VR FabLab - RoboVal / Mbed 2 deprecated Chronometer_V2

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Dependencies:   mbed keypadLib TextLCD

main.cpp@2:bd0c735e81d6, 2018-05-18 (annotated)

Committer:
peps
Date:
Fri May 18 23:15:11 2018 +0000
Revision:
2:bd0c735e81d6
Parent:
1:26bcd89c18e5
Child:
3:fd1353986910
Versione iniziale

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ghiri 0:1a92e4a37697 1 //##############################################################
Ghiri 0:1a92e4a37697 2 //##
Ghiri 0:1a92e4a37697 3 //## Event: RoboVal - Robot Race
Ghiri 0:1a92e4a37697 4 //##
Ghiri 0:1a92e4a37697 5 //## Chronometer double use
Ghiri 0:1a92e4a37697 6 //##
Ghiri 0:1a92e4a37697 7 //## Version 1.99A
Ghiri 0:1a92e4a37697 8 //##
Ghiri 0:1a92e4a37697 9 //## Hardware platform used: ST NUCLEO-F401RE
Ghiri 0:1a92e4a37697 10 //##
Ghiri 0:1a92e4a37697 11 //## Software IDE used: mbed online version
Ghiri 0:1a92e4a37697 12 //##
Ghiri 0:1a92e4a37697 13 //## Organizzation: Verona FabLab
Ghiri 0:1a92e4a37697 14 //##
Ghiri 0:1a92e4a37697 15 //## Date creation: 2018.01.01
Ghiri 0:1a92e4a37697 16 //##
Ghiri 0:1a92e4a37697 17 //## Software developpers: FdF,GV, AG
Ghiri 0:1a92e4a37697 18 //##
Ghiri 0:1a92e4a37697 19 //## Base on original version of by FdF
Ghiri 0:1a92e4a37697 20 //##
Ghiri 0:1a92e4a37697 21 //##############################################################
Ghiri 0:1a92e4a37697 22
Ghiri 0:1a92e4a37697 23 #include <stdlib.h>
Ghiri 0:1a92e4a37697 24 #include "mbed.h"
Ghiri 0:1a92e4a37697 25 #include "TextLCD.h"
peps 2:bd0c735e81d6 26 #include "keypad.h"
peps 2:bd0c735e81d6 27
Ghiri 0:1a92e4a37697 28 // Default Number Lap
Ghiri 0:1a92e4a37697 29 #define NUM_LAP 3
Ghiri 0:1a92e4a37697 30
Ghiri 0:1a92e4a37697 31 // Reference for Low/Min Voltage battery
Ghiri 0:1a92e4a37697 32 #define VBAT_MIN 7.2
peps 2:bd0c735e81d6 33
peps 2:bd0c735e81d6 34
peps 2:bd0c735e81d6 35 // Modalità di funzionamento (in attesa della tastiera)
peps 2:bd0c735e81d6 36 enum modes {
peps 2:bd0c735e81d6 37 LABYRINTH,
peps 2:bd0c735e81d6 38 SPEED
peps 2:bd0c735e81d6 39 } mode = SPEED;
peps 2:bd0c735e81d6 40
peps 2:bd0c735e81d6 41 typedef struct time_screen {
peps 2:bd0c735e81d6 42 int cents;
peps 2:bd0c735e81d6 43 int seconds;
peps 2:bd0c735e81d6 44 int minutes;
peps 2:bd0c735e81d6 45 } measured_time;
peps 2:bd0c735e81d6 46
peps 2:bd0c735e81d6 47
Ghiri 1:26bcd89c18e5 48 // Defines the pins connected to the rows
peps 2:bd0c735e81d6 49 Keypad keypad(PA_0 , PA_1 , PA_4 , PB_0,PA_13 , PA_14 , PC_2 , PC_3 );
Ghiri 1:26bcd89c18e5 50
Ghiri 1:26bcd89c18e5 51 // Configures the serial port
Ghiri 1:26bcd89c18e5 52 Serial pc( USBTX , USBRX );
Ghiri 1:26bcd89c18e5 53
Ghiri 0:1a92e4a37697 54 // read Voltage battery
Ghiri 0:1a92e4a37697 55 DigitalOut heartbeat(LED1);
Ghiri 0:1a92e4a37697 56
Ghiri 0:1a92e4a37697 57 // read Voltage battery, analog pin used PC_3 (Pin 37 of Morpho layout)
Ghiri 1:26bcd89c18e5 58 //AnalogIn vbat(PC_3);
Ghiri 0:1a92e4a37697 59
Ghiri 0:1a92e4a37697 60 // User button pressure
Ghiri 0:1a92e4a37697 61 InterruptIn user_button(USER_BUTTON);
Ghiri 0:1a92e4a37697 62
Ghiri 0:1a92e4a37697 63 // Sensor connected to digital input D9, alias PC7 on Morpho layout
Ghiri 1:26bcd89c18e5 64 // Now p29 and p31
peps 2:bd0c735e81d6 65 InterruptIn gateStart(PA_15);
peps 2:bd0c735e81d6 66 InterruptIn gateEnd(PB_7);
Ghiri 0:1a92e4a37697 67
Ghiri 0:1a92e4a37697 68 // LCD Display (RS, E, D4, D5, D6, D7);
Ghiri 0:1a92e4a37697 69 TextLCD lcd(D2,D3,D4,D5,D6,D7);
peps 2:bd0c735e81d6 70
peps 2:bd0c735e81d6 71 Timer t;
Ghiri 0:1a92e4a37697 72
peps 2:bd0c735e81d6 73 int lap = 0;
peps 2:bd0c735e81d6 74 int last_read = 0;
peps 2:bd0c735e81d6 75 int lap_time = 0;
peps 2:bd0c735e81d6 76
peps 2:bd0c735e81d6 77 void (*loopMethod)(void);
peps 2:bd0c735e81d6 78
peps 2:bd0c735e81d6 79
peps 2:bd0c735e81d6 80 //Conversione da millisecondi a mm:ss:cc
peps 2:bd0c735e81d6 81 measured_time human_read(int ms){
peps 2:bd0c735e81d6 82 measured_time read;
peps 2:bd0c735e81d6 83 div_t qr = div(ms,1000);
peps 2:bd0c735e81d6 84
peps 2:bd0c735e81d6 85 read.cents = qr.rem % 100;
peps 2:bd0c735e81d6 86
peps 2:bd0c735e81d6 87 qr = div(qr.quot,60);
peps 2:bd0c735e81d6 88 read.seconds = qr.rem;
peps 2:bd0c735e81d6 89
peps 2:bd0c735e81d6 90 qr = div(qr.quot,60);
peps 2:bd0c735e81d6 91 read.minutes = qr.rem;
peps 2:bd0c735e81d6 92
peps 2:bd0c735e81d6 93 return read;
peps 2:bd0c735e81d6 94 }
peps 2:bd0c735e81d6 95
peps 2:bd0c735e81d6 96 void measure_time(){
peps 2:bd0c735e81d6 97 int read = t.read_ms();
peps 2:bd0c735e81d6 98
peps 2:bd0c735e81d6 99 if(lap == 0){
peps 2:bd0c735e81d6 100 t.start();
peps 2:bd0c735e81d6 101 lap++;
peps 2:bd0c735e81d6 102 }else{
peps 2:bd0c735e81d6 103 //Dabouncing per evitare problemi
peps 2:bd0c735e81d6 104 if(read - last_read > 1000){
peps 2:bd0c735e81d6 105
peps 2:bd0c735e81d6 106 lap_time = read - last_read;
peps 2:bd0c735e81d6 107
peps 2:bd0c735e81d6 108 if(lap >= NUM_LAP){
peps 2:bd0c735e81d6 109 t.stop();
peps 2:bd0c735e81d6 110 lap++;
peps 2:bd0c735e81d6 111 }else{
peps 2:bd0c735e81d6 112 lap++;
peps 2:bd0c735e81d6 113 }
peps 2:bd0c735e81d6 114
peps 2:bd0c735e81d6 115 last_read = read;
peps 2:bd0c735e81d6 116 }
peps 2:bd0c735e81d6 117 }
peps 2:bd0c735e81d6 118
peps 2:bd0c735e81d6 119 }
peps 2:bd0c735e81d6 120
peps 2:bd0c735e81d6 121 void reset_measure(){
peps 2:bd0c735e81d6 122 t.stop();
peps 2:bd0c735e81d6 123 t.reset();
peps 2:bd0c735e81d6 124 lap = 0;
peps 2:bd0c735e81d6 125 last_read = 0;
peps 2:bd0c735e81d6 126 lcd.cls();
peps 2:bd0c735e81d6 127 }
peps 2:bd0c735e81d6 128
Ghiri 0:1a92e4a37697 129
peps 2:bd0c735e81d6 130 void speedLoop() {
peps 2:bd0c735e81d6 131 int read = t.read_ms();
peps 2:bd0c735e81d6 132
peps 2:bd0c735e81d6 133 measured_time time = human_read(read);
peps 2:bd0c735e81d6 134
peps 2:bd0c735e81d6 135 lcd.locate(0,0);
peps 2:bd0c735e81d6 136 lcd.printf("Totale %02d:%02d:%02d",time.minutes,time.seconds,time.cents);
peps 2:bd0c735e81d6 137
peps 2:bd0c735e81d6 138 //Gestione dei parziali
peps 2:bd0c735e81d6 139 if(lap > 1){
peps 2:bd0c735e81d6 140 time = human_read(lap_time);
peps 2:bd0c735e81d6 141 lcd.locate(0,1);
peps 2:bd0c735e81d6 142 lcd.printf("Giro %d %02d:%02d:%02d",lap - 1,time.minutes,time.seconds,time.cents);
peps 2:bd0c735e81d6 143 }
peps 2:bd0c735e81d6 144 }
peps 2:bd0c735e81d6 145
peps 2:bd0c735e81d6 146 void start_time() {
peps 2:bd0c735e81d6 147 lap = 0;
peps 2:bd0c735e81d6 148 t.start();
peps 2:bd0c735e81d6 149 }
peps 2:bd0c735e81d6 150
peps 2:bd0c735e81d6 151 void stop_time() {
peps 2:bd0c735e81d6 152 lap = 1;
peps 2:bd0c735e81d6 153 t.stop();
peps 2:bd0c735e81d6 154 int read = t.read_ms();
peps 2:bd0c735e81d6 155
peps 2:bd0c735e81d6 156 measured_time time = human_read(read);
peps 2:bd0c735e81d6 157
peps 2:bd0c735e81d6 158 lcd.locate(0,1);
peps 2:bd0c735e81d6 159 lcd.printf(" ");
peps 2:bd0c735e81d6 160 lcd.locate(0,1);
peps 2:bd0c735e81d6 161 lcd.printf("Totale %02d:%02d:%02d",time.minutes,time.seconds,time.cents);
peps 2:bd0c735e81d6 162 }
peps 2:bd0c735e81d6 163
peps 2:bd0c735e81d6 164 void labyrinthLoop() {
peps 2:bd0c735e81d6 165 if (!lap) {
peps 2:bd0c735e81d6 166 int read = t.read_ms();
peps 2:bd0c735e81d6 167
peps 2:bd0c735e81d6 168 measured_time time = human_read(read);
peps 2:bd0c735e81d6 169
peps 2:bd0c735e81d6 170 lcd.locate(0,1);
peps 2:bd0c735e81d6 171 lcd.printf("Elapsed %02d:%02d:%02d",time.minutes,time.seconds,time.cents);
peps 2:bd0c735e81d6 172 }
peps 2:bd0c735e81d6 173 }
peps 2:bd0c735e81d6 174
peps 2:bd0c735e81d6 175 void configMode() {
peps 2:bd0c735e81d6 176 switch(mode) {
peps 2:bd0c735e81d6 177 case LABYRINTH:
peps 2:bd0c735e81d6 178 gateStart.rise(&start_time);
peps 2:bd0c735e81d6 179 gateEnd.rise(&stop_time);
peps 2:bd0c735e81d6 180 loopMethod = &labyrinthLoop;
peps 2:bd0c735e81d6 181 break;
peps 2:bd0c735e81d6 182
peps 2:bd0c735e81d6 183 case SPEED:
peps 2:bd0c735e81d6 184 default:
peps 2:bd0c735e81d6 185 gateStart.rise(&measure_time);
peps 2:bd0c735e81d6 186 loopMethod = &speedLoop;
peps 2:bd0c735e81d6 187 break;
peps 2:bd0c735e81d6 188 }
peps 2:bd0c735e81d6 189 }
peps 2:bd0c735e81d6 190
Ghiri 0:1a92e4a37697 191 //------------------------------------------------------------
Ghiri 0:1a92e4a37697 192 //
Ghiri 0:1a92e4a37697 193 // Main body
Ghiri 0:1a92e4a37697 194 //
Ghiri 0:1a92e4a37697 195 //------------------------------------------------------------
Ghiri 0:1a92e4a37697 196 int main() {
peps 2:bd0c735e81d6 197 char key;
peps 2:bd0c735e81d6 198 user_button.fall(&reset_measure);
peps 2:bd0c735e81d6 199
peps 2:bd0c735e81d6 200 gateStart.mode(PullDown);
peps 2:bd0c735e81d6 201 gateEnd.mode(PullDown);
peps 2:bd0c735e81d6 202
peps 2:bd0c735e81d6 203 configMode();
peps 2:bd0c735e81d6 204
peps 2:bd0c735e81d6 205 while(true) {
Ghiri 0:1a92e4a37697 206 heartbeat = !heartbeat;
peps 2:bd0c735e81d6 207 loopMethod();
peps 2:bd0c735e81d6 208 wait(0.1);
peps 2:bd0c735e81d6 209 key = keypad.getKey();
peps 2:bd0c735e81d6 210 if (key != KEY_RELEASED) {
peps 2:bd0c735e81d6 211 if(key == 'A') {
peps 2:bd0c735e81d6 212 lcd.locate(0,0);
peps 2:bd0c735e81d6 213 lcd.printf("Mode: LABYRINTH ");
peps 2:bd0c735e81d6 214 mode = LABYRINTH;
peps 2:bd0c735e81d6 215 configMode();
peps 2:bd0c735e81d6 216 } else if(key == 'B') {
peps 2:bd0c735e81d6 217 lcd.locate(0,0);
peps 2:bd0c735e81d6 218 lcd.printf("Mode: SPEED ");
peps 2:bd0c735e81d6 219 mode = SPEED;
peps 2:bd0c735e81d6 220 configMode();
peps 2:bd0c735e81d6 221 } else if(key == '*') {
peps 2:bd0c735e81d6 222 reset_measure();
peps 2:bd0c735e81d6 223 }
Ghiri 0:1a92e4a37697 224 }
Ghiri 0:1a92e4a37697 225 }
Ghiri 0:1a92e4a37697 226 }
Ghiri 0:1a92e4a37697 227