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Volledig besturingssysteem voor de myoelectrische prothese arm van mijn bachelor opdracht
Dependencies: mbed QEI MODSERIAL FastPWM biquadFilter
main.cpp
- Committer:
- aschut
- Date:
- 2018-10-31
- Revision:
- 1:070092564648
- Parent:
- 0:90750f158475
- Child:
- 2:7c9974f0947a
File content as of revision 1:070092564648:
//Voor het toevoegen van een button: #include "mbed.h" #include <iostream> DigitalOut gpo(D0); DigitalIn button2(SW3); DigitalIn button1(SW2); //or SW2 DigitalOut led1(LED_GREEN); DigitalOut led2(LED_RED); DigitalOut led3(LED_BLUE); Timer t; enum states {MOTORS_OFF,CALIBRATION,HOMING,DEMO,MOVEMENT,CLICK}; int f = 1; states currentState = MOTORS_OFF; bool stateChanged = true; // Make sure the initialization of first state is executed void ProcessStateMachine(void) { switch (currentState) { case MOTORS_OFF: // Actions if (stateChanged) { // state initialization: rood led1 = 1; led2 = 0; led3 = 1; wait (1); stateChanged = false; } // State transition logic: Als button 1 word ingedrukt --> calibratie, anders motor uithouden if (!button1) { currentState = CALIBRATION; stateChanged = true; } else if (!button2) { currentState = HOMING ; stateChanged = true; } else { currentState = MOTORS_OFF; stateChanged = true; } break; case CALIBRATION: // Actions if (stateChanged) { // state initialization: oranje led1 = 0; led2 = 0; led3 = 1; wait (1); stateChanged = false; } // State transition logic: automatisch terug naar motors off. currentState = MOTORS_OFF; stateChanged = true; break; case HOMING: // Actions if (stateChanged) { // state initialization: green t.start(); led1 = 0; led2 = 1; led3 = 1; wait (1); stateChanged = false; } // State transition logic: naar DEMO (button1), naar MOVEMENT(button2) if (!button1) { currentState = DEMO; stateChanged = true; } else if (!button2) { currentState = MOVEMENT ; stateChanged = true; } else if (t>300) { t.stop(); t.reset(); currentState = MOTORS_OFF ; stateChanged = true; } else { currentState = HOMING ; stateChanged = true; } break; case DEMO: // Actions if (stateChanged) { // state initialization: light blue led1 = 0; led2 = 1; led3 = 0; wait (1); stateChanged = false; } // State transition logic: automatisch terug naar HOMING currentState = HOMING; stateChanged = true; break; case MOVEMENT: // Actions if (stateChanged) { // state initialization: purple t.start(); led1 = 1; led2 = 0; led3 = 0; wait (1); stateChanged = false; } // State transition logic: naar CLICK (button1), naar MOTORS_OFF(button2) anders naar MOVEMENT if (!button1) { currentState = CLICK; stateChanged = true; } else if (!button2) { currentState = MOTORS_OFF ; stateChanged = true; } else if (t>300) { t.stop(); t.reset(); currentState = HOMING ; stateChanged = true; } else { currentState = MOVEMENT ; stateChanged = true; } break; case CLICK: // Actions if (stateChanged) { // state initialization: blue led1 = 1; led2 = 1; led3 = 0; wait (1); stateChanged = false; } // State transition logic: automatisch terug naar MOVEMENT. currentState = MOVEMENT; stateChanged = true; break; } } int main() { while (true) { led1 = 1; led2 = 1; led3 = 1; ProcessStateMachine(); } }