Asa Ewing
2018-12-21 3
Dependents: mbed-os-rest-api-V1-2 mbed-os-rest-api-V1-2-2
Diff: WheelManager.cpp
- Revision:
- 0:61923a9dd110
- Child:
- 1:b794ac1a3aa6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/WheelManager.cpp Fri Dec 21 07:54:10 2018 +0000
@@ -0,0 +1,348 @@
+#include "module_for_all.h"
+
+/*DigitalOut _W1_A(PC_6);
+DigitalOut _W1_B(PD_8);
+
+DigitalOut _W2_A(PA_12);
+DigitalOut _W2_B(PA_11);
+
+DigitalOut _W3_A(PB_12);
+DigitalOut _W3_B(PB_11);
+
+DigitalOut _W4_A(PB_2);
+DigitalOut _W4_B(PB_15);*/
+
+
+WheelManager::WheelManager() {
+ DataStorage::_W1_A = 0;
+ DataStorage::_W1_B = 0;
+
+ DataStorage::_W2_A = 0;
+ DataStorage::_W2_B = 0;
+
+ DataStorage::_W3_A = 0;
+ DataStorage::_W3_B = 0;
+
+ DataStorage::_W4_A = 0;
+ DataStorage::_W4_B = 0;
+}
+
+WheelManager::WheelManager(std::string tmpTest) {
+ DataStorage::_W1_A = 0;
+ DataStorage::_W1_B = 0;
+
+ DataStorage::_W2_A = 0;
+ DataStorage::_W2_B = 0;
+
+ DataStorage::_W3_A = 0;
+ DataStorage::_W3_B = 0;
+
+ DataStorage::_W4_A = 0;
+ DataStorage::_W4_B = 0;
+}
+
+void WheelManager::moveDirectionControl(int tmpMoveDirection) {
+ _moveDirection = tmpMoveDirection;
+
+ //W1 W4//
+ if (tmpMoveDirection>=5 && tmpMoveDirection<=9 || tmpMoveDirection==3 || tmpMoveDirection==12){
+ DataStorage::_W1_A = 0;
+ DataStorage::_W1_B = 1;
+
+ DataStorage::_W4_A = 1;
+ DataStorage::_W4_B = 0;
+ } else if (tmpMoveDirection>=13 && tmpMoveDirection<=15 || tmpMoveDirection==0 || tmpMoveDirection==1 || tmpMoveDirection==4 || tmpMoveDirection==11){
+ DataStorage::_W1_A = 1;
+ DataStorage::_W1_B = 0;
+
+ DataStorage::_W4_A = 0;
+ DataStorage::_W4_B = 1;
+ } else if (tmpMoveDirection==2 || tmpMoveDirection==10){
+ DataStorage::_W1_A = 0;
+ DataStorage::_W1_B = 0;
+
+ DataStorage::_W4_A = 0;
+ DataStorage::_W4_B = 0;
+ }
+
+ //W2 W3//
+ if (tmpMoveDirection>=0 && tmpMoveDirection<=3 || tmpMoveDirection==5 || tmpMoveDirection==12 || tmpMoveDirection==15){
+ DataStorage::_W2_A = 0;
+ DataStorage::_W2_B = 1;
+
+ DataStorage::_W3_A = 1;
+ DataStorage::_W3_B = 0;
+ } else if (tmpMoveDirection>=7 && tmpMoveDirection<=11 || tmpMoveDirection==4 || tmpMoveDirection==13){
+ DataStorage::_W2_A = 1;
+ DataStorage::_W2_B = 0;
+
+ DataStorage::_W3_A = 0;
+ DataStorage::_W3_B = 1;
+ } else if (tmpMoveDirection==6 || tmpMoveDirection==14){
+ DataStorage::_W2_A = 0;
+ DataStorage::_W2_B = 0;
+
+ DataStorage::_W3_A = 0;
+ DataStorage::_W3_B = 0;
+ }
+
+ //W1 W2 W3 W4//
+ if (tmpMoveDirection==16){
+ DataStorage::_W1_A = 1;
+ DataStorage::_W1_B = 0;
+
+ DataStorage::_W2_A = 1;
+ DataStorage::_W2_B = 0;
+
+ DataStorage::_W3_A = 1;
+ DataStorage::_W3_B = 0;
+
+ DataStorage::_W4_A = 1;
+ DataStorage::_W4_B = 0;
+ } else if (tmpMoveDirection==17){
+ DataStorage::_W1_A = 0;
+ DataStorage::_W1_B = 1;
+
+ DataStorage::_W2_A = 0;
+ DataStorage::_W2_B = 1;
+
+ DataStorage::_W3_A = 0;
+ DataStorage::_W3_B = 1;
+
+ DataStorage::_W4_A = 0;
+ DataStorage::_W4_B = 1;
+ } else if (tmpMoveDirection==40){
+ DataStorage::_W1_A = 0;
+ DataStorage::_W1_B = 0;
+
+ DataStorage::_W2_A = 0;
+ DataStorage::_W2_B = 0;
+
+ DataStorage::_W3_A = 0;
+ DataStorage::_W3_B = 0;
+
+ DataStorage::_W4_A = 0;
+ DataStorage::_W4_B = 0;
+ }
+}
+
+void WM_pwmControl(DataStorage* tmpDS) {
+ printf("### WM pwmControl - Start\r\n");
+
+ /*PwmOut _W1_P(PD_14);
+ PwmOut _W2_P(PD_15);
+ PwmOut _W3_P(PE_12);
+ PwmOut _W4_P(PE_14);*/
+
+ //printf("### WM_pwmControl - 01\r\n");
+ //printf("### WM_pwmControl - 01 - 01\r\n");
+ //float tmpPeriod2 = (float)tmp[1]/1000000.0f;
+ //float tmpCycle2 = (float)tmp[2]/100.0f;
+
+ /*printf("### WM_pwmControl - 01 - 01 - %d\r\n", (*tmpDS).get_testInt1());
+ printf("### WM_pwmControl - 01 - 02 - %d\r\n", (*tmpDS).testInt2);
+ printf("### WM_pwmControl - 01 - 03 - %d\r\n", (*tmpDS).testInt3);
+ printf("### WM_pwmControl - 01 - 04 - %d\r\n", (*tmpDS).WM_PWM[1][0]);
+ printf("### WM_pwmControl - 01 - 05 - %d\r\n", (*tmpDS).WM_PWM[1][1]);*/
+
+ float *tmpPeriod2 = new float[4];
+ float *tmpWrite2 = new float[4];
+ //{(float)(*tmpDS).WM_PWM[1][0]/1000000.0f, 0.0f, 0.0f, 0.0f};
+ tmpPeriod2[0] = (float)(*tmpDS).WM_PWM[1][0]/1000000.0f;
+ tmpPeriod2[1] = (float)(*tmpDS).WM_PWM[2][0]/1000000.0f;
+ tmpPeriod2[2] = (float)(*tmpDS).WM_PWM[3][0]/1000000.0f;
+ tmpPeriod2[3] = (float)(*tmpDS).WM_PWM[4][0]/1000000.0f;
+ //float tmpCycle2 = (float)(*tmpDS).WM_PWM[1][1]/100.0f;
+ //float tmpCycle3 = tmpCycle2+0.2f;
+
+ //tmpPeriod2[1] = (float)(*tmpDS).WM_PWM[1][1]/100.0f;
+ //tmpPeriod2[2] = tmpPeriod2[1]+0.2f;
+
+ tmpWrite2[0] = (float)(*tmpDS).WM_PWM[1][1]/100.0f;
+ tmpWrite2[1] = (float)(*tmpDS).WM_PWM[2][1]/100.0f;
+ tmpWrite2[2] = (float)(*tmpDS).WM_PWM[3][1]/100.0f;
+ tmpWrite2[3] = (float)(*tmpDS).WM_PWM[4][1]/100.0f;
+
+ //if (tmpCycle3>1.0f) tmpCycle3=1.0f;
+ //if (tmpPeriod2[2]>1.0f) tmpPeriod2[2]=1.0f;
+
+ //printf("### WM_pwmControl - 01 - %f\r\n", tmpCycle3);
+ printf("### WM pwmControl - 01 tmpPeriod2- %f; %f; %f; %f;\r\n", tmpPeriod2[0], tmpPeriod2[1], tmpPeriod2[2], tmpPeriod2[3]);
+ printf("### WM pwmControl - 02 tmpWrite2 - %f; %f; %f; %f;\r\n", tmpWrite2[0], tmpWrite2[1], tmpWrite2[2], tmpWrite2[3]);
+
+ //printf("### WM_pwmControl - 02\r\n");
+
+ //PwmOut testPWM(PD_14);
+ //printf("### WM_pwmControl - 03\r\n");
+
+ //testPWM.period(tmpPeriod2);
+ //(*tmpPWM).period(tmpPeriod2);
+
+ //(tmpDS->_WM_PWM_out01).period(tmpPeriod2[0]);
+ (tmpDS->_WM_PWM_out01).period(tmpPeriod2[0]);
+ (tmpDS->_WM_PWM_out02).period(tmpPeriod2[1]);
+ (tmpDS->_WM_PWM_out03).period(tmpPeriod2[2]);
+ (tmpDS->_WM_PWM_out04).period(tmpPeriod2[3]);
+
+ //(*(*tmpDS).WM_PWM_out[0]).period(tmpPeriod2);
+ //printf("### WM_pwmControl - 04\r\n");
+
+ //testPWM.write(tmpCycle2);
+ //(*tmpPWM).write(tmpCycle2);
+
+ //(tmpDS->_WM_PWM_out01).write(tmpCycle2);
+ //(tmpDS->_WM_PWM_out02).write(tmpCycle3);
+
+ //(tmpDS->_WM_PWM_out01).write(tmpPeriod2[1]);
+ //(tmpDS->_WM_PWM_out02).write(tmpPeriod2[2]);
+ (tmpDS->_WM_PWM_out01).write(tmpWrite2[0]);
+ (tmpDS->_WM_PWM_out02).write(tmpWrite2[1]);
+ (tmpDS->_WM_PWM_out03).write(tmpWrite2[2]);
+ (tmpDS->_WM_PWM_out04).write(tmpWrite2[3]);
+
+ //(*(*tmpDS).WM_PWM_out[0]).write(tmpCycle2);
+ //printf("### WM_pwmControl - 05\r\n");
+ /*if (tmp[0]==1){
+ PwmOut _W_P(PD_14);
+ _W_P.period(tmpPeriod2);
+ _W_P.write(tmpCycle2);
+
+ } else if (tmp[0]==2){
+ PwmOut _W_P(PD_15);
+ _W_P.period(tmpPeriod2);
+ _W_P.write(tmpCycle2);
+
+ } else if (tmp[0]==3){
+ PwmOut _W_P(PE_12);
+ _W_P.period(tmpPeriod2);
+ _W_P.write(tmpCycle2);
+
+ } else if (tmp[0]==4){
+ PwmOut _W_P(PE_14);
+ _W_P.period(tmpPeriod2);
+ _W_P.write(tmpCycle2);
+ }*/
+
+ delete [] tmpPeriod2;
+ delete [] tmpWrite2;
+ //delete tmpCycle2;
+ //delete tmpCycle3;
+
+ printf("### WM pwmControl - End\r\n");
+}
+
+/*void WheelManager::runControl(int tmpMoveDirection, int tmpPeriod, int tmpCycle) {
+ moveDirectionControl(tmpMoveDirection);
+ //pwmControl(1, tmpPeriod, tmpCycle);
+ threadWM.start(callback(test, tmpMoveDirection));
+ wait(1);
+}*/
+
+void WheelManager::runControl(DataStorage* tmpDS, int** tmp) {
+ printf("### WM runControl - Start\r\n");
+
+ /*PwmOut _W1_P(PD_14);
+ PwmOut _W2_P(PD_15);
+ PwmOut _W3_P(PE_12);
+ PwmOut _W4_P(PE_14);*/
+
+ //PwmOut* _W_P[4] = {&_W1_P, &_W2_P, &_W3_P, &_W4_P};
+
+ for (int ii=0;ii<5;ii++){
+ for (int jj=0;jj<2;jj++){
+ DataStorage::WM_PWM[ii][jj] = tmp[ii][jj];
+ }
+ }
+
+
+
+ //printf("### runControl - 01 - 01 - %d\r\n", DataStorage::testInt1);
+ //printf("### runControl - 01 - 02 - %d\r\n", DataStorage::testInt2);
+ //printf("### runControl - 01 - 03 - %d\r\n", DataStorage::testInt3);
+ //printf("### runControl - 01 - 01\r\n");
+
+ this->moveDirectionControl(tmp[0][0]);
+
+ //pwmControl(tmp[0], tmp[1], tmp[2]);
+ //printf("### runControl - 01 - 02\r\n");
+
+ //PwmOut testPWM(PD_14);
+ //printf("### runControl - 02\r\n");
+ //(*tmpThread).terminate();
+
+ //printf("### runControl - 03\r\n");
+ //(*tmpThread).start(callback(WM_pwmControl, tmpDS));
+ WM_pwmControl(tmpDS);
+
+ this->moveDirectionControl(tmp[0][0]);
+
+ //printf("### runControl - 04\r\n");
+ //wait(1);
+
+ //printf("### runControl - 05\r\n");
+ //(*tmpThread).join();
+
+ printf("### WM runControl - End\r\n");
+}
+
+void WheelManager::runControl2(DataStorage* tmpDS, int** tmp) {
+ printf("### WM runControl2 - Start\r\n");
+
+ /*PwmOut _W1_P(PD_14);
+ PwmOut _W2_P(PD_15);
+ PwmOut _W3_P(PE_12);
+ PwmOut _W4_P(PE_14);*/
+
+ //PwmOut* _W_P[4] = {&_W1_P, &_W2_P, &_W3_P, &_W4_P};
+
+ for (int ii=0;ii<5;ii++){
+ for (int jj=0;jj<2;jj++){
+ DataStorage::WM_PWM[ii][jj] = tmp[ii][jj];
+ }
+ }
+
+ //printf("### runControl - 01 - 01 - %d\r\n", DataStorage::testInt1);
+ //printf("### runControl - 01 - 02 - %d\r\n", DataStorage::testInt2);
+ //printf("### runControl - 01 - 03 - %d\r\n", DataStorage::testInt3);
+ //printf("### runControl - 01 - 01\r\n");
+
+ this->moveDirectionControl(tmp[0][0]);
+
+ //pwmControl(tmp[0], tmp[1], tmp[2]);
+ //printf("### runControl - 01 - 02\r\n");
+
+ //PwmOut testPWM(PD_14);
+ //printf("### runControl - 02\r\n");
+ //(*tmpThread).terminate();
+
+ //printf("### runControl - 03\r\n");
+ //(*tmpThread).start(callback(WM_pwmControl, tmpDS));
+ WM_pwmControl(tmpDS);
+
+ this->moveDirectionControl(tmp[0][0]);
+
+ //printf("### runControl - 04\r\n");
+ //wait(1);
+
+ //printf("### runControl - 05\r\n");
+ //(*tmpThread).join();
+
+ printf("### WM runControl2 - End\r\n");
+}
+
+void WheelManager::runControlStop(DataStorage* tmpDS) {
+ printf("### WM runControlStop - Start\r\n");
+
+ for (int ii=0;ii<5;ii++){
+ DataStorage::WM_PWM[ii][0] = 1;
+ DataStorage::WM_PWM[ii][1] = 0;
+ }
+
+ this->moveDirectionControl(40);
+
+ WM_pwmControl(tmpDS);
+
+ this->moveDirectionControl(40);
+
+ printf("### WM runControlStop - End\r\n");
+}
\ No newline at end of file