Ben Katz / rubix_controller

servodisc goodness

Dependencies:   mbed-dev-f303

cube.h@11:16d807d6b9c5, 2018-03-07 (annotated)

Committer:
benkatz
Date:
Wed Mar 07 19:25:49 2018 +0000
Revision:
11:16d807d6b9c5
Parent:
6:1143996ac690 
Seems to work;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 6:1143996ac690 1 #ifndef _cube_h
benkatz 6:1143996ac690 2 #define _cube_h
benkatz 6:1143996ac690 3
benkatz 6:1143996ac690 4 #include <stdint.h>
benkatz 6:1143996ac690 5 // special serial commands
benkatz 6:1143996ac690 6 #define K_START (0x1<<6)
benkatz 6:1143996ac690 7 #define K_MOVES (0x3<<6)
benkatz 6:1143996ac690 8 #define K_END (0x2<<6)
benkatz 6:1143996ac690 9
benkatz 6:1143996ac690 10 #define BYTE_TO_BINARY_PATTERN "%c%c%c%c%c%c%c%c"
benkatz 6:1143996ac690 11 #define BYTE_TO_BINARY(byte) \
benkatz 6:1143996ac690 12 (byte & 0x80 ? '1' : '0'), \
benkatz 6:1143996ac690 13 (byte & 0x40 ? '1' : '0'), \
benkatz 6:1143996ac690 14 (byte & 0x20 ? '1' : '0'), \
benkatz 6:1143996ac690 15 (byte & 0x10 ? '1' : '0'), \
benkatz 6:1143996ac690 16 (byte & 0x08 ? '1' : '0'), \
benkatz 6:1143996ac690 17 (byte & 0x04 ? '1' : '0'), \
benkatz 6:1143996ac690 18 (byte & 0x02 ? '1' : '0'), \
benkatz 6:1143996ac690 19 (byte & 0x01 ? '1' : '0')
benkatz 6:1143996ac690 20 // cube faces
benkatz 6:1143996ac690 21 enum face_t
benkatz 6:1143996ac690 22 {
benkatz 6:1143996ac690 23 Us = 0,
benkatz 6:1143996ac690 24 D = 1,
benkatz 6:1143996ac690 25 L = 2,
benkatz 6:1143996ac690 26 R = 3,
benkatz 6:1143996ac690 27 F = 4,
benkatz 6:1143996ac690 28 B = 5
benkatz 6:1143996ac690 29 };
benkatz 6:1143996ac690 30
benkatz 6:1143996ac690 31 // a single move, consisting of a face
benkatz 6:1143996ac690 32 // and number of CW rotations
benkatz 6:1143996ac690 33 struct move_t
benkatz 6:1143996ac690 34 {
benkatz 6:1143996ac690 35 face_t face;
benkatz 6:1143996ac690 36 int8_t n_turns;
benkatz 6:1143996ac690 37 };
benkatz 6:1143996ac690 38
benkatz 6:1143996ac690 39 // a sequence of moves:
benkatz 6:1143996ac690 40 // pointer to start of an array of moves
benkatz 6:1143996ac690 41 // length of the array
benkatz 6:1143996ac690 42 struct sequence_t
benkatz 6:1143996ac690 43 {
benkatz 6:1143996ac690 44 move_t* moves;
benkatz 6:1143996ac690 45 uint8_t n_moves;
benkatz 6:1143996ac690 46 };
benkatz 6:1143996ac690 47
benkatz 6:1143996ac690 48 // all the information that the simulated board needs to run the sequence
benkatz 6:1143996ac690 49 // for the actual implementation, keep only seq and face
benkatz 6:1143996ac690 50 // calls to small_delay, rotate, {get,set}_and should be
benkatz 6:1143996ac690 51 // replaced with calls to Ben's functions
benkatz 6:1143996ac690 52 struct mbed_info_t
benkatz 6:1143996ac690 53 {
benkatz 6:1143996ac690 54 face_t face; // the face that this board corresponds to
benkatz 6:1143996ac690 55 sequence_t* seq; // the sequence to follow
benkatz 6:1143996ac690 56 void(*rotate)(int8_t, int8_t); // rotate a face n turns, second argument is board number (needed for simulation)
benkatz 6:1143996ac690 57 void(*set_and)(int8_t, int8_t); // sets and output, second argument is board number (needed for simulation)
benkatz 6:1143996ac690 58 int8_t(*get_and)(); // gets and board status
benkatz 6:1143996ac690 59 };
benkatz 6:1143996ac690 60
benkatz 6:1143996ac690 61 int sequence_to_serial(sequence_t* seq, uint8_t* buffer, int n_bytes);
benkatz 6:1143996ac690 62 int serial_to_sequence(sequence_t* seq, uint8_t* buffer, int n_bytes);
benkatz 6:1143996ac690 63 void string_to_sequence(char* string);
benkatz 6:1143996ac690 64
benkatz 6:1143996ac690 65 //void* run_sequence(void* command);
benkatz 6:1143996ac690 66 void* run_sequence_2(void* command);
benkatz 6:1143996ac690 67 void print_sequence(sequence_t* seq);
benkatz 6:1143996ac690 68 void reset_mbed();
benkatz 6:1143996ac690 69 sequence_t* get_sequence();
benkatz 6:1143996ac690 70 #endif