My final year project
Dependencies: BSP_DISCO_F746NG F746_GUI LCD_DISCO_F746NG SDFileSystem TS_DISCO_F746NG ResistiveTouchController Map CYS8218Controller MedianFilter
main.cpp@34:0b308a399f72, 2016-10-03 (annotated)
- Committer:
- Kerneels Bezuidenhout
- Date:
- Mon Oct 03 16:21:01 2016 +0200
- Revision:
- 34:0b308a399f72
- Parent:
- 32:d490f8ca6d2a
- Child:
- 35:6baa558d3b86
Testing Calibrate logic
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Kerneels Bezuidenhout |
1:43fb2d03c36f | 1 | #include "mbed.h" |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 2 | #include "Screens.hpp" |
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1:43fb2d03c36f | 3 | |
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1:43fb2d03c36f | 4 | |
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1:43fb2d03c36f | 5 | void GUIThread(); |
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1:43fb2d03c36f | 6 | void Init(); |
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1:43fb2d03c36f | 7 | |
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7:1a6e18b818a5 | 8 | void ZeroPlate(); |
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12:650ae2f4c7df | 9 | void Manual(); |
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13:21dc070a47a9 | 10 | void Automatic(); |
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34:0b308a399f72 | 11 | void Calibrate(); |
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7:1a6e18b818a5 | 12 | |
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1:43fb2d03c36f | 13 | int currentScreen = 0; |
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1:43fb2d03c36f | 14 | int nextScreen = 0; |
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1:43fb2d03c36f | 15 | Thread guiThread; |
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1:43fb2d03c36f | 16 | Screen *activeScreen = NULL; |
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1:43fb2d03c36f | 17 | |
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12:650ae2f4c7df | 18 | float zeroAlpha = 0; |
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12:650ae2f4c7df | 19 | float alpha = 0; |
Generic | 17:3b6d66253c97 | 20 | float xSP = -20; |
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13:21dc070a47a9 | 21 | float x = 0; |
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7:1a6e18b818a5 | 22 | |
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12:650ae2f4c7df | 23 | float zeroBeta = 0; |
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12:650ae2f4c7df | 24 | float beta = 0; |
Generic | 17:3b6d66253c97 | 25 | float ySP = 50; |
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13:21dc070a47a9 | 26 | float y = 0; |
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13:21dc070a47a9 | 27 | |
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22:dd9ff475b34c | 28 | float P = 0; |
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22:dd9ff475b34c | 29 | float I = 0; |
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22:dd9ff475b34c | 30 | float D = 0; |
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30:e8eb64ad8526 | 31 | float Ts = 4; |
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22:dd9ff475b34c | 32 | |
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32:d490f8ca6d2a | 33 | float tCal[3][2]; |
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32:d490f8ca6d2a | 34 | |
Generic | 23:bab197887d5e | 35 | int measuredTs = 0; |
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13:21dc070a47a9 | 36 | |
Generic | 17:3b6d66253c97 | 37 | bool started = true; |
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13:21dc070a47a9 | 38 | |
Generic | 17:3b6d66253c97 | 39 | int ballOnPlate = 1; |
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7:1a6e18b818a5 | 40 | |
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12:650ae2f4c7df | 41 | bool saved = false; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 42 | |
Generic | 17:3b6d66253c97 | 43 | // TODO Delete these variables |
Generic | 17:3b6d66253c97 | 44 | float t = 0; |
Generic | 9:355a59fd962b | 45 | Serial pc(USBTX,USBRX); |
Kerneels Bezuidenhout |
19:ef78ac1a98f8 | 46 | DigitalIn test(D3); |
Generic | 9:355a59fd962b | 47 | |
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1:43fb2d03c36f | 48 | int main() |
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1:43fb2d03c36f | 49 | { |
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1:43fb2d03c36f | 50 | Init(); |
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1:43fb2d03c36f | 51 | |
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1:43fb2d03c36f | 52 | while(1) |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 53 | { |
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7:1a6e18b818a5 | 54 | switch (currentScreen) |
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7:1a6e18b818a5 | 55 | { |
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7:1a6e18b818a5 | 56 | case Screen::ZERO_PLATE_SCREEN : |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 57 | ZeroPlate(); |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 58 | break; |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 59 | case Screen::MANUAL_CONTROL_SCREEN : |
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12:650ae2f4c7df | 60 | Manual(); |
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12:650ae2f4c7df | 61 | break; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 62 | case Screen::AUTOMATIC_CONTROL_SCREEN : |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 63 | Automatic(); |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 64 | break; |
Kerneels Bezuidenhout |
34:0b308a399f72 | 65 | case Screen::CALIBRATE_SCREEN : |
Kerneels Bezuidenhout |
34:0b308a399f72 | 66 | Calibrate(); |
Kerneels Bezuidenhout |
34:0b308a399f72 | 67 | break; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 68 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 69 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 70 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 71 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 72 | void GUIThread() |
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1:43fb2d03c36f | 73 | { |
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1:43fb2d03c36f | 74 | while(1) |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 75 | { |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 76 | if( nextScreen != currentScreen ) |
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1:43fb2d03c36f | 77 | { |
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1:43fb2d03c36f | 78 | if( activeScreen != NULL) |
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1:43fb2d03c36f | 79 | delete activeScreen; |
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1:43fb2d03c36f | 80 | |
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1:43fb2d03c36f | 81 | switch (nextScreen) |
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1:43fb2d03c36f | 82 | { |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 83 | case Screen::MAIN_MENU_SCREEN : |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 84 | activeScreen = new MainMenuScreen(&nextScreen); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 85 | break; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 86 | case Screen::MAIN_SETTINGS_SCREEN : |
Kerneels Bezuidenhout |
5:383f1108187d | 87 | activeScreen = new MainSettingsScreen(&nextScreen); |
Kerneels Bezuidenhout |
5:383f1108187d | 88 | break; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 89 | case Screen::ZERO_PLATE_SCREEN : |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 90 | activeScreen = new ZeroPlateScreen(&nextScreen, &zeroAlpha, &zeroBeta, &saved); |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 91 | break; |
Generic | 15:bc63b55a426d | 92 | case Screen::MANUAL_CONTROL_SCREEN : |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 93 | activeScreen = new ManualControlScreen(&nextScreen, &alpha, &beta); |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 94 | break; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 95 | case Screen::AUTOMATIC_CONTROL_SCREEN : |
Kerneels Bezuidenhout |
22:dd9ff475b34c | 96 | activeScreen = new AutomaticControlScreen(&nextScreen, &x, &y, &measuredTs, &started, &ballOnPlate, &xSP, &ySP); |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 97 | break; |
Kerneels Bezuidenhout |
18:1b9579ac9f41 | 98 | case Screen::AUTOMATIC_MORE_SCREEN : |
Kerneels Bezuidenhout |
18:1b9579ac9f41 | 99 | activeScreen = new AutomaticMoreScreen(&nextScreen); |
Kerneels Bezuidenhout |
18:1b9579ac9f41 | 100 | break; |
Kerneels Bezuidenhout |
20:70c5b1e499f0 | 101 | case Screen::MANUAL_SETPOINT_SCREEN : |
Generic | 23:bab197887d5e | 102 | activeScreen = new ManualSetpointScreen(&nextScreen, &xSP, &ySP, &ballOnPlate, &started); |
Kerneels Bezuidenhout |
20:70c5b1e499f0 | 103 | break; |
Generic | 23:bab197887d5e | 104 | case Screen::AUTOMATIC_SETTINGS_SCREEN : |
Kerneels Bezuidenhout |
22:dd9ff475b34c | 105 | activeScreen = new AutomaticSettingsScreen(&nextScreen, &P, &I, &D, &Ts); |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 106 | break; |
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25:bfff3d661f92 | 107 | case Screen::CHANGE_P_SCREEN : |
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25:bfff3d661f92 | 108 | activeScreen = new ChangeValScreen(&nextScreen, currentScreen, &P, "Change P"); |
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25:bfff3d661f92 | 109 | break; |
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26:f57db8d6d79e | 110 | case Screen::CHANGE_I_SCREEN : |
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26:f57db8d6d79e | 111 | activeScreen = new ChangeValScreen(&nextScreen, currentScreen, &I, "Change I"); |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 112 | break; |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 113 | case Screen::CHANGE_D_SCREEN : |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 114 | activeScreen = new ChangeValScreen(&nextScreen, currentScreen, &D, "Change D"); |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 115 | break; |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 116 | case Screen::CHANGE_TS_SCREEN : |
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31:5ece593c49a7 | 117 | activeScreen = new ChangeValWholeScreen(&nextScreen, currentScreen, &Ts, "Change Ts", false, 4); |
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26:f57db8d6d79e | 118 | break; |
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32:d490f8ca6d2a | 119 | case Screen::CALIBRATE_SCREEN : |
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34:0b308a399f72 | 120 | activeScreen = new CalibrateScreen(&nextScreen, tCal, &ballOnPlate); |
Kerneels Bezuidenhout |
32:d490f8ca6d2a | 121 | break; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 122 | } |
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1:43fb2d03c36f | 123 | |
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1:43fb2d03c36f | 124 | activeScreen->Draw(); |
Generic | 17:3b6d66253c97 | 125 | Thread::wait(200); |
Generic | 6:f717ce705c5d | 126 | currentScreen = nextScreen; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 127 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 128 | |
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1:43fb2d03c36f | 129 | activeScreen->Process(); |
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1:43fb2d03c36f | 130 | |
Generic | 17:3b6d66253c97 | 131 | Thread::wait(10); |
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1:43fb2d03c36f | 132 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 133 | } |
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1:43fb2d03c36f | 134 | |
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1:43fb2d03c36f | 135 | void Init() |
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1:43fb2d03c36f | 136 | { |
Generic | 9:355a59fd962b | 137 | pc.baud(57600); |
Generic | 2:5fded6444350 | 138 | nextScreen = Screen::MAIN_MENU_SCREEN; |
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1:43fb2d03c36f | 139 | guiThread.start(GUIThread); |
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1:43fb2d03c36f | 140 | } |
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7:1a6e18b818a5 | 141 | |
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7:1a6e18b818a5 | 142 | void ZeroPlate() |
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7:1a6e18b818a5 | 143 | { |
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12:650ae2f4c7df | 144 | |
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12:650ae2f4c7df | 145 | pc.printf("Zero a : %f | Zero b : %f\n\r", zeroAlpha, zeroBeta); |
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12:650ae2f4c7df | 146 | |
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12:650ae2f4c7df | 147 | |
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7:1a6e18b818a5 | 148 | if( saved) |
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7:1a6e18b818a5 | 149 | { |
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12:650ae2f4c7df | 150 | // TODO Save zero position on servos |
Generic | 9:355a59fd962b | 151 | nextScreen = Screen::MAIN_SETTINGS_SCREEN; |
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7:1a6e18b818a5 | 152 | saved = false; |
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7:1a6e18b818a5 | 153 | } |
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12:650ae2f4c7df | 154 | |
Generic | 9:355a59fd962b | 155 | Thread::wait(20); |
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7:1a6e18b818a5 | 156 | } |
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12:650ae2f4c7df | 157 | |
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12:650ae2f4c7df | 158 | void Manual() |
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12:650ae2f4c7df | 159 | { |
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12:650ae2f4c7df | 160 | // TODO Add manual control logic |
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12:650ae2f4c7df | 161 | } |
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13:21dc070a47a9 | 162 | |
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13:21dc070a47a9 | 163 | void Automatic() |
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13:21dc070a47a9 | 164 | { |
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13:21dc070a47a9 | 165 | //TODO Add automatic control mode logic |
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19:ef78ac1a98f8 | 166 | ballOnPlate = test.read(); |
Generic | 17:3b6d66253c97 | 167 | Thread::wait(4); |
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13:21dc070a47a9 | 168 | } |
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34:0b308a399f72 | 169 | |
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34:0b308a399f72 | 170 | void Calibrate() |
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34:0b308a399f72 | 171 | { |
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34:0b308a399f72 | 172 | ballOnPlate = test.read(); |
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34:0b308a399f72 | 173 | Thread::wait(4); |
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34:0b308a399f72 | 174 | } |