Diff: HumanInterface.cpp

Revision:

4:0a82202bc5df

Parent:

3:92390ebe4903

Child:

5:64a46d67cb6e

--- a/HumanInterface.cpp	Tue Sep 02 15:31:07 2014 +0000
+++ b/HumanInterface.cpp	Fri Nov 21 18:19:47 2014 +0000
@@ -2,12 +2,12 @@
 
 
 HumanInterface::HumanInterface (PCA9555 *ioExt,
-    unsigned int yellowLedPin, unsigned int blueLedPin, unsigned int redLedPin,
-    unsigned int greenLedPin, unsigned int orangeLedPin,
+    unsigned int redLed1Pin, unsigned int greenLed1Pin, unsigned int blueLed1Pin,
+    unsigned int redLed2Pin, unsigned int greenLed2Pin, unsigned int blueLed2Pin,
     PinName goalButtonPin, PinName startButtonPin, PinName ballSensePin):
-    extIO(ioExt), redLed(ioExt, redLedPin), blueLed(ioExt, blueLedPin), yellowLed(ioExt, yellowLedPin),
-    greenLed(ioExt, greenLedPin), orangeLed(ioExt, orangeLedPin),
-    /*interruptGoal(goalButtonPin), interruptStart(startButtonPin), interruptBall(ballSensePin)*/
+    extIO(ioExt), 
+    rgbLed1(ioExt, redLed1Pin, greenLed1Pin, blueLed1Pin),
+    rgbLed2(ioExt, redLed2Pin, greenLed2Pin, blueLed2Pin),
     buttonGoal(goalButtonPin), buttonStart(startButtonPin), inputBall(ballSensePin)
     {
         goalButtonPressed = false;
@@ -28,14 +28,10 @@
         
         buttonGoal.setSampleFrequency(1000);
         buttonStart.setSampleFrequency(1000);
-        inputBall.setSampleFrequency(250);
-        
+        inputBall.setSampleFrequency(5000);
         
         redBlinking = false;
-        blueBlinking = false;
-        yellowBlinking = false;
-        greenBlinking = false;
-        orangeBlinking = false;
+        goalBlinking = false;
 
         setGoal(UNSET);
 
@@ -46,58 +42,49 @@
 void HumanInterface::setError(bool state) {
     if (state) {
         redBlinking = true;
+        rgbLed2.setGreen(false);
+        rgbLed2.setColor(RgbLed::RED);
     } else {
         redBlinking = false;
-        redLed.clear();
+        rgbLed2.setRed(false);
     }
 }
 
 void HumanInterface::setGo(bool state) {
     if (state) {
-        greenLed.set();
+        rgbLed2.setColor(RgbLed::GREEN);
+        redBlinking = false;
     } else {
-        greenLed.clear();
+        rgbLed2.setGreen(false);
     }
 }
 
 void HumanInterface::setGoal(Goal goal) {
     if (goal == YELLOW) {
-        yellowLed.set();
-        blueLed.clear();
-        blueBlinking = false;
-        yellowBlinking = false;
+        rgbLed1.setColor(RgbLed::YELLOW);
+        goalBlinking = false;
     } else if (goal == BLUE) {
-        yellowLed.clear();
-        blueLed.set();
-        blueBlinking = false;
-        yellowBlinking = false;
+        rgbLed1.setColor(RgbLed::BLUE);
+        goalBlinking = false;
     } else if (goal == UNSET) {
-        yellowLed.clear();
-        blueLed.clear();
-        blueBlinking = true;
-        yellowBlinking = true;
+        rgbLed1.setColor(RgbLed::YELLOW);
+        goalBlinking = true;
     }
 }
 
 void HumanInterface::blinkLeds(void) {
     if (redBlinking)
-        redLed.toggle();
-    if (blueBlinking)
-        blueLed.toggle();
-    if (yellowBlinking)
-        yellowLed.toggle();
-    if (greenBlinking)
-        greenLed.toggle();
-    if (orangeBlinking)
-        orangeLed.toggle();
+        rgbLed2.toggleRed();
+    if (goalBlinking)
+        rgbLed1.toggle();
 }
 
 
 
 int HumanInterface::getBallState() {
-    int ret = ballState;
-    ballState = 0;
-    return ret;
+    //int ret = ballState;
+    //ballState = 0;
+    return ballState;
 }
 
 bool HumanInterface::isGoalChange() {
@@ -105,13 +92,13 @@
     goalButtonPressed = false;
     return ret;
 }
+
 bool HumanInterface::isStart() {
     bool ret = startButtonReleased;
     startButtonReleased = false;
     return ret;
 }
 
-
 void HumanInterface::goalFall() {
     goalButtonPressed = true;
 }
@@ -122,8 +109,10 @@
 
 void HumanInterface::ballRise() {
     ballState = 1;
+    rgbLed2.setColor(RgbLed::MAGENTA);
 }
 
 void HumanInterface::ballFall() {
-    ballState = -1;
+    ballState = 0;
+    rgbLed2.setColor(RgbLed::OFF);
 }