Diff: main.cpp

Revision:

11:b1ad5267a6bd

Parent:

10:cf579c3eaf01

Child:

12:35a81d6c6505

--- a/main.cpp	Fri Oct 14 18:00:27 2016 +0000
+++ b/main.cpp	Mon Oct 17 13:01:00 2016 +0000
@@ -13,7 +13,6 @@
 PwmOut Speed_M1(D5);            //To control the rotation speed of the arm
 PwmOut Speed_M2(D6);            //To control the translation direction of the arm
 DigitalOut Direction_M2(D7);    //To control the translation speed of the arm
-
 Servo gripper_servo(D13);       //To control the gripper
 
 InterruptIn Switch_1(SW2);      //Switch 1 to control the rotation to the left
@@ -26,9 +25,14 @@
 int counter_translation=0;      //To count the number of times the translation switch (switch_3) has been pushed
 int counter_gripper=0;          //To count the number of times the gripper switch (switch_4) has been pushed
 
-MODSERIAL pc(USBTX, USBRX);     //To make connection with the PC
+volatile bool rotation_left_go = false;     //Create a go-flag for the rotation_left and set it to false
+volatile bool rotation_right_go = false;    //Create a go-flag for the rotation_right and set it to false
+volatile bool translation_go = false;       //Create a go-flag for the translation and set it to false
+volatile bool gripper_go = false;           //Create a go-flag for the gripper and set it to false
 
-const double pi = 3.1415926535897;  //Declare the value of pi
+MODSERIAL pc(USBTX, USBRX);             //Make a connection with the PC
+
+const double pi = 3.1415926535897;      //Declare the value of pi
 
 double speed_rotation=pi/5;             //Set the rotation speed in rad/sec -> NOTE: this has to be below 8.4 rad/sec
 double speed_translation=pi/5;          //Set the translation speed in rad/sec -> NOTE: this has to be below 8.4 rad/sec
@@ -47,6 +51,14 @@
 //    pc.printf("%i \t%f \n", pulses_M2, angle_M2);
 }
 
+void activate_rotation_left (){             //To activate the rotation_left
+    counter_rotation_left++;                //Increase the counter_rotation_left that counts the number of time switch 1 has been pressed
+    if (counter_rotation_left > 2){         //Because there are only 2 cases in the switch statement, case 3 = case 1 etc.
+        counter_rotation_left=1;
+    }
+    rotation_left_go = true;                //After increasing the counter, set the rotation_left go-flag to true
+}
+
 void rotation_left (){                      //Function to control the rotation to the left
     switch (counter_rotation_left){         //Create a switch statement
         case 1:                             //For activating the rotation to the left
@@ -62,14 +74,14 @@
             wait(0.5f);
             break;
     }
-}                 
+}
 
-void switch_counter_rotation_left (){       //To count the number of times the rotation_left switch (switch_1) has been pushed
-    counter_rotation_left++;                //Increase the counter_rotation_left
-    if (counter_rotation_left > 2){         //Because there are only 2 cases in the switch statement, case 3 = case 1 etc.
-        counter_rotation_left=1;
+void activate_rotation_right (){            //To activate the rotation_right
+    counter_rotation_right++;               //Increase the counter_rotation_right that counts the number of time switch 2 has been pressed
+    if (counter_rotation_right> 2){         //Because there are only 2 cases in the switch statement, case 3 = case 1
+        counter_rotation_right=1;
     }
-    rotation_left();                        //After increasing the counter, execute the rotation_left function
+    rotation_right_go = true;               //After increasing the counter, set the rotation_right go-flag to true
 }
 
 void rotation_right (){                     //Function to control the rotation to the left
@@ -89,12 +101,12 @@
     }
 }
 
-void switch_counter_rotation_right (){      //To count the number of times the rotation_right switch (switch_2) has been pushed
-    counter_rotation_right++;               //Increase the counter_rotation_right
-    if (counter_rotation_right> 2){         //Because there are only 2 cases in the switch statement, case 3 = case 1
-        counter_rotation_right=1;
+void activate_translation (){           //To activate the translation
+    counter_translation++;              //Increase the counter_translation that counts the number of time switch 3 has been pressed
+    if (counter_translation > 4){       //Because there are 4 cases in the switch statement, case 5 = case 1
+        counter_translation=1;
     }
-    rotation_right();                       //After increasing the counter, execute the rotation_right function
+    translation_go = true;              //After increasing the counter, set the translation go-flag to true
 }
 
 void translation (){                            //Function to control the translation
@@ -124,14 +136,14 @@
             wait(0.5f);
             break;
     }     
-}                 
+}
 
-void switch_counter_translation (){     //To count the number of times the translation switch (switch_3) has been pushed
-    counter_translation++;              //Increase the counter_translation
-    if (counter_translation > 4){       //Because there are 4 cases in the switch statement, case 5 = case 1
-        counter_translation=1;
+void activate_gripper (){           //To activate the gripper
+    counter_gripper++;              //Increase the couter_gripper that counts the number of time switch 4 has been pressed
+    if (counter_gripper> 2){        //Because there are only 2 cases in the switch statement, case 3 = case 1
+        counter_gripper=1;
     }
-    translation();                      //After increasing the counter, execute the translation function
+    gripper_go = true;              //After increasing the counter, set the gripper go-flag to true
 }
 
 void gripper (){                        //Function to control the gripper
@@ -149,14 +161,6 @@
     }     
 }
 
-void switch_counter_gripper (){     //To count the number of times the gripper switch (switch_4) has been pushed
-    counter_gripper++;              //Increase the couter_gripper
-    if (counter_gripper> 2){        //Because there are only 2 cases in the switch statement, case 3 = case 1
-        counter_gripper=1;
-    }
-    gripper();                      //After increasing the counter, execute the gripper function
-}
-
 int main(){
     pc.baud(115200);                //Set the boud rate for serial communication
     pc.printf("RESET \n");          //Print "RESET"
@@ -172,10 +176,27 @@
     encoder_M1_ticker.attach(&read_position_M1,0.01);   //Connect the encoder_M1_ticker to the read_position_M1 function and execute at 100Hz
     encoder_M2_ticker.attach(&read_position_M2,0.01);   //Connect the encoder_M2_ticker to the read_position_M2 function and execute at 100Hz
     
-    Switch_1.rise(&switch_counter_rotation_left);       //Connect switch_1 to the counter_rotation_left
-    Switch_2.rise(&switch_counter_rotation_right);      //Connect switch_2 to the counter_rotation_right
-    Switch_3.rise(&switch_counter_translation);         //Connect switch_3 to the counter_translation
-    Switch_4.rise(&switch_counter_gripper);             //Connect switch_4 to the counter_gripper
+    Switch_1.rise(&activate_rotation_left);             //Use switch_1 to activate the rotation_left go-flag
+    Switch_2.rise(&activate_rotation_right);            //Use switch_2 to activate the counter_rotation_right go-flag
+    Switch_3.rise(&activate_translation);               //Use switch_3 to activate the counter_translation go-flag
+    Switch_4.rise(&activate_gripper);                   //Use switch_4 to activate the counter_gripper go-flag
 
-    while (true);
+    while (true){
+        if (rotation_left_go == true){                  //If the rotation_left go-flag is true
+            rotation_left_go = false;                   //Set the rotation_left go-flag to false
+            rotation_left();                            //Execute the rotation_left function
+        }
+        if (rotation_right_go == true){                 //If the rotation_right go-flag is true
+            rotation_right_go = false;                  //Set the rotation_right go-flag to false
+            rotation_right();                           //Execute the rotation_right function
+        }
+        if (translation_go == true){                    //If the translation go-flag is true
+            translation_go = false;                     //Set the translation go-flag to false
+            translation();                              //Execute the translation function
+        }
+        if (gripper_go == true){                        //If the gripper go-flag is true
+            gripper_go = false;                         //Set the gripper go-flag to false
+            gripper();                                  //Execute the gripper function
+        }
+    }
 }
\ No newline at end of file