Diff: Opzet_Eli.cpp

Revision:

0:50f25a675c72

Child:

1:268bf7dbb15c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Opzet_Eli.cpp	Mon Oct 07 07:51:23 2019 +0000
@@ -0,0 +1,171 @@
+// Robot states
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+// Define objects
+DigitalOut led1(LED_RED);
+DigitalOut led2(LED_BLUE);
+DigitalOut led3(LED_GREEN);
+DigitalIn ptc1(PTC6); //Button 1
+DigitalIn ptc2(PTA4); //Button 2
+
+//v_motor, t_passed, EMG zijn allemaal inputs die we nog even moeten fiksen ik weet niet hoe
+// Functions 
+enum states{START,KAL_ME,KAL_EMG,MOVE_START,READY_START,DEMO,MOVE,WAIT,OFF};
+
+states CurrentState(START);
+bool StateChanged true;         // this is the initialization of the first state
+
+void StateMachine(void)
+{
+    switch(CurrentState)
+    {
+        case START:
+            while(true)     //RED LED ON
+            {
+                led2 = 1;
+                led3 = 1;
+                led1 = !led1;   
+            }
+            
+            if (ptc1 == 0) // State switches when button pressed
+            {
+                CurrentState = KAL_ME;
+                StateChanged = true;
+            }
+        break;      // end of state START
+                
+        case KAL_ME:
+            while(true)
+            {
+                led2 = 1;
+                led3 = 1;
+                led1 = !led1;
+                wait(0.7);
+            }
+            if  (v_motor == 0 && t_passed = 2) //sec
+            {
+                CurrentState = KAL_EMG;
+                StateChanged = true;
+            }
+        break;      // end of state KAL_ME
+        
+        case KAL_EMG:
+            while(true)
+            {
+                led2 = 1;
+                led3 = 1;
+                led1 = !led1;
+                wait(0.2);
+            }
+            
+            while(t_passed < 5) //sec
+            {
+                //EMG_max = max EMG measured in these 5 sec
+            }
+            
+            if (EMG <= 0.1*EMG_max && t_passed == 2) //sec
+            {
+                CurrentState = MOVE_START;
+                StateChanged = true;
+            }
+        break;      // end of state KAL_EMG
+        
+        case MOVE_START:
+            while(true)
+            {
+                led1 = 1;
+                led2 = 1;
+                led3 = !led3;
+                wait(0.2);
+            }
+            
+            // define start position
+            
+            if (t_passed == 2 && //position realised and tmie passed
+            {
+                // Stop moving
+                CurrentState = READY_START;
+                StateChanged = true;
+            } 
+        break;      // end of state MOVE_START
+        
+        case READY_START:
+            while(true)
+            {
+                led1 = 1;
+                led2 = 1;
+                led3 = 0;
+            }
+            
+            if (ptc1 == 0) 
+            {
+                CurrentState = DEMO;
+                StateChanged = true;
+            }
+            else if (ptc2 == 0) // or EMG signal >= 20% max
+            {
+                CurrentState = MOVE;
+                StateChanged = true;
+            }                
+        break;      // end of state READY_START
+        
+        case DEMO:
+            //perform straight movements in some way, dunno how to make that here yet
+            if //position = end and time 
+            {
+                CurrentState = MOVE_START;
+                StateChanged = true;
+            }
+        break;      // end of state DEMO
+        
+        case MOVE:
+            if // no movement for 2 sec after input
+            {
+                CurrentState = WAIT;
+                StateChanged = true;
+            }
+            else if // input signal
+            {
+                // move in direction linked to EMG
+            }
+            // Iets met dat oranje lichtje maar snap die stap niet helemaal 
+        break;      // end of state MOVE
+        
+        case WAIT:
+            if (ptc1 == 0)
+            {
+                CurrentState = READY_START;
+                StateChanged = true;
+            )
+            else if (ptc2 == 0) // or EMG>= 20%max
+            {
+                CurrentState = MOVE;
+                StateChanged = true;
+            }
+            else if (ptc1 == 0) //maar dan heel lang achter elkaar
+        break;      // end of state WAIT
+        
+        case OFF:
+            // turns all of 
+        break;      // end of state OFF
+        
+        default:
+        TurnMotorsoff();
+        printf("Unknown state reached");
+    }               // End of the switch, all states are prescribed
+}
+
+int main(void)      // wat hier in moet snap ik nog niet 
+{
+        // hier moeten dingen komen
+        while (true)
+        {
+            CheckForCommandFromTerminal();
+            StateMachine();
+        }
+} 
+        
+        
+        
+