Reiko Randoja / HumanInterfaceT14

For Telliskivi2 2014

Dependents:   Telliskivi2_2014

Fork of HumanInterface by Reiko Randoja

HumanInterface.cpp@1:9b2455659c7d, 2013-11-03 (annotated)

Committer:
Reiko
Date:
Sun Nov 03 11:40:06 2013 +0000
Revision:
1:9b2455659c7d
Parent:
0:ccf47494061b
Child:
2:1ef07b660873
Changed to use buttons and ball detector connected to mbed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Reiko 0:ccf47494061b 1 #include "HumanInterface.h"
Reiko 0:ccf47494061b 2
Reiko 1:9b2455659c7d 3 HumanInterface::HumanInterface (PCA9555 *ioExt,
Reiko 0:ccf47494061b 4 unsigned int yellowLedPin, unsigned int blueLedPin, unsigned int redLedPin,
Reiko 1:9b2455659c7d 5 unsigned int greenLedPin, unsigned int orangeLedPin,
Reiko 1:9b2455659c7d 6 PinName goalButtonPin, PinName startButtonPin, PinName ballSensePin):
Reiko 1:9b2455659c7d 7 extIO(ioExt), yellowLed(ioExt, yellowLedPin), blueLed(ioExt, blueLedPin), redLed(ioExt, redLedPin),
Reiko 1:9b2455659c7d 8 greenLed(ioExt, greenLedPin), orangeLed(ioExt, orangeLedPin),
Reiko 1:9b2455659c7d 9 interruptGoal(goalButtonPin), interruptStart(startButtonPin), interruptBall(ballSensePin) {
Reiko 0:ccf47494061b 10 redBlinking = false;
Reiko 0:ccf47494061b 11 blueBlinking = false;
Reiko 0:ccf47494061b 12 yellowBlinking = false;
Reiko 1:9b2455659c7d 13 greenBlinking = false;
Reiko 1:9b2455659c7d 14 orangeBlinking = false;
Reiko 0:ccf47494061b 15
Reiko 1:9b2455659c7d 16 goalLastState = false;
Reiko 1:9b2455659c7d 17 startLastState = false;
Reiko 1:9b2455659c7d 18 ballLastState = false;
Reiko 0:ccf47494061b 19
Reiko 0:ccf47494061b 20 setGoal(UNSET);
Reiko 0:ccf47494061b 21
Reiko 0:ccf47494061b 22 ledTicker.attach(this, &HumanInterface::blinkLeds, 0.2);
Reiko 1:9b2455659c7d 23
Reiko 1:9b2455659c7d 24 interruptGoal.mode(PullUp);
Reiko 1:9b2455659c7d 25 interruptStart.mode(PullUp);
Reiko 1:9b2455659c7d 26
Reiko 1:9b2455659c7d 27 interruptGoal.rise(this, &HumanInterface::goalRised);
Reiko 1:9b2455659c7d 28 interruptStart.rise(this, &HumanInterface::startRised);
Reiko 1:9b2455659c7d 29 interruptBall.fall(this, &HumanInterface::ballFalled);
Reiko 1:9b2455659c7d 30 interruptBall.rise(this, &HumanInterface::ballRised);
Reiko 0:ccf47494061b 31 }
Reiko 0:ccf47494061b 32
Reiko 0:ccf47494061b 33 void HumanInterface::setError(bool state) {
Reiko 0:ccf47494061b 34 if (state) {
Reiko 0:ccf47494061b 35 redBlinking = true;
Reiko 0:ccf47494061b 36 } else {
Reiko 0:ccf47494061b 37 redBlinking = false;
Reiko 0:ccf47494061b 38 redLed.clear();
Reiko 0:ccf47494061b 39 }
Reiko 0:ccf47494061b 40 }
Reiko 0:ccf47494061b 41
Reiko 1:9b2455659c7d 42 void HumanInterface::setGo(bool state) {
Reiko 1:9b2455659c7d 43 if (state) {
Reiko 1:9b2455659c7d 44 greenLed.set();
Reiko 1:9b2455659c7d 45 } else {
Reiko 1:9b2455659c7d 46 greenLed.clear();
Reiko 1:9b2455659c7d 47 }
Reiko 1:9b2455659c7d 48 }
Reiko 0:ccf47494061b 49
Reiko 0:ccf47494061b 50 void HumanInterface::setGoal(Goal goal) {
Reiko 0:ccf47494061b 51 if (goal == YELLOW) {
Reiko 0:ccf47494061b 52 yellowLed.set();
Reiko 0:ccf47494061b 53 blueLed.clear();
Reiko 0:ccf47494061b 54 blueBlinking = false;
Reiko 0:ccf47494061b 55 yellowBlinking = false;
Reiko 0:ccf47494061b 56 } else if (goal == BLUE) {
Reiko 0:ccf47494061b 57 yellowLed.clear();
Reiko 0:ccf47494061b 58 blueLed.set();
Reiko 0:ccf47494061b 59 blueBlinking = false;
Reiko 0:ccf47494061b 60 yellowBlinking = false;
Reiko 0:ccf47494061b 61 } else if (goal == UNSET) {
Reiko 0:ccf47494061b 62 yellowLed.clear();
Reiko 0:ccf47494061b 63 blueLed.clear();
Reiko 0:ccf47494061b 64 blueBlinking = true;
Reiko 0:ccf47494061b 65 yellowBlinking = true;
Reiko 0:ccf47494061b 66 }
Reiko 0:ccf47494061b 67 }
Reiko 0:ccf47494061b 68
Reiko 0:ccf47494061b 69 void HumanInterface::blinkLeds(void) {
Reiko 0:ccf47494061b 70 if (redBlinking)
Reiko 0:ccf47494061b 71 redLed.toggle();
Reiko 0:ccf47494061b 72 if (blueBlinking)
Reiko 0:ccf47494061b 73 blueLed.toggle();
Reiko 0:ccf47494061b 74 if (yellowBlinking)
Reiko 0:ccf47494061b 75 yellowLed.toggle();
Reiko 1:9b2455659c7d 76 if (greenBlinking)
Reiko 1:9b2455659c7d 77 greenLed.toggle();
Reiko 1:9b2455659c7d 78 if (orangeBlinking)
Reiko 1:9b2455659c7d 79 orangeLed.toggle();
Reiko 0:ccf47494061b 80 }
Reiko 0:ccf47494061b 81
Reiko 0:ccf47494061b 82 bool HumanInterface::getBallState() {
Reiko 1:9b2455659c7d 83 return ballCurrentState;
Reiko 1:9b2455659c7d 84 }
Reiko 1:9b2455659c7d 85
Reiko 1:9b2455659c7d 86 void HumanInterface::goalRised() {
Reiko 1:9b2455659c7d 87 goalRiseCallback.call();
Reiko 0:ccf47494061b 88 }
Reiko 0:ccf47494061b 89
Reiko 1:9b2455659c7d 90 void HumanInterface::startRised() {
Reiko 1:9b2455659c7d 91 startRiseCallback.call();
Reiko 0:ccf47494061b 92 }
Reiko 0:ccf47494061b 93
Reiko 1:9b2455659c7d 94 void HumanInterface::ballRised() {
Reiko 1:9b2455659c7d 95 ballRiseCallback.call();
Reiko 1:9b2455659c7d 96 }
Reiko 1:9b2455659c7d 97
Reiko 1:9b2455659c7d 98 void HumanInterface::ballFalled() {
Reiko 1:9b2455659c7d 99 ballFallCallback.call();
Reiko 0:ccf47494061b 100 }
Reiko 0:ccf47494061b 101
Reiko 0:ccf47494061b 102 void HumanInterface::goalRise(void (*function)(void)) {
Reiko 0:ccf47494061b 103 goalRiseCallback.attach(function);
Reiko 0:ccf47494061b 104 }
Reiko 0:ccf47494061b 105
Reiko 0:ccf47494061b 106 void HumanInterface::startRise(void (*function)(void)) {
Reiko 0:ccf47494061b 107 startRiseCallback.attach(function);
Reiko 0:ccf47494061b 108 }
Reiko 0:ccf47494061b 109
Reiko 1:9b2455659c7d 110 void HumanInterface::ballRise(void (*function)(void)) {
Reiko 1:9b2455659c7d 111 ballRiseCallback.attach(function);
Reiko 1:9b2455659c7d 112 }
Reiko 1:9b2455659c7d 113
Reiko 1:9b2455659c7d 114 void HumanInterface::ballFall(void (*function)(void)) {
Reiko 1:9b2455659c7d 115 ballFallCallback.attach(function);
Reiko 0:ccf47494061b 116 }