File content as of revision 15:bc63b55a426d:

#include "mbed.h"
#include "Screens.hpp"


void GUIThread();
void Init();

void ZeroPlate();
void Manual();
void Automatic();

int currentScreen = 0;
int nextScreen = 0;
Thread guiThread;
Screen *activeScreen = NULL;

float zeroAlpha = 0;
float alpha = 0;
float xSP = 0;
float x = 0;

float zeroBeta = 0;
float beta = 0;
float ySP = 0;
float y = 0;

int Ts = 0;

bool started = false;

int ballOnPlate = 0;

bool saved = false;

Serial pc(USBTX,USBRX);

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;
    }
  }
}

void GUIThread()
{
  while(1)
  {
    if( nextScreen != currentScreen )
    {
      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, &Ts, &started, &ballOnPlate, &xSP, &ySP);
          break;
      }

      activeScreen->Draw();
      currentScreen = nextScreen;
      Thread::wait(200);
    }

    activeScreen->Process();

    Thread::wait(20);
  }
}

void Init()
{
  pc.baud(57600);
  nextScreen = Screen::MAIN_MENU_SCREEN;
  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


}