James MacLean / Robot_Control

The subsystem design/basis for the final project

Dependencies:   mbed-rtos mbed-src pixylib

main.cpp@4:01252f56e0e5, 2016-03-18 (annotated)

Committer:
balsamfir
Date:
Fri Mar 18 17:05:22 2016 +0000
Revision:
4:01252f56e0e5
Parent:
3:dfb6733ae397
Child:
5:f655435d0782
Commit before adding features

Who changed what in which revision?

UserRevisionLine numberNew contents of line
balsamfir 2:2bc519e14bae 1 // Includes
balsamfir 2:2bc519e14bae 2 // ----------------------------------------------------------------
JamesMacLean 0:80a37292f6b2 3
balsamfir 2:2bc519e14bae 4 #include "global.h"
balsamfir 2:2bc519e14bae 5 #include "robot.h"
balsamfir 2:2bc519e14bae 6 #include "response.h"
balsamfir 2:2bc519e14bae 7 #include "tuning.h"
JamesMacLean 0:80a37292f6b2 8
JamesMacLean 0:80a37292f6b2 9
balsamfir 2:2bc519e14bae 10 // Definitions
balsamfir 2:2bc519e14bae 11 // ----------------------------------------------------------------
balsamfir 2:2bc519e14bae 12 enum Mode {
balsamfir 3:dfb6733ae397 13 AUTO_TRACK = '0',
balsamfir 3:dfb6733ae397 14 MANUAL_CONTROL = '1',
balsamfir 4:01252f56e0e5 15 MOTOR_RESPONSE = '2',
balsamfir 4:01252f56e0e5 16 SPEED_RESPONSE = '3',
balsamfir 4:01252f56e0e5 17 STEERING_RESPONSE = '4',
balsamfir 4:01252f56e0e5 18 TILT_RESPONSE = '5',
balsamfir 4:01252f56e0e5 19 MOTOR_TUNING = '6',
balsamfir 4:01252f56e0e5 20 SPEED_TUNING = '7',
balsamfir 4:01252f56e0e5 21 STEERING_TUNING = '8',
balsamfir 4:01252f56e0e5 22 TILT_TUNING = '9'
balsamfir 2:2bc519e14bae 23 };
JamesMacLean 0:80a37292f6b2 24
balsamfir 2:2bc519e14bae 25 void PrintMenu(Serial *pc);
JamesMacLean 0:80a37292f6b2 26
JamesMacLean 0:80a37292f6b2 27
balsamfir 2:2bc519e14bae 28 // Wiring - TODO
balsamfir 2:2bc519e14bae 29 // ----------------------------------------------------------------
balsamfir 2:2bc519e14bae 30 //
balsamfir 2:2bc519e14bae 31 //
balsamfir 2:2bc519e14bae 32 //
balsamfir 2:2bc519e14bae 33 //
balsamfir 2:2bc519e14bae 34 //
balsamfir 2:2bc519e14bae 35 //
JamesMacLean 0:80a37292f6b2 36
balsamfir 2:2bc519e14bae 37 // Main Program
balsamfir 2:2bc519e14bae 38 // ----------------------------------------------------------------
balsamfir 2:2bc519e14bae 39 int main() {
balsamfir 3:dfb6733ae397 40 int mode;
balsamfir 3:dfb6733ae397 41
JamesMacLean 0:80a37292f6b2 42 while (1) {
balsamfir 2:2bc519e14bae 43 PrintMenu(&pc);
balsamfir 2:2bc519e14bae 44 mode = pc.getc();
balsamfir 3:dfb6733ae397 45 pc.printf("\r\n\r\n");
balsamfir 2:2bc519e14bae 46 switch (mode) {
balsamfir 2:2bc519e14bae 47 case AUTO_TRACK:
balsamfir 2:2bc519e14bae 48 AutoTrack();
balsamfir 2:2bc519e14bae 49 break;
balsamfir 2:2bc519e14bae 50 case MANUAL_CONTROL:
balsamfir 2:2bc519e14bae 51 ManualControl();
balsamfir 2:2bc519e14bae 52 break;
balsamfir 2:2bc519e14bae 53 case MOTOR_RESPONSE:
balsamfir 2:2bc519e14bae 54 MotorResponse();
balsamfir 2:2bc519e14bae 55 break;
balsamfir 2:2bc519e14bae 56 case SPEED_RESPONSE:
balsamfir 2:2bc519e14bae 57 SpeedResponse();
balsamfir 2:2bc519e14bae 58 break;
balsamfir 2:2bc519e14bae 59 case STEERING_RESPONSE:
balsamfir 2:2bc519e14bae 60 SteeringResponse();
balsamfir 2:2bc519e14bae 61 break;
balsamfir 2:2bc519e14bae 62 case TILT_RESPONSE:
balsamfir 2:2bc519e14bae 63 TiltResponse();
balsamfir 2:2bc519e14bae 64 break;
balsamfir 2:2bc519e14bae 65 case MOTOR_TUNING:
balsamfir 2:2bc519e14bae 66 MotorTuning();
balsamfir 2:2bc519e14bae 67 break;
balsamfir 2:2bc519e14bae 68 case SPEED_TUNING:
balsamfir 2:2bc519e14bae 69 SpeedTuning();
balsamfir 2:2bc519e14bae 70 break;
balsamfir 2:2bc519e14bae 71 case STEERING_TUNING:
balsamfir 2:2bc519e14bae 72 SteeringTuning();
balsamfir 2:2bc519e14bae 73 break;
balsamfir 2:2bc519e14bae 74 case TILT_TUNING:
balsamfir 3:dfb6733ae397 75 TiltTuning();
balsamfir 2:2bc519e14bae 76 break;
balsamfir 2:2bc519e14bae 77 default:
balsamfir 3:dfb6733ae397 78 pc.printf("Error: Invalid Selection \r\n\r\n");
balsamfir 2:2bc519e14bae 79 break;
JamesMacLean 0:80a37292f6b2 80 }
balsamfir 3:dfb6733ae397 81 wait_ms(2000);
JamesMacLean 0:80a37292f6b2 82 }
JamesMacLean 0:80a37292f6b2 83 }
JamesMacLean 0:80a37292f6b2 84
balsamfir 2:2bc519e14bae 85 // Other Functions
balsamfir 2:2bc519e14bae 86 // ----------------------------------------------------------------
balsamfir 2:2bc519e14bae 87 void PrintMenu(Serial *pc){
balsamfir 3:dfb6733ae397 88 pc->printf("\e[1;1H\e[2J");
balsamfir 3:dfb6733ae397 89 pc->printf("Select Mode: \r\n\r\n");
balsamfir 3:dfb6733ae397 90
balsamfir 2:2bc519e14bae 91 pc->printf("---------------------------------------------------------------- \r\n");
balsamfir 2:2bc519e14bae 92 pc->printf("0. Automated Tracking \r\n");
balsamfir 2:2bc519e14bae 93 pc->printf("1. Manual Control \r\n");
balsamfir 4:01252f56e0e5 94 pc->printf("2. Motor Response \r\n");
balsamfir 4:01252f56e0e5 95 pc->printf("3. Speed Response \r\n");
balsamfir 4:01252f56e0e5 96 pc->printf("4. Steering Response \r\n");
balsamfir 4:01252f56e0e5 97 pc->printf("5. Tilt Response \r\n");
balsamfir 4:01252f56e0e5 98 pc->printf("6. Motor Tunning \r\n");
balsamfir 4:01252f56e0e5 99 pc->printf("7. Speed Tunning \r\n");
balsamfir 4:01252f56e0e5 100 pc->printf("8. Steeing Tunning \r\n");
balsamfir 4:01252f56e0e5 101 pc->printf("9. Tilit Tunning \r\n");
balsamfir 2:2bc519e14bae 102 pc->printf("---------------------------------------------------------------- \r\n\r\n");
JamesMacLean 0:80a37292f6b2 103
balsamfir 2:2bc519e14bae 104 pc->printf("=> ");
JamesMacLean 0:80a37292f6b2 105 }