Diff: main.cpp

Revision:

1:40e5ac1119a6

Parent:

0:4e3ad938564e

Child:

2:d9745be6c253

--- a/main.cpp	Tue Jun 28 21:32:51 2022 +0000
+++ b/main.cpp	Tue Jul 12 13:02:25 2022 -0400
@@ -1,119 +1,11 @@
-/**
- * This is an example of an FSM controlling a motor.
- */
-#include <mbed.h>
-#include "stepper.h"
-#include "capsense.h"
-#include "dis_exp.h"
-
-const PinName MOTOR_ENABLE = D1;
-const PinName MOTOR_STEP = D2;
-const PinName MOTOR_DIR = D3;
-const PinName MOTOR_MS1 = D4;
-const PinName MOTOR_MS2 = D5;
-const PinName MOTOR_MS3 = D6;
-
-const PinName CS_MEASURE = D7;
-const PinName CS_SQUARE = D8;
-
-const int32_t N_MEASURE = 20;
-const uint32_t T_MEASURE_US = 400; //currently not in use
-const int32_t DELTA_STEPS = 200;
-const int32_t MAX_STEPS = 1000;
-
-
-enum State {
-    STOPPED,
-    UP,
-    DOWN,
-    DISCRETE,
-    CONTINUOUS
-};
-
-int main(void) {
-    State curState = State::STOPPED;
-
-    BufferedSerial pc(USBRX, USBTX);
-    pc.set_baud(9600);
-    
-    StepperMotor motor(MOTOR_ENABLE, MOTOR_STEP, MOTOR_DIR, MOTOR_MS1,
-                       MOTOR_MS2, MOTOR_MS3);
-    
-    CapSense cap_sense(CS_MEASURE, CS_SQUARE);
-
-    DiscreteExperiment discrete_exp(motor, cap_sense, N_MEASURE, T_MEASURE_US,
-                                    DELTA_STEPS, MAX_STEPS);
-    
-//    ContinuousExperiment continuous_exp(motor, cap_sense);
+#define ACTUAL        1
+#define TEST_CAPSENSE 0
+#define TEST_MOTOR    0
 
-    while (true) {
-        // State behavior
-        switch (curState) {
-            case State::STOPPED:
-                break;
-            case State::UP:
-                /* move motor up */
-                motor.step_positive();
-                break;
-            case State::DOWN:
-                /* move motor down */
-                motor.step_negative();
-                break;
-            case State::DISCRETE:
-                /* discrete state behavior */
-                discrete_exp.proceed();
-                if (discrete_exp.is_done()) {
-                    discrete_exp.report();
-                }
-                break;
-            case State::CONTINUOUS:
-                /*continuous state behavior */
-//                continuous_exp.proceed();
-//                if (continuous_exp.is_done()) {
-//                    continuous_exp.report();
-//                }
-                break;
-            default:
-                printf("[ERROR, %d] Not a state!\n", __LINE__);
-                break;
-        }
-
-        // Switch to next state
-        char input;
-        ssize_t len = pc.read(&input, 1);
-        if (len > 0) {
-            switch (input) {
-                case '1':
-                    curState = State::UP;
-                    break;
-                case '2':
-                    curState = State::DOWN;
-                    break;
-                case '3':
-                    curState = State::DISCRETE;
-                    discrete_exp.reset();
-                    discrete_exp.start();
-                    break;
-                case '4':
-                    curState = State::CONTINUOUS;
-//                    continuous_exp.reset();
-//                    continuous_exp.start();
-                    break;
-                case '0':
-                    if (curState == DISCRETE) { 
-                        discrete_exp.report();
-                        discrete_exp.reset();
-                    } else if (curState == CONTINUOUS) {
-   //                     continuous_exp.stop();
-//                        continuous_exp.report();
-                    }
-                    curState = State::STOPPED;
-                    break;
-                default:
-                    printf("[ERROR, %d] Not a command!\n", __LINE__);
-                    break;
-            }
-        }
-    }
-    return 0;
-}
+#if ACTUAL
+#include "actual_main.cpp"
+#elif TEST_CAPSENSE
+#include "test_capsense_main.cpp"
+#elif TEST_MOTOR
+#include "test_motor_main.cpp"
+#endif