Diff: actual_main.h

Revision:

2:d9745be6c253

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actual_main.h	Thu Aug 04 15:14:29 2022 -0400
@@ -0,0 +1,136 @@
+#include <cmath>
+#include <cstdint>
+#include <mbed.h>
+#include "stepper.h"
+#include "capsense.h"
+#include "dis_exp.h"
+#include "data_dumper.h"
+#include "Adafruit_MPR121.h"
+
+const PinName MOTOR_ENABLE = D15;
+const PinName MOTOR_STEP = D9;
+const PinName MOTOR_DIR = D13;
+const PinName MOTOR_MS1 = D12;
+const PinName MOTOR_MS2 = D11;
+const PinName MOTOR_MS3 = D10;
+const PinName SLEEP = D1;
+
+const PinName CS_MEASURE = D2;
+const PinName CS_SQUARE = D3;
+
+const int BAUD_RATE = 9600;
+
+const int32_t DIS_N_MEASURE = 50;
+const uint32_t DIS_T_MEASURE_US = 400; //currently not in use
+const int32_t DIS_DELTA_STEPS = 25;
+const int32_t DIS_MAX_STEPS = 800;
+
+enum State {
+    STOPPED,
+    UP,
+    DOWN,
+    DISCRETE,
+    CONTINUOUS
+};
+
+int main(void) {
+    State curState = State::STOPPED;
+
+    BufferedSerial pc(USBTX, USBRX, BAUD_RATE);
+    pc.set_blocking(false);
+    
+    StepperMotor motor(MOTOR_ENABLE, 
+                       MOTOR_STEP, 
+                       MOTOR_DIR, 
+                       MOTOR_MS1,
+                       MOTOR_MS2, 
+                       MOTOR_MS3,
+                       SLEEP);
+    
+    // CapSense cap_sense(CS_MEASURE, CS_SQUARE);
+
+    Adafruit_MPR121 mpr121;
+
+    DiscreteExperiment discrete_exp(motor, mpr121, DIS_N_MEASURE, DIS_T_MEASURE_US,
+                                    DIS_DELTA_STEPS, DIS_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()) {
+                    auto& data = discrete_exp.report();
+                    printf("Gathered %d data points. Starting data dump...\n", data.size());
+                    dump_data(data);
+                    curState = State::STOPPED;
+                }
+                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':
+                    printf("Starting DISCRETE experiment\n");
+                    curState = State::DISCRETE;
+                    discrete_exp.reset();
+                    discrete_exp.start();
+                    break;
+                case '4':
+                    curState = State::CONTINUOUS;
+//                    continuous_exp.reset();
+//                    continuous_exp.start();
+                    break;
+                case '0':
+                    printf("Stopping\n");
+                    if (curState == DISCRETE) { 
+                        auto& data = discrete_exp.report();
+                        printf("Gathered %d data points. Starting data dump...\n", data.size());
+                        dump_data(data);
+                        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;
+}
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