Diff: main.cpp

Revision:

0:90750f158475

Child:

1:070092564648

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 31 14:15:54 2018 +0000
@@ -0,0 +1,209 @@
+//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();
+    
+    }
+    
+}
+
+
+
+
+
+