Dependencies: biquadFilter FastPWM HIDScope MODSERIAL mbed
Fork of
StateMachine
by 
Tommie Verouden
main.cpp@12:323ac4e27a0d, 2018-11-01 (annotated)
- Committer:
- tverouden
- Date:
- Thu Nov 01 09:02:56 2018 +0000
- Revision:
- 12:323ac4e27a0d
- Parent:
- 11:2d1dfebae948
- Child:
- 13:abee61d15b5f
Latest version (added some comments)
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| tverouden | 0:c0c35b95765f | 1 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ PREPARATION ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 0:c0c35b95765f | 2 | // Libraries |
| tverouden | 0:c0c35b95765f | 3 | #include "mbed.h" |
| tverouden | 2:d70795e4e0bf | 4 | #include "BiQuad.h" |
| tverouden | 0:c0c35b95765f | 5 | #include "FastPWM.h" |
| tverouden | 0:c0c35b95765f | 6 | #include "HIDScope.h" |
| tverouden | 0:c0c35b95765f | 7 | #include "MODSERIAL.h" |
| tverouden | 0:c0c35b95765f | 8 | |
| tverouden | 8:8cef1050ebd9 | 9 | // LEDs |
| tverouden | 8:8cef1050ebd9 | 10 | DigitalOut ledRed(LED_RED,1); // red LED K64F |
| tverouden | 8:8cef1050ebd9 | 11 | DigitalOut ledGreen(LED_GREEN,1); // green LED K64F |
| tverouden | 8:8cef1050ebd9 | 12 | DigitalOut ledBlue(LED_BLUE,1); // blue LED K64F |
| tverouden | 8:8cef1050ebd9 | 13 | // DigitalOut ledBio1(,1); // led 1 Biorobotics shield // LED pins |
| tverouden | 8:8cef1050ebd9 | 14 | // DigitalOut ledBio2(,1); // led 2 Biorobotics shield |
| tverouden | 8:8cef1050ebd9 | 15 | |
| tverouden | 11:2d1dfebae948 | 16 | Ticker blinkTimer; // LED ticker |
| tverouden | 8:8cef1050ebd9 | 17 | |
| tverouden | 8:8cef1050ebd9 | 18 | // Buttons/inputs |
| tverouden | 4:5ce2c8864908 | 19 | InterruptIn buttonBio1(D0); // button 1 BioRobotics shield |
| tverouden | 4:5ce2c8864908 | 20 | InterruptIn buttonBio2(D1); // button 2 BioRobotics shield |
| tverouden | 0:c0c35b95765f | 21 | InterruptIn buttonK64F(SW3); // button on K64F |
| tverouden | 8:8cef1050ebd9 | 22 | InterruptIn buttonEmergency(SW2); // emergency button on K64F |
| tverouden | 0:c0c35b95765f | 23 | |
| tverouden | 8:8cef1050ebd9 | 24 | // Motor pins |
| tverouden | 8:8cef1050ebd9 | 25 | |
| tverouden | 8:8cef1050ebd9 | 26 | |
| tverouden | 8:8cef1050ebd9 | 27 | // PC communication |
| tverouden | 4:5ce2c8864908 | 28 | MODSERIAL pc(USBTX, USBRX); // communication with pc |
| tverouden | 4:5ce2c8864908 | 29 | |
| tverouden | 0:c0c35b95765f | 30 | // Define & initialise state machine |
| tverouden | 11:2d1dfebae948 | 31 | enum states { calibratingMotors, calibratingEMG, |
| tverouden | 7:ef5966469621 | 32 | homing, operating, reading, failing, demoing |
| tverouden | 2:d70795e4e0bf | 33 | }; |
| tverouden | 11:2d1dfebae948 | 34 | states currentState = calibratingMotors;// start in waiting mode |
| tverouden | 11:2d1dfebae948 | 35 | bool changeState = true; // initialise the first state |
| tverouden | 2:d70795e4e0bf | 36 | |
| tverouden | 3:9c63fc5f157e | 37 | |
| tverouden | 3:9c63fc5f157e | 38 | |
| tverouden | 4:5ce2c8864908 | 39 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ FUNCTIONS ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 6:f32352bc5078 | 40 | // ============================ GENERAL FUNCTIONS ============================= |
| tverouden | 6:f32352bc5078 | 41 | void stopProgram(void) |
| tverouden | 6:f32352bc5078 | 42 | { |
| tverouden | 6:f32352bc5078 | 43 | // Error message |
| tverouden | 6:f32352bc5078 | 44 | pc.printf("[ERROR] emergency button pressed\r\n"); |
| tverouden | 6:f32352bc5078 | 45 | currentState = failing; // change to state |
| tverouden | 6:f32352bc5078 | 46 | changeState = true; // next loop, switch states |
| tverouden | 6:f32352bc5078 | 47 | } |
| tverouden | 8:8cef1050ebd9 | 48 | |
| tverouden | 8:8cef1050ebd9 | 49 | void blinkLED(DigitalOut led) // blinkTimer.attach(&blinkLED,0.5) aanroepen bij initialisation, bij verlaten state: |
| tverouden | 8:8cef1050ebd9 | 50 | { // blinkTimer.detach |
| tverouden | 8:8cef1050ebd9 | 51 | led =! led; // toggle LED |
| tverouden | 10:584b7d2c2d63 | 52 | } |
| tverouden | 8:8cef1050ebd9 | 53 | |
| tverouden | 6:f32352bc5078 | 54 | // ============================ MOTOR FUNCTIONS ============================== |
| tverouden | 4:5ce2c8864908 | 55 | |
| tverouden | 4:5ce2c8864908 | 56 | |
| tverouden | 4:5ce2c8864908 | 57 | // ============================= EMG FUNCTIONS =============================== |
| tverouden | 4:5ce2c8864908 | 58 | |
| tverouden | 4:5ce2c8864908 | 59 | |
| tverouden | 12:323ac4e27a0d | 60 | // ========================= KINEMATICS FUNCTIONS ============================ |
| tverouden | 12:323ac4e27a0d | 61 | |
| tverouden | 12:323ac4e27a0d | 62 | |
| tverouden | 2:d70795e4e0bf | 63 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ STATE MACHINE ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 7:ef5966469621 | 64 | void stateMachine(void) |
| tverouden | 3:9c63fc5f157e | 65 | { |
| tverouden | 5:04b26b2f536a | 66 | switch (currentState) { // determine which state Odin is in // Van een aantal if statements moeten de conditions nog bepaald worden, niet vergeten |
| tverouden | 3:9c63fc5f157e | 67 | |
| tverouden | 4:5ce2c8864908 | 68 | // ========================= MOTOR CALIBRATION MODE ========================== |
| tverouden | 4:5ce2c8864908 | 69 | case calibratingMotors: |
| tverouden | 4:5ce2c8864908 | 70 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 71 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 72 | pc.printf("[MODE] calibrating motors...r\n"); |
| tverouden | 5:04b26b2f536a | 73 | // print current state |
| tverouden | 4:5ce2c8864908 | 74 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 75 | |
| tverouden | 4:5ce2c8864908 | 76 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 77 | /* */ |
| tverouden | 4:5ce2c8864908 | 78 | |
| tverouden | 4:5ce2c8864908 | 79 | } |
| tverouden | 4:5ce2c8864908 | 80 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 81 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 82 | /* */ |
| tverouden | 4:5ce2c8864908 | 83 | |
| tverouden | 4:5ce2c8864908 | 84 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 85 | // Transition condition #1: after 3 sec in state && all motor // Als vóór het einde van de 3 seconden alle motoren al snelheid 0 hebben, zitten ze zo dus door te draaien terwijl dat niet kan |
| tverouden | 4:5ce2c8864908 | 86 | // velocities zero, start calibrating EMG-x // dat lijkt me niet de bedoeling |
| tverouden | 7:ef5966469621 | 87 | if (1) { // CONDITION |
| tverouden | 5:04b26b2f536a | 88 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 89 | /* */ |
| tverouden | 5:04b26b2f536a | 90 | |
| tverouden | 10:584b7d2c2d63 | 91 | currentState = calibratingEMG; // change to state |
| tverouden | 4:5ce2c8864908 | 92 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 93 | } |
| tverouden | 4:5ce2c8864908 | 94 | break; // end case |
| tverouden | 4:5ce2c8864908 | 95 | |
| tverouden | 7:ef5966469621 | 96 | // =========================== EMG CALIBRATION MODE =========================== |
| tverouden | 7:ef5966469621 | 97 | case calibratingEMG: |
| tverouden | 4:5ce2c8864908 | 98 | // ------------------------- initialisation -------------------------- |
| tverouden | 3:9c63fc5f157e | 99 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 100 | pc.printf("[MODE] calibrating EMG 1 (x-direction)...\r\n"); |
| tverouden | 5:04b26b2f536a | 101 | // print current state |
| tverouden | 4:5ce2c8864908 | 102 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 103 | |
| tverouden | 4:5ce2c8864908 | 104 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 105 | /* */ |
| tverouden | 4:5ce2c8864908 | 106 | |
| tverouden | 4:5ce2c8864908 | 107 | } |
| tverouden | 4:5ce2c8864908 | 108 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 109 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 110 | /* */ |
| tverouden | 4:5ce2c8864908 | 111 | |
| tverouden | 4:5ce2c8864908 | 112 | // --------------------------- transition ---------------------------- |
| tverouden | 7:ef5966469621 | 113 | // Transition condition #1: after 20 sec in state |
| tverouden | 7:ef5966469621 | 114 | if (1) { // CONDITION |
| tverouden | 4:5ce2c8864908 | 115 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 116 | /* */ |
| tverouden | 5:04b26b2f536a | 117 | |
| tverouden | 4:5ce2c8864908 | 118 | currentState = homing; // change to state |
| tverouden | 4:5ce2c8864908 | 119 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 120 | } |
| tverouden | 5:04b26b2f536a | 121 | break; // end case |
| tverouden | 4:5ce2c8864908 | 122 | |
| tverouden | 4:5ce2c8864908 | 123 | // ============================== HOMING MODE ================================ |
| tverouden | 4:5ce2c8864908 | 124 | case homing: |
| tverouden | 7:ef5966469621 | 125 | // ------------------------- initialisation -------------------------- // Evt. ook checken op snelheid als mensen zo dom zijn om tijdens homing op random knopjes te drukken |
| tverouden | 4:5ce2c8864908 | 126 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 127 | pc.printf("[MODE] homing...\r\n"); |
| tverouden | 5:04b26b2f536a | 128 | // print current state |
| tverouden | 4:5ce2c8864908 | 129 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 130 | |
| tverouden | 4:5ce2c8864908 | 131 | |
| tverouden | 4:5ce2c8864908 | 132 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 133 | /* */ |
| tverouden | 4:5ce2c8864908 | 134 | |
| tverouden | 4:5ce2c8864908 | 135 | } |
| tverouden | 4:5ce2c8864908 | 136 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 137 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 138 | /* */ |
| tverouden | 4:5ce2c8864908 | 139 | |
| tverouden | 7:ef5966469621 | 140 | // --------------------------- transition ---------------------------- // Volgorde veranderen voor logica? |
| tverouden | 4:5ce2c8864908 | 141 | // Transition condition #1: with button press, enter demo mode |
| tverouden | 4:5ce2c8864908 | 142 | if (buttonBio1 == true) { // Het is niet nodig om hier ook nog "&& currentState == homing" toe te voegen, want hij bereikt dit stuk code alleen in homing mode |
| tverouden | 4:5ce2c8864908 | 143 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 144 | /* */ |
| tverouden | 5:04b26b2f536a | 145 | |
| tverouden | 4:5ce2c8864908 | 146 | currentState = demoing; // change to state |
| tverouden | 4:5ce2c8864908 | 147 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 148 | } |
| tverouden | 4:5ce2c8864908 | 149 | // Transition condition #2: with button press, enter operation mode |
| tverouden | 4:5ce2c8864908 | 150 | if (buttonBio2 == true) { |
| tverouden | 4:5ce2c8864908 | 151 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 152 | /* */ |
| tverouden | 5:04b26b2f536a | 153 | |
| tverouden | 4:5ce2c8864908 | 154 | currentState = operating; // change to state |
| tverouden | 4:5ce2c8864908 | 155 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 156 | } |
| tverouden | 4:5ce2c8864908 | 157 | break; // end case |
| tverouden | 4:5ce2c8864908 | 158 | |
| tverouden | 4:5ce2c8864908 | 159 | // ============================= OPERATING MODE ============================== |
| tverouden | 4:5ce2c8864908 | 160 | case operating: |
| tverouden | 4:5ce2c8864908 | 161 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 162 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 163 | pc.printf("[MODE] operating...\r\n"); |
| tverouden | 5:04b26b2f536a | 164 | // print current state |
| tverouden | 5:04b26b2f536a | 165 | changeState = false; // stay in this state |
| tverouden | 5:04b26b2f536a | 166 | |
| tverouden | 5:04b26b2f536a | 167 | // Actions when entering state |
| tverouden | 5:04b26b2f536a | 168 | /* */ |
| tverouden | 5:04b26b2f536a | 169 | |
| tverouden | 5:04b26b2f536a | 170 | } |
| tverouden | 5:04b26b2f536a | 171 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 172 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 173 | /* */ |
| tverouden | 5:04b26b2f536a | 174 | |
| tverouden | 5:04b26b2f536a | 175 | // --------------------------- transition ---------------------------- |
| tverouden | 7:ef5966469621 | 176 | // Transition condition #1: with button press, back to homing mode // Is het nodig om vanuit operating mode naar homing mode terug te kunnen gaan? -> ja, voor als je een demo wilt starten |
| tverouden | 5:04b26b2f536a | 177 | if (buttonBio2 == true) { |
| tverouden | 5:04b26b2f536a | 178 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 179 | /* */ |
| tverouden | 5:04b26b2f536a | 180 | |
| tverouden | 5:04b26b2f536a | 181 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 182 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 183 | } |
| tverouden | 7:ef5966469621 | 184 | // Transition condition #2: motor angle error < certain value, |
| tverouden | 7:ef5966469621 | 185 | // start reading |
| tverouden | 7:ef5966469621 | 186 | if (1) { // CONDITION |
| tverouden | 5:04b26b2f536a | 187 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 188 | /* */ |
| tverouden | 5:04b26b2f536a | 189 | |
| tverouden | 5:04b26b2f536a | 190 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 191 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 192 | } |
| tverouden | 5:04b26b2f536a | 193 | break; // end case |
| tverouden | 5:04b26b2f536a | 194 | |
| tverouden | 7:ef5966469621 | 195 | // ============================== READING MODE =============================== // Beweegt deze modus zowel heen als weer en zo ja, hoe bepaalt hij wat moet gebeuren? |
| tverouden | 7:ef5966469621 | 196 | case reading: |
| tverouden | 5:04b26b2f536a | 197 | // ------------------------- initialisation -------------------------- |
| tverouden | 5:04b26b2f536a | 198 | if (changeState) { // when entering the state |
| tverouden | 7:ef5966469621 | 199 | pc.printf("[MODE] reading...\r\n"); |
| tverouden | 5:04b26b2f536a | 200 | // print current state |
| tverouden | 5:04b26b2f536a | 201 | changeState = false; // stay in this state |
| tverouden | 5:04b26b2f536a | 202 | |
| tverouden | 5:04b26b2f536a | 203 | // Actions when entering state |
| tverouden | 5:04b26b2f536a | 204 | /* */ |
| tverouden | 5:04b26b2f536a | 205 | |
| tverouden | 5:04b26b2f536a | 206 | } |
| tverouden | 5:04b26b2f536a | 207 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 208 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 209 | /* */ |
| tverouden | 5:04b26b2f536a | 210 | |
| tverouden | 5:04b26b2f536a | 211 | // --------------------------- transition ---------------------------- |
| tverouden | 7:ef5966469621 | 212 | // Transition condition #1: with button press, back to homing mode // Hier automatisch terug naar operating mode! |
| tverouden | 5:04b26b2f536a | 213 | if (1) { // En hij gaat nu terug naar homing mode, maar dan moet je dus elke keer weer kiezen voor demo of operation mode? |
| tverouden | 7:ef5966469621 | 214 | // Actions when leaving state // CONDITION |
| tverouden | 5:04b26b2f536a | 215 | /* */ |
| tverouden | 5:04b26b2f536a | 216 | |
| tverouden | 5:04b26b2f536a | 217 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 218 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 219 | } |
| tverouden | 5:04b26b2f536a | 220 | break; // end case |
| tverouden | 5:04b26b2f536a | 221 | |
| tverouden | 5:04b26b2f536a | 222 | // ============================== DEMOING MODE =============================== |
| tverouden | 5:04b26b2f536a | 223 | case demoing: |
| tverouden | 5:04b26b2f536a | 224 | // ------------------------- initialisation -------------------------- |
| tverouden | 5:04b26b2f536a | 225 | if (changeState) { // when entering the state |
| tverouden | 5:04b26b2f536a | 226 | pc.printf("[MODE] demoing...\r\n"); |
| tverouden | 5:04b26b2f536a | 227 | // print current state |
| tverouden | 5:04b26b2f536a | 228 | changeState = false; // stay in this state |
| tverouden | 5:04b26b2f536a | 229 | |
| tverouden | 5:04b26b2f536a | 230 | // Actions when entering state |
| tverouden | 5:04b26b2f536a | 231 | /* */ |
| tverouden | 5:04b26b2f536a | 232 | |
| tverouden | 5:04b26b2f536a | 233 | } |
| tverouden | 5:04b26b2f536a | 234 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 235 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 236 | /* */ |
| tverouden | 5:04b26b2f536a | 237 | |
| tverouden | 5:04b26b2f536a | 238 | // --------------------------- transition ---------------------------- |
| tverouden | 5:04b26b2f536a | 239 | // Transition condition #1: with button press, back to homing mode |
| tverouden | 5:04b26b2f536a | 240 | if (1) { |
| tverouden | 5:04b26b2f536a | 241 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 242 | /* */ |
| tverouden | 5:04b26b2f536a | 243 | |
| tverouden | 5:04b26b2f536a | 244 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 245 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 246 | } |
| tverouden | 7:ef5966469621 | 247 | // Transition condition #2: after 3 sec relaxation, start reading // In 3 seconden zijn de bladzijden uit zichzelf alweer helemaal teruggegaan. Misschien dit gewoon doen na het voorgedefinieerde pad |
| tverouden | 5:04b26b2f536a | 248 | if (1) { |
| tverouden | 5:04b26b2f536a | 249 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 250 | /* */ |
| tverouden | 5:04b26b2f536a | 251 | |
| tverouden | 7:ef5966469621 | 252 | currentState = reading; // change to state |
| tverouden | 5:04b26b2f536a | 253 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 254 | } |
| tverouden | 5:04b26b2f536a | 255 | break; // end case |
| tverouden | 5:04b26b2f536a | 256 | |
| tverouden | 5:04b26b2f536a | 257 | // =============================== FAILING MODE ================================ |
| tverouden | 5:04b26b2f536a | 258 | case failing: |
| tverouden | 5:04b26b2f536a | 259 | // ------------------------- initialisation -------------------------- |
| tverouden | 5:04b26b2f536a | 260 | if (changeState) { // when entering the state |
| tverouden | 5:04b26b2f536a | 261 | pc.printf("[ERROR] entering failure mode\r\n"); |
| tverouden | 7:ef5966469621 | 262 | // print current state |
| tverouden | 3:9c63fc5f157e | 263 | changeState = false; // stay in this state |
| tverouden | 3:9c63fc5f157e | 264 | |
| tverouden | 3:9c63fc5f157e | 265 | // Actions when entering state |
| tverouden | 7:ef5966469621 | 266 | ledGreen = 1; // red LED on // Blijft dit aan? |
| tverouden | 6:f32352bc5078 | 267 | ledBlue = 1; |
| tverouden | 6:f32352bc5078 | 268 | ledRed = 0; |
| tverouden | 4:5ce2c8864908 | 269 | |
| tverouden | 6:f32352bc5078 | 270 | // pin3 = 0; // all motor forces to zero // Pins nog niet gedefiniëerd |
| tverouden | 6:f32352bc5078 | 271 | // pin5 = 0; |
| tverouden | 6:f32352bc5078 | 272 | // pin6 = 0; |
| tverouden | 6:f32352bc5078 | 273 | exit (0); // abort mission |
| tverouden | 4:5ce2c8864908 | 274 | } |
| tverouden | 4:5ce2c8864908 | 275 | break; // end case |
| tverouden | 4:5ce2c8864908 | 276 | |
| tverouden | 4:5ce2c8864908 | 277 | // ============================== DEFAULT MODE ================================= |
| tverouden | 3:9c63fc5f157e | 278 | default: |
| tverouden | 4:5ce2c8864908 | 279 | // ---------------------------- enter failing mode ----------------------------- |
| tverouden | 4:5ce2c8864908 | 280 | currentState = failing; // change to state |
| tverouden | 4:5ce2c8864908 | 281 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 282 | // print current state |
| tverouden | 4:5ce2c8864908 | 283 | pc.printf("[ERROR] unknown or unimplemented state reached\r\n"); |
| tverouden | 3:9c63fc5f157e | 284 | |
| tverouden | 4:5ce2c8864908 | 285 | } // end switch |
| tverouden | 4:5ce2c8864908 | 286 | } // end stateMachine |
| tverouden | 3:9c63fc5f157e | 287 | |
| tverouden | 3:9c63fc5f157e | 288 | |
| tverouden | 2:d70795e4e0bf | 289 | |
| tverouden | 2:d70795e4e0bf | 290 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ MAIN LOOP ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 2:d70795e4e0bf | 291 | |
| tverouden | 3:9c63fc5f157e | 292 | int main() |
| tverouden | 3:9c63fc5f157e | 293 | { |
| tverouden | 8:8cef1050ebd9 | 294 | // ================================ EMERGENCY ================================ |
| tverouden | 7:ef5966469621 | 295 | //If the emergency button is pressed, stop program via failing state |
| tverouden | 8:8cef1050ebd9 | 296 | buttonEmergency.rise(stopProgram); // Automatische triggers voor failure mode? |
| tverouden | 8:8cef1050ebd9 | 297 | |
| tverouden | 8:8cef1050ebd9 | 298 | // ================================ EMERGENCY ================================ |
| tverouden | 8:8cef1050ebd9 | 299 | pc.baud(115200); // communication with terminal // Baud rate |
| tverouden | 6:f32352bc5078 | 300 | |
| tverouden | 2:d70795e4e0bf | 301 | // ==================================== LOOP =================================== |
| tverouden | 2:d70795e4e0bf | 302 | while (true) { // loop forever |
| tverouden | 2:d70795e4e0bf | 303 | |
| tverouden | 2:d70795e4e0bf | 304 | } |
| tverouden | 2:d70795e4e0bf | 305 | } |