File content as of revision 0:ae5d19a716e1:

/* control.cpp */

#include "global.h"

/**
 * Functions
 */
void reset_A() {
    
    pc.printf( "A " );
    if(MS_A.read()) {
        setspeed(dutyr_A, _A_);
        while(MS_A.read()) {
            wait(0.05);
        }
    }
    setspeed(STOP, _A_);
    pc.printf( "OK \r\n" );
}

void reset_U() {
    
    pc.printf( "U " );
    if(MS_U.read()) {
        setspeed(dutyu_U, _U_);
        while(MS_U.read()) {
            wait(0.05);
        }
    }
    setspeed(STOP, _U_);
    hight.reset();
    pc.printf( "OK \r\n" );
}

void reset_M() {
    
    pc.printf( "M " );
    if(MS_M.read()) {
        setspeed(dutyr_M, _M_);
        while(MS_M.read()) {
            wait(0.05);
        }
    }
    setspeed(STOP, _M_);
    pc.printf( "OK \r\n" );
}

void reset_S() {
    
    pc.printf( "S " );
    if(MS_S.read()) {
        setspeed(dutyr_S, _S_);
        while(MS_S.read()) {
            wait(0.01);
        }
    }
    setspeed(STOP, _S_);
    pc.printf( "OK \r\n" );
}

void reset() {
    
    reset_A();
    reset_U();
    reset_M();
    reset_S();
}

void cook_stop() {
    if(pc.getc()=='s') {
        pc.printf( "wait a momnet \r\n" );
        ALLSTOP();
        pc.printf( "input \r\n" );
        pc.getc();
        STOP_STATUS = false;
    }
}

void AUTO() {
    
    char c;
    pc.printf( "A" );
    wait(0.5);
    pc.printf( "auto mode \r\n" );
    while(1) {
        c = pc.getc();
        if(c=='b')  break;
        switch (c) {
            case 'R':
                pc.printf( "reset \r\n" );
                reset();
                break;
            case 'r':
                c = pc.getc();
                switch (c) {
                    case 'A':
                        reset_A();
                        break;
                    case 'U':
                        reset_U();
                        break;
                    case 'M':
                        reset_M();
                        break;
                    case 'S':
                        reset_S();
                        break;
                }
                break;
            case 'f':
                pc.printf( "start \r\n" );
                cook();
                //pc.printf( "finish \r\n" );
                break;
        }
    }
}

void MANUAL() {
    
    char c;
    double step;
    pc.printf( "M" );
    wait(0.5);
    pc.printf( "manual mode \r\n" );
    while(1) {
        c = pc.getc();
        if(c=='b')  {
            ALLSTOP();
            pc.printf( "all stop \r\n" );
            break;
        }
        else if(c=='s') {
            ALLSTOP();
            led_all(OFF);
            pc.printf( "all stop \r\n" );
            continue;
        }
        else if(c=='w') {
            step = 0.05;
            c = pc.getc();
        }
        else if(c=='n') {
            step = 0.01;
            c = pc.getc();
        }
        switch (c) {
            case 'a':
                speed[_A_]+=step;
                mortar_A = speed[_A_];
                if (mortar_A.read() == STOP)    led1=OFF;
                else                            led1=ON;
                pc.printf( "mortar_A : %3f \r\n", 1.0-mortar_A.read() );
                break;
            case 'A':
                speed[_A_]-=step;
                mortar_A = speed[_A_];
                if (mortar_A.read() == STOP)    led1=OFF;
                else                            led1=ON;
                pc.printf( "mortar_A : %3f \r\n", 1.0-mortar_A.read() );
                break;
            case 'U':
                speed[_U_]+=step;
                mortar_U = speed[_U_];
                if (mortar_U.read() == STOP)    led2=OFF;
                else                            led2=ON;
                pc.printf( "mortar_U : %3f \r\n", mortar_U.read() );
                pc.printf( "%d \r\n", hight.getPulses() );
                break;
            case 'u':
                speed[_U_]-=step;
                mortar_U = speed[_U_];
                if (mortar_U.read() == STOP)    led2=OFF;
                else                            led2=ON;
                pc.printf( "mortar_U : %3f \r\n", mortar_U.read() );
                pc.printf( "%d \r\n", hight.getPulses() );
                break;
            case 'm':
                speed[_M_]+=step;
                mortar_M = speed[_M_];
                if (mortar_M.read() == STOP)    led3=OFF;
                else                            led3=ON;
                pc.printf( "mortar_M : %3f \r\n", 1.0-mortar_M.read() );
                break;
            case 'M' :
                speed[_M_]-=step;
                mortar_M = speed[_M_];
                if (mortar_M.read() == STOP)    led3=OFF;
                else                            led3=ON;
                pc.printf( "mortar_M : %3f \r\n", 1.0-mortar_M.read() );
                break;
            case 's':
                speed[_S_]+=step;
                mortar_S = speed[_S_];
                if (mortar_S.read() == STOP)    led4=OFF;
                else                            led4=ON;
                pc.printf( "mortar_S : %3f \r\n", 1.0-mortar_S.read() );
                break;
            case 'S':
                speed[_S_]-=step;
                mortar_S = speed[_S_];
                if (mortar_S.read() == STOP)    led4=OFF;
                else                            led4=ON;
                pc.printf( "mortar_S : %3f \r\n", 1.0-mortar_S.read() );
                break;
            case 'H':
                UFO = ON;
                pc.printf( "UFO : ON \r\n" );
                break;
            case 'h':
                UFO = OFF;
                pc.printf( "UFO : OFF \r\n" );
                break;
            case 'R':
                RISE1 = UP;
                pc.printf( "up \r\n" );
                break;
            case 'r':
                RISE1 = DOWN;
                pc.printf( "down \r\n" );
                break;
        }
    }
}

void semi() {
    
    char c=pc.getc();
    if(c=='E') {
        pc.printf( "wait \r\n" );
        ALLSTOP();
        pc.printf( "stop \r\n" );
        pc.printf( "input \r\n" );
        pc.getc();
    }
}

void SEMIAUTO() {
    
    char c;
    
    pc.printf( "S" );
    wait(0.5);
    pc.printf( "semiauto mode \r\n" );
    while(1) {
        c = pc.getc();
        if (c=='b') break;
        pc.attach(semi, Serial::RxIrq);
        switch (c) {
            case 'A':
                AORI();
                break;
            case 'U':
                egg_hand_rot(egg_gasya_times);
                break;
            case 'u':
                rice_hand_rot(2);
                break;
            case 'M':
                merry();
                break;
            case 'S':
                serve();
                break;
        }
        __disable_irq();
        pc.printf( "OK \r\n" );
    }
}