Diff: main.cpp

Revision:

41:204e2788fb46

Parent:

39:7bb23ad4bf87

Child:

42:29ce1ff3b220

--- a/main.cpp	Sat Oct 08 17:24:22 2016 +0000
+++ b/main.cpp	Sat Oct 08 19:30:36 2016 +0200
@@ -1,7 +1,8 @@
 #include "mbed.h"
 #include "Screens.hpp"
+#include "ResistiveTouchController.hpp"
 
-
+//--- Function Prototypes
 void GUIThread();
 void Init();
 
@@ -9,26 +10,38 @@
 void Manual();
 void Automatic();
 void Calibrate();
+//-----------------------
 
+//-- GUI Thread Variables and Objects
 int currentScreen = 0;
 int nextScreen = 0;
 Thread guiThread;
 Screen *activeScreen = NULL;
+//----------------------------------
 
+//-- X Axis variables
 float zeroAlpha = 0;
 float alpha = 0;
 float xSP = -20;
 float x = 0;
 
+//-- Y Axis Variables
 float zeroBeta = 0;
 float beta = 0;
 float ySP = 50;
 float y = 0;
 
+
+//-- Controller Variables
 float P = 0;
 float I = 0;
 float D = 0;
 float Ts = 4;
+//-----------------------
+
+
+//-- Sensors and Actuator objects
+ResistiveTouchController plate(A0,A1,A3,A4,A5);
 
 float tCal[3][2];
 int calPoint = 0;
@@ -81,7 +94,7 @@
     if( nextScreen != currentScreen )
     {
       Thread::wait(100);
-      
+
       if( activeScreen != NULL)
         delete activeScreen;
 
@@ -172,8 +185,15 @@
 void Automatic()
 {
   //TODO Add automatic control mode logic
-  ballOnPlate = test.read();
-  Thread::wait(4);
+  ballOnPlate = plate.ToucheDetected();
+
+  if( ballOnPlate )
+  {
+    plate.Measure();
+    x = plate.X();
+    y = plate.Y();
+  }
+
 }
 
 void Calibrate()