomasmorris 57:aba1296e51b1 114 {
thomasmorris 57:aba1296e51b1 115 cin.getline(input,sizeof(input),'\r');
thomasmorris 57:aba1296e51b1 116
thomasmorris 57:aba1296e51b1 117 if(input[0] == 'A' & input[1] == 'F'){Move_list[Move_list_pointer] = 1; Move_list_pointer = Move_list_pointer + 1;}
thomasmorris 57:aba1296e51b1 118 else if(input[0] == 'C' & input[1] == 'F'){Move_list[Move_list_pointer] = 2; Move_list_pointer = Move_list_pointer + 1;}
thomasmorris 57:aba1296e51b1 119 else if(input[0] == 'A' & input[1] == 'B'){Move_list[Move_list_pointer] = 3; Move_list_pointer = Move_list_pointer + 1;}
thomasmorris 57:aba1296e51b1 120 else if(input[0] == 'C' & input[1] == 'B'){Move_list[Move_list_pointer] = 4; Move_list_pointer = Move_list_pointer + 1;}
thomasmorris 57:aba1296e51b1 121 else if(input[0] == 'A' & input[1] == 'L'){Move_list[Move_list_pointer] = 5; Move_list_pointer = Move_list_pointer + 1;}
thomasmorris 57:aba1296e51b1 122 else if(input[0] == 'C' & input[1] == 'L'){Move_list[Move_list_pointer] = 6; Move_list_pointer = Move_list_pointer + 1;}
thomasmorris 57:aba1296e51b1 123 else if(input[0] == 'A' & input[1] == 'R'){Move_list[Move_list_pointer] = 7; Move_list_pointer = Move_list_pointer + 1;}
thomasmorris 57:aba1296e51b1 124 else if(input[0] == 'C' & input[1] == 'R'){Move_list[Move_list_pointer] = 8; Move_list_pointer = Move_list_pointer + 1;}
thomasmorris 57:aba1296e51b1 125 else if(input[0] == 'A' & input[1] == 'U'){Move_list[Move_list_pointer] = 9; Move_list_pointer = Move_list_pointer + 1;}
thomasmorris 57:aba1296e51b1 126 else if(input[0] == 'C' & input[1] == 'U'){Move_list[Move_list_pointer] = 10;Move_list_pointer = Move_list_pointer + 1;}
thomasmorris 57:aba1296e51b1 127 else if(input[0] == 'A' & input[1] == 'D'){Move_list[Move_list_pointer] = 11;Move_list_pointer = Move_list_pointer + 1;}
thomasmorris 57:aba1296e51b1 128 else if(input[0] == 'C' & input[1] == 'D'){Move_list[Move_list_pointer] = 12;Move_list_pointer = Move_list_pointer + 1;}
thomasmorris 57:aba1296e51b1 129
thomasmorris 57:aba1296e51b1 130
thomasmorris 57:aba1296e51b1 131 else if(input[0] == 'D' & input[1] == 'E' & input[2] == 'L' & input[3] == 'E' & input[4] =='T' & input[5] == 'E')
thomasmorris 57:aba1296e51b1 132 {
thomasmorris 57:aba1296e51b1 133 pc.printf("Delete Clear Test\n");
thomasmorris 57:aba1296e51b1 134 memset(Move_list, 0, sizeof(Move_list));
thomasmorris 57:aba1296e51b1 135 Move_list_pointer = 0;
thomasmorris 57:aba1296e51b1 136 pc.printf("Move List array and pointer reset\n");
thomasmorris 57:aba1296e51b1 137 List_move_loop = 0;
thomasmorris 57:aba1296e51b1 138 pc.printf("Exiting Move List loop\n");
thomasmorris 57:aba1296e51b1 139 }
thomasmorris 57:aba1296e51b1 140 else if(input[0] == 'L' & input[1] == 'I' & input[2] == 'S' & input[3] == 'T')
thomasmorris 57:aba1296e51b1 141 {
thomasmorris 57:aba1296e51b1 142 List_move_loop = 0;
thomasmorris 57:aba1296e51b1 143 pc.printf("Exiting Move List loop\n");
thomasmorris 57:aba1296e51b1 144 //Exit moves function
thomasmorris 57:aba1296e51b1 145 }
thomasmorris 57:aba1296e51b1 146 else if(input[0] == 'R' & input[1] == 'E' & input[2] == 'A' & input[3] == 'D')
thomasmorris 57:aba1296e51b1 147 {
thomasmorris 57:aba1296e51b1 148 pc.printf("Printing out the move list\n");
thomasmorris 57:aba1296e51b1 149 for(int i=0;i <= Move_list_pointer; i+=1)
thomasmorris 57:aba1296e51b1 150 {
thomasmorris 57:aba1296e51b1 151 pc.printf("Value %d is %d\n",i,Move_list[i]);
thomasmorris 57:aba1296e51b1 152 }
thomasmorris 57:aba1296e51b1 153 pc.printf("Move List test passed\n");
thomasmorris 57:aba1296e51b1 154 List_move_loop = 0;
thomasmorris 57:aba1296e51b1 155 pc.printf("Exiting Move List loop\n");
thomasmorris 57:aba1296e51b1 156 //Exit moves function
thomasmorris 57:aba1296e51b1 157 }
thomasmorris 57:aba1296e51b1 158 else if(input[0] == 'R' & input[1] == 'U' & input[2] == 'N')
thomasmorris 57:aba1296e51b1 159 {
thomasmorris 57:aba1296e51b1 160 List_move_loop = 0;
thomasmorris 57:aba1296e51b1 161 {
thomasmorris 57:aba1296e51b1 162 pc.printf("Move point value is : %d\n",Move_list_pointer);
thomasmorris 57:aba1296e51b1 163 for(int i = 0; i<= Move_list_pointer; i += 1)
thomasmorris 57:aba1296e51b1 164 {
thomasmorris 57:aba1296e51b1 165 if(Move_list[i] == 0){pc.printf("Move List Finished\n");}
thomasmorris 57:aba1296e51b1 166 else if (Move_list[i] == 1){STEPPER_MOTOR_1.Rotate_Steps(50 ,1);}
thomasmorris 57:aba1296e51b1 167 else if (Move_list[i] == 2){STEPPER_MOTOR_1.Rotate_Steps(50 ,0);}
thomasmorris 57:aba1296e51b1 168 else if (Move_list[i] == 3){STEPPER_MOTOR_2.Rotate_Steps(50 ,1);}
thomasmorris 57:aba1296e51b1 169 else if (Move_list[i] == 4){STEPPER_MOTOR_2.Rotate_Steps(50 ,0);}
thomasmorris 57:aba1296e51b1 170 else if (Move_list[i] == 5){STEPPER_MOTOR_3.Rotate_Steps(50 ,1);}
thomasmorris 57:aba1296e51b1 171 else if (Move_list[i] == 6){STEPPER_MOTOR_3.Rotate_Steps(50 ,0);}
thomasmorris 57:aba1296e51b1 172 else if (Move_list[i] == 7){STEPPER_MOTOR_4.Rotate_Steps(50 ,1);}
thomasmorris 57:aba1296e51b1 173 else if (Move_list[i] == 8){STEPPER_MOTOR_4.Rotate_Steps(50 ,0);}
thomasmorris 57:aba1296e51b1 174 else if (Move_list[i] == 9){STEPPER_MOTOR_5.Rotate_Steps(50 ,1);}
thomasmorris 57:aba1296e51b1 175 else if (Move_list[i] == 10){STEPPER_MOTOR_5.Rotate_Steps(50 ,0);}
thomasmorris 57:aba1296e51b1 176 else if (Move_list[i] == 11){STEPPER_MOTOR_6.Rotate_Steps(50 ,1);}
thomasmorris 57:aba1296e51b1 177 else if (Move_list[i] == 12){STEPPER_MOTOR_6.Rotate_Steps(50 ,0);}
thomasmorris 57:aba1296e51b1 178 else pc.printf("Finished\n");
thomasmorris 57:aba1296e51b1 179 }
thomasmorris 57:aba1296e51b1 180 pc.printf("List Run sucessful\n");
thomasmorris 57:aba1296e51b1 181 }
thomasmorris 57:aba1296e51b1 182 pc.printf("List execution finished\n");
thomasmorris 57:aba1296e51b1 183 }
thomasmorris 57:aba1296e51b1 184 //TEST RUN
thomasmorris 57:aba1296e51b1 185 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
thomasmorris 57:aba1296e51b1 186 {
thomasmorris 57:aba1296e51b1 187 memset(Move_list, 0, sizeof(Move_list));
thomasmorris 57:aba1296e51b1 188 Move_list_pointer = 0;
thomasmorris 57:aba1296e51b1 189 Move_list[Move_list_pointer] = 1 ;Move_list_pointer = Move_list_pointer + 1;
thomasmorris 57:aba1296e51b1 190 Move_list[Move_list_pointer] = 2 ;Move_list_pointer = Move_list_pointer + 1;
thomasmorris 57:aba1296e51b1 191 Move_list[Move_list_pointer] = 3 ;Move_list_pointer = Move_list_pointer + 1;
thomasmorris 57:aba1296e51b1 192 Move_list[Move_list_pointer] = 4 ;Move_list_pointer = Move_list_pointer + 1;
thomasmorris 57:aba1296e51b1 193 Move_list[Move_list_pointer] = 5 ;Move_list_pointer = Move_list_pointer + 1;
thomasmorris 57:aba1296e51b1 194 Move_list[Move_list_pointer] = 6 ;Move_list_pointer = Move_list_pointer + 1;
thomasmorris 57:aba1296e51b1 195 Move_list[Move_list_pointer] = 7 ;Move_list_pointer = Move_list_pointer + 1;
thomasmorris 57:aba1296e51b1 196 Move_list[Move_list_pointer] = 8 ;Move_list_pointer = Move_list_pointer + 1;
thomasmorris 57:aba1296e51b1 197 Move_list[Move_list_pointer] = 9 ;Move_list_pointer = Move_list_pointer + 1;
thomasmorris 57:aba1296e51b1 198 Move_list[Move_list_pointer] = 10 ;Move_list_pointer = Move_list_pointer + 1;
thomasmorris 57:aba1296e51b1 199 Move_list[Move_list_pointer] = 11 ;Move_list_pointer = Move_list_pointer + 1;
thomasmorris 57:aba1296e51b1 200 Move_list[Move_list_pointer] = 12 ;Move_list_pointer = Move_list_pointer + 1;
thomasmorris 57:aba1296e51b1 201
thomasmorris 57:aba1296e51b1 202 pc.printf("Array filled for test\n");
thomasmorris 57:aba1296e51b1 203 List_move_loop = 0;
thomasmorris 57:aba1296e51b1 204 pc.printf("Exiting Move List loop\n");
thomasmorris 57:aba1296e51b1 205 }
thomasmorris 57:aba1296e51b1 206 else
thomasmorris 57:aba1296e51b1 207 {
thomasmorris 57:aba1296e51b1 208 pc.printf("Error please enter a allowed move\n");
thomasmorris 57:aba1296e51b1 209 //Error case
thomasmorris 57:aba1296e51b1 210 }
thomasmorris 57:aba1296e51b1 211
thomasmorris 57:aba1296e51b1 212 }
thomasmorris 57:aba1296e51b1 213 }
thomasmorris 57:aba1296e51b1 214 //Colours
thomasmorris 57:aba1296e51b1 215 if(input[0] == 'C' & input[1] == 'O' & input[2] == 'L' & input[3] == 'O' & input[4] == 'U' & input[5] == 'R' & input[6] == 'S' & input[7] == ' ')
thomasmorris 56:bc5345bc6650 216 {
thomasmorris 57:aba1296e51b1 217 int NumberOfChars = 0; int ArrayAddress = 0; string COLOURSNUBMER; int NUMBERTOCOLOUR; //Declare required variables
thomasmorris 57:aba1296e51b1 218 while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;} //Count the number of characters entered into the console
thomasmorris 57:aba1296e51b1 219 for(int x=8; x < NumberOfChars; x++){COLOURSNUBMER += input[x];} //Concatenate the characters between the space and the end
thomasmorris 57:aba1296e51b1 220 stringstream Number(COLOURSNUBMER); //Convert string to stringstream
thomasmorris 57:aba1296e51b1 221 Number >> NUMBERTOCOLOUR;
thomasmorris 57:aba1296e51b1 222 int n = NUMBERTOCOLOUR -1 ; //Convert stringstream to integer
thomasmorris 57:aba1296e51b1 223 pc.printf("Showing side %D\n",NUMBERTOCOLOUR);
thomasmorris 57:aba1296e51b1 224
thomasmorris 57:aba1296e51b1 225
thomasmorris 57:aba1296e51b1 226 pc.printf("%c,%c,%c\n%c,%c,%c\n%c,%c,%c\n",
thomasmorris 57:aba1296e51b1 227 Value_convert(CubeMap[n][0][0]),Value_convert(CubeMap[n][0][1]),Value_convert(CubeMap[n][0][2])
thomasmorris 57:aba1296e51b1 228 ,Value_convert(CubeMap[n][1][0]),Value_convert(CubeMap[n][1][1]),Value_convert(CubeMap[n][1][2])
thomasmorris 57:aba1296e51b1 229 ,Value_convert(CubeMap[n][2][0]),Value_convert(CubeMap[n][2][1]),Value_convert(CubeMap[n][2][2]));;//Side n
thomasmorris 57:aba1296e51b1 230
thomasmorris 57:aba1296e51b1 231
thomasmorris 57:aba1296e51b1 232 }
thomasmorris 57:aba1296e51b1 233 //SIDE_ADD
thomasmorris 57:aba1296e51b1 234 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] == ' ')
thomasmorris 57:aba1296e51b1 235 {
thomasmorris 57:aba1296e51b1 236 int NumberOfChars = 0; int ArrayAddress = 0; string SIDENUMBER; int NUMBERTOSIDE; //Declare required variables
thomasmorris 57:aba1296e51b1 237 while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;} //Count the number of characters entered into the console
thomasmorris 57:aba1296e51b1 238 for(int x=9; x < NumberOfChars; x++){SIDENUMBER += input[x];} //Concatenate the characters between the space and the end
thomasmorris 57:aba1296e51b1 239 stringstream Number(SIDENUMBER); //Convert string to stringstream
thomasmorris 57:aba1296e51b1 240 Number >> NUMBERTOSIDE;
thomasmorris 57:aba1296e51b1 241 pc.printf("Please enter in the colour of segment 1:\n");
thomasmorris 57:aba1296e51b1 242 int Colour_value;
thomasmorris 57:aba1296e51b1 243 cin >>Colour_value;
thomasmorris 57:aba1296e51b1 244 NUMBERTOSIDE = NUMBERTOSIDE - 1;
thomasmorris 57:aba1296e51b1 245
thomasmorris 57:aba1296e51b1 246 CubeMap[NUMBERTOSIDE][0][0] = convert(Colour_value);
thomasmorris 57:aba1296e51b1 247 pc.printf("Please enter in the colour of segment 2:\n");
thomasmorris 57:aba1296e51b1 248 cin >>Colour_value;
thomasmorris 57:aba1296e51b1 249 CubeMap[NUMBERTOSIDE][0][1] = convert(Colour_value);
thomasmorris 57:aba1296e51b1 250 pc.printf("Please enter in the colour of segment 3:\n");
thomasmorris 57:aba1296e51b1 251 cin >>Colour_value;
thomasmorris 57:aba1296e51b1 252 CubeMap[NUMBERTOSIDE][0][2] = convert(Colour_value);
thomasmorris 57:aba1296e51b1 253 pc.printf("Please enter in the colour of segment 4:\n");
thomasmorris 57:aba1296e51b1 254 cin >>Colour_value;
thomasmorris 57:aba1296e51b1 255 CubeMap[NUMBERTOSIDE][1][0] = convert(Colour_value);
thomasmorris 57:aba1296e51b1 256 pc.printf("Please enter in the colour of segment 5:\n");
thomasmorris 57:aba1296e51b1 257 cin >>Colour_value;
thomasmorris 57:aba1296e51b1 258 CubeMap[NUMBERTOSIDE][1][1] = convert(Colour_value);
thomasmorris 57:aba1296e51b1 259 pc.printf("Please enter in the colour of segment 6:\n");
thomasmorris 57:aba1296e51b1 260 cin >>Colour_value;
thomasmorris 57:aba1296e51b1 261 CubeMap[NUMBERTOSIDE][1][2] = convert(Colour_value);
thomasmorris 57:aba1296e51b1 262 pc.printf("Please enter in the colour of segment 7:\n");
thomasmorris 57:aba1296e51b1 263 cin >>Colour_value;
thomasmorris 57:aba1296e51b1 264 CubeMap[NUMBERTOSIDE][2][0] = convert(Colour_value);
thomasmorris 57:aba1296e51b1 265 pc.printf("Please enter in the colour of segment 8:\n");
thomasmorris 57:aba1296e51b1 266 cin >>Colour_value;
thomasmorris 57:aba1296e51b1 267 CubeMap[NUMBERTOSIDE][2][1] = convert(Colour_value);
thomasmorris 57:aba1296e51b1 268 pc.printf("Please enter in the colour of segment 9:\n");
thomasmorris 57:aba1296e51b1 269 cin >>Colour_value;
thomasmorris 57:aba1296e51b1 270 CubeMap[NUMBERTOSIDE][2][2] = convert(Colour_value);
thomasmorris 57:aba1296e51b1 271 pc.printf("Side filled\n");
thomasmorris 57:aba1296e51b1 272 cin.getline(input,sizeof(input),'\r');
thomasmorris 57:aba1296e51b1 273 }
thomasmorris 57:aba1296e51b1 274 //SIDE_CLEAR
thomasmorris 57:aba1296e51b1 275 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')
thomasmorris 57:aba1296e51b1 276 {
thomasmorris 57:aba1296e51b1 277
thomasmorris 57:aba1296e51b1 278 for(int i =0; i<=6;i++)
thomasmorris 57:aba1296e51b1 279 {
thomasmorris 57:aba1296e51b1 280 CubeMap[i][0][0] = convert(0);
thomasmorris 57:aba1296e51b1 281 CubeMap[i][0][1] = convert(0);
thomasmorris 57:aba1296e51b1 282 CubeMap[i][0][2] = convert(0);
thomasmorris 57:aba1296e51b1 283 CubeMap[i][1][0] = convert(0);
thomasmorris 57:aba1296e51b1 284 CubeMap[i][1][1] = convert(0);
thomasmorris 57:aba1296e51b1 285 CubeMap[i][1][2] = convert(0);
thomasmorris 57:aba1296e51b1 286 CubeMap[i][2][0] = convert(0);
thomasmorris 57:aba1296e51b1 287 CubeMap[i][2][1] = convert(0);
thomasmorris 57:aba1296e51b1 288 CubeMap[i][2][2] = convert(0);
thomasmorris 57:aba1296e51b1 289 }
thomasmorris 57:aba1296e51b1 290 pc.printf("All sides cleared of data\n");
thomasmorris 56:bc5345bc6650 291 }
thomasmorris 52:99915f5240b2 292 //HELP
thomasmorris 52:99915f5240b2 293 else if(input[0] == 'H' & input[1] == 'E' & input[2] == 'L' & input[3] == 'P')
thomasmorris 52:99915f5240b2 294 {
thomasmorris 57:aba1296e51b1 295 pc.printf("Please specify the function you would like help in\nMOTOR , LOGGING , MOVE \n"); //Print introduction line
thomasmorris 57:aba1296e51b1 296 cin.getline(input,sizeof(input),'\r');
thomasmorris 57:aba1296e51b1 297 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");}
thomasmorris 57:aba1296e51b1 298 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");}
thomasmorris 57:aba1296e51b1 299 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");}
thomasmorris 57:aba1296e51b1 300 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");}
thomasmorris 57:aba1296e51b1 301 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");}
thomasmorris 57:aba1296e51b1 302 else{pc.printf("Enter the specific help area for more information\n");}
thomasmorris 52:99915f5240b2 303 }
thomasmorris 52:99915f5240b2 304 else
thomasmorris 52:99915f5240b2 305 {
thomasmorris 52:99915f5240b2 306 pc.printf("Please enter an acceptable command\n");
thomasmorris 52:99915f5240b2 307 }
thomasmorris 53:71f59e195f06 308 }