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