Diff: main.cpp

Revision:

1:7cb0ee7f57b6

Parent:

0:485df37a69ec

--- a/main.cpp	Thu Dec 01 04:16:04 2011 +0000
+++ b/main.cpp	Thu Dec 01 08:40:29 2011 +0000
@@ -123,6 +123,7 @@
     valueLED2=0;
     
     clk=0;
+    Motor = 0;
     return;
 }           // end init_sys
 
@@ -171,43 +172,30 @@
                case 0 : servo_0.pulsewidth_us(pulse_width); break;
                case 4 : servo_4.pulsewidth_us(pulse_width); break;
                case 5 : servo_5.pulsewidth_us(pulse_width); break;
-                
             }
             last_servo = command->param[0];
             break;
 //
-// return last servo number                                                
+// return data of the value of sensor 1p and sensor 2p                                                
 //
         case READ_CMD :
-            
-            if((bSort_Mode == 0)&&(bMaint_Mode == 1)){  
-                command->nos_data = 2;// no data to be returned                 
+            if((bSort_Mode == 0)&&(bMaint_Mode == 1)){      // when we are on sort mode  
+                command->nos_data = 2;               
                 command->result_data[0] = valueLED1;
                 command->result_data[1] = valueLED2;
             }
-            else if((bSort_Mode == 1)&&(bMaint_Mode == 0)){  
-                command->nos_data = 7;// no data to be returned                 
-                command->result_data[0] = valueLED1;
-                command->result_data[1] = valueLED2;
-                command->result_data[2] = counter1p;
-                command->result_data[3] = counter2p;
-                command->result_data[4] = Position1_1p;
-                command->result_data[5] = Position1_2p;
-                command->result_data[2] = Motor;
-                //send_data(&ext_cmd);
-            }
             break;
             
 //
 // Mode value                                               
 //
-        case MAINT_MODE :
+        case MAINT_MODE :                                  // Maintenance mode
             bSort_Mode = 0;
             bMaint_Mode = 1;
             Reset = 1;
-            servo_4.pulsewidth_us(0); 
-            servo_0.pulsewidth_us(0);
-            servo_5.pulsewidth_us(0); 
+            servo_4.pulsewidth_us(0);                       // Motor stop 
+            servo_0.pulsewidth_us(0);                       // Servo 1p stop
+            servo_5.pulsewidth_us(0);                       // Servo 2p stop
             lcd->cls();
             lcd->locate(0,7);
             lcd->printf("W3C");
@@ -216,7 +204,7 @@
             break;
             
             
-        case SORT_MODE :
+        case SORT_MODE :                                    // sort mode
             bSort_Mode = 1;
             bMaint_Mode = 0;
             Reset = 0;
@@ -232,14 +220,14 @@
 //
 // Urgency mode
 //            
-        case URGENCY :
+        case URGENCY :                                    
             Reset = 1;
             bSort_Mode = 0;
             bMaint_Mode = 0;
             state = 0;
-            servo_4.pulsewidth_us(0); 
-            servo_0.pulsewidth_us(0);
-            servo_5.pulsewidth_us(0); 
+            servo_4.pulsewidth_us(0);                      // Motor stop
+            servo_0.pulsewidth_us(0);                      // Servo 1p stop 
+            servo_5.pulsewidth_us(0);                      // Servo 2p stop
             lcd->cls();
             lcd->locate(0,7);
             lcd->printf("W3C");
@@ -254,13 +242,56 @@
             bSort_Mode = 0;
             bMaint_Mode = 0;
             state = 0;
-            servo_4.pulsewidth_us(0); 
-            servo_0.pulsewidth_us(0);
-            servo_5.pulsewidth_us(0); 
+            servo_4.pulsewidth_us(0);                   // Motor stop
+            servo_0.pulsewidth_us(0);                   // sensor 1p stop
+            servo_5.pulsewidth_us(0);                   // sensor 2p stop
             lcd->cls();
             lcd->locate(0,7);
             lcd->printf("W3C");
-            break;     
+            break;   
+
+// Send data of the value led 2p
+        case VALUE_LED1 :
+            command->nos_data = 1;
+            command->result_data[0] = valueLED1;
+            break;
+
+// Send data of the value led 1p        
+        case VALUE_LED2 :
+            command->nos_data = 2;
+            command->result_data[1] = valueLED2;
+            break; 
+
+// Send data of the value counter 1p        
+        case COUNTER1P :
+            command->nos_data = 3;
+            command->result_data[2] = counter1p;
+            break;
+
+// Send data of the value counter 2p            
+        case COUNTER2P :
+            command->nos_data = 4;
+            command->result_data[3] = counter2p;
+            break;
+
+// Send data of the value position1 1p            
+        case POSITION1_1P :
+            command->nos_data = 1;
+            command->result_data[0] = Position1_1p;
+            break;
+
+// Send data of the value position1 2p       
+       case POSITION1_2P :
+            command->nos_data = 2;
+            command->result_data[1] = Position1_2p;
+            break;    
+
+// Send data of the motor            
+       case MOTOR :
+            command->nos_data = 3;
+            command->result_data[2] = Motor;
+            break; 
+                       
 //
 // catch any problems
 //            
@@ -390,8 +421,9 @@
    } 
 }
 
-
+//
 //************************************************************************
+// Main Program
 //
 int main() {
     
@@ -405,7 +437,7 @@
         counter1p.read();
         counter2p.read();
         
-     timerstatemachine.attach(&state_machine, 0.1); 
+     timerstatemachine.attach(&state_machine, 0.1);     // function state machine is readinf all the 100 ms
 
      clk = !clk;
      wait(0.001);
@@ -435,10 +467,6 @@
     //
         process_cmd(&ext_cmd);
         reply_to_cmd(&ext_cmd);
-       
-        
-       
-    
     }
          
 }