Reiko Randoja / HumanInterfaceT14

For Telliskivi2 2014

Dependents:   Telliskivi2_2014

Fork of HumanInterface by Reiko Randoja

HumanInterface.cpp@5:64a46d67cb6e, 2014-11-23 (annotated)

Committer:
Reiko
Date:
Sun Nov 23 02:28:04 2014 +0000
Revision:
5:64a46d67cb6e
Parent:
4:0a82202bc5df 
Removed ball debounce

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Reiko 0:ccf47494061b 1 #include "HumanInterface.h"
Reiko 0:ccf47494061b 2
mlaane 2:1ef07b660873 3
Reiko 1:9b2455659c7d 4 HumanInterface::HumanInterface (PCA9555 *ioExt,
Reiko 4:0a82202bc5df 5 unsigned int redLed1Pin, unsigned int greenLed1Pin, unsigned int blueLed1Pin,
Reiko 4:0a82202bc5df 6 unsigned int redLed2Pin, unsigned int greenLed2Pin, unsigned int blueLed2Pin,
Reiko 1:9b2455659c7d 7 PinName goalButtonPin, PinName startButtonPin, PinName ballSensePin):
Reiko 4:0a82202bc5df 8 extIO(ioExt),
Reiko 4:0a82202bc5df 9 rgbLed1(ioExt, redLed1Pin, greenLed1Pin, blueLed1Pin),
Reiko 4:0a82202bc5df 10 rgbLed2(ioExt, redLed2Pin, greenLed2Pin, blueLed2Pin),
mlaane 2:1ef07b660873 11 buttonGoal(goalButtonPin), buttonStart(startButtonPin), inputBall(ballSensePin)
mlaane 2:1ef07b660873 12 {
mlaane 2:1ef07b660873 13 goalButtonPressed = false;
mlaane 2:1ef07b660873 14 startButtonReleased = false;
mlaane 2:1ef07b660873 15 ballState = 0;
mlaane 2:1ef07b660873 16
mlaane 2:1ef07b660873 17 buttonGoal.mode(PullUp);
mlaane 2:1ef07b660873 18 buttonStart.mode(PullUp);
mlaane 2:1ef07b660873 19
mlaane 2:1ef07b660873 20 buttonGoal.attach_deasserted(this, &HumanInterface::goalFall);
mlaane 2:1ef07b660873 21 buttonStart.attach_asserted(this, &HumanInterface::startRise);
Reiko 5:64a46d67cb6e 22 //inputBall.attach_asserted(this, &HumanInterface::ballRise);
Reiko 5:64a46d67cb6e 23 //inputBall.attach_deasserted(this, &HumanInterface::ballFall);
Reiko 5:64a46d67cb6e 24
Reiko 5:64a46d67cb6e 25 inputBall.rise(this, &HumanInterface::ballRise);
Reiko 5:64a46d67cb6e 26 inputBall.fall(this, &HumanInterface::ballFall);
mlaane 2:1ef07b660873 27
mlaane 2:1ef07b660873 28 buttonGoal.setSamplesTillAssert(20);
mlaane 2:1ef07b660873 29 buttonStart.setSamplesTillAssert(20);
Reiko 5:64a46d67cb6e 30 //inputBall.setSamplesTillAssert(2);
mlaane 2:1ef07b660873 31
mlaane 2:1ef07b660873 32 buttonGoal.setSampleFrequency(1000);
mlaane 2:1ef07b660873 33 buttonStart.setSampleFrequency(1000);
Reiko 5:64a46d67cb6e 34 //inputBall.setSampleFrequency(5000);
mlaane 2:1ef07b660873 35
Reiko 0:ccf47494061b 36 redBlinking = false;
Reiko 4:0a82202bc5df 37 goalBlinking = false;
Reiko 0:ccf47494061b 38
Reiko 0:ccf47494061b 39 setGoal(UNSET);
Reiko 0:ccf47494061b 40
Reiko 0:ccf47494061b 41 ledTicker.attach(this, &HumanInterface::blinkLeds, 0.2);
Reiko 1:9b2455659c7d 42
Reiko 0:ccf47494061b 43 }
Reiko 0:ccf47494061b 44
Reiko 0:ccf47494061b 45 void HumanInterface::setError(bool state) {
Reiko 0:ccf47494061b 46 if (state) {
Reiko 0:ccf47494061b 47 redBlinking = true;
Reiko 4:0a82202bc5df 48 rgbLed2.setGreen(false);
Reiko 4:0a82202bc5df 49 rgbLed2.setColor(RgbLed::RED);
Reiko 0:ccf47494061b 50 } else {
Reiko 0:ccf47494061b 51 redBlinking = false;
Reiko 4:0a82202bc5df 52 rgbLed2.setRed(false);
Reiko 0:ccf47494061b 53 }
Reiko 0:ccf47494061b 54 }
Reiko 0:ccf47494061b 55
Reiko 1:9b2455659c7d 56 void HumanInterface::setGo(bool state) {
Reiko 1:9b2455659c7d 57 if (state) {
Reiko 4:0a82202bc5df 58 rgbLed2.setColor(RgbLed::GREEN);
Reiko 4:0a82202bc5df 59 redBlinking = false;
Reiko 1:9b2455659c7d 60 } else {
Reiko 4:0a82202bc5df 61 rgbLed2.setGreen(false);
Reiko 1:9b2455659c7d 62 }
Reiko 1:9b2455659c7d 63 }
Reiko 0:ccf47494061b 64
Reiko 0:ccf47494061b 65 void HumanInterface::setGoal(Goal goal) {
Reiko 0:ccf47494061b 66 if (goal == YELLOW) {
Reiko 4:0a82202bc5df 67 rgbLed1.setColor(RgbLed::YELLOW);
Reiko 4:0a82202bc5df 68 goalBlinking = false;
Reiko 0:ccf47494061b 69 } else if (goal == BLUE) {
Reiko 4:0a82202bc5df 70 rgbLed1.setColor(RgbLed::BLUE);
Reiko 4:0a82202bc5df 71 goalBlinking = false;
Reiko 0:ccf47494061b 72 } else if (goal == UNSET) {
Reiko 4:0a82202bc5df 73 rgbLed1.setColor(RgbLed::YELLOW);
Reiko 4:0a82202bc5df 74 goalBlinking = true;
Reiko 0:ccf47494061b 75 }
Reiko 0:ccf47494061b 76 }
Reiko 0:ccf47494061b 77
Reiko 0:ccf47494061b 78 void HumanInterface::blinkLeds(void) {
Reiko 0:ccf47494061b 79 if (redBlinking)
Reiko 4:0a82202bc5df 80 rgbLed2.toggleRed();
Reiko 4:0a82202bc5df 81 if (goalBlinking)
Reiko 4:0a82202bc5df 82 rgbLed1.toggle();
Reiko 0:ccf47494061b 83 }
Reiko 0:ccf47494061b 84
mlaane 2:1ef07b660873 85
Reiko 1:9b2455659c7d 86
mlaane 2:1ef07b660873 87 int HumanInterface::getBallState() {
Reiko 4:0a82202bc5df 88 //int ret = ballState;
Reiko 4:0a82202bc5df 89 //ballState = 0;
Reiko 4:0a82202bc5df 90 return ballState;
Reiko 1:9b2455659c7d 91 }
Reiko 1:9b2455659c7d 92
mlaane 2:1ef07b660873 93 bool HumanInterface::isGoalChange() {
mlaane 2:1ef07b660873 94 bool ret = goalButtonPressed;
mlaane 2:1ef07b660873 95 goalButtonPressed = false;
mlaane 2:1ef07b660873 96 return ret;
Reiko 0:ccf47494061b 97 }
Reiko 4:0a82202bc5df 98
mlaane 2:1ef07b660873 99 bool HumanInterface::isStart() {
mlaane 2:1ef07b660873 100 bool ret = startButtonReleased;
mlaane 2:1ef07b660873 101 startButtonReleased = false;
mlaane 2:1ef07b660873 102 return ret;
Reiko 0:ccf47494061b 103 }
Reiko 0:ccf47494061b 104
mlaane 2:1ef07b660873 105 void HumanInterface::goalFall() {
mlaane 2:1ef07b660873 106 goalButtonPressed = true;
Reiko 0:ccf47494061b 107 }
Reiko 0:ccf47494061b 108
mlaane 2:1ef07b660873 109 void HumanInterface::startRise() {
mlaane 2:1ef07b660873 110 startButtonReleased = true;
Reiko 1:9b2455659c7d 111 }
Reiko 1:9b2455659c7d 112
mlaane 2:1ef07b660873 113 void HumanInterface::ballRise() {
mlaane 2:1ef07b660873 114 ballState = 1;
Reiko 4:0a82202bc5df 115 rgbLed2.setColor(RgbLed::MAGENTA);
mlaane 2:1ef07b660873 116 }
mlaane 2:1ef07b660873 117
mlaane 2:1ef07b660873 118 void HumanInterface::ballFall() {
Reiko 4:0a82202bc5df 119 ballState = 0;
Reiko 4:0a82202bc5df 120 rgbLed2.setColor(RgbLed::OFF);
mlaane 2:1ef07b660873 121 }