Nurbol Nurdaulet
/
state_machine_modes_1_12_11
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Dependencies: mbed WattBob_TextLCD MCP23017 globals
Revision 1:7cb0ee7f57b6, committed 2011-12-01
- Comitter:
- Nurbol
- Date:
- Thu Dec 01 08:40:29 2011 +0000
- Parent:
- 0:485df37a69ec
- Commit message:
Changed in this revision
--- a/cmd_io.cpp Thu Dec 01 04:16:04 2011 +0000
+++ b/cmd_io.cpp Thu Dec 01 08:40:29 2011 +0000
@@ -146,11 +146,13 @@
sprintf(buffer, "%u\n", (int)command->result_data[0]);
}
if (command->nos_data == 2) {
- sprintf(buffer, "%u %u\n", (int)command->result_data[0], (int)command->result_data[1]);
+ sprintf(buffer, "%u\n", (int)command->result_data[1]);
}
- if (command->nos_data == 7) {
- sprintf(buffer, "%u %u %u %u %u %u %u\n", (int)command->result_data[0], (int)command->result_data[1], (int)command->result_data[2], (int)command->result_data[3],
- (int)command->result_data[4], (int)command->result_data[5], (int)command->result_data[6]);
+ if (command->nos_data == 3) {
+ sprintf(buffer, "%u\n", (int)command->result_data[2]);
+ }
+ if (command->nos_data == 4) {
+ sprintf(buffer, "%u\n", (int)command->result_data[3]);
}
//
// send string
--- a/cmd_io.lib Thu Dec 01 04:16:04 2011 +0000 +++ b/cmd_io.lib Thu Dec 01 08:40:29 2011 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/Nurbol/code/cmd_io/#d841cc27ebf9 +http://mbed.org/users/Nurbol/code/cmd_io/#30c4e3e11cb5
--- 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);
-
-
-
-
}
}