HumanInterface.cpp

00001 #include "HumanInterface.h"
00002 
00003 
00004 HumanInterface::HumanInterface (PCA9555 *ioExt,
00005     unsigned int yellowLedPin, unsigned int blueLedPin, unsigned int redLedPin,
00006     unsigned int greenLedPin, unsigned int orangeLedPin,
00007     PinName goalButtonPin, PinName startButtonPin, PinName ballSensePin):
00008     extIO(ioExt), redLed(ioExt, redLedPin), blueLed(ioExt, blueLedPin), yellowLed(ioExt, yellowLedPin),
00009     greenLed(ioExt, greenLedPin), orangeLed(ioExt, orangeLedPin),
00010     /*interruptGoal(goalButtonPin), interruptStart(startButtonPin), interruptBall(ballSensePin)*/
00011     buttonGoal(goalButtonPin), buttonStart(startButtonPin), inputBall(ballSensePin)
00012     {
00013         goalButtonPressed = false;
00014         startButtonReleased = false;
00015         ballState = 0;
00016         
00017         buttonGoal.mode(PullUp);
00018         buttonStart.mode(PullUp);
00019         
00020         buttonGoal.attach_deasserted(this, &HumanInterface::goalFall);
00021         buttonStart.attach_asserted(this, &HumanInterface::startRise);
00022         inputBall.attach_asserted(this, &HumanInterface::ballRise);
00023         inputBall.attach_deasserted(this, &HumanInterface::ballFall);
00024         
00025         buttonGoal.setSamplesTillAssert(20);
00026         buttonStart.setSamplesTillAssert(20);
00027         inputBall.setSamplesTillAssert(2);
00028         
00029         buttonGoal.setSampleFrequency(1000);
00030         buttonStart.setSampleFrequency(1000);
00031         inputBall.setSampleFrequency(250);
00032         
00033         
00034         redBlinking = false;
00035         blueBlinking = false;
00036         yellowBlinking = false;
00037         greenBlinking = false;
00038         orangeBlinking = false;
00039 
00040         setGoal(UNSET);
00041 
00042         ledTicker.attach(this, &HumanInterface::blinkLeds, 0.2);
00043         
00044 }
00045 
00046 void HumanInterface::setError(bool state) {
00047     if (state) {
00048         redBlinking = true;
00049     } else {
00050         redBlinking = false;
00051         redLed.clear();
00052     }
00053 }
00054 
00055 void HumanInterface::setGo(bool state) {
00056     if (state) {
00057         greenLed.set();
00058     } else {
00059         greenLed.clear();
00060     }
00061 }
00062 
00063 void HumanInterface::setGoal(Goal goal) {
00064     if (goal == YELLOW) {
00065         yellowLed.set();
00066         blueLed.clear();
00067         blueBlinking = false;
00068         yellowBlinking = false;
00069     } else if (goal == BLUE) {
00070         yellowLed.clear();
00071         blueLed.set();
00072         blueBlinking = false;
00073         yellowBlinking = false;
00074     } else if (goal == UNSET) {
00075         yellowLed.clear();
00076         blueLed.clear();
00077         blueBlinking = true;
00078         yellowBlinking = true;
00079     }
00080 }
00081 
00082 void HumanInterface::blinkLeds(void) {
00083     if (redBlinking)
00084         redLed.toggle();
00085     if (blueBlinking)
00086         blueLed.toggle();
00087     if (yellowBlinking)
00088         yellowLed.toggle();
00089     if (greenBlinking)
00090         greenLed.toggle();
00091     if (orangeBlinking)
00092         orangeLed.toggle();
00093 }
00094 
00095 
00096 
00097 int HumanInterface::getBallState() {
00098     int ret = ballState;
00099     ballState = 0;
00100     return ret;
00101 }
00102 
00103 bool HumanInterface::isGoalChange() {
00104     bool ret = goalButtonPressed;
00105     goalButtonPressed = false;
00106     return ret;
00107 }
00108 bool HumanInterface::isStart() {
00109     bool ret = startButtonReleased;
00110     startButtonReleased = false;
00111     return ret;
00112 }
00113 
00114 
00115 void HumanInterface::goalFall() {
00116     goalButtonPressed = true;
00117 }
00118 
00119 void HumanInterface::startRise() {
00120     startButtonReleased = true;
00121 }
00122 
00123 void HumanInterface::ballRise() {
00124     ballState = 1;
00125 }
00126 
00127 void HumanInterface::ballFall() {
00128     ballState = -1;
00129 }