My final year project
Dependencies: BSP_DISCO_F746NG F746_GUI LCD_DISCO_F746NG SDFileSystem TS_DISCO_F746NG ResistiveTouchController Map CYS8218Controller MedianFilter
main.cpp@44:560ed042317c, 2016-10-08 (annotated)
- Committer:
- Kerneels Bezuidenhout
- Date:
- Sat Oct 08 22:33:03 2016 +0200
- Revision:
- 44:560ed042317c
- Parent:
- 42:29ce1ff3b220
- Child:
- 45:e5b175383624
Added map to x and y coordinates
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 |
41:204e2788fb46 | 3 | #include "ResistiveTouchController.hpp" |
Kerneels Bezuidenhout |
44:560ed042317c | 4 | #include "Map.hpp" |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 5 | |
Kerneels Bezuidenhout |
41:204e2788fb46 | 6 | //--- Function Prototypes |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 7 | void GUIThread(); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 8 | void Init(); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 9 | |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 10 | void ZeroPlate(); |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 11 | void Manual(); |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 12 | void Automatic(); |
Kerneels Bezuidenhout |
34:0b308a399f72 | 13 | void Calibrate(); |
Kerneels Bezuidenhout |
41:204e2788fb46 | 14 | //----------------------- |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 15 | |
Kerneels Bezuidenhout |
41:204e2788fb46 | 16 | //-- GUI Thread Variables and Objects |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 17 | int currentScreen = 0; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 18 | int nextScreen = 0; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 19 | Thread guiThread; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 20 | Screen *activeScreen = NULL; |
Kerneels Bezuidenhout |
41:204e2788fb46 | 21 | //---------------------------------- |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 22 | |
Kerneels Bezuidenhout |
41:204e2788fb46 | 23 | //-- X Axis variables |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 24 | float zeroAlpha = 0; |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 25 | float alpha = 0; |
Generic | 17:3b6d66253c97 | 26 | float xSP = -20; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 27 | float x = 0; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 28 | |
Kerneels Bezuidenhout |
41:204e2788fb46 | 29 | //-- Y Axis Variables |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 30 | float zeroBeta = 0; |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 31 | float beta = 0; |
Generic | 17:3b6d66253c97 | 32 | float ySP = 50; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 33 | float y = 0; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 34 | |
Kerneels Bezuidenhout |
41:204e2788fb46 | 35 | |
Kerneels Bezuidenhout |
41:204e2788fb46 | 36 | //-- Controller Variables |
Kerneels Bezuidenhout |
22:dd9ff475b34c | 37 | float P = 0; |
Kerneels Bezuidenhout |
22:dd9ff475b34c | 38 | float I = 0; |
Kerneels Bezuidenhout |
22:dd9ff475b34c | 39 | float D = 0; |
Kerneels Bezuidenhout |
30:e8eb64ad8526 | 40 | float Ts = 4; |
Kerneels Bezuidenhout |
41:204e2788fb46 | 41 | //----------------------- |
Kerneels Bezuidenhout |
41:204e2788fb46 | 42 | |
Kerneels Bezuidenhout |
41:204e2788fb46 | 43 | |
Kerneels Bezuidenhout |
41:204e2788fb46 | 44 | //-- Sensors and Actuator objects |
Kerneels Bezuidenhout |
41:204e2788fb46 | 45 | ResistiveTouchController plate(A0,A1,A3,A4,A5); |
Kerneels Bezuidenhout |
44:560ed042317c | 46 | Map plateMapper(0,1024, -170,170); |
Kerneels Bezuidenhout |
22:dd9ff475b34c | 47 | |
Kerneels Bezuidenhout |
32:d490f8ca6d2a | 48 | float tCal[3][2]; |
Kerneels Bezuidenhout |
35:6baa558d3b86 | 49 | int calPoint = 0; |
Kerneels Bezuidenhout |
35:6baa558d3b86 | 50 | bool calStarted = false; |
Kerneels Bezuidenhout |
35:6baa558d3b86 | 51 | Timer calTimer; |
Kerneels Bezuidenhout |
38:f1c571d22919 | 52 | float calHeldTime; |
Kerneels Bezuidenhout |
37:93c7563f2078 | 53 | bool calFinished = false; |
Kerneels Bezuidenhout |
32:d490f8ca6d2a | 54 | |
Generic | 23:bab197887d5e | 55 | int measuredTs = 0; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 56 | |
Generic | 17:3b6d66253c97 | 57 | bool started = true; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 58 | |
Generic | 17:3b6d66253c97 | 59 | int ballOnPlate = 1; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 60 | |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 61 | bool saved = false; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 62 | |
Generic | 17:3b6d66253c97 | 63 | // TODO Delete these variables |
Generic | 17:3b6d66253c97 | 64 | float t = 0; |
Generic | 9:355a59fd962b | 65 | Serial pc(USBTX,USBRX); |
Kerneels Bezuidenhout |
19:ef78ac1a98f8 | 66 | DigitalIn test(D3); |
Generic | 9:355a59fd962b | 67 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 68 | int main() |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 69 | { |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 70 | Init(); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 71 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 72 | while(1) |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 73 | { |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 74 | switch (currentScreen) |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 75 | { |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 76 | case Screen::ZERO_PLATE_SCREEN : |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 77 | ZeroPlate(); |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 78 | break; |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 79 | case Screen::MANUAL_CONTROL_SCREEN : |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 80 | Manual(); |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 81 | break; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 82 | case Screen::AUTOMATIC_CONTROL_SCREEN : |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 83 | Automatic(); |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 84 | break; |
Kerneels Bezuidenhout |
34:0b308a399f72 | 85 | case Screen::CALIBRATE_SCREEN : |
Kerneels Bezuidenhout |
34:0b308a399f72 | 86 | Calibrate(); |
Kerneels Bezuidenhout |
34:0b308a399f72 | 87 | break; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 88 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 89 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 90 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 91 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 92 | void GUIThread() |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 93 | { |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 94 | while(1) |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 95 | { |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 96 | if( nextScreen != currentScreen ) |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 97 | { |
Generic | 39:7bb23ad4bf87 | 98 | Thread::wait(100); |
Kerneels Bezuidenhout |
41:204e2788fb46 | 99 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 100 | if( activeScreen != NULL) |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 101 | delete activeScreen; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 102 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 103 | switch (nextScreen) |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 104 | { |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 105 | case Screen::MAIN_MENU_SCREEN : |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 106 | activeScreen = new MainMenuScreen(&nextScreen); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 107 | break; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 108 | case Screen::MAIN_SETTINGS_SCREEN : |
Kerneels Bezuidenhout |
5:383f1108187d | 109 | activeScreen = new MainSettingsScreen(&nextScreen); |
Kerneels Bezuidenhout |
5:383f1108187d | 110 | break; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 111 | case Screen::ZERO_PLATE_SCREEN : |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 112 | activeScreen = new ZeroPlateScreen(&nextScreen, &zeroAlpha, &zeroBeta, &saved); |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 113 | break; |
Generic | 15:bc63b55a426d | 114 | case Screen::MANUAL_CONTROL_SCREEN : |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 115 | activeScreen = new ManualControlScreen(&nextScreen, &alpha, &beta); |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 116 | break; |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 117 | case Screen::AUTOMATIC_CONTROL_SCREEN : |
Kerneels Bezuidenhout |
22:dd9ff475b34c | 118 | activeScreen = new AutomaticControlScreen(&nextScreen, &x, &y, &measuredTs, &started, &ballOnPlate, &xSP, &ySP); |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 119 | break; |
Kerneels Bezuidenhout |
18:1b9579ac9f41 | 120 | case Screen::AUTOMATIC_MORE_SCREEN : |
Kerneels Bezuidenhout |
18:1b9579ac9f41 | 121 | activeScreen = new AutomaticMoreScreen(&nextScreen); |
Kerneels Bezuidenhout |
18:1b9579ac9f41 | 122 | break; |
Kerneels Bezuidenhout |
20:70c5b1e499f0 | 123 | case Screen::MANUAL_SETPOINT_SCREEN : |
Generic | 23:bab197887d5e | 124 | activeScreen = new ManualSetpointScreen(&nextScreen, &xSP, &ySP, &ballOnPlate, &started); |
Kerneels Bezuidenhout |
20:70c5b1e499f0 | 125 | break; |
Generic | 23:bab197887d5e | 126 | case Screen::AUTOMATIC_SETTINGS_SCREEN : |
Kerneels Bezuidenhout |
22:dd9ff475b34c | 127 | activeScreen = new AutomaticSettingsScreen(&nextScreen, &P, &I, &D, &Ts); |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 128 | break; |
Kerneels Bezuidenhout |
25:bfff3d661f92 | 129 | case Screen::CHANGE_P_SCREEN : |
Kerneels Bezuidenhout |
25:bfff3d661f92 | 130 | activeScreen = new ChangeValScreen(&nextScreen, currentScreen, &P, "Change P"); |
Kerneels Bezuidenhout |
25:bfff3d661f92 | 131 | break; |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 132 | case Screen::CHANGE_I_SCREEN : |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 133 | activeScreen = new ChangeValScreen(&nextScreen, currentScreen, &I, "Change I"); |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 134 | break; |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 135 | case Screen::CHANGE_D_SCREEN : |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 136 | activeScreen = new ChangeValScreen(&nextScreen, currentScreen, &D, "Change D"); |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 137 | break; |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 138 | case Screen::CHANGE_TS_SCREEN : |
Kerneels Bezuidenhout |
31:5ece593c49a7 | 139 | activeScreen = new ChangeValWholeScreen(&nextScreen, currentScreen, &Ts, "Change Ts", false, 4); |
Kerneels Bezuidenhout |
26:f57db8d6d79e | 140 | break; |
Kerneels Bezuidenhout |
32:d490f8ca6d2a | 141 | case Screen::CALIBRATE_SCREEN : |
Kerneels Bezuidenhout |
38:f1c571d22919 | 142 | activeScreen = new CalibrateScreen(&nextScreen, &ballOnPlate, &calStarted, &calFinished, &calPoint, &calHeldTime); |
Kerneels Bezuidenhout |
32:d490f8ca6d2a | 143 | break; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 144 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 145 | activeScreen->Draw(); |
Generic | 6:f717ce705c5d | 146 | currentScreen = nextScreen; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 147 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 148 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 149 | activeScreen->Process(); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 150 | |
Generic | 17:3b6d66253c97 | 151 | Thread::wait(10); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 152 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 153 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 154 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 155 | void Init() |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 156 | { |
Generic | 39:7bb23ad4bf87 | 157 | ImageFromSD splash("/sd/Splash.txt"); |
Generic | 9:355a59fd962b | 158 | pc.baud(57600); |
Generic | 2:5fded6444350 | 159 | nextScreen = Screen::MAIN_MENU_SCREEN; |
Kerneels Bezuidenhout |
38:f1c571d22919 | 160 | |
Kerneels Bezuidenhout |
38:f1c571d22919 | 161 | Thread::wait(5000); |
Kerneels Bezuidenhout |
38:f1c571d22919 | 162 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 163 | guiThread.start(GUIThread); |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 164 | } |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 165 | |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 166 | void ZeroPlate() |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 167 | { |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 168 | |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 169 | pc.printf("Zero a : %f | Zero b : %f\n\r", zeroAlpha, zeroBeta); |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 170 | |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 171 | |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 172 | if( saved) |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 173 | { |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 174 | // TODO Save zero position on servos |
Generic | 9:355a59fd962b | 175 | nextScreen = Screen::MAIN_SETTINGS_SCREEN; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 176 | saved = false; |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 177 | } |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 178 | |
Generic | 9:355a59fd962b | 179 | Thread::wait(20); |
Kerneels Bezuidenhout |
7:1a6e18b818a5 | 180 | } |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 181 | |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 182 | void Manual() |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 183 | { |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 184 | // TODO Add manual control logic |
Kerneels Bezuidenhout |
12:650ae2f4c7df | 185 | } |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 186 | |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 187 | void Automatic() |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 188 | { |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 189 | //TODO Add automatic control mode logic |
Generic | 42:29ce1ff3b220 | 190 | ballOnPlate = plate.TouchDetected(); |
Kerneels Bezuidenhout |
41:204e2788fb46 | 191 | |
Kerneels Bezuidenhout |
41:204e2788fb46 | 192 | if( ballOnPlate ) |
Kerneels Bezuidenhout |
41:204e2788fb46 | 193 | { |
Kerneels Bezuidenhout |
41:204e2788fb46 | 194 | plate.Measure(); |
Kerneels Bezuidenhout |
44:560ed042317c | 195 | x = plateMapper(floor(plate.X()); |
Kerneels Bezuidenhout |
44:560ed042317c | 196 | y = plateMapper(floor(plate.Y()); |
Kerneels Bezuidenhout |
41:204e2788fb46 | 197 | } |
Kerneels Bezuidenhout |
41:204e2788fb46 | 198 | |
Kerneels Bezuidenhout |
13:21dc070a47a9 | 199 | } |
Kerneels Bezuidenhout |
34:0b308a399f72 | 200 | |
Kerneels Bezuidenhout |
34:0b308a399f72 | 201 | void Calibrate() |
Kerneels Bezuidenhout |
34:0b308a399f72 | 202 | { |
Kerneels Bezuidenhout |
34:0b308a399f72 | 203 | ballOnPlate = test.read(); |
Kerneels Bezuidenhout |
35:6baa558d3b86 | 204 | |
Kerneels Bezuidenhout |
36:9ca4125e526e | 205 | if( calStarted ) |
Kerneels Bezuidenhout |
36:9ca4125e526e | 206 | { |
Kerneels Bezuidenhout |
36:9ca4125e526e | 207 | if( calPoint < 3 ) |
Kerneels Bezuidenhout |
36:9ca4125e526e | 208 | { |
Kerneels Bezuidenhout |
36:9ca4125e526e | 209 | if( ballOnPlate ) |
Kerneels Bezuidenhout |
36:9ca4125e526e | 210 | { |
Kerneels Bezuidenhout |
36:9ca4125e526e | 211 | calTimer.start(); |
Kerneels Bezuidenhout |
36:9ca4125e526e | 212 | calHeldTime = calTimer.read(); |
Kerneels Bezuidenhout |
36:9ca4125e526e | 213 | |
Kerneels Bezuidenhout |
37:93c7563f2078 | 214 | if( calHeldTime >= 5 ) |
Kerneels Bezuidenhout |
36:9ca4125e526e | 215 | { |
Kerneels Bezuidenhout |
36:9ca4125e526e | 216 | while( test.read() ); |
Kerneels Bezuidenhout |
36:9ca4125e526e | 217 | |
Kerneels Bezuidenhout |
36:9ca4125e526e | 218 | calPoint++; |
Kerneels Bezuidenhout |
36:9ca4125e526e | 219 | calTimer.stop(); |
Kerneels Bezuidenhout |
36:9ca4125e526e | 220 | calTimer.reset(); |
Kerneels Bezuidenhout |
36:9ca4125e526e | 221 | } |
Kerneels Bezuidenhout |
36:9ca4125e526e | 222 | } |
Kerneels Bezuidenhout |
35:6baa558d3b86 | 223 | else |
Kerneels Bezuidenhout |
35:6baa558d3b86 | 224 | { |
Kerneels Bezuidenhout |
37:93c7563f2078 | 225 | calTimer.stop(); |
Kerneels Bezuidenhout |
35:6baa558d3b86 | 226 | calTimer.reset(); |
Kerneels Bezuidenhout |
35:6baa558d3b86 | 227 | } |
Kerneels Bezuidenhout |
35:6baa558d3b86 | 228 | } |
Kerneels Bezuidenhout |
37:93c7563f2078 | 229 | else |
Kerneels Bezuidenhout |
37:93c7563f2078 | 230 | { |
Kerneels Bezuidenhout |
37:93c7563f2078 | 231 | calFinished = true; |
Kerneels Bezuidenhout |
37:93c7563f2078 | 232 | calPoint = 0; |
Kerneels Bezuidenhout |
37:93c7563f2078 | 233 | calStarted = false; |
Kerneels Bezuidenhout |
37:93c7563f2078 | 234 | } |
Kerneels Bezuidenhout |
35:6baa558d3b86 | 235 | } |
Kerneels Bezuidenhout |
34:0b308a399f72 | 236 | } |