My final year project
Dependencies: BSP_DISCO_F746NG F746_GUI LCD_DISCO_F746NG SDFileSystem TS_DISCO_F746NG ResistiveTouchController Map CYS8218Controller MedianFilter
main.cpp@17:3b6d66253c97, 2016-10-02 (annotated)
- Committer:
- Generic
- Date:
- Sun Oct 02 10:43:13 2016 +0000
- Revision:
- 17:3b6d66253c97
- Parent:
- 15:bc63b55a426d
- Child:
- 18:1b9579ac9f41
Added some test 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" |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 3 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 4 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 5 | void GUIThread(); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 6 | void Init(); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 7 | |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 8 | void ZeroPlate(); |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 9 | void Manual(); |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 10 | void Automatic(); |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 11 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 12 | int currentScreen = 0; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 13 | int nextScreen = 0; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 14 | Thread guiThread; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 15 | Screen *activeScreen = NULL; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 16 | |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 17 | float zeroAlpha = 0; |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 18 | float alpha = 0; |
Generic | 17:3b6d66253c97 | 19 | float xSP = -20; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 20 | float x = 0; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 21 | |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 22 | float zeroBeta = 0; |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 23 | float beta = 0; |
Generic | 17:3b6d66253c97 | 24 | float ySP = 50; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 25 | float y = 0; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 26 | |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 27 | int Ts = 0; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 28 | |
Generic | 17:3b6d66253c97 | 29 | bool started = true; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 30 | |
Generic | 17:3b6d66253c97 | 31 | int ballOnPlate = 1; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 32 | |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 33 | bool saved = false; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 34 | |
Generic | 17:3b6d66253c97 | 35 | // TODO Delete these variables |
Generic | 17:3b6d66253c97 | 36 | float t = 0; |
Generic | 9:355a59fd962b | 37 | Serial pc(USBTX,USBRX); |
Generic | 9:355a59fd962b | 38 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 39 | int main() |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 40 | { |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 41 | Init(); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 42 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 43 | while(1) |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 44 | { |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 45 | switch (currentScreen) |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 46 | { |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 47 | case Screen::ZERO_PLATE_SCREEN : |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 48 | ZeroPlate(); |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 49 | break; |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 50 | case Screen::MANUAL_CONTROL_SCREEN : |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 51 | Manual(); |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 52 | break; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 53 | case Screen::AUTOMATIC_CONTROL_SCREEN : |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 54 | Automatic(); |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 55 | break; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 56 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 57 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 58 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 59 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 60 | void GUIThread() |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 61 | { |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 62 | while(1) |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 63 | { |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 64 | if( nextScreen != currentScreen ) |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 65 | { |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 66 | if( activeScreen != NULL) |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 67 | delete activeScreen; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 68 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 69 | switch (nextScreen) |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 70 | { |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 71 | case Screen::MAIN_MENU_SCREEN : |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 72 | activeScreen = new MainMenuScreen(&nextScreen); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 73 | break; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 74 | case Screen::MAIN_SETTINGS_SCREEN : |
Kerneels Bezuidenhout |
5:383f1108187d | 75 | activeScreen = new MainSettingsScreen(&nextScreen); |
Kerneels Bezuidenhout |
5:383f1108187d | 76 | break; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 77 | case Screen::ZERO_PLATE_SCREEN : |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 78 | activeScreen = new ZeroPlateScreen(&nextScreen, &zeroAlpha, &zeroBeta, &saved); |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 79 | break; |
Generic | 15:bc63b55a426d | 80 | case Screen::MANUAL_CONTROL_SCREEN : |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 81 | activeScreen = new ManualControlScreen(&nextScreen, &alpha, &beta); |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 82 | break; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 83 | case Screen::AUTOMATIC_CONTROL_SCREEN : |
Generic | 15:bc63b55a426d | 84 | activeScreen = new AutomaticControlScreen(&nextScreen, &x, &y, &Ts, &started, &ballOnPlate, &xSP, &ySP); |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 85 | break; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 86 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 87 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 88 | activeScreen->Draw(); |
Generic | 17:3b6d66253c97 | 89 | Thread::wait(200); |
Generic | 6:f717ce705c5d | 90 | currentScreen = nextScreen; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 91 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 92 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 93 | activeScreen->Process(); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 94 | |
Generic | 17:3b6d66253c97 | 95 | Thread::wait(10); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 96 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 97 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 98 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 99 | void Init() |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 100 | { |
Generic | 9:355a59fd962b | 101 | pc.baud(57600); |
Generic | 2:5fded6444350 | 102 | nextScreen = Screen::MAIN_MENU_SCREEN; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 103 | guiThread.start(GUIThread); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 104 | } |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 105 | |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 106 | void ZeroPlate() |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 107 | { |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 108 | |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 109 | pc.printf("Zero a : %f | Zero b : %f\n\r", zeroAlpha, zeroBeta); |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 110 | |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 111 | |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 112 | if( saved) |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 113 | { |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 114 | // TODO Save zero position on servos |
Generic | 9:355a59fd962b | 115 | nextScreen = Screen::MAIN_SETTINGS_SCREEN; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 116 | saved = false; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 117 | } |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 118 | |
Generic | 9:355a59fd962b | 119 | Thread::wait(20); |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 120 | } |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 121 | |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 122 | void Manual() |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 123 | { |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 124 | // TODO Add manual control logic |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 125 | } |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 126 | |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 127 | void Automatic() |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 128 | { |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 129 | //TODO Add automatic control mode logic |
Generic | 17:3b6d66253c97 | 130 | x = 160*sin(20*3.14*t); |
Generic | 17:3b6d66253c97 | 131 | y = 130*cos(20*3.14*t++); |
Generic | 17:3b6d66253c97 | 132 | Ts++; |
Generic | 17:3b6d66253c97 | 133 | Thread::wait(4); |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 134 | } |