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