Diff: main.cpp

Revision:

1:7b420a2ea7db

Parent:

0:01fd80c0a524

Child:

2:a73037a7d85d

--- a/main.cpp	Tue Aug 26 05:04:24 2014 +0000
+++ b/main.cpp	Tue Aug 26 12:33:27 2014 +0000
@@ -2,27 +2,45 @@
 
 enum calib_state_t {
     UNCALIBRATED,
-    CALIBRATED,
+    INITIALISING,
     CALIBRATING,
-    INITIALISING,};
+    CALIBRATED};
 
 DigitalOut my_led(LED1); // Sanity LED
 DigitalOut ttDrive(PA_14); // the drive signal for the turntable
 InterruptIn encoder(PA_13); // Signal from encoder
 InterruptIn limitSwitch(PA_15); // Signal from limit switch
 
-calib_state_t calib_state = 0; // Flag for calibration state
+calib_state_t calib_state = UNCALIBRATED; // Flag for calibration state
 int encoderMax = 0; // Calibrated maximum value for the encoder
+int encoderCurrent = 0; // Keeps track of the current position of the turn table
+bool limitFlag = 0;
 
-void calibrate(void); // synchronises and calibrates MCU to turntable
-void increment(int *i); // increments value i, used as an interrupt target
+void calibrate(); // synchronises and calibrates MCU to turntable
+void incrementEncoder(); // increments value i, used as an interrupt target
+void resetEncoder();
+
+
+ConsoleSerial consoleSerial(SERIAL_TX, SERIAL_RX);
 
 
 int main() {
     
     
+    consoleSerial.setBaud(CONSOLE_BAUD);
+    
+    my_led = 0;
+    
     // Step 1: Attach interrupt signals to appropriate functions
+    
+    limitSwitch.mode(PullUp);
+    limitSwitch.fall(&resetEncoder);  //****Ask someone about correct handling of interrupts, including; naming convention (resetEncoder also handles calib_state), potential coupling realted to having a function perform two tasks
+    encoder.mode(PullDown);
+    encoder.fall(&incrementEncoder);
+    encoder.rise(&incrementEncoder);
+    
     // Step 2: Calibrate MCU to the turn table
+    calibrate();
     // Step 3: Control turntable using hard coded commands
     // Step 4: Include WiConnect Library
     // Step 5: Interpret commands sent over TCP
@@ -30,19 +48,69 @@
     
     // Configure sanity LED to blink
     while(1) {
-        my_led = !my_led;
+        //my_led = !my_led;
         wait(0.5);
     }
 }
 
-void calibrate(void)
+void calibrate()
 {
-    // Step 1:  Get the motor turning
+    // Step 1:  Set status to uncalibrated
+    calib_state = UNCALIBRATED;
+    // Step 2:  Get the motor turning
+    ttDrive = 1;
+    calib_state = INITIALISING;
+    encoderMax = 0; // reset the maximum encoder value
+    
     // Step 2:  Continue turning until calibration state is "CALIBRATED"
     //          the actual calibration will be handled by interrupts
+    
+    while (calib_state != CALIBRATED)
+    {
+        // run time reaches here....my_led = 1;
+        my_led = limitFlag;
+        if(limitFlag == 1)
+        {
+            my_led = 1;
+            // run time does not reach here
+            // Step 2: Process the calibration state
+            limitFlag = 0;
+            switch(calib_state)
+            {
+                case (UNCALIBRATED):
+                    calib_state = INITIALISING;
+                    break;
+                case (INITIALISING):
+                    calib_state = CALIBRATING;
+                    break;
+                case (CALIBRATING):
+                    calib_state = CALIBRATED;
+                    break;
+                case (CALIBRATED):
+                    break;
+                default:
+                    calib_state = UNCALIBRATED;
+            }
+        }
+    }
 }
 
-void increment(int *i)
+void incrementEncoder()
 {
     // Step 1: De-refference pointer and increment the value
+    if (calib_state == CALIBRATING)
+        ++encoderMax;
+    else
+        ++encoderCurrent;
+}
+
+void resetEncoder()
+{
+    // code reaches here...my_led = 1;
+    // Step 1: Set encoderCurrent value to zero
+    encoderCurrent = 0;
+    
+    // Show that the limit switch has been pressed
+    limitFlag = 1;
+    my_led = limitFlag;
 }
\ No newline at end of file