Diff: main.cpp

Revision:

0:4e3ad938564e

Child:

1:40e5ac1119a6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jun 28 21:32:51 2022 +0000
@@ -0,0 +1,119 @@
+/**
+ * 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);
+
+    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;
+}