File content as of revision 22:dd9ff475b34c:

#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 = -20;
float x = 0;

float zeroBeta = 0;
float beta = 0;
float ySP = 50;
float y = 0;

float P = 0;
float I = 0;
float D = 0;
float Ts = 0;

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;
    }
  }
}

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, &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);
          break;
        case Screen::AUTOMATIC_SETTINS_SCREEN :
          activeScreen = new AutomaticSettingsScreen(&nextScreen, &P, &I, &D, &Ts);
      }

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

    activeScreen->Process();

    Thread::wait(10);
  }
}

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
  ballOnPlate = test.read();
  Thread::wait(4);
}