Dependencies: biquadFilter FastPWM HIDScope MODSERIAL mbed
Fork of
StateMachine
by 
Tommie Verouden
main.cpp@4:5ce2c8864908, 2018-10-31 (annotated)
- Committer:
- tverouden
- Date:
- Wed Oct 31 15:33:02 2018 +0000
- Revision:
- 4:5ce2c8864908
- Parent:
- 3:9c63fc5f157e
- Child:
- 5:04b26b2f536a
Transition logic implemented until operating mode
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 | 0:c0c35b95765f | 9 | // Inputs & outputs |
| tverouden | 0:c0c35b95765f | 10 | DigitalOut redled(LED_RED,1); // red LED K64F |
| tverouden | 0:c0c35b95765f | 11 | DigitalOut greenled(LED_GREEN,1); // green LED K64F |
| tverouden | 0:c0c35b95765f | 12 | DigitalOut blueled(LED_BLUE,1); // blue LED K64F |
| tverouden | 4:5ce2c8864908 | 13 | InterruptIn buttonBio1(D0); // button 1 BioRobotics shield |
| tverouden | 4:5ce2c8864908 | 14 | InterruptIn buttonBio2(D1); // button 2 BioRobotics shield |
| tverouden | 0:c0c35b95765f | 15 | InterruptIn buttonK64F(SW3); // button on K64F |
| tverouden | 0:c0c35b95765f | 16 | InterruptIn emergencybutton(SW2); // emergency button on K64F |
| tverouden | 0:c0c35b95765f | 17 | |
| tverouden | 4:5ce2c8864908 | 18 | MODSERIAL pc(USBTX, USBRX); // communication with pc |
| tverouden | 4:5ce2c8864908 | 19 | |
| tverouden | 0:c0c35b95765f | 20 | // Define & initialise state machine |
| tverouden | 0:c0c35b95765f | 21 | enum states { waiting, calibratingMotors, calibratingEMGx, calibratingEMGy, |
| tverouden | 2:d70795e4e0bf | 22 | homing, operating, flipping, failure, demo |
| tverouden | 2:d70795e4e0bf | 23 | }; |
| tverouden | 0:c0c35b95765f | 24 | states currentState = waiting; // start in waiting mode |
| tverouden | 2:d70795e4e0bf | 25 | bool changeState = true; // initialise the first state |
| tverouden | 2:d70795e4e0bf | 26 | |
| tverouden | 3:9c63fc5f157e | 27 | |
| tverouden | 3:9c63fc5f157e | 28 | |
| tverouden | 4:5ce2c8864908 | 29 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ FUNCTIONS ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 4:5ce2c8864908 | 30 | // ============================= MOTOR FUNCTIONS ============================= |
| tverouden | 4:5ce2c8864908 | 31 | |
| tverouden | 4:5ce2c8864908 | 32 | |
| tverouden | 4:5ce2c8864908 | 33 | // ============================= EMG FUNCTIONS =============================== |
| tverouden | 4:5ce2c8864908 | 34 | |
| tverouden | 4:5ce2c8864908 | 35 | |
| tverouden | 2:d70795e4e0bf | 36 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ STATE MACHINE ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 4:5ce2c8864908 | 37 | void stateMachine(void) // Moet niet elke staat naar de failure mode kunnen komen met het emergency knopoje? |
| tverouden | 3:9c63fc5f157e | 38 | { |
| tverouden | 3:9c63fc5f157e | 39 | switch (currentState) { // determine which state Odin is in |
| tverouden | 3:9c63fc5f157e | 40 | |
| tverouden | 4:5ce2c8864908 | 41 | // ============================== WAITING MODE =============================== |
| tverouden | 3:9c63fc5f157e | 42 | case waiting: |
| tverouden | 4:5ce2c8864908 | 43 | // ------------------------ initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 44 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 45 | pc.printf("[MODE] waiting...\r\n"); |
| tverouden | 4:5ce2c8864908 | 46 | // print current state |
| tverouden | 4:5ce2c8864908 | 47 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 48 | |
| tverouden | 4:5ce2c8864908 | 49 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 50 | /* */ |
| tverouden | 4:5ce2c8864908 | 51 | |
| tverouden | 4:5ce2c8864908 | 52 | } |
| tverouden | 4:5ce2c8864908 | 53 | // ----------------------------- action ------------------------------ |
| tverouden | 4:5ce2c8864908 | 54 | // Actions for each loop iteration |
| tverouden | 4:5ce2c8864908 | 55 | /* */ |
| tverouden | 4:5ce2c8864908 | 56 | |
| tverouden | 4:5ce2c8864908 | 57 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 58 | // Transition condition #1: with a button press, enter motor |
| tverouden | 4:5ce2c8864908 | 59 | // calibration mode |
| tverouden | 4:5ce2c8864908 | 60 | if (emergencybutton == true) { // Waarom drukken we op de noodknop om te beginnen? Lijkt me raar |
| tverouden | 4:5ce2c8864908 | 61 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 62 | /* */ |
| tverouden | 4:5ce2c8864908 | 63 | |
| tverouden | 4:5ce2c8864908 | 64 | currentState = calibratingMotors; // change to state |
| tverouden | 4:5ce2c8864908 | 65 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 66 | } |
| tverouden | 4:5ce2c8864908 | 67 | break; // end case |
| tverouden | 4:5ce2c8864908 | 68 | |
| tverouden | 4:5ce2c8864908 | 69 | // ========================= MOTOR CALIBRATION MODE ========================== |
| tverouden | 4:5ce2c8864908 | 70 | case calibratingMotors: |
| tverouden | 4:5ce2c8864908 | 71 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 72 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 73 | pc.printf("[MODE] calibrating motors...r\n"); |
| tverouden | 4:5ce2c8864908 | 74 | // print current state |
| tverouden | 4:5ce2c8864908 | 75 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 76 | |
| tverouden | 4:5ce2c8864908 | 77 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 78 | /* */ |
| tverouden | 4:5ce2c8864908 | 79 | |
| tverouden | 4:5ce2c8864908 | 80 | } |
| tverouden | 4:5ce2c8864908 | 81 | // ----------------------------- action ------------------------------ |
| tverouden | 4:5ce2c8864908 | 82 | // Actions for each loop iteration |
| tverouden | 4:5ce2c8864908 | 83 | /* */ |
| tverouden | 4:5ce2c8864908 | 84 | |
| tverouden | 4:5ce2c8864908 | 85 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 86 | // 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 | 87 | // velocities zero, start calibrating EMG-x // dat lijkt me niet de bedoeling |
| tverouden | 4:5ce2c8864908 | 88 | if (1) { |
| tverouden | 4:5ce2c8864908 | 89 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 90 | /* */ |
| tverouden | 4:5ce2c8864908 | 91 | |
| tverouden | 4:5ce2c8864908 | 92 | currentState = calibratingMotors; // change to state |
| tverouden | 4:5ce2c8864908 | 93 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 94 | } |
| tverouden | 4:5ce2c8864908 | 95 | |
| tverouden | 4:5ce2c8864908 | 96 | |
| tverouden | 4:5ce2c8864908 | 97 | break; // end case |
| tverouden | 4:5ce2c8864908 | 98 | |
| tverouden | 4:5ce2c8864908 | 99 | // ================== EMG 1 (X-DIRECTION) CALIBRATION MODE =================== |
| tverouden | 4:5ce2c8864908 | 100 | case calibratingEMGx: |
| tverouden | 4:5ce2c8864908 | 101 | // ------------------------- initialisation -------------------------- |
| tverouden | 3:9c63fc5f157e | 102 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 103 | pc.printf("[MODE] calibrating EMG 1 (x-direction)...\r\n"); |
| tverouden | 4:5ce2c8864908 | 104 | // print current state |
| tverouden | 4:5ce2c8864908 | 105 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 106 | |
| tverouden | 4:5ce2c8864908 | 107 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 108 | /* */ |
| tverouden | 4:5ce2c8864908 | 109 | |
| tverouden | 4:5ce2c8864908 | 110 | } |
| tverouden | 4:5ce2c8864908 | 111 | // ----------------------------- action ------------------------------ |
| tverouden | 4:5ce2c8864908 | 112 | // Actions for each loop iteration |
| tverouden | 4:5ce2c8864908 | 113 | /* */ |
| tverouden | 4:5ce2c8864908 | 114 | |
| tverouden | 4:5ce2c8864908 | 115 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 116 | // Transition condition #1: after 5 sec in state && relaxation |
| tverouden | 4:5ce2c8864908 | 117 | if (1) { |
| tverouden | 4:5ce2c8864908 | 118 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 119 | /* */ |
| tverouden | 4:5ce2c8864908 | 120 | |
| tverouden | 4:5ce2c8864908 | 121 | currentState = calibratingEMGy; // change to state |
| tverouden | 4:5ce2c8864908 | 122 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 123 | } |
| tverouden | 4:5ce2c8864908 | 124 | break; // end case |
| tverouden | 4:5ce2c8864908 | 125 | |
| tverouden | 4:5ce2c8864908 | 126 | // ================== EMG 2 (Y-DIRECTION) CALIBRATION MODE =================== |
| tverouden | 4:5ce2c8864908 | 127 | case calibratingEMGy: |
| tverouden | 4:5ce2c8864908 | 128 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 129 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 130 | pc.printf("[MODE] calibrating EMG 2 (y-direction)...\r\n"); |
| tverouden | 4:5ce2c8864908 | 131 | // print current state |
| tverouden | 4:5ce2c8864908 | 132 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 133 | |
| tverouden | 4:5ce2c8864908 | 134 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 135 | /* */ |
| tverouden | 4:5ce2c8864908 | 136 | |
| tverouden | 4:5ce2c8864908 | 137 | } |
| tverouden | 4:5ce2c8864908 | 138 | // ----------------------------- action ------------------------------ |
| tverouden | 4:5ce2c8864908 | 139 | // Actions for each loop iteration |
| tverouden | 4:5ce2c8864908 | 140 | /* */ |
| tverouden | 4:5ce2c8864908 | 141 | |
| tverouden | 4:5ce2c8864908 | 142 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 143 | // Transition condition #1: after 5 sec in state && relaxation |
| tverouden | 4:5ce2c8864908 | 144 | if (1) { |
| tverouden | 4:5ce2c8864908 | 145 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 146 | /* */ |
| tverouden | 4:5ce2c8864908 | 147 | |
| tverouden | 4:5ce2c8864908 | 148 | currentState = homing; // change to state |
| tverouden | 4:5ce2c8864908 | 149 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 150 | |
| tverouden | 4:5ce2c8864908 | 151 | // ============================== HOMING MODE ================================ |
| tverouden | 4:5ce2c8864908 | 152 | case homing: |
| tverouden | 4:5ce2c8864908 | 153 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 154 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 155 | pc.printf("[MODE] homing...\r\n"); |
| tverouden | 4:5ce2c8864908 | 156 | // print current state |
| tverouden | 4:5ce2c8864908 | 157 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 158 | |
| tverouden | 4:5ce2c8864908 | 159 | |
| tverouden | 4:5ce2c8864908 | 160 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 161 | /* */ |
| tverouden | 4:5ce2c8864908 | 162 | |
| tverouden | 4:5ce2c8864908 | 163 | } |
| tverouden | 4:5ce2c8864908 | 164 | // ----------------------------- action ------------------------------ |
| tverouden | 4:5ce2c8864908 | 165 | // Actions for each loop iteration |
| tverouden | 4:5ce2c8864908 | 166 | /* */ |
| tverouden | 4:5ce2c8864908 | 167 | |
| tverouden | 4:5ce2c8864908 | 168 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 169 | // Transition condition #1: with button press, enter demo mode |
| tverouden | 4:5ce2c8864908 | 170 | 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 | 171 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 172 | /* */ |
| tverouden | 4:5ce2c8864908 | 173 | |
| tverouden | 4:5ce2c8864908 | 174 | currentState = demoing; // change to state |
| tverouden | 4:5ce2c8864908 | 175 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 176 | } |
| tverouden | 4:5ce2c8864908 | 177 | // Transition condition #2: with button press, enter operation mode |
| tverouden | 4:5ce2c8864908 | 178 | if (buttonBio2 == true) { |
| tverouden | 4:5ce2c8864908 | 179 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 180 | /* */ |
| tverouden | 4:5ce2c8864908 | 181 | |
| tverouden | 4:5ce2c8864908 | 182 | currentState = operating; // change to state |
| tverouden | 4:5ce2c8864908 | 183 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 184 | } |
| tverouden | 4:5ce2c8864908 | 185 | break; // end case |
| tverouden | 4:5ce2c8864908 | 186 | |
| tverouden | 4:5ce2c8864908 | 187 | // ============================= OPERATING MODE ============================== |
| tverouden | 4:5ce2c8864908 | 188 | case operating: |
| tverouden | 4:5ce2c8864908 | 189 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 190 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 191 | pc.printf("[MODE] operating...\r\n"); |
| tverouden | 4:5ce2c8864908 | 192 | // print current state |
| tverouden | 3:9c63fc5f157e | 193 | changeState = false; // stay in this state |
| tverouden | 3:9c63fc5f157e | 194 | |
| tverouden | 3:9c63fc5f157e | 195 | // Actions when entering state |
| tverouden | 3:9c63fc5f157e | 196 | |
| tverouden | 4:5ce2c8864908 | 197 | /* */ |
| tverouden | 3:9c63fc5f157e | 198 | |
| tverouden | 3:9c63fc5f157e | 199 | } |
| tverouden | 4:5ce2c8864908 | 200 | // ----------------------------- action ------------------------------ |
| tverouden | 3:9c63fc5f157e | 201 | // Actions for each loop iteration |
| tverouden | 4:5ce2c8864908 | 202 | /* */ |
| tverouden | 4:5ce2c8864908 | 203 | |
| tverouden | 4:5ce2c8864908 | 204 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 205 | // Transition condition #1: with button press, back to homing mode |
| tverouden | 4:5ce2c8864908 | 206 | if (buttonBio2 == true) { |
| tverouden | 3:9c63fc5f157e | 207 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 208 | currentState = homing; // change to state |
| tverouden | 4:5ce2c8864908 | 209 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 210 | } |
| tverouden | 4:5ce2c8864908 | 211 | // Transition condition #2: after 3 sec relaxation, start flipping |
| tverouden | 4:5ce2c8864908 | 212 | if (1) { |
| tverouden | 4:5ce2c8864908 | 213 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 214 | currentState = homing; // change to state |
| tverouden | 3:9c63fc5f157e | 215 | changeState = true; // next loop, switch states |
| tverouden | 3:9c63fc5f157e | 216 | } |
| tverouden | 3:9c63fc5f157e | 217 | break; // end case |
| tverouden | 4:5ce2c8864908 | 218 | |
| tverouden | 4:5ce2c8864908 | 219 | // ============================== FLIPPING MODE ================================ |
| tverouden | 4:5ce2c8864908 | 220 | case flipping: |
| tverouden | 4:5ce2c8864908 | 221 | // ------------------------------ initialisation ------------------------------- |
| tverouden | 3:9c63fc5f157e | 222 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 223 | pc.printf("[MODE] flipping...\r\n"); // print current state |
| tverouden | 3:9c63fc5f157e | 224 | changeState = false; // stay in this state |
| tverouden | 3:9c63fc5f157e | 225 | |
| tverouden | 3:9c63fc5f157e | 226 | // Actions when entering state |
| tverouden | 3:9c63fc5f157e | 227 | |
| tverouden | 4:5ce2c8864908 | 228 | /* */ |
| tverouden | 4:5ce2c8864908 | 229 | |
| tverouden | 4:5ce2c8864908 | 230 | } |
| tverouden | 4:5ce2c8864908 | 231 | // ---------------------------------- action ----------------------------------- |
| tverouden | 4:5ce2c8864908 | 232 | // Actions for each loop iteration |
| tverouden | 4:5ce2c8864908 | 233 | /* */ |
| tverouden | 4:5ce2c8864908 | 234 | |
| tverouden | 4:5ce2c8864908 | 235 | // -------------------------------- transition --------------------------------- |
| tverouden | 4:5ce2c8864908 | 236 | // Transition condition #1 |
| tverouden | 4:5ce2c8864908 | 237 | if (1) { |
| tverouden | 4:5ce2c8864908 | 238 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 239 | currentState = flipping; // change to state |
| tverouden | 4:5ce2c8864908 | 240 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 241 | } |
| tverouden | 4:5ce2c8864908 | 242 | break; // end case |
| tverouden | 4:5ce2c8864908 | 243 | |
| tverouden | 4:5ce2c8864908 | 244 | // =============================== DEMOING MODE ================================ |
| tverouden | 4:5ce2c8864908 | 245 | case demoing: |
| tverouden | 4:5ce2c8864908 | 246 | // ------------------------------ initialisation ------------------------------- |
| tverouden | 4:5ce2c8864908 | 247 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 248 | pc.printf("[MODE] demoing...\r\n"); // print current state |
| tverouden | 4:5ce2c8864908 | 249 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 250 | |
| tverouden | 4:5ce2c8864908 | 251 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 252 | |
| tverouden | 4:5ce2c8864908 | 253 | /* */ |
| tverouden | 3:9c63fc5f157e | 254 | |
| tverouden | 3:9c63fc5f157e | 255 | } |
| tverouden | 4:5ce2c8864908 | 256 | // ---------------------------------- action ----------------------------------- |
| tverouden | 3:9c63fc5f157e | 257 | // Actions for each loop iteration |
| tverouden | 4:5ce2c8864908 | 258 | /* */ |
| tverouden | 4:5ce2c8864908 | 259 | |
| tverouden | 4:5ce2c8864908 | 260 | // -------------------------------- transition --------------------------------- |
| tverouden | 3:9c63fc5f157e | 261 | // Transition condition #1 |
| tverouden | 4:5ce2c8864908 | 262 | if (1) { |
| tverouden | 3:9c63fc5f157e | 263 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 264 | currentState = flipping; // change to state |
| tverouden | 3:9c63fc5f157e | 265 | changeState = true; // next loop, switch states |
| tverouden | 3:9c63fc5f157e | 266 | } |
| tverouden | 3:9c63fc5f157e | 267 | break; // end case |
| tverouden | 4:5ce2c8864908 | 268 | |
| tverouden | 4:5ce2c8864908 | 269 | // =============================== FAILING MODE ================================ |
| tverouden | 4:5ce2c8864908 | 270 | case failing: |
| tverouden | 4:5ce2c8864908 | 271 | // ------------------------------ initialisation ------------------------------- |
| tverouden | 4:5ce2c8864908 | 272 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 273 | pc.printf("[ERROR] entering failure mode\r\n"); // print current state |
| tverouden | 4:5ce2c8864908 | 274 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 275 | |
| tverouden | 4:5ce2c8864908 | 276 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 277 | |
| tverouden | 4:5ce2c8864908 | 278 | /* */ |
| tverouden | 4:5ce2c8864908 | 279 | |
| tverouden | 4:5ce2c8864908 | 280 | } |
| tverouden | 4:5ce2c8864908 | 281 | // ---------------------------------- action ----------------------------------- |
| tverouden | 4:5ce2c8864908 | 282 | // Actions for each loop iteration |
| tverouden | 4:5ce2c8864908 | 283 | /* */ |
| tverouden | 4:5ce2c8864908 | 284 | |
| tverouden | 4:5ce2c8864908 | 285 | // -------------------------------- transition --------------------------------- |
| tverouden | 4:5ce2c8864908 | 286 | // Transition condition #1 |
| tverouden | 4:5ce2c8864908 | 287 | if (1) { |
| tverouden | 4:5ce2c8864908 | 288 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 289 | currentState = failing; // change to state |
| tverouden | 4:5ce2c8864908 | 290 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 291 | } |
| tverouden | 4:5ce2c8864908 | 292 | break; // end case |
| tverouden | 4:5ce2c8864908 | 293 | |
| tverouden | 4:5ce2c8864908 | 294 | // ============================== DEFAULT MODE ================================= |
| tverouden | 3:9c63fc5f157e | 295 | default: |
| tverouden | 4:5ce2c8864908 | 296 | // ---------------------------- enter failing mode ----------------------------- |
| tverouden | 4:5ce2c8864908 | 297 | currentState = failing; // change to state |
| tverouden | 4:5ce2c8864908 | 298 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 299 | // print current state |
| tverouden | 4:5ce2c8864908 | 300 | pc.printf("[ERROR] unknown or unimplemented state reached\r\n"); |
| tverouden | 3:9c63fc5f157e | 301 | |
| tverouden | 4:5ce2c8864908 | 302 | } // end switch |
| tverouden | 4:5ce2c8864908 | 303 | } // end stateMachine |
| tverouden | 3:9c63fc5f157e | 304 | |
| tverouden | 3:9c63fc5f157e | 305 | |
| tverouden | 2:d70795e4e0bf | 306 | |
| tverouden | 2:d70795e4e0bf | 307 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ MAIN LOOP ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 2:d70795e4e0bf | 308 | |
| tverouden | 3:9c63fc5f157e | 309 | int main() |
| tverouden | 3:9c63fc5f157e | 310 | { |
| tverouden | 4:5ce2c8864908 | 311 | MODSERIAL pc(USBTX, USBRX); // communication with pc |
| tverouden | 4:5ce2c8864908 | 312 | |
| tverouden | 2:d70795e4e0bf | 313 | // ==================================== LOOP =================================== |
| tverouden | 2:d70795e4e0bf | 314 | while (true) { // loop forever |
| tverouden | 2:d70795e4e0bf | 315 | |
| tverouden | 2:d70795e4e0bf | 316 | } |
| tverouden | 2:d70795e4e0bf | 317 | } |