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