My final year project
Dependencies: BSP_DISCO_F746NG F746_GUI LCD_DISCO_F746NG SDFileSystem TS_DISCO_F746NG ResistiveTouchController Map CYS8218Controller MedianFilter
main.cpp
- Committer:
- Kerneels Bezuidenhout
- Date:
- 2016-10-08
- Revision:
- 44:560ed042317c
- Parent:
- 42:29ce1ff3b220
- Child:
- 45:e5b175383624
File content as of revision 44:560ed042317c:
#include "mbed.h" #include "Screens.hpp" #include "ResistiveTouchController.hpp" #include "Map.hpp" //--- Function Prototypes void GUIThread(); void Init(); void ZeroPlate(); 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); Map plateMapper(0,1024, -170,170); float tCal[3][2]; int calPoint = 0; bool calStarted = false; Timer calTimer; float calHeldTime; bool calFinished = false; int measuredTs = 0; bool started = true; int ballOnPlate = 1; bool saved = false; // TODO Delete these variables float t = 0; Serial pc(USBTX,USBRX); DigitalIn test(D3); int main() { Init(); while(1) { switch (currentScreen) { case Screen::ZERO_PLATE_SCREEN : ZeroPlate(); break; case Screen::MANUAL_CONTROL_SCREEN : Manual(); break; case Screen::AUTOMATIC_CONTROL_SCREEN : Automatic(); break; case Screen::CALIBRATE_SCREEN : Calibrate(); break; } } } void GUIThread() { while(1) { if( nextScreen != currentScreen ) { Thread::wait(100); if( activeScreen != NULL) delete activeScreen; switch (nextScreen) { case Screen::MAIN_MENU_SCREEN : activeScreen = new MainMenuScreen(&nextScreen); break; case Screen::MAIN_SETTINGS_SCREEN : activeScreen = new MainSettingsScreen(&nextScreen); break; case Screen::ZERO_PLATE_SCREEN : activeScreen = new ZeroPlateScreen(&nextScreen, &zeroAlpha, &zeroBeta, &saved); break; case Screen::MANUAL_CONTROL_SCREEN : activeScreen = new ManualControlScreen(&nextScreen, &alpha, &beta); break; case Screen::AUTOMATIC_CONTROL_SCREEN : activeScreen = new AutomaticControlScreen(&nextScreen, &x, &y, &measuredTs, &started, &ballOnPlate, &xSP, &ySP); break; case Screen::AUTOMATIC_MORE_SCREEN : activeScreen = new AutomaticMoreScreen(&nextScreen); break; case Screen::MANUAL_SETPOINT_SCREEN : activeScreen = new ManualSetpointScreen(&nextScreen, &xSP, &ySP, &ballOnPlate, &started); break; case Screen::AUTOMATIC_SETTINGS_SCREEN : activeScreen = new AutomaticSettingsScreen(&nextScreen, &P, &I, &D, &Ts); break; case Screen::CHANGE_P_SCREEN : activeScreen = new ChangeValScreen(&nextScreen, currentScreen, &P, "Change P"); break; case Screen::CHANGE_I_SCREEN : activeScreen = new ChangeValScreen(&nextScreen, currentScreen, &I, "Change I"); break; case Screen::CHANGE_D_SCREEN : activeScreen = new ChangeValScreen(&nextScreen, currentScreen, &D, "Change D"); break; case Screen::CHANGE_TS_SCREEN : activeScreen = new ChangeValWholeScreen(&nextScreen, currentScreen, &Ts, "Change Ts", false, 4); break; case Screen::CALIBRATE_SCREEN : activeScreen = new CalibrateScreen(&nextScreen, &ballOnPlate, &calStarted, &calFinished, &calPoint, &calHeldTime); break; } activeScreen->Draw(); currentScreen = nextScreen; } activeScreen->Process(); Thread::wait(10); } } void Init() { ImageFromSD splash("/sd/Splash.txt"); pc.baud(57600); nextScreen = Screen::MAIN_MENU_SCREEN; Thread::wait(5000); guiThread.start(GUIThread); } void ZeroPlate() { pc.printf("Zero a : %f | Zero b : %f\n\r", zeroAlpha, zeroBeta); if( saved) { // TODO Save zero position on servos nextScreen = Screen::MAIN_SETTINGS_SCREEN; saved = false; } Thread::wait(20); } void Manual() { // TODO Add manual control logic } void Automatic() { //TODO Add automatic control mode logic ballOnPlate = plate.TouchDetected(); if( ballOnPlate ) { plate.Measure(); x = plateMapper(floor(plate.X()); y = plateMapper(floor(plate.Y()); } } void Calibrate() { ballOnPlate = test.read(); if( calStarted ) { if( calPoint < 3 ) { if( ballOnPlate ) { calTimer.start(); calHeldTime = calTimer.read(); if( calHeldTime >= 5 ) { while( test.read() ); calPoint++; calTimer.stop(); calTimer.reset(); } } else { calTimer.stop(); calTimer.reset(); } } else { calFinished = true; calPoint = 0; calStarted = false; } } }