HumanInterface.cpp

00001 #include "HumanInterface.h"
00002 
00003 
00004 HumanInterface::HumanInterface (PCA9555 *ioExt,
00005     unsigned int redLed1Pin, unsigned int greenLed1Pin, unsigned int blueLed1Pin,
00006     unsigned int redLed2Pin, unsigned int greenLed2Pin, unsigned int blueLed2Pin,
00007     PinName goalButtonPin, PinName startButtonPin, PinName ballSensePin):
00008     extIO(ioExt), 
00009     rgbLed1(ioExt, redLed1Pin, greenLed1Pin, blueLed1Pin),
00010     rgbLed2(ioExt, redLed2Pin, greenLed2Pin, blueLed2Pin),
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         inputBall.rise(this, &HumanInterface::ballRise);
00026         inputBall.fall(this, &HumanInterface::ballFall);
00027         
00028         buttonGoal.setSamplesTillAssert(20);
00029         buttonStart.setSamplesTillAssert(20);
00030         //inputBall.setSamplesTillAssert(2);
00031         
00032         buttonGoal.setSampleFrequency(1000);
00033         buttonStart.setSampleFrequency(1000);
00034         //inputBall.setSampleFrequency(5000);
00035         
00036         redBlinking = false;
00037         goalBlinking = false;
00038 
00039         setGoal(UNSET);
00040 
00041         ledTicker.attach(this, &HumanInterface::blinkLeds, 0.2);
00042         
00043 }
00044 
00045 void HumanInterface::setError(bool state) {
00046     if (state) {
00047         redBlinking = true;
00048         rgbLed2.setGreen(false);
00049         rgbLed2.setColor(RgbLed::RED);
00050     } else {
00051         redBlinking = false;
00052         rgbLed2.setRed(false);
00053     }
00054 }
00055 
00056 void HumanInterface::setGo(bool state) {
00057     if (state) {
00058         rgbLed2.setColor(RgbLed::GREEN);
00059         redBlinking = false;
00060     } else {
00061         rgbLed2.setGreen(false);
00062     }
00063 }
00064 
00065 void HumanInterface::setGoal(Goal goal) {
00066     if (goal == YELLOW) {
00067         rgbLed1.setColor(RgbLed::YELLOW);
00068         goalBlinking = false;
00069     } else if (goal == BLUE) {
00070         rgbLed1.setColor(RgbLed::BLUE);
00071         goalBlinking = false;
00072     } else if (goal == UNSET) {
00073         rgbLed1.setColor(RgbLed::YELLOW);
00074         goalBlinking = true;
00075     }
00076 }
00077 
00078 void HumanInterface::blinkLeds(void) {
00079     if (redBlinking)
00080         rgbLed2.toggleRed();
00081     if (goalBlinking)
00082         rgbLed1.toggle();
00083 }
00084 
00085 
00086 
00087 int HumanInterface::getBallState() {
00088     //int ret = ballState;
00089     //ballState = 0;
00090     return ballState;
00091 }
00092 
00093 bool HumanInterface::isGoalChange() {
00094     bool ret = goalButtonPressed;
00095     goalButtonPressed = false;
00096     return ret;
00097 }
00098 
00099 bool HumanInterface::isStart() {
00100     bool ret = startButtonReleased;
00101     startButtonReleased = false;
00102     return ret;
00103 }
00104 
00105 void HumanInterface::goalFall() {
00106     goalButtonPressed = true;
00107 }
00108 
00109 void HumanInterface::startRise() {
00110     startButtonReleased = true;
00111 }
00112 
00113 void HumanInterface::ballRise() {
00114     ballState = 1;
00115     rgbLed2.setColor(RgbLed::MAGENTA);
00116 }
00117 
00118 void HumanInterface::ballFall() {
00119     ballState = 0;
00120     rgbLed2.setColor(RgbLed::OFF);
00121 }