Diff: robotic_fish_6/SerialControl/SerialController.h

Revision:

0:c3a329a5b05d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robotic_fish_6/SerialControl/SerialController.h	Tue Jan 14 19:17:05 2020 +0000
@@ -0,0 +1,83 @@
+/*
+ * JoystickController.h
+ *
+ * Author: Joseph DelPreto
+ */
+
+#define serialControl
+
+#ifdef serialControl
+
+#ifndef SERIALCONTROL_SERIALCONTROLLER_H_
+#define SERIALCONTROL_SERIALCONTROLLER_H_
+
+#include "FishController.h"
+#include "mbed.h"
+#include "string"
+#include "SerialBase.h"
+
+#define serialDefaultBaudUSB 115200
+#define serialDefaultBaud 115200
+#define serialDefaultTX p13
+#define serialDefaultRX p14
+// note lowBatteryVoltagePin is defined in FishController
+
+//#define debugBCUControl			// whether to print BCU control values (setDepth, curDepth, Vset, etc.) 
+//#define debugSensor 				// whether to print sensor values being read
+//#define print2Pi					// whether to print data to Pi serial monitor
+#define printStatusSerialController // whether to print what's going on (i.e. when it gets commands, etc.)
+//#define debugLEDsSerial    // LED1: initialized LED2: running LED3: receiving a character LED4: done (others turn off)
+//#define runTimeSerial 10000 	   // how long to run for (in milliseconds) if infiniteLoopSerial is undefined
+#define infiniteLoopSerial // if defined, will run forever (or until stop() is called from another thread)
+
+#define serialControllerControlFish // whether to start fishController to control the servos and motor
+#define enableAutoMode				// whether to start automode (ignores commands, follows commands defined in FishController.cpp
+
+// Map bytes sent over serial (1-255) to ranges for each fish property
+#define serialMinPitch     fishMinPitch
+#define serialMaxPitch     fishMaxPitch
+#define serialMinYaw       fishMinYaw
+#define serialMaxYaw       fishMaxYaw
+#define serialMinThrust    fishMinThrust
+#define serialMaxThrust    fishMaxThrust
+#define serialMinFrequency fishMinFrequency
+#define serialMaxFrequency fishMaxFrequency
+#define dataPeriod 1000
+
+class SerialController
+{
+public:
+	// Initialization
+	SerialController(Serial* serialObject = NULL, Serial* usbSerialObject = NULL); // if objects are null, ones will be created
+	void init(Serial* serialObject = NULL, Serial* usbSerialObject = NULL); // if serial objects are null, ones will be created
+	// Execution control
+	void run();
+	void stop();
+	void lowBatteryCallback();
+	float printTime;
+private:
+	Timer programTimer;
+	bool terminated;
+	Serial* usbSerial;
+	Serial* serial;
+
+	void processSerialWord(uint8_t* word);
+
+	// Low battery monitor
+	DigitalIn* lowBatteryVoltageInput;
+	//InterruptIn* lowBatteryInterrupt;
+	Ticker lowBatteryTicker;
+	bool detectedLowBattery;
+
+	// Debug LEDs
+	#ifdef debugLEDsSerial
+	DigitalOut* serialLEDs[4];
+	#endif
+};
+
+// Create a static instance of SerialController to be used by anyone doing serial control
+extern SerialController serialController;
+
+#endif /* SERIALCONTROL_SERIALCONTROLLER_H_ */
+
+#endif // #ifdef serialControl