Dependencies: biquadFilter FastPWM HIDScope MODSERIAL mbed
Fork of
StateMachine
by 
Tommie Verouden
Diff: main.cpp
- Revision:
- 5:04b26b2f536a
- Parent:
- 4:5ce2c8864908
- Child:
- 6:f32352bc5078
--- a/main.cpp Wed Oct 31 15:33:02 2018 +0000
+++ b/main.cpp Wed Oct 31 16:09:44 2018 +0000
@@ -19,7 +19,7 @@
// Define & initialise state machine
enum states { waiting, calibratingMotors, calibratingEMGx, calibratingEMGy,
- homing, operating, flipping, failure, demo
+ homing, operating, flipping, failing, demoing
};
states currentState = waiting; // start in waiting mode
bool changeState = true; // initialise the first state
@@ -36,14 +36,14 @@
// ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ STATE MACHINE ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡
void stateMachine(void) // Moet niet elke staat naar de failure mode kunnen komen met het emergency knopoje?
{
- switch (currentState) { // determine which state Odin is in
+ switch (currentState) { // determine which state Odin is in // Van een aantal if statements moeten de conditions nog bepaald worden, niet vergeten
// ============================== WAITING MODE ===============================
case waiting:
// ------------------------ initialisation --------------------------
if (changeState) { // when entering the state
pc.printf("[MODE] waiting...\r\n");
- // print current state
+ // print current state
changeState = false; // stay in this state
// Actions when entering state
@@ -60,7 +60,7 @@
if (emergencybutton == true) { // Waarom drukken we op de noodknop om te beginnen? Lijkt me raar
// Actions when leaving state
/* */
-
+
currentState = calibratingMotors; // change to state
changeState = true; // next loop, switch states
}
@@ -71,7 +71,7 @@
// ------------------------- initialisation --------------------------
if (changeState) { // when entering the state
pc.printf("[MODE] calibrating motors...r\n");
- // print current state
+ // print current state
changeState = false; // stay in this state
// Actions when entering state
@@ -79,21 +79,19 @@
}
// ----------------------------- action ------------------------------
- // Actions for each loop iteration
- /* */
+ // Actions for each loop iteration
+ /* */
// --------------------------- transition ----------------------------
// 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
// velocities zero, start calibrating EMG-x // dat lijkt me niet de bedoeling
if (1) {
- // Actions when leaving state
+ // Actions when leaving state
/* */
-
+
currentState = calibratingMotors; // change to state
changeState = true; // next loop, switch states
}
-
-
break; // end case
// ================== EMG 1 (X-DIRECTION) CALIBRATION MODE ===================
@@ -101,7 +99,7 @@
// ------------------------- initialisation --------------------------
if (changeState) { // when entering the state
pc.printf("[MODE] calibrating EMG 1 (x-direction)...\r\n");
- // print current state
+ // print current state
changeState = false; // stay in this state
// Actions when entering state
@@ -109,15 +107,15 @@
}
// ----------------------------- action ------------------------------
- // Actions for each loop iteration
- /* */
+ // Actions for each loop iteration
+ /* */
// --------------------------- transition ----------------------------
// Transition condition #1: after 5 sec in state && relaxation
if (1) {
// Actions when leaving state
/* */
-
+
currentState = calibratingEMGy; // change to state
changeState = true; // next loop, switch states
}
@@ -128,7 +126,7 @@
// ------------------------- initialisation --------------------------
if (changeState) { // when entering the state
pc.printf("[MODE] calibrating EMG 2 (y-direction)...\r\n");
- // print current state
+ // print current state
changeState = false; // stay in this state
// Actions when entering state
@@ -136,24 +134,26 @@
}
// ----------------------------- action ------------------------------
- // Actions for each loop iteration
- /* */
+ // Actions for each loop iteration
+ /* */
// --------------------------- transition ----------------------------
// Transition condition #1: after 5 sec in state && relaxation
if (1) {
// Actions when leaving state
/* */
-
+
currentState = homing; // change to state
changeState = true; // next loop, switch states
+ }
+ break; // end case
// ============================== HOMING MODE ================================
case homing:
// ------------------------- initialisation --------------------------
if (changeState) { // when entering the state
pc.printf("[MODE] homing...\r\n");
- // print current state
+ // print current state
changeState = false; // stay in this state
@@ -162,15 +162,15 @@
}
// ----------------------------- action ------------------------------
- // Actions for each loop iteration
- /* */
+ // Actions for each loop iteration
+ /* */
// --------------------------- transition ----------------------------
// Transition condition #1: with button press, enter demo mode
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
// Actions when leaving state
/* */
-
+
currentState = demoing; // change to state
changeState = true; // next loop, switch states
}
@@ -178,10 +178,10 @@
if (buttonBio2 == true) {
// Actions when leaving state
/* */
-
+
currentState = operating; // change to state
changeState = true; // next loop, switch states
- }
+ }
break; // end case
// ============================= OPERATING MODE ==============================
@@ -189,7 +189,104 @@
// ------------------------- initialisation --------------------------
if (changeState) { // when entering the state
pc.printf("[MODE] operating...\r\n");
- // print current state
+ // print current state
+ changeState = false; // stay in this state
+
+ // Actions when entering state
+ /* */
+
+ }
+// ----------------------------- action ------------------------------
+ // Actions for each loop iteration
+ /* */
+
+// --------------------------- transition ----------------------------
+ // Transition condition #1: with button press, back to homing mode
+ if (buttonBio2 == true) {
+ // Actions when leaving state
+ /* */
+
+ currentState = homing; // change to state
+ changeState = true; // next loop, switch states
+ }
+ // 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
+ if (1) {
+ // Actions when leaving state
+ /* */
+
+ currentState = homing; // change to state
+ changeState = true; // next loop, switch states
+ }
+ break; // end case
+
+// ============================= FLIPPING MODE =============================== // Beweegt deze modus zowel heen als weer en zo ja, hoe bepaalt hij wat moet gebeuren?
+ case flipping:
+// ------------------------- initialisation --------------------------
+ if (changeState) { // when entering the state
+ pc.printf("[MODE] flipping...\r\n");
+ // print current state
+ changeState = false; // stay in this state
+
+ // Actions when entering state
+ /* */
+
+ }
+// ----------------------------- action ------------------------------
+ // Actions for each loop iteration
+ /* */
+
+// --------------------------- transition ----------------------------
+ // 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...
+ if (1) { // En hij gaat nu terug naar homing mode, maar dan moet je dus elke keer weer kiezen voor demo of operation mode?
+ // Actions when leaving state
+ /* */
+
+ currentState = homing; // change to state
+ changeState = true; // next loop, switch states
+ }
+ break; // end case
+
+// ============================== DEMOING MODE ===============================
+ case demoing:
+// ------------------------- initialisation --------------------------
+ if (changeState) { // when entering the state
+ pc.printf("[MODE] demoing...\r\n");
+ // print current state
+ changeState = false; // stay in this state
+
+ // Actions when entering state
+ /* */
+
+ }
+// ----------------------------- action ------------------------------
+ // Actions for each loop iteration
+ /* */
+
+// --------------------------- transition ----------------------------
+ // Transition condition #1: with button press, back to homing mode
+ if (1) {
+ // Actions when leaving state
+ /* */
+
+ currentState = homing; // change to state
+ changeState = true; // next loop, switch states
+ }
+ // 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
+ if (1) {
+ // Actions when leaving state
+ /* */
+
+ currentState = flipping; // change to state
+ changeState = true; // next loop, switch states
+ }
+ break; // end case
+
+// =============================== FAILING MODE ================================
+ case failing:
+// ------------------------- initialisation --------------------------
+ if (changeState) { // when entering the state
+ pc.printf("[ERROR] entering failure mode\r\n");
+ // print current state
changeState = false; // stay in this state
// Actions when entering state
@@ -202,91 +299,12 @@
/* */
// --------------------------- transition ----------------------------
- // Transition condition #1: with button press, back to homing mode
- if (buttonBio2 == true) {
- // Actions when leaving state
- currentState = homing; // change to state
- changeState = true; // next loop, switch states
- }
- // Transition condition #2: after 3 sec relaxation, start flipping
- if (1) {
- // Actions when leaving state
- currentState = homing; // change to state
- changeState = true; // next loop, switch states
- }
- break; // end case
-
-// ============================== FLIPPING MODE ================================
- case flipping:
-// ------------------------------ initialisation -------------------------------
- if (changeState) { // when entering the state
- pc.printf("[MODE] flipping...\r\n"); // print current state
- changeState = false; // stay in this state
-
- // Actions when entering state
-
- /* */
-
- }
-// ---------------------------------- action -----------------------------------
- // Actions for each loop iteration
- /* */
-
-// -------------------------------- transition ---------------------------------
// Transition condition #1
if (1) {
// Actions when leaving state
- currentState = flipping; // change to state
- changeState = true; // next loop, switch states
- }
- break; // end case
-
-// =============================== DEMOING MODE ================================
- case demoing:
-// ------------------------------ initialisation -------------------------------
- if (changeState) { // when entering the state
- pc.printf("[MODE] demoing...\r\n"); // print current state
- changeState = false; // stay in this state
-
- // Actions when entering state
-
/* */
- }
-// ---------------------------------- action -----------------------------------
- // Actions for each loop iteration
- /* */
-
-// -------------------------------- transition ---------------------------------
- // Transition condition #1
- if (1) {
- // Actions when leaving state
- currentState = flipping; // change to state
- changeState = true; // next loop, switch states
- }
- break; // end case
-
-// =============================== FAILING MODE ================================
- case failing:
-// ------------------------------ initialisation -------------------------------
- if (changeState) { // when entering the state
- pc.printf("[ERROR] entering failure mode\r\n"); // print current state
- changeState = false; // stay in this state
-
- // Actions when entering state
-
- /* */
-
- }
-// ---------------------------------- action -----------------------------------
- // Actions for each loop iteration
- /* */
-
-// -------------------------------- transition ---------------------------------
- // Transition condition #1
- if (1) {
- // Actions when leaving state
- currentState = failing; // change to state
+ currentState = failing; // change to state
changeState = true; // next loop, switch states
}
break; // end case
@@ -308,8 +326,6 @@
int main()
{
- MODSERIAL pc(USBTX, USBRX); // communication with pc
-
// ==================================== LOOP ===================================
while (true) { // loop forever