Diff: control.cpp

Revision:

0:ae5d19a716e1

diff -r 000000000000 -r ae5d19a716e1 control.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control.cpp	Wed Mar 05 05:17:45 2014 +0000
@@ -0,0 +1,269 @@
+/* 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" );
+    }
+}