State machine with EMG functions and parameters
Dependencies: biquadFilter FastPWM HIDScope MODSERIAL mbed
Fork of
StateMachine
by 
Tommie Verouden
main.cpp@6:f32352bc5078, 2018-10-31 (annotated)
- Committer:
- tverouden
- Date:
- Wed Oct 31 16:30:27 2018 +0000
- Revision:
- 6:f32352bc5078
- Parent:
- 5:04b26b2f536a
- Child:
- 7:ef5966469621
Emergency button implemented in main & several comments added
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 | 6:f32352bc5078 | 10 | DigitalOut ledRed(LED_RED,1); // red LED K64F |
| tverouden | 6:f32352bc5078 | 11 | DigitalOut ledGreen(LED_GREEN,1); // green LED K64F |
| tverouden | 6:f32352bc5078 | 12 | DigitalOut ledBlue(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 | 5:04b26b2f536a | 22 | homing, operating, flipping, failing, demoing |
| 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 | 6:f32352bc5078 | 30 | // ============================ GENERAL FUNCTIONS ============================= |
| tverouden | 6:f32352bc5078 | 31 | void stopProgram(void) |
| tverouden | 6:f32352bc5078 | 32 | { |
| tverouden | 6:f32352bc5078 | 33 | // Error message |
| tverouden | 6:f32352bc5078 | 34 | pc.printf("[ERROR] emergency button pressed\r\n"); |
| tverouden | 6:f32352bc5078 | 35 | currentState = failing; // change to state |
| tverouden | 6:f32352bc5078 | 36 | changeState = true; // next loop, switch states |
| tverouden | 6:f32352bc5078 | 37 | } |
| tverouden | 6:f32352bc5078 | 38 | // ============================ MOTOR FUNCTIONS ============================== |
| tverouden | 4:5ce2c8864908 | 39 | |
| tverouden | 4:5ce2c8864908 | 40 | |
| tverouden | 4:5ce2c8864908 | 41 | // ============================= EMG FUNCTIONS =============================== |
| tverouden | 4:5ce2c8864908 | 42 | |
| tverouden | 4:5ce2c8864908 | 43 | |
| tverouden | 2:d70795e4e0bf | 44 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ STATE MACHINE ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 4:5ce2c8864908 | 45 | void stateMachine(void) // Moet niet elke staat naar de failure mode kunnen komen met het emergency knopoje? |
| tverouden | 3:9c63fc5f157e | 46 | { |
| tverouden | 5:04b26b2f536a | 47 | switch (currentState) { // determine which state Odin is in // Van een aantal if statements moeten de conditions nog bepaald worden, niet vergeten |
| tverouden | 3:9c63fc5f157e | 48 | |
| tverouden | 4:5ce2c8864908 | 49 | // ============================== WAITING MODE =============================== |
| tverouden | 3:9c63fc5f157e | 50 | case waiting: |
| tverouden | 4:5ce2c8864908 | 51 | // ------------------------ initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 52 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 53 | pc.printf("[MODE] waiting...\r\n"); |
| tverouden | 5:04b26b2f536a | 54 | // print current state |
| tverouden | 4:5ce2c8864908 | 55 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 56 | |
| tverouden | 4:5ce2c8864908 | 57 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 58 | /* */ |
| tverouden | 4:5ce2c8864908 | 59 | |
| tverouden | 4:5ce2c8864908 | 60 | } |
| tverouden | 4:5ce2c8864908 | 61 | // ----------------------------- action ------------------------------ |
| tverouden | 4:5ce2c8864908 | 62 | // Actions for each loop iteration |
| tverouden | 4:5ce2c8864908 | 63 | /* */ |
| tverouden | 4:5ce2c8864908 | 64 | |
| tverouden | 4:5ce2c8864908 | 65 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 66 | // Transition condition #1: with a button press, enter motor |
| tverouden | 4:5ce2c8864908 | 67 | // calibration mode |
| tverouden | 4:5ce2c8864908 | 68 | if (emergencybutton == true) { // Waarom drukken we op de noodknop om te beginnen? Lijkt me raar |
| tverouden | 6:f32352bc5078 | 69 | // Actions when leaving state // Is hier niet de resetknop voor bedoeld? |
| tverouden | 4:5ce2c8864908 | 70 | /* */ |
| tverouden | 5:04b26b2f536a | 71 | |
| tverouden | 4:5ce2c8864908 | 72 | currentState = calibratingMotors; // change to state |
| tverouden | 4:5ce2c8864908 | 73 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 74 | } |
| tverouden | 4:5ce2c8864908 | 75 | break; // end case |
| tverouden | 4:5ce2c8864908 | 76 | |
| tverouden | 4:5ce2c8864908 | 77 | // ========================= MOTOR CALIBRATION MODE ========================== |
| tverouden | 4:5ce2c8864908 | 78 | case calibratingMotors: |
| tverouden | 4:5ce2c8864908 | 79 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 80 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 81 | pc.printf("[MODE] calibrating motors...r\n"); |
| tverouden | 5:04b26b2f536a | 82 | // print current state |
| tverouden | 4:5ce2c8864908 | 83 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 84 | |
| tverouden | 4:5ce2c8864908 | 85 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 86 | /* */ |
| tverouden | 4:5ce2c8864908 | 87 | |
| tverouden | 4:5ce2c8864908 | 88 | } |
| tverouden | 4:5ce2c8864908 | 89 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 90 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 91 | /* */ |
| tverouden | 4:5ce2c8864908 | 92 | |
| tverouden | 4:5ce2c8864908 | 93 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 94 | // 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 | 95 | // velocities zero, start calibrating EMG-x // dat lijkt me niet de bedoeling |
| tverouden | 4:5ce2c8864908 | 96 | if (1) { |
| tverouden | 5:04b26b2f536a | 97 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 98 | /* */ |
| tverouden | 5:04b26b2f536a | 99 | |
| tverouden | 4:5ce2c8864908 | 100 | currentState = calibratingMotors; // change to state |
| tverouden | 4:5ce2c8864908 | 101 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 102 | } |
| tverouden | 4:5ce2c8864908 | 103 | break; // end case |
| tverouden | 4:5ce2c8864908 | 104 | |
| tverouden | 4:5ce2c8864908 | 105 | // ================== EMG 1 (X-DIRECTION) CALIBRATION MODE =================== |
| tverouden | 4:5ce2c8864908 | 106 | case calibratingEMGx: |
| tverouden | 4:5ce2c8864908 | 107 | // ------------------------- initialisation -------------------------- |
| tverouden | 3:9c63fc5f157e | 108 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 109 | pc.printf("[MODE] calibrating EMG 1 (x-direction)...\r\n"); |
| tverouden | 5:04b26b2f536a | 110 | // print current state |
| tverouden | 4:5ce2c8864908 | 111 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 112 | |
| tverouden | 4:5ce2c8864908 | 113 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 114 | /* */ |
| tverouden | 4:5ce2c8864908 | 115 | |
| tverouden | 4:5ce2c8864908 | 116 | } |
| tverouden | 4:5ce2c8864908 | 117 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 118 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 119 | /* */ |
| tverouden | 4:5ce2c8864908 | 120 | |
| tverouden | 4:5ce2c8864908 | 121 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 122 | // Transition condition #1: after 5 sec in state && relaxation |
| tverouden | 4:5ce2c8864908 | 123 | if (1) { |
| tverouden | 4:5ce2c8864908 | 124 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 125 | /* */ |
| tverouden | 5:04b26b2f536a | 126 | |
| tverouden | 4:5ce2c8864908 | 127 | currentState = calibratingEMGy; // change to state |
| tverouden | 4:5ce2c8864908 | 128 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 129 | } |
| tverouden | 4:5ce2c8864908 | 130 | break; // end case |
| tverouden | 4:5ce2c8864908 | 131 | |
| tverouden | 4:5ce2c8864908 | 132 | // ================== EMG 2 (Y-DIRECTION) CALIBRATION MODE =================== |
| tverouden | 4:5ce2c8864908 | 133 | case calibratingEMGy: |
| tverouden | 4:5ce2c8864908 | 134 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 135 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 136 | pc.printf("[MODE] calibrating EMG 2 (y-direction)...\r\n"); |
| tverouden | 5:04b26b2f536a | 137 | // print current state |
| tverouden | 4:5ce2c8864908 | 138 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 139 | |
| tverouden | 4:5ce2c8864908 | 140 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 141 | /* */ |
| tverouden | 4:5ce2c8864908 | 142 | |
| tverouden | 4:5ce2c8864908 | 143 | } |
| tverouden | 4:5ce2c8864908 | 144 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 145 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 146 | /* */ |
| tverouden | 4:5ce2c8864908 | 147 | |
| tverouden | 4:5ce2c8864908 | 148 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 149 | // Transition condition #1: after 5 sec in state && relaxation |
| tverouden | 4:5ce2c8864908 | 150 | if (1) { |
| tverouden | 4:5ce2c8864908 | 151 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 152 | /* */ |
| tverouden | 5:04b26b2f536a | 153 | |
| tverouden | 4:5ce2c8864908 | 154 | currentState = homing; // change to state |
| tverouden | 4:5ce2c8864908 | 155 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 156 | } |
| tverouden | 5:04b26b2f536a | 157 | break; // end case |
| tverouden | 4:5ce2c8864908 | 158 | |
| tverouden | 4:5ce2c8864908 | 159 | // ============================== HOMING MODE ================================ |
| tverouden | 4:5ce2c8864908 | 160 | case homing: |
| tverouden | 4:5ce2c8864908 | 161 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 162 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 163 | pc.printf("[MODE] homing...\r\n"); |
| tverouden | 5:04b26b2f536a | 164 | // print current state |
| tverouden | 4:5ce2c8864908 | 165 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 166 | |
| tverouden | 4:5ce2c8864908 | 167 | |
| tverouden | 4:5ce2c8864908 | 168 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 169 | /* */ |
| tverouden | 4:5ce2c8864908 | 170 | |
| tverouden | 4:5ce2c8864908 | 171 | } |
| tverouden | 4:5ce2c8864908 | 172 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 173 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 174 | /* */ |
| tverouden | 4:5ce2c8864908 | 175 | |
| tverouden | 4:5ce2c8864908 | 176 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 177 | // Transition condition #1: with button press, enter demo mode |
| tverouden | 4:5ce2c8864908 | 178 | 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 | 179 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 180 | /* */ |
| tverouden | 5:04b26b2f536a | 181 | |
| tverouden | 4:5ce2c8864908 | 182 | currentState = demoing; // change to state |
| tverouden | 4:5ce2c8864908 | 183 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 184 | } |
| tverouden | 4:5ce2c8864908 | 185 | // Transition condition #2: with button press, enter operation mode |
| tverouden | 4:5ce2c8864908 | 186 | if (buttonBio2 == true) { |
| tverouden | 4:5ce2c8864908 | 187 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 188 | /* */ |
| tverouden | 5:04b26b2f536a | 189 | |
| tverouden | 4:5ce2c8864908 | 190 | currentState = operating; // change to state |
| tverouden | 4:5ce2c8864908 | 191 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 192 | } |
| tverouden | 4:5ce2c8864908 | 193 | break; // end case |
| tverouden | 4:5ce2c8864908 | 194 | |
| tverouden | 4:5ce2c8864908 | 195 | // ============================= OPERATING MODE ============================== |
| tverouden | 4:5ce2c8864908 | 196 | case operating: |
| tverouden | 4:5ce2c8864908 | 197 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 198 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 199 | pc.printf("[MODE] operating...\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 | 5:04b26b2f536a | 212 | // Transition condition #1: with button press, back to homing mode |
| tverouden | 5:04b26b2f536a | 213 | if (buttonBio2 == true) { |
| tverouden | 5:04b26b2f536a | 214 | // Actions when leaving state |
| 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 | // Transition condition #2: after 3 sec relaxation, start flipping // In 3 seconden zijn de bladzijden uit zichzelf alweer helemaal teruggegaan. Misschien dit gewoon doen na het voorgedefinieerde pad |
| tverouden | 5:04b26b2f536a | 221 | if (1) { |
| tverouden | 5:04b26b2f536a | 222 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 223 | /* */ |
| tverouden | 5:04b26b2f536a | 224 | |
| tverouden | 5:04b26b2f536a | 225 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 226 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 227 | } |
| tverouden | 5:04b26b2f536a | 228 | break; // end case |
| tverouden | 5:04b26b2f536a | 229 | |
| tverouden | 5:04b26b2f536a | 230 | // ============================= FLIPPING MODE =============================== // Beweegt deze modus zowel heen als weer en zo ja, hoe bepaalt hij wat moet gebeuren? |
| tverouden | 5:04b26b2f536a | 231 | case flipping: |
| tverouden | 5:04b26b2f536a | 232 | // ------------------------- initialisation -------------------------- |
| tverouden | 5:04b26b2f536a | 233 | if (changeState) { // when entering the state |
| tverouden | 5:04b26b2f536a | 234 | pc.printf("[MODE] flipping...\r\n"); |
| tverouden | 5:04b26b2f536a | 235 | // print current state |
| tverouden | 5:04b26b2f536a | 236 | changeState = false; // stay in this state |
| tverouden | 5:04b26b2f536a | 237 | |
| tverouden | 5:04b26b2f536a | 238 | // Actions when entering state |
| tverouden | 5:04b26b2f536a | 239 | /* */ |
| tverouden | 5:04b26b2f536a | 240 | |
| tverouden | 5:04b26b2f536a | 241 | } |
| tverouden | 5:04b26b2f536a | 242 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 243 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 244 | /* */ |
| tverouden | 5:04b26b2f536a | 245 | |
| tverouden | 5:04b26b2f536a | 246 | // --------------------------- transition ---------------------------- |
| tverouden | 5:04b26b2f536a | 247 | // Transition condition #1: with button press, back to homing mode // Moet ook dit niet automatisch gaan? Nu blijft hij vrolijk in die modus niks doen... |
| tverouden | 5:04b26b2f536a | 248 | 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 | 5:04b26b2f536a | 249 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 250 | /* */ |
| tverouden | 5:04b26b2f536a | 251 | |
| tverouden | 5:04b26b2f536a | 252 | currentState = homing; // 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 | // ============================== DEMOING MODE =============================== |
| tverouden | 5:04b26b2f536a | 258 | case demoing: |
| tverouden | 5:04b26b2f536a | 259 | // ------------------------- initialisation -------------------------- |
| tverouden | 5:04b26b2f536a | 260 | if (changeState) { // when entering the state |
| tverouden | 5:04b26b2f536a | 261 | pc.printf("[MODE] demoing...\r\n"); |
| tverouden | 5:04b26b2f536a | 262 | // print current state |
| tverouden | 5:04b26b2f536a | 263 | changeState = false; // stay in this state |
| tverouden | 5:04b26b2f536a | 264 | |
| tverouden | 5:04b26b2f536a | 265 | // Actions when entering state |
| tverouden | 5:04b26b2f536a | 266 | /* */ |
| tverouden | 5:04b26b2f536a | 267 | |
| tverouden | 5:04b26b2f536a | 268 | } |
| tverouden | 5:04b26b2f536a | 269 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 270 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 271 | /* */ |
| tverouden | 5:04b26b2f536a | 272 | |
| tverouden | 5:04b26b2f536a | 273 | // --------------------------- transition ---------------------------- |
| tverouden | 5:04b26b2f536a | 274 | // Transition condition #1: with button press, back to homing mode |
| tverouden | 5:04b26b2f536a | 275 | if (1) { |
| tverouden | 5:04b26b2f536a | 276 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 277 | /* */ |
| tverouden | 5:04b26b2f536a | 278 | |
| tverouden | 5:04b26b2f536a | 279 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 280 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 281 | } |
| tverouden | 5:04b26b2f536a | 282 | // Transition condition #2: after 3 sec relaxation, start flipping // In 3 seconden zijn de bladzijden uit zichzelf alweer helemaal teruggegaan. Misschien dit gewoon doen na het voorgedefinieerde pad |
| tverouden | 5:04b26b2f536a | 283 | if (1) { |
| tverouden | 5:04b26b2f536a | 284 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 285 | /* */ |
| tverouden | 5:04b26b2f536a | 286 | |
| tverouden | 5:04b26b2f536a | 287 | currentState = flipping; // change to state |
| tverouden | 5:04b26b2f536a | 288 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 289 | } |
| tverouden | 5:04b26b2f536a | 290 | break; // end case |
| tverouden | 5:04b26b2f536a | 291 | |
| tverouden | 5:04b26b2f536a | 292 | // =============================== FAILING MODE ================================ |
| tverouden | 5:04b26b2f536a | 293 | case failing: |
| tverouden | 5:04b26b2f536a | 294 | // ------------------------- initialisation -------------------------- |
| tverouden | 5:04b26b2f536a | 295 | if (changeState) { // when entering the state |
| tverouden | 5:04b26b2f536a | 296 | pc.printf("[ERROR] entering failure mode\r\n"); |
| tverouden | 5:04b26b2f536a | 297 | // print current state |
| tverouden | 3:9c63fc5f157e | 298 | changeState = false; // stay in this state |
| tverouden | 3:9c63fc5f157e | 299 | |
| tverouden | 3:9c63fc5f157e | 300 | // Actions when entering state |
| tverouden | 6:f32352bc5078 | 301 | ledGreen = 1; // red LED on |
| tverouden | 6:f32352bc5078 | 302 | ledBlue = 1; |
| tverouden | 6:f32352bc5078 | 303 | ledRed = 0; |
| tverouden | 4:5ce2c8864908 | 304 | |
| tverouden | 6:f32352bc5078 | 305 | // pin3 = 0; // all motor forces to zero // Pins nog niet gedefiniëerd |
| tverouden | 6:f32352bc5078 | 306 | // pin5 = 0; |
| tverouden | 6:f32352bc5078 | 307 | // pin6 = 0; |
| tverouden | 6:f32352bc5078 | 308 | exit (0); // abort mission |
| tverouden | 4:5ce2c8864908 | 309 | } |
| tverouden | 4:5ce2c8864908 | 310 | break; // end case |
| tverouden | 4:5ce2c8864908 | 311 | |
| tverouden | 4:5ce2c8864908 | 312 | // ============================== DEFAULT MODE ================================= |
| tverouden | 3:9c63fc5f157e | 313 | default: |
| tverouden | 4:5ce2c8864908 | 314 | // ---------------------------- enter failing mode ----------------------------- |
| tverouden | 4:5ce2c8864908 | 315 | currentState = failing; // change to state |
| tverouden | 4:5ce2c8864908 | 316 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 317 | // print current state |
| tverouden | 4:5ce2c8864908 | 318 | pc.printf("[ERROR] unknown or unimplemented state reached\r\n"); |
| tverouden | 3:9c63fc5f157e | 319 | |
| tverouden | 4:5ce2c8864908 | 320 | } // end switch |
| tverouden | 4:5ce2c8864908 | 321 | } // end stateMachine |
| tverouden | 3:9c63fc5f157e | 322 | |
| tverouden | 3:9c63fc5f157e | 323 | |
| tverouden | 2:d70795e4e0bf | 324 | |
| tverouden | 2:d70795e4e0bf | 325 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ MAIN LOOP ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 2:d70795e4e0bf | 326 | |
| tverouden | 3:9c63fc5f157e | 327 | int main() |
| tverouden | 3:9c63fc5f157e | 328 | { |
| tverouden | 6:f32352bc5078 | 329 | // ================================ EMERGENCY ================================ // Dit hoeft dus niet in de while loop? |
| tverouden | 6:f32352bc5078 | 330 | //If the emergency button is pressed, stop program via failing state |
| tverouden | 6:f32352bc5078 | 331 | emergencybutton.rise(stopProgram); |
| tverouden | 6:f32352bc5078 | 332 | |
| tverouden | 2:d70795e4e0bf | 333 | // ==================================== LOOP =================================== |
| tverouden | 2:d70795e4e0bf | 334 | while (true) { // loop forever |
| tverouden | 2:d70795e4e0bf | 335 | |
| tverouden | 2:d70795e4e0bf | 336 | } |
| tverouden | 2:d70795e4e0bf | 337 | } |