Revision 1:39f462024f10, committed 2016-07-18

Comitter:

ptuytsch

Date:

Mon Jul 18 13:19:33 2016 +0000

Parent:

0:792a8f167ac0

Commit message:

adding full functionallity of tortuga in library (not the most beautiful way)

Changed in this revision

diff -r 792a8f167ac0 -r 39f462024f10 BikeControl.cpp
--- a/BikeControl.cpp	Mon Jul 18 09:25:53 2016 +0000
+++ b/BikeControl.cpp	Mon Jul 18 13:19:33 2016 +0000
@@ -1,16 +1,63 @@
 #include "mbed.h"
 #include "BikeControl.h"
+#include "BikeData.h"
+#include "BatteryState.h"
 
-BikeControl::BikeControl(){
+BikeControl::BikeControl(BikeData* bikeData, BatteryState* trailerBat, BatteryState* bikeBat, BatteryState* auxBat):
+    trailerCtrl(PB_1),
+    motorRightCtrl(PB_15),
+    motorRightCounter(0),
+    motorRightRpm(0),
+    motorLeftCtrl(PB_13),
+    motorLeftCounter(0),
+    motorLeftRpm(0),
+    motorRightHall(PC_13),
+    motorLeftHall(PC_1),
+    
+    //BRAKE
+    brakeFront(PC_10),
+    brakeRear(PC_12),
+    
+    //GENERATOR
+    generatorHallA(PD_2),
+    generatorBrake(PC_9),
+    generatorHallACounter(0),
+    generatorHallARpm(0),
+    generatorHallB(PC_3),
+    generatorHallBCounter(0),
+    generatorHallBRpm(0),
+    
+    //BUTTONS ON STEERING
+    //userButton(USER_BUTTON),
+    buttonGreen(PB_11),
+    buttonRed(PB_12),
+    buttonDirectionRight(PA_15),
+    buttonDirectionLeft(PB_7),
+    
+    //SWITCH
+    switchOn(PC_11),
+    switchWalk(PB_2),
+    
+    //LIGHT
+    lightFront(PB_14),
+    lightBack(PA_11),
+    lightLeft(PC_6),
+    lightRight(PC_8),
+    
+    bd(bikeData),
+    bikeBat(bikeBat),
+    trailerBat(trailerBat),
+    auxBat(auxBat)
+{
         //PullUp on userButton input
-        userButton.mode(PullUp);
+        //userButton.mode(PullUp);
         //PullUp on brake inputs
         brakeFront.mode(PullUp);
         brakeRear.mode(PullUp);
     
         //Call function on rise of interruptpin
-        generatorHallA.rise(&generatorHallAPulsed);
-        generatorHallB.rise(&generatorHallBPulsed);
+        generatorHallA.rise(this, &BikeControl::generatorHallAPulsed);
+        generatorHallB.rise(this, &BikeControl::generatorHallBPulsed);
         generatorBrake.period_us(50);
         generatorBrake.write(0.5f);
         generatorHallACounter=0;
@@ -21,10 +68,10 @@
         //motor
         motorRightCtrl.period_ms(100);
         motorRightCtrl.write(0.0f);
-        motorRightHall.rise(&motorRightPulsed);
+        motorRightHall.rise(this, &BikeControl::motorRightPulsed);
         motorLeftCtrl.period_ms(100);
         motorLeftCtrl.write(0.0f);
-        motorLeftHall.rise(&motorLeftPulsed);
+        motorLeftHall.rise(this, &BikeControl::motorLeftPulsed);
     
         //Button inputs
         buttonGreen.mode(PullUp);
@@ -35,4 +82,169 @@
         //SWITCH
         switchOn.mode(PullUp);
         switchWalk.mode(PullUp);
+        
+        //t.attach(this, &BikeControl::periodicCallback, 0.5);
+    }
+    
+void BikeControl::startControlLoop(){
+    t.attach(this, &BikeControl::periodicCallback, 0.5);
+    }
+    
+void BikeControl::periodicCallback(){
+        //printf("callback\n");
+        generatorHallARpm = generatorHallACounter*2; //60 rising edges/ rotation means Rpm is equal to the counter value in 1 sec
+        generatorHallACounter = 0;
+        generatorHallBRpm = generatorHallBCounter*2; //60 rising edges/ rotation means Rpm is equal to the counter value in 1 sec
+        generatorHallBCounter = 0;
+        motorRightRpm = motorRightCounter*2;
+        motorRightCounter = 0;
+        motorLeftRpm = motorLeftCounter*2;
+        motorLeftCounter = 0;
+        if (generatorHallARpm>0) {
+            printf("RPM generator Hall A = %i\n",generatorHallARpm);
+        }
+        if (generatorHallBRpm>0) {
+            printf("RPM generator Hall B = %i\n",generatorHallBRpm);
+        }
+        if (motorRightRpm>0) {
+            printf("RPM motor Right = %i\n",motorRightRpm);
+        }
+        if (motorLeftRpm>0) {
+            printf("RPM motor Left = %i\n",motorLeftRpm);
+        }
+        //printf("light control\n");
+        //Turning LIGHT to RIGHT
+        if (!buttonDirectionRight) {
+            lightRight=!lightRight;
+        } else {
+            lightRight=0;
+        }
+        //Turning LIGHT to Left
+        if (!buttonDirectionLeft) {
+            lightLeft=!lightLeft;
+        } else {
+            lightLeft=0;
+        }
+        // Check if the Lights need to be on
+        if(!buttonRed) {
+            lightFront=1;
+            if (trailerBat->getBatteryPercentage()<30) {lightBack=!lightBack;}
+            else {lightBack=1;}
+        } else {
+            lightFront=0;
+            if (trailerBat->getBatteryPercentage()<30) {lightBack=!lightBack;}
+            else {lightBack=0;}
+        }
+    }
+    
+void BikeControl::generatorHallAPulsed()
+{
+    generatorHallACounter++;
+}
+
+void BikeControl::generatorHallBPulsed()
+{
+    generatorHallBCounter++;
+}
+
+void BikeControl::motorRightPulsed()
+{
+    motorRightCounter++;
+}
+
+void BikeControl::motorLeftPulsed()
+{
+    motorLeftCounter++;
+}
+    
+void BikeControl::runTestLight()
+{
+    printf("front\n");
+    lightFront =1;
+    //wait(1);
+    for(uint32_t i = 0; i<0xFFFFFF; i++); //WAIT STATEMENT CAUSES FREEZING!!!!! USE FOR LOOP IN STEAD, device can not handle wait and interrupts at same time!
+    lightFront = 0;
+    printf("back\n");
+    lightBack = 1;
+    //wait(1);
+    for(uint32_t i = 0; i<0xFFFFFF; i++);
+    lightBack = 0;
+    printf("left\n");
+    lightLeft = 1;
+    //wait(1);
+    for(uint32_t i = 0; i<0xFFFFFF; i++);
+    lightLeft = 0;
+    printf("right\n");
+    lightRight = 1;
+    //wait(1);
+    for(uint32_t i = 0; i<0xFFFFFF; i++);
+    lightRight = 0;
+    //wait(1);
+}
+
+void BikeControl::checkStatus(){
+        
+        //STATE MACHINE
+        if (!brakeFront || !brakeRear) {
+            if(!brakeFront) {
+                printf("BRAKE front \n");
+            }
+            if(!brakeRear) {
+                printf("BRAKE rear \n");
+            }
+            motorRightCtrl.write(0.0f);
+            motorLeftCtrl.write(0.0f);
+            trailerCtrl=0;
+        } else if (!buttonGreen) {
+            if (motorRightRpm<=61) {// motorRightRpm=61 means 6km/h
+                motorRightCtrl.write(1.0f);
+                motorLeftCtrl.write(1.0f);
+                trailerCtrl=1;
+            } else {
+                if (generatorHallARpm<10) {
+                    motorRightCtrl.write(0.0f);
+                    motorLeftCtrl.write(0.0f);
+                    trailerCtrl=0;
+                } else if(generatorHallARpm<=100) {
+                    motorRightCtrl.write(generatorHallARpm*0.004f);
+                    motorLeftCtrl.write(generatorHallARpm*0.004f);
+                    if (motorRightRpm<190) { //boven de 18km/h enkel de trekker aansturen
+                        trailerCtrl=1;
+                    } else {
+                        trailerCtrl=0;
+                    }
+                } else if (generatorHallARpm>100) {
+                    motorRightCtrl.write(0.4f);
+                    motorLeftCtrl.write(0.4f);
+                    if (motorRightRpm<190) { //boven de 18km/h enkel de trekker aansturen
+                        trailerCtrl=1;
+                    } else {
+                        trailerCtrl=0;
+                    }
+                }
+            }
+        } else if (generatorHallARpm>=0) {
+            if (generatorHallARpm<10) {
+                motorRightCtrl.write(0.0f);
+                motorLeftCtrl.write(0.0f);
+                trailerCtrl=0;
+            } else if(generatorHallARpm<=100) {
+                motorRightCtrl.write(generatorHallARpm*0.004f);
+                motorLeftCtrl.write(generatorHallARpm*0.004f);
+                if (motorRightRpm<190) {
+                    trailerCtrl=1;
+                } else {
+                    trailerCtrl=0;
+                }
+            } else if (generatorHallARpm>100) {
+                motorRightCtrl.write(0.4f);
+                motorLeftCtrl.write(0.4f);
+                if (motorRightRpm<190) {
+                    trailerCtrl=1;
+                } else {
+                    trailerCtrl=0;
+                }
+            }
+        }
+    
     }
\ No newline at end of file

diff -r 792a8f167ac0 -r 39f462024f10 BikeControl.h
--- a/BikeControl.h	Mon Jul 18 09:25:53 2016 +0000
+++ b/BikeControl.h	Mon Jul 18 13:19:33 2016 +0000
@@ -1,14 +1,12 @@
-#ifndef BATTERYSTATE_H
-#define BATTERYSTATE_H
+#ifndef BIKECONTROL_H
+#define BIKECONTROL_H
 #include "mbed.h"
+#include "BikeData.h"
+#include "BatteryState.h"
 
 class BikeControl{
-
-public:
-    Bikecontrol();
     
 protected:
-    
     //State machine states definition
     typedef enum DriveState {
         DRIVE_START=0,
@@ -22,55 +20,67 @@
     //const float WHEEL_CIRCUMFERENCE = 1.66; //Wheel Circumference
     //MOTOR
     //const float GEAR_RATIO = 13.3;     //Motor gear ration
-    
-    //BATTERY
-    AnalogIn batteryVoltageTrailer(PB_0);
-    AnalogIn batteryVoltageBike(PC_5);
-    AnalogIn batteryVoltageAuxiliay(PC_4);
+   
     
     //TRAILER
-    DigitalOut trailerCtrl(PB_1);
+    DigitalOut trailerCtrl;
     
     //MOTOR
-    PwmOut motorRightCtrl(PB_15);
-    InterruptIn motorRightHall(PC_0);
-    float motorRightCounter = 0;
-    float motorRightRpm = 0;
-    PwmOut motorLeftCtrl(PB_13);
-    InterruptIn motorLeftHall(PC_1);
-    float motorLeftCounter = 0;
-    float motorLeftRpm = 0;
+    PwmOut motorRightCtrl;
+    InterruptIn motorRightHall;
+    uint16_t motorRightCounter;
+    uint16_t motorRightRpm;
+    PwmOut motorLeftCtrl;
+    InterruptIn motorLeftHall;
+    uint16_t motorLeftCounter;
+    uint16_t motorLeftRpm;
     
     //BRAKE
-    DigitalIn brakeFront(PC_10);
-    DigitalIn brakeRear(PC_12);
+    DigitalIn brakeFront;
+    DigitalIn brakeRear;
     
     //GENERATOR
-    InterruptIn generatorHallA(PD_2);
-    PwmOut generatorBrake(PC_9);
-    float generatorHallACounter = 0;
-    float generatorHallARpm = 0;
-    InterruptIn generatorHallB(PC_3);
-    float generatorHallBCounter = 0;
-    float generatorHallBRpm = 0;
+    InterruptIn generatorHallA;
+    PwmOut generatorBrake;
+    uint16_t generatorHallACounter;
+    uint16_t generatorHallARpm;
+    InterruptIn generatorHallB;
+    uint16_t generatorHallBCounter;
+    uint16_t generatorHallBRpm;
     
     //BUTTONS ON STEERING
-    DigitalIn userButton(USER_BUTTON);
-    DigitalIn buttonGreen(PB_11);
-    DigitalIn buttonRed(PB_12);
-    DigitalIn buttonDirectionRight(PA_15);
-    DigitalIn buttonDirectionLeft(PB_7);
+    //DigitalIn userButton;
+    DigitalIn buttonGreen;
+    DigitalIn buttonRed;
+    DigitalIn buttonDirectionRight;
+    DigitalIn buttonDirectionLeft;
     
     //SWITCH
-    DigitalIn switchOn(PC_11);
-    DigitalIn switchWalk(PB_2);
+    DigitalIn switchOn;
+    DigitalIn switchWalk;
     
     //LIGHT
-    DigitalOut lightFront(PB_14);
-    DigitalOut lightBack(PA_11);
-    DigitalOut lightLeft(PC_6);
-    DigitalOut lightRight(PC_8);
+    DigitalOut lightFront;
+    DigitalOut lightBack;
+    DigitalOut lightLeft;
+    DigitalOut lightRight;
+    
     
+    void generatorHallAPulsed();
+    void generatorHallBPulsed();
+    void motorRightPulsed();
+    void motorLeftPulsed();
+    void periodicCallback();
+    
+    Ticker t;
+    BikeData *bd;
+    BatteryState *bikeBat, *trailerBat, *auxBat;
+    
+public:
+    BikeControl(BikeData* bikeData, BatteryState* trailerBat, BatteryState* bikeBat, BatteryState* auxBat);
+    void runTestLight();
+    void startControlLoop();
+    void checkStatus();
 };
     
 #endif
\ No newline at end of file