My final year project
Dependencies: BSP_DISCO_F746NG F746_GUI LCD_DISCO_F746NG SDFileSystem TS_DISCO_F746NG ResistiveTouchController Map CYS8218Controller MedianFilter
main.cpp@19:ef78ac1a98f8, 2016-10-02 (annotated)
- Committer:
- Kerneels Bezuidenhout
- Date:
- Sun Oct 02 18:45:48 2016 +0200
- Revision:
- 19:ef78ac1a98f8
- Parent:
- 18:1b9579ac9f41
- Child:
- 20:70c5b1e499f0
Testing AutomaticControlScreen logic
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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13:21dc070a47a9 | 27 | int Ts = 0; |
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13:21dc070a47a9 | 28 | |
Generic | 17:3b6d66253c97 | 29 | bool started = true; |
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13:21dc070a47a9 | 30 | |
Generic | 17:3b6d66253c97 | 31 | int ballOnPlate = 1; |
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7:1a6e18b818a5 | 32 | |
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12:650ae2f4c7df | 33 | bool saved = false; |
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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); |
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19:ef78ac1a98f8 | 38 | DigitalIn test(D3); |
Generic | 9:355a59fd962b | 39 | |
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1:43fb2d03c36f | 40 | int main() |
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1:43fb2d03c36f | 41 | { |
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1:43fb2d03c36f | 42 | Init(); |
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1:43fb2d03c36f | 43 | |
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1:43fb2d03c36f | 44 | while(1) |
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1:43fb2d03c36f | 45 | { |
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7:1a6e18b818a5 | 46 | switch (currentScreen) |
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7:1a6e18b818a5 | 47 | { |
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7:1a6e18b818a5 | 48 | case Screen::ZERO_PLATE_SCREEN : |
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7:1a6e18b818a5 | 49 | ZeroPlate(); |
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7:1a6e18b818a5 | 50 | break; |
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12:650ae2f4c7df | 51 | case Screen::MANUAL_CONTROL_SCREEN : |
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12:650ae2f4c7df | 52 | Manual(); |
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12:650ae2f4c7df | 53 | break; |
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13:21dc070a47a9 | 54 | case Screen::AUTOMATIC_CONTROL_SCREEN : |
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13:21dc070a47a9 | 55 | Automatic(); |
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13:21dc070a47a9 | 56 | break; |
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7:1a6e18b818a5 | 57 | } |
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1:43fb2d03c36f | 58 | } |
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1:43fb2d03c36f | 59 | } |
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1:43fb2d03c36f | 60 | |
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1:43fb2d03c36f | 61 | void GUIThread() |
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1:43fb2d03c36f | 62 | { |
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1:43fb2d03c36f | 63 | while(1) |
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1:43fb2d03c36f | 64 | { |
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1:43fb2d03c36f | 65 | if( nextScreen != currentScreen ) |
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1:43fb2d03c36f | 66 | { |
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1:43fb2d03c36f | 67 | if( activeScreen != NULL) |
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1:43fb2d03c36f | 68 | delete activeScreen; |
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1:43fb2d03c36f | 69 | |
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1:43fb2d03c36f | 70 | switch (nextScreen) |
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1:43fb2d03c36f | 71 | { |
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7:1a6e18b818a5 | 72 | case Screen::MAIN_MENU_SCREEN : |
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1:43fb2d03c36f | 73 | activeScreen = new MainMenuScreen(&nextScreen); |
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1:43fb2d03c36f | 74 | break; |
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7:1a6e18b818a5 | 75 | case Screen::MAIN_SETTINGS_SCREEN : |
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5:383f1108187d | 76 | activeScreen = new MainSettingsScreen(&nextScreen); |
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5:383f1108187d | 77 | break; |
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7:1a6e18b818a5 | 78 | case Screen::ZERO_PLATE_SCREEN : |
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7:1a6e18b818a5 | 79 | activeScreen = new ZeroPlateScreen(&nextScreen, &zeroAlpha, &zeroBeta, &saved); |
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7:1a6e18b818a5 | 80 | break; |
Generic | 15:bc63b55a426d | 81 | case Screen::MANUAL_CONTROL_SCREEN : |
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12:650ae2f4c7df | 82 | activeScreen = new ManualControlScreen(&nextScreen, &alpha, &beta); |
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12:650ae2f4c7df | 83 | break; |
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13:21dc070a47a9 | 84 | case Screen::AUTOMATIC_CONTROL_SCREEN : |
Generic | 15:bc63b55a426d | 85 | activeScreen = new AutomaticControlScreen(&nextScreen, &x, &y, &Ts, &started, &ballOnPlate, &xSP, &ySP); |
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13:21dc070a47a9 | 86 | break; |
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18:1b9579ac9f41 | 87 | case Screen::AUTOMATIC_MORE_SCREEN : |
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18:1b9579ac9f41 | 88 | activeScreen = new AutomaticMoreScreen(&nextScreen); |
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18:1b9579ac9f41 | 89 | break; |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 90 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 91 | |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 92 | activeScreen->Draw(); |
Generic | 17:3b6d66253c97 | 93 | Thread::wait(200); |
Generic | 6:f717ce705c5d | 94 | currentScreen = nextScreen; |
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1:43fb2d03c36f | 95 | } |
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1:43fb2d03c36f | 96 | |
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1:43fb2d03c36f | 97 | activeScreen->Process(); |
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1:43fb2d03c36f | 98 | |
Generic | 17:3b6d66253c97 | 99 | Thread::wait(10); |
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1:43fb2d03c36f | 100 | } |
Kerneels Bezuidenhout |
1:43fb2d03c36f | 101 | } |
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1:43fb2d03c36f | 102 | |
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1:43fb2d03c36f | 103 | void Init() |
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1:43fb2d03c36f | 104 | { |
Generic | 9:355a59fd962b | 105 | pc.baud(57600); |
Generic | 2:5fded6444350 | 106 | nextScreen = Screen::MAIN_MENU_SCREEN; |
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1:43fb2d03c36f | 107 | guiThread.start(GUIThread); |
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1:43fb2d03c36f | 108 | } |
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7:1a6e18b818a5 | 109 | |
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7:1a6e18b818a5 | 110 | void ZeroPlate() |
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7:1a6e18b818a5 | 111 | { |
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12:650ae2f4c7df | 112 | |
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12:650ae2f4c7df | 113 | pc.printf("Zero a : %f | Zero b : %f\n\r", zeroAlpha, zeroBeta); |
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12:650ae2f4c7df | 114 | |
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12:650ae2f4c7df | 115 | |
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7:1a6e18b818a5 | 116 | if( saved) |
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7:1a6e18b818a5 | 117 | { |
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12:650ae2f4c7df | 118 | // TODO Save zero position on servos |
Generic | 9:355a59fd962b | 119 | nextScreen = Screen::MAIN_SETTINGS_SCREEN; |
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7:1a6e18b818a5 | 120 | saved = false; |
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7:1a6e18b818a5 | 121 | } |
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12:650ae2f4c7df | 122 | |
Generic | 9:355a59fd962b | 123 | Thread::wait(20); |
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7:1a6e18b818a5 | 124 | } |
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12:650ae2f4c7df | 125 | |
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12:650ae2f4c7df | 126 | void Manual() |
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12:650ae2f4c7df | 127 | { |
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12:650ae2f4c7df | 128 | // TODO Add manual control logic |
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12:650ae2f4c7df | 129 | } |
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13:21dc070a47a9 | 130 | |
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13:21dc070a47a9 | 131 | void Automatic() |
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13:21dc070a47a9 | 132 | { |
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13:21dc070a47a9 | 133 | //TODO Add automatic control mode logic |
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19:ef78ac1a98f8 | 134 | ballOnPlate = test.read(); |
Generic | 17:3b6d66253c97 | 135 | Thread::wait(4); |
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13:21dc070a47a9 | 136 | } |