Nurbol Nurdaulet
/
state_machine_modes_1_12_11_11h
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Dependencies: cmd_io mbed WattBob_TextLCD MCP23017 globals
Diff: main.cpp
- Revision:
- 2:881ca0a50c9b
- Parent:
- 1:8a1818e89c49
--- a/main.cpp Thu Dec 01 13:24:14 2011 +0000
+++ b/main.cpp Fri Dec 02 14:21:42 2011 +0000
@@ -1,4 +1,4 @@
- #include "mbed.h"
+#include "mbed.h"
#include "MCP23017.h"
#include "WattBob_TextLCD.h"
#include "cmd_io.h"
@@ -8,27 +8,27 @@
//******************************************************************************
//declare ticker
//
-Ticker timersensor;
-Ticker timerstatemachine;
+Ticker timersensor; // Timer for the function of the sensor
+Ticker timerstatemachine; // Timer for the function of the state machine
//******************************************************************************
//declare Pin
//
-DigitalIn sensor1(p8);
-DigitalIn sensor2(p7);
-DigitalIn counter1p(p5); // Value when counter 1p = 10
-DigitalIn counter2p(p6); // Value when counter 2p = 5
+DigitalIn sensor1(p8); // sensor which detect the coin of 2p
+DigitalIn sensor2(p7); // sensor which detect the coin of 1p
+DigitalIn counter1p(p5); // input to know when the counter 1p = 10
+DigitalIn counter2p(p6); // input to know when the counter 2p = 5
DigitalIn SW1p(p11); // Switch for the 1p
DigitalIn SW2p(p12); // Switch for the 2p
-DigitalOut valueLED1(p23); // value sensor 2p send to the FPGA
-DigitalOut valueLED2(p25); // value sensor 1p send to the FPGA
-DigitalOut Reset(p27);
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-DigitalOut led3(LED3);
-DigitalOut led4(LED4);
-DigitalOut clk(p24);
+DigitalOut valueLED1(p23); // output sensor 2p send to the FPGA
+DigitalOut valueLED2(p25); // output sensor 1p send to the FPGA
+DigitalOut Reset(p27); // variable send to the FPGA to say when we should reset the counter
+DigitalOut led1(LED1); // declaration of the led1 (sensor 2p)
+DigitalOut led2(LED2); // declaration of the led2 (sensor 1p)
+DigitalOut led3(LED3); // declaration of the led3 (when counter 1p = 10)
+DigitalOut led4(LED4); // declaration of the led4 (when counter 2p = 5)
+DigitalOut clk(p24); // clock send to the FPGA
@@ -39,13 +39,12 @@
bool Position2_1p; // Position 2 for the 1p
bool Position1_2p; // Position 1 for the 2p
bool Position2_2p; // Position 2 for the 2p
-bool Motor;
+bool Motor; // variable send to the GUI to know when the motor run
-bool bSort_Mode; //to use in the code to define the mode
-bool bMaint_Mode; //to use in the code to define the mode
+bool bSort_Mode; // to use in the code to define the mode
+bool bMaint_Mode; // to use in the code to define the mode
-int state;
-
+int state; // declaration of the variable state for the state machine
//******************************************************************************
@@ -58,9 +57,9 @@
// 3 servo outputs
//
-PwmOut servo_0(p26);
-PwmOut servo_4(p22);
-PwmOut servo_5(p21);
+PwmOut servo_0(p26); // servo to move the boxes of 1p
+PwmOut servo_4(p22); // motor of the wheel
+PwmOut servo_5(p21); // servo to move the boxes of 2p
//
// objects necessary to use the 2*16 character MBED display
@@ -111,19 +110,19 @@
servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // Servo 2p initialise in position 1
servo_4.pulsewidth_us(0); // Motor stop
- Position1_1p = 1;
- Position2_1p = 0;
- Position1_2p = 1;
- Position2_2p = 0;
+ Position1_1p = 1; // servo 1p is in position 1
+ Position2_1p = 0; // position 2 = 0
+ Position1_2p = 1; // servo 2p is in position 1
+ Position2_2p = 0; // position 2 = 0
- state = 10;
- Reset = 1;
+ state = 10; // initial state is state 10
+ Reset = 1; // reset the counter in the FPGA
- valueLED1=0;
- valueLED2=0;
+ valueLED1 = 0; // sensor 2p initialize to 0
+ valueLED2 = 0; // sensor 1p initialize to 0
- clk=0;
- Motor = 0;
+ clk = 0; // clock start to 0
+ Motor = 0; // motor is stop
return;
} // end init_sys
@@ -156,22 +155,22 @@
command->result_status = CMD_BAD_SERVO_VALUE;
break;
}
- if ((command->param[0] == 4) && (command->param[1] == 0)) {
- pulse_width = 0; // convert angle to pulse width
+ if ((command->param[0] == 4) && (command->param[1] == 0)) { // motor of the wheel
+ pulse_width = 0; // pulse width is 0 so motor stop
}
else{
- pulse_width = 1000 + (command->param[1] * 1000) / 90; // convert angle to pulse width
+ pulse_width = 1000 + (command->param[1] * 1000) / 90; // convert angle to pulse width
}
//
- // implement servo move to all 5 servos
+ // implement servo move to all 3 servos
//
switch (command->param[0]) {
- 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;
+ case 0 : servo_0.pulsewidth_us(pulse_width); break; // servo for 1p
+ case 4 : servo_4.pulsewidth_us(pulse_width); break; // motor
+ case 5 : servo_5.pulsewidth_us(pulse_width); break; // servo for 2p
}
last_servo = command->param[0];
break;
@@ -181,37 +180,39 @@
case READ_CMD :
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;
+ command->result_data[0] = valueLED1; // return data of sensor 2p to the GUI
+ command->result_data[1] = valueLED2; // return data of sensor 1p to the GUI
}
break;
//
-// Mode value
+// Maintenance Mode
//
- case MAINT_MODE : // Maintenance mode
+ case MAINT_MODE :
bSort_Mode = 0;
bMaint_Mode = 1;
- Reset = 1;
- servo_4.pulsewidth_us(0); // Motor stop
- servo_0.pulsewidth_us(0); // Servo 1p stop
- servo_5.pulsewidth_us(0); // Servo 2p stop
+ Reset = 1; // we reset the counter in the FPGA
+ 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");
+ lcd->printf("W3C"); // write on the LCD
lcd->locate(1,0);
lcd->printf("maintenance mode");
break;
-
- case SORT_MODE : // sort mode
+//
+// Sort Mode
+//
+ case SORT_MODE :
bSort_Mode = 1;
bMaint_Mode = 0;
- Reset = 0;
- state = 10;
+ Reset = 0;
+ state = 10; // state in the state machine is 10
lcd->cls();
lcd->locate(0,7);
- lcd->printf("W3C");
+ lcd->printf("W3C"); // write on the LCD
lcd->locate(1,0);
lcd->printf("sort mode");
break;
@@ -220,16 +221,16 @@
// Urgency mode
//
case URGENCY :
- Reset = 1;
+ Reset = 1; // we reset the counter on the FPGA
bSort_Mode = 0;
bMaint_Mode = 0;
- state = 10;
- servo_4.pulsewidth_us(0); // Motor stop
- servo_0.pulsewidth_us(0); // Servo 1p stop
- servo_5.pulsewidth_us(0); // Servo 2p stop
+ state = 10; // state in the state machine is 10
+ 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");
+ lcd->printf("W3C"); // write on the LCD
lcd->locate(1,0);
lcd->printf("urgency mode");
break;
@@ -237,58 +238,58 @@
// Exit mode
//
case EXIT :
- Reset = 1;
+ Reset = 1; // we reset the counter in the FPGA
bSort_Mode = 0;
bMaint_Mode = 0;
- state = 10;
- servo_4.pulsewidth_us(0); // Motor stop
- servo_0.pulsewidth_us(0); // sensor 1p stop
- servo_5.pulsewidth_us(0); // sensor 2p stop
+ state = 10; // state in the state machine is 10
+ 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");
+ lcd->printf("W3C"); // write on the LCD
break;
// Send data of the value led 2p
case VALUE_LED1 :
command->nos_data = 1;
- command->result_data[0] = valueLED1;
+ command->result_data[0] = valueLED1; // return data of sensor 2p to the GUI
break;
// Send data of the value led 1p
case VALUE_LED2 :
command->nos_data = 2;
- command->result_data[1] = valueLED2;
+ command->result_data[1] = valueLED2; // return data of sensor 1p to the GUI
break;
// Send data of the value counter 1p
case COUNTER1P :
command->nos_data = 3;
- command->result_data[2] = counter1p;
+ command->result_data[2] = counter1p; // return data of counter 1p to the GUI (counter 1p = 1 when we have 10 coins)
break;
// Send data of the value counter 2p
case COUNTER2P :
command->nos_data = 4;
- command->result_data[3] = counter2p;
+ command->result_data[3] = counter2p; // return data of counter 2p to the GUI (counter 2p = 1 when we have 5 coins)
break;
// Send data of the value position1 1p
case POSITION1_1P :
command->nos_data = 1;
- command->result_data[0] = Position1_1p;
+ command->result_data[0] = Position1_1p; // return data of the position 1 for the servo of the 1p to the GUI
break;
// Send data of the value position1 2p
case POSITION1_2P :
command->nos_data = 2;
- command->result_data[1] = Position1_2p;
+ command->result_data[1] = Position1_2p; // return data of the position 1 for the servo of the 2p to the GUI
break;
// Send data of the motor
case MOTOR :
command->nos_data = 3;
- command->result_data[2] = Motor;
+ command->result_data[2] = Motor; // return data of the state of motor to the GUI
break;
//
@@ -306,141 +307,138 @@
//function to send value on the FPGA when 1p or 2p are detected
void sensor (void){
- sensor1.read();
- sensor2.read();
+ sensor1.read(); // read input sensor 2p
+ sensor2.read(); // read input sensor 1p
- clk = !clk;
+ clk = !clk; // inverse signal of the clock
wait(0.01);
- if(sensor1 > 0.5) {
- led1 = 1;
- valueLED1 = 1;
+ if(sensor1 > 0.5) { // if coin of 2p is detected
+ led1 = 1; // led 1 switch on
+ valueLED1 = 1; // value of the output sensor 2p send to the FPGA
}
- else if(sensor1 < 0.5){
- led1 = 0;
- valueLED1 = 0;
+ else if(sensor1 < 0.5){ // if coin of 2p is not detected
+ led1 = 0; // led 1 switch off
+ valueLED1 = 0; // value of the output sensor 2p send to the FPGA
}
- if(sensor2 > 0.5) {
- led2 = 1;
- valueLED2 = 1;
+ if(sensor2 > 0.5) { // if coin of 1p is detected
+ led2 = 1; // led 2 switch on
+ valueLED2 = 1; // value of the output sensor 1p send to the FPGA
}
- else if(sensor2 < 0.5){
- led2 = 0;
- valueLED2 = 0;
+ else if(sensor2 < 0.5){ // of coin of 1p is not detected
+ led2 = 0; // led 2 switch off
+ valueLED2 = 0; // value of the output sensor 1p send to the FPGA
}
}
-
-//function for the state machine to move servos between 2 positions
+//function for the state machine to move servos between 2 positions and to move motor
void state_machine (){
- if((bSort_Mode == 1)&&(bMaint_Mode == 0)){
-
-
-
+ if((bSort_Mode == 1)&&(bMaint_Mode == 0)){ // if we are in sort mode
+
switch(state)
{
- case 10 :
- servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run
- servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 1p go to position 1
- servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 2p go to position 1
- Position1_1p = 1;
+ case 10 : // initial state
+ servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run
+ servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 1p go to position 1
+ servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 2p go to position 1
+ Position1_1p = 1; // value position 1 for servo 1p = 1
Position2_1p = 0;
- Position1_2p = 1;
+ Position1_2p = 1; // value position 1 for servo 2p = 1
Position2_2p = 0;
- Motor = 1;
+ Motor = 1; // value to say motor running
led3 = 0;
led4 = 0;
- state = 0;
+ state = 0; // go to state 0
break;
- case 0: // initial state
- Motor = 1;
+ case 0: // state 0
+ Motor = 1; // motor running
led3 = 0;
led4 = 0;
- counter1p.read();
- counter2p.read();
- if(SW1p == 0){
- if(counter1p > 0.5){
- state = 1;
+ counter1p.read(); // read value of counter 1p
+ counter2p.read(); // read value of counter 2p
+ if(SW1p == 0){ // if switch of 1p os switch off
+ if(counter1p > 0.5){ // if counter 1p = 10 coins
+ state = 1; // go to state 1
}
}
- if(SW2p == 0){
- if(counter2p > 0.5){
- state = 4;
+ if(SW2p == 0){ // if switch 2p is switch off
+ if(counter2p > 0.5){ // if counter 2p = 5 coins
+ state = 4; // go to state 4
}
}
break;
- case 1: // state 1 if counter1p = 1
+ case 1: // state 1
servo_4.pulsewidth_us(0); // motor stop
wait(2);
servo_0.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 1p go to position 2
wait(1);
Position1_1p = 0;
- Position2_1p = 1;
- Motor = 0;
- if((Position2_1p == 1)&&(counter1p < 0.5)){
- state = 2;
+ Position2_1p = 1; // position 2 for servo 1p = 1
+ Motor = 0; // motor stopping
+ if((Position2_1p == 1)&&(counter1p < 0.5)){ // if servo 1p is in position 2 and counter 1p < 10 coins
+ state = 2; // go to state 2
}
break;
- case 2: // state 2 if servo 1p is in position 2
+ case 2: // state 2
servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor is run
Motor = 1;
- counter1p.read();
- counter2p.read();
- if(counter1p > 0.5){
- state = 3;
+ counter1p.read(); // read value of counter 1p
+ counter2p.read(); // read value of counter 2p
+ if(counter1p > 0.5){ // if counter 1p = 10 coins
+ state = 3; // go to state 3
}
- else if((counter2p > 0.5)&&(Position1_2p == 1)){
- state = 4;
+ else if((counter2p > 0.5)&&(Position1_2p == 1)){ // if counter 2p = 5 coins and servo 2p is in position 1
+ state = 4; // go to state 4
}
- else if((counter2p > 0.5)&&(Position2_2p == 1)){
- state = 6;
+ else if((counter2p > 0.5)&&(Position2_2p == 1)){ // if counter 2p = 5 coins and servo 2p is in position 2
+ state = 6; // go to state 6
}
break;
- case 3: // state 3 if counter 1p = 1
+ case 3: // state 3
servo_4.pulsewidth_us(0); // motor stop
Motor = 0;
- led3 = 1;
- if(SW1p == 1){ // wait SW 1p to go to the initial state
- servo_0.pulsewidth_us(1000 + (0 * 1000) / 90);
- state = 0;
+ led3 = 1; // led 3 switch on because we have 2 boxes of 1p full
+ if(SW1p == 1){ // if switch 1p is switched
+ servo_0.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 1p go to position 1
+ state = 0; // go to state 0
}
break;
- case 4: // state 4 if counter 2p = 1
- servo_4.pulsewidth_us(0); // motor stop
+ case 4: // state 4
+ servo_4.pulsewidth_us(0); // motor stop
wait(2);
- servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 2p go to position 2
+ servo_5.pulsewidth_us(1000 + (200 * 1000) / 90); // servo 2p go to position 2
wait(1);
Position1_2p = 0;
- Position2_2p = 1;
- Motor = 0;
- if((Position2_2p == 1)&&(counter2p < 0.5)){
- state = 5;
+ Position2_2p = 1; // position 2 for servo 2p = 1
+ Motor = 0; // motor stopping
+ if((Position2_2p == 1)&&(counter2p < 0.5)){ // if servo 2p is in position 2 and counter 2p < 5 coins
+ state = 5; // go to state 5
}
break;
- case 5: // state 5 if servo 2p is in position 2
- servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor run
- Motor = 1;
- counter2p.read();
- counter1p.read();
- if(counter2p > 0.5){
- state = 6;
+ case 5: // state 5
+ servo_4.pulsewidth_us(1000 + (25 * 1000) / 90); // motor run
+ Motor = 1;
+ counter2p.read(); // read value of counter 2p
+ counter1p.read(); // read value of counter 1p
+ if(counter2p > 0.5){ // if counter 2p = 5 coins
+ state = 6; // go to state 6
}
- else if((counter1p > 0.5)&&(Position1_1p == 1)){
- state = 0;
+ else if((counter1p > 0.5)&&(Position1_1p == 1)){ // if counter 1p = 10 coins and servo 1p is in position 1
+ state = 0; // go to state 0
}
- else if((counter1p > 0.5)&&(Position2_1p == 1)){
- state = 3;
+ else if((counter1p > 0.5)&&(Position2_1p == 1)){ // if counter 1p = 10 coins and servo 1p is in position 2
+ state = 3; // go to state 3
}
break;
- case 6: // state 6 if counter 2p = 1
- servo_4.pulsewidth_us(0); // motor stop
+ case 6: // state 6
+ servo_4.pulsewidth_us(0); // motor stop
Motor = 0;
- led4 = 1;
- if(SW2p == 1){ // wait SW 2p to go to the initial state
- servo_5.pulsewidth_us(1000 + (0 * 1000) / 90);
- state = 0;
+ led4 = 1; // led 4 switch on because we have 2 boxes of 2p full
+ if(SW2p == 1){ // if switch 2p is switched
+ servo_5.pulsewidth_us(1000 + (0 * 1000) / 90); // servo 2p go to position 1
+ state = 0; // go to state 0
}
break;
}
@@ -453,19 +451,19 @@
//
int main() {
- init_sys();
- Reset = 0;
+ init_sys(); // call function of init system
+ Reset = 0; // we not reset the counter in the FPGA
FOREVER {
timersensor.attach(&sensor, 0.02); //function sensor is reading all the 20 ms
- counter1p.read();
- counter2p.read();
+ counter1p.read(); // read value of counter 1p
+ counter2p.read(); // read value of coubter 2p
timerstatemachine.attach(&state_machine, 0.1); // function state machine is readinf all the 100 ms
- clk = !clk;
+ clk = !clk; // inverse signal of the clock
wait(0.001);
get_cmd(&ext_cmd);