Revision 0:4841f4169944, committed 2010-12-01

Comitter:

henryeherman

Date:

Wed Dec 01 03:29:25 2010 +0000

Commit message:

Changed in this revision

diff -r 000000000000 -r 4841f4169944 com.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/com.cpp	Wed Dec 01 03:29:25 2010 +0000
@@ -0,0 +1,2 @@
+#include "com.h"
+Serial com(USBTX,USBRX);
\ No newline at end of file

diff -r 000000000000 -r 4841f4169944 com.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/com.h	Wed Dec 01 03:29:25 2010 +0000
@@ -0,0 +1,5 @@
+//#ifndef COM_H
+//#define COM_H
+#include "mbed.h"
+extern Serial com;
+//#endif
\ No newline at end of file

diff -r 000000000000 -r 4841f4169944 handler.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/handler.cpp	Wed Dec 01 03:29:25 2010 +0000
@@ -0,0 +1,126 @@
+#include "handler.h"
+#include "com.h"
+
+
+
+Handler::Handler(char *nm) {
+    name = nm;
+    init();
+    stringState=NOTREADY;
+}
+
+
+void Handler::init() {
+    #ifdef DEBUGHAND
+    com.printf("INIT HANDLER\r\n");
+    #endif
+    state = WAITINGON_S;
+    resetMatch();
+}
+
+void Handler::resetMatch() {
+    #ifdef DEBUGHAND
+    com.printf("RESET MATCH STRING\r\n");
+    #endif
+    matchString[0]='\0';
+    pmatchString = matchString;
+}
+
+
+void Handler::run() {
+    int c;
+    if (!com.readable()) {
+        return;
+    }
+    c = com.getc();
+    
+    #ifdef DEBUGHAND
+    com.printf("READ CHAR, %c\r\n", c);
+    #endif
+    
+    switch (state) {
+        case WAITINGON_S:
+            recievedStart(c);
+            break;
+        case RECIEVING_MATCH:
+            processChar(c);
+            break;
+        default:
+            //should not get here
+            hostError();
+            break;
+
+    }
+}
+
+void Handler::processChar(char c) {
+    switch (c) {
+        case ONECHR:
+        case ZEROCHR:
+            recieveMatchString(c);
+            #ifdef DEBUGHAND
+            com.printf("REC 1 or 0\r\n");
+            #endif
+            break;
+        case '\r':
+        case ' ':
+        case '\n':
+            //do nothing
+            break;
+        case ENDCHAR:
+            #ifdef DEBUGHAND
+            com.printf("REC E\r\n");
+            #endif
+            matchStringRecieved();
+            break;
+        default:
+            hostError();
+    }
+}
+
+
+void Handler::hostError() {
+    com.printf(HOSTERROR);
+    init();
+}
+
+void Handler::recieveMatchString(char c) {
+    *pmatchString = c;
+    pmatchString++;
+}
+
+void Handler::recievedStart(char c) {
+    if (c==STARTCHAR) {
+        #ifdef DEBUGHAND
+        com.printf("REC S\r\n");
+        #endif
+        state = RECIEVING_MATCH;
+        stringState = NOTREADY;
+        resetMatch();
+    }
+}
+
+void Handler::matchStringRecieved() {
+    #ifdef DEBUGHAND
+    com.printf("COMPLETE\r\n");
+    #endif
+    *pmatchString=NULL;
+    strcpy(completeMatchString, matchString);
+    com.printf("ARMED-%s\r\n",matchString);
+    init();
+    stringState=READY;
+}
+
+
+
+bool Handler::isReady() {
+    if (stringState==READY) {
+        return true;
+    } else {
+        return false;
+    }
+}
+
+char *Handler::getMatchString() {
+    return completeMatchString;
+}

diff -r 000000000000 -r 4841f4169944 handler.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/handler.h	Wed Dec 01 03:29:25 2010 +0000
@@ -0,0 +1,42 @@
+
+#ifndef HANDLER_H
+#define HANDLER_H
+#include "mbed.h"
+
+#define MATCHSIZE 128
+#define STARTCHAR 'S'
+#define ENDCHAR   'E'
+#define ONECHR '1'
+#define ZEROCHR '0'
+#define HOSTERROR "HOST ERROR\r\n"
+
+//#define DEBUGHAND
+
+class Handler {
+
+public:
+    Handler(char* nm);
+    void run();
+    bool isReady();
+    char *getMatchString();
+    void init();
+
+private:
+    char *name;
+    char matchString[MATCHSIZE];
+    char completeMatchString[MATCHSIZE];
+    char *pmatchString;
+    enum SerialStates { WAITINGON_S, RECIEVING_MATCH};
+    SerialStates state;
+    enum StringStates { READY, NOTREADY};
+    StringStates stringState;
+    int value;
+    void resetMatch();
+    void recieveMatchString(char c);
+    void waitForStart(char c);
+    void matchStringRecieved();
+    void hostError();
+    void processChar(char c);
+    void recievedStart(char c);
+};
+#endif
\ No newline at end of file

diff -r 000000000000 -r 4841f4169944 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 01 03:29:25 2010 +0000
@@ -0,0 +1,11 @@
+#include "mbed.h"
+#include "touchmachine.h"
+
+
+
+
+int main() {
+    TouchMachine touchMachine("Touch 1");
+    touchMachine.run();
+}
+

diff -r 000000000000 -r 4841f4169944 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Dec 01 03:29:25 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e

diff -r 000000000000 -r 4841f4169944 touchbutton.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/touchbutton.cpp	Wed Dec 01 03:29:25 2010 +0000
@@ -0,0 +1,97 @@
+#include "mbed.h"
+#include "touchbutton.h"
+#include "com.h"
+
+#ifdef DEBUGTOUCHLED
+DigitalOut debugled(LED1);
+#endif
+
+float TouchButton::difference() {
+    return previousValue - currentValue;
+}
+
+TouchButton::TouchButton(PinName ain, PinName din, PinName dout, float threshold, int debounceTime, char *nm) :   sensor(ain), charger(din), ground(dout) {
+
+    setThreshold(threshold);
+    setDebounceTime(debounceTime);
+    AnalogIn sensor(ain);
+    DigitalIn charger(din);
+    DigitalOut ground(dout);
+    ground.write(0);
+    timer.start();
+    sample();
+    storeValue();
+    strcpy(name,nm);
+#ifdef DEBUGTOUCH
+        com.printf("INIT BUTTON %s\r\n",name);
+#endif
+}
+
+void TouchButton::storeValue() {
+    previousValue=currentValue;
+}
+
+void TouchButton::setThreshold(float level) {
+    analogThreshold = level;
+}
+
+void TouchButton::setDebounceTime(int t) {
+    timeout_ms = t;
+}
+
+bool TouchButton::checkState() {
+    float diff;
+#ifdef DEBUGTOUCH
+        com.printf("CHECK BUTTON\r\n");
+#endif
+ 
+    charge();
+#ifdef DEBUGTOUCH
+        com.printf("CHARGE BUTTON\r\n");
+#endif    
+    sample();
+#ifdef DEBUGTOUCH
+        com.printf("CHARGE & SAMPLE BUTTON %s\r\n",name);
+        com.printf("Value:%3.2f\r\n", currentValue);
+#endif
+
+
+    diff=previousValue - currentValue;
+    storeValue();
+    if (diff > analogThreshold && timer.read_ms() > timeout_ms) {
+        timer.reset();
+#ifdef DEBUGTOUCH
+        com.printf("TOUCH %s\r\n", name);
+#endif
+#ifdef DEBUGTOUCHLED
+        //Toggle LED to show touch was registered
+        if (debugled.read()==1)
+            debugled=0;
+        else
+            debugled=1;
+#endif
+        return true;
+    } else {
+        return false;
+    }
+
+}
+
+float TouchButton::sample() {
+
+    float sum = 0;
+    for (int i=0; i<NUMSAMP;i++) {
+        float value = sensor.read();
+        sum = sum + value;
+    }
+    currentValue = sum/NUMSAMP;
+    return currentValue;
+
+}
+
+void TouchButton::charge() {
+    charger.mode(PullUp);
+    charger.mode(PullNone);
+    wait(.005);
+
+}

diff -r 000000000000 -r 4841f4169944 touchbutton.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/touchbutton.h	Wed Dec 01 03:29:25 2010 +0000
@@ -0,0 +1,32 @@
+
+#ifndef TOUCHBUTTON_H
+#define TOUCHBUTTON_H
+#define NUMSAMP 10
+//#define DEBUGTOUCH
+#define DEBUGTOUCHLED
+class TouchButton {
+
+public:
+    TouchButton(PinName ain, PinName din, PinName dout, float threshold, int debounceTime, char *nm);
+    void setThreshold(float level);
+    void setDebounceTime(int t);
+    bool checkState();
+    float sample();
+    void charge();
+
+private:
+    char name[10];
+    float currentValue;
+    float previousValue;
+    AnalogIn sensor;
+    DigitalIn charger;
+    DigitalOut ground;
+    Timer timer;
+    Timer debounceTimer;
+    float analogThreshold;
+    int timeout_ms;
+    void storeValue();
+    float difference();
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 4841f4169944 touchmachine.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/touchmachine.cpp	Wed Dec 01 03:29:25 2010 +0000
@@ -0,0 +1,210 @@
+#include "touchmachine.h"
+#include "mbed.h"
+#include "com.h"
+TouchButton touch0(p20,p19,p18, THRESHOLD, TIMER_THRESHOLD,"0");
+TouchButton touch1(p17,p16,p15, THRESHOLD, TIMER_THRESHOLD,"1");
+Handler handler("Serial");
+
+TouchMachine::TouchMachine(char *c) {
+#ifdef DEBUGTM
+    com.printf("INIT TM\r\n");
+#endif    
+    touchState=WAITING;
+    t0 = &touch0;
+    t1 = &touch1;
+    hand = &handler;
+    
+};
+
+void TouchMachine::check() {
+#ifdef DEBUGTM
+    com.printf("CHECK BUTTONS\r\n");
+#endif    
+    t0state = t0->checkState();
+    t1state = t1->checkState();
+    if (t0state && t1state) {
+    #ifdef DEBUGTM1
+        com.printf("ERR-CHK\r\n");
+    #endif
+        touchState=ERROR;
+    }else if (t0state) {
+    #ifdef DEBUGTM1
+        com.printf("ZERO-CHK\r\n");
+    #endif
+        touchState=ZERO;
+    } else if(t1state) {
+    #ifdef DEBUGTM1
+        com.printf("ONE-CHK\r\n");
+    #endif    
+        touchState=ONE;
+    } else {
+    #ifdef DEBUGTM
+        com.printf("WAIT-CHK\r\n");
+    #endif    
+        touchState=WAITING;
+    }
+}
+
+bool TouchMachine::isMatch() {
+    if (touchState==MATCH) {
+#ifdef DEBUGTM1
+        com.printf("MATCH-TM\r\n");
+#endif    
+        return true;
+    }
+    return false;
+}
+
+bool TouchMachine::isOne() {
+    if (touchState==ONE) {
+#ifdef DEBUGTM
+        com.printf("ONE-TM\r\n");
+#endif    
+        return true;
+    }
+    return false;
+}
+
+
+bool TouchMachine::isZero() {
+    if (touchState==ZERO) {
+#ifdef DEBUGTM
+        com.printf("ZERO-TM\r\n");
+#endif    
+        return true;
+    }
+    return false;
+}
+
+bool TouchMachine::isWaiting() {
+    if (touchState==WAITING) {
+#ifdef DEBUGTM
+        com.printf("WAITING-TM\r\n");
+#endif    
+        return true;
+    }
+    return false;
+}
+
+bool TouchMachine::isError() {
+    if (touchState==ERROR) {
+#ifdef DEBUGTM
+        com.printf("ERROR-TM\r\n");
+#endif    
+        return true;
+    }
+    return false;
+}
+
+void TouchMachine::setError() {
+    touchState=ERROR;
+}
+
+void TouchMachine::setMatch() {
+    touchState=MATCH;
+}
+
+void TouchMachine::resetTouch() {
+#ifdef DEBUGTM1
+    com.printf("RESET FOR TOUCH\r\n");
+#endif    
+    touchState=WAITING;
+    loadMatchStr();
+}
+
+char TouchMachine::getMatchChar(){
+    if(*pmatchstr!=NULL){
+    return *pmatchstr++;
+    }
+      return NULL;
+}
+
+char TouchMachine::nextMatchChar(){
+    return *(pmatchstr);
+}
+
+void TouchMachine::loadMatchStr(){
+    pmatchstr=hand->getMatchString();
+#ifdef DEBUGTM1
+    com.printf("LOAD MATCH STR-%s\r\n",pmatchstr);
+#endif
+}
+
+void TouchMachine::touchError() {
+    com.printf("TOUCH ERROR\r\n");
+}
+
+void TouchMachine::touchMatch() {
+    com.printf("***MATCH***\r\n");
+}
+
+void TouchMachine::run() {    
+    while(1) {
+        hand->run();
+        if (hand->isReady()) {
+
+            resetTouch();
+            loadMatchStr();
+            checkTouchForMatch();
+            
+        }    
+     }
+}
+
+void TouchMachine::checkTouchForMatch() {
+    char c;
+    while(( isWaiting() || isOne() || isZero())&& hand->isReady()) {
+            check();
+            if(isOne() || isZero()) {
+                
+                c = getMatchChar();
+                #ifdef DEBUGTM1
+                    com.printf("CHR TO MATCH %c\r\n",c);
+                #endif
+                switch(c) {
+                case NULL:
+                    setMatch();
+                    break;                    
+                case ZEROCHR:
+                    if(!isZero()) 
+                        setError();
+                     
+                    break;
+                case ONECHR:
+                    if(!isOne()) 
+                        setError();
+                    
+                default:
+                    break;
+                    
+               
+                }
+            }
+            
+            
+            if(isError()) {
+                touchError();
+                resetTouch();
+            }
+            checkMatch();
+            if(isMatch()) {
+                touchMatch();
+                resetTouch();
+            }
+            waitForRelease();
+            hand->run();
+
+    }
+}
+
+void TouchMachine::waitForRelease() {
+    while(!isWaiting() && hand->isReady()) {
+        check();
+    }
+}
+
+void TouchMachine::checkMatch() {
+ if(!isError() && nextMatchChar()==NULL) {
+               setMatch();
+  }
+ }
\ No newline at end of file

diff -r 000000000000 -r 4841f4169944 touchmachine.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/touchmachine.h	Wed Dec 01 03:29:25 2010 +0000
@@ -0,0 +1,49 @@
+#ifndef TOUCHMACHINE_H
+#define TOUCHMACHINE_H
+
+#include "mbed.h"
+#include "touchbutton.h"
+#include "handler.h"
+#include "com.h"
+#define THRESHOLD .45
+#define TIMER_THRESHOLD 50
+//#define DEBUGTM
+//#define DEBUGTM1
+
+
+
+class TouchMachine {
+    public:
+    TouchMachine(char *c);
+    void check();
+    void run();
+    private:
+        char *pmatchstr;
+        TouchButton *t0;
+        TouchButton *t1;
+        Handler *hand;
+        bool t0state;
+        bool t1state;
+        enum States {ERROR, WAITING, ONE, ZERO, MATCH};
+        States touchState;
+        bool isOne();
+        bool isZero();
+        bool isWaiting();
+        bool isError();
+        bool isMatch();
+        void setMatch();
+        char getNextMatchChar();
+        char nextMatchChar();
+        void setError();
+        void resetTouch();
+        char getMatchChar();
+        void loadMatchStr();
+        void touchError();
+        void touchMatch();
+        void checkTouchForMatch();
+        void waitForRelease();
+        void checkMatch();
+};
+
+
+#endif
\ No newline at end of file