Minh Nguyen / Mbed OS Intelligent_Solar_Reflector

Project aiming to make a self-controlled solar reflector

Dependencies:   Accelerometer LCD Inverter Algorithm MotorDriver Anemometer GUI ArduinoJson Misc Definitions Pushbutton WebSocketClient temp_fan

main.cpp@17:238ccf7e3676, 2021-03-17 (annotated)

Committer:
jump_man
Date:
Wed Mar 17 20:20:07 2021 +0000
Revision:
17:238ccf7e3676
Parent:
16:326404a7a8b8
Child:
18:ee0aa6db3c8d
Added server code, receive not working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
khaiminhvn 0:74d6e93ec977 1 /*
khaiminhvn 0:74d6e93ec977 2 For settings of system behaviour, see Defs_sett.h
khaiminhvn 0:74d6e93ec977 3 For pin assignment list, see PinAssignment.h
khaiminhvn 0:74d6e93ec977 4 */
khaiminhvn 0:74d6e93ec977 5
khaiminhvn 0:74d6e93ec977 6 //INCLUDES
khaiminhvn 0:74d6e93ec977 7 #include "mbed.h"
khaiminhvn 6:0b7a6e51cdf8 8 #include "stdio.h"
khaiminhvn 2:944511c6c55f 9 #include "string" // std::string, std::to_string
khaiminhvn 0:74d6e93ec977 10 #include "Accelerometer.h"
khaiminhvn 0:74d6e93ec977 11 #include "Anemometer.h"
khaiminhvn 0:74d6e93ec977 12 #include "Algorithm.h"
khaiminhvn 0:74d6e93ec977 13 #include "MotorDriver.h"
khaiminhvn 0:74d6e93ec977 14 #include "Defs_Sett.h"
khaiminhvn 0:74d6e93ec977 15 #include "Pushbutton.h"
khaiminhvn 7:2b6438e586e6 16 #include "PinAssignment.h"
khaiminhvn 2:944511c6c55f 17 #include "LCD.h"
khaiminhvn 9:6e950b9a9a81 18 #include "Misc.h"
khaiminhvn 16:326404a7a8b8 19 #include "temp_fans.h"
khaiminhvn 6:0b7a6e51cdf8 20 #include <string>
jump_man 17:238ccf7e3676 21 #include "EthernetInterface.h"
jump_man 17:238ccf7e3676 22 #include "Inverter.h"
jump_man 17:238ccf7e3676 23 #include "GUI.h"
khaiminhvn 0:74d6e93ec977 24
khaiminhvn 0:74d6e93ec977 25 #define timer_read_s(x) chrono::duration_cast<chrono::seconds>((x).elapsed_time()).count()
khaiminhvn 11:2ade1ad7bad6 26 #define timer_read_ms(x) chrono::duration_cast<chrono::milliseconds>((x).elapsed_time()).count()
khaiminhvn 0:74d6e93ec977 27
khaiminhvn 0:74d6e93ec977 28 //Initialize Global Variables
khaiminhvn 7:2b6438e586e6 29 I2C i2c(PIN_SDA,PIN_SCL);
khaiminhvn 0:74d6e93ec977 30 Anemometer ane; //
khaiminhvn 11:2ade1ad7bad6 31 MotorDriver motor;
khaiminhvn 10:566529fff615 32 LowPowerTimer t,t_mode, t_disp;
khaiminhvn 7:2b6438e586e6 33 int mode = OP_CALIBRATION;
jump_man 17:238ccf7e3676 34 EthernetInterface eth;
khaiminhvn 0:74d6e93ec977 35
khaiminhvn 0:74d6e93ec977 36 ////////////////////////////////////////////////////////////////////////////////
khaiminhvn 0:74d6e93ec977 37 ////////////////////////////////////////////////////////////////////////////////
khaiminhvn 0:74d6e93ec977 38 int main()
khaiminhvn 0:74d6e93ec977 39 {
khaiminhvn 7:2b6438e586e6 40 i2c.frequency(I2C_FREQ);
khaiminhvn 10:566529fff615 41 Accelerometer acc(&i2c); //Accelerometer
khaiminhvn 7:2b6438e586e6 42 LCD lcd(&i2c);
khaiminhvn 16:326404a7a8b8 43 temp_fans fan;
khaiminhvn 7:2b6438e586e6 44
khaiminhvn 0:74d6e93ec977 45 float ang_P,ang_R;
khaiminhvn 0:74d6e93ec977 46 float ref_R1,ref_R2;
khaiminhvn 0:74d6e93ec977 47 int t_elapsed;
khaiminhvn 0:74d6e93ec977 48 int wthres = WIND_THRES_INIT;
khaiminhvn 6:0b7a6e51cdf8 49
khaiminhvn 8:a1481d5f0572 50 //FLAGS
khaiminhvn 8:a1481d5f0572 51 int flag_time = 1; //Normal mode time
khaiminhvn 8:a1481d5f0572 52 int flag_idle = 0; //Idling time
khaiminhvn 8:a1481d5f0572 53 int flag_disp = 1; //Anti-flickering
khaiminhvn 9:6e950b9a9a81 54 int flag_bres = 0; //Flag for checking button released
khaiminhvn 14:3989d03a8b98 55 int flag_flas = 1; //Flag for flashing symbol
jump_man 17:238ccf7e3676 56 bool flag_eth; //Flag for ethernet connection
jump_man 17:238ccf7e3676 57 bool flag_aTrack; //Flag for active tracking (0 - offline, 1 - online)
jump_man 17:238ccf7e3676 58 bool flag_powerOn;
khaiminhvn 8:a1481d5f0572 59
khaiminhvn 8:a1481d5f0572 60 //PUSH BUTTONS
khaiminhvn 8:a1481d5f0572 61 Pushbutton bt_fn(PIN_BTFN,&mode,&flag_disp);
khaiminhvn 8:a1481d5f0572 62 Pushbutton bt_inc(PIN_BTINC);
khaiminhvn 8:a1481d5f0572 63 Pushbutton bt_dec(PIN_BTDEC);
khaiminhvn 8:a1481d5f0572 64
khaiminhvn 11:2ade1ad7bad6 65 string topL = "INITIALIZING";
khaiminhvn 11:2ade1ad7bad6 66 string botL = "";
khaiminhvn 11:2ade1ad7bad6 67 lcd.LCD_display(topL, botL);
khaiminhvn 0:74d6e93ec977 68
jump_man 17:238ccf7e3676 69
jump_man 17:238ccf7e3676 70
jump_man 17:238ccf7e3676 71 eth.connect();
jump_man 17:238ccf7e3676 72 GUI gui("ws://int-sol-ref.herokuapp.com/", &eth, &flag_eth);
jump_man 17:238ccf7e3676 73 Inverter inverter("int-sol-ref.herokuapp.com", 80, &eth);
jump_man 17:238ccf7e3676 74
khaiminhvn 0:74d6e93ec977 75 t.start(); //Start timer
khaiminhvn 10:566529fff615 76 t_disp.start();
khaiminhvn 11:2ade1ad7bad6 77 wait_us(1000000);
khaiminhvn 0:74d6e93ec977 78
khaiminhvn 11:2ade1ad7bad6 79 topL = "PUT SENSORS IN";
khaiminhvn 11:2ade1ad7bad6 80 botL = "CALIBRATION SLOT";
khaiminhvn 6:0b7a6e51cdf8 81 lcd.LCD_display(topL, botL);
khaiminhvn 6:0b7a6e51cdf8 82
khaiminhvn 0:74d6e93ec977 83 while(1)
khaiminhvn 0:74d6e93ec977 84 {
khaiminhvn 0:74d6e93ec977 85 switch(mode)
khaiminhvn 0:74d6e93ec977 86 {
khaiminhvn 7:2b6438e586e6 87 case OP_PLACEMENT:{
khaiminhvn 8:a1481d5f0572 88 if(flag_disp){
khaiminhvn 11:2ade1ad7bad6 89 topL = "CALIBRATING";
khaiminhvn 11:2ade1ad7bad6 90 botL = "";
khaiminhvn 11:2ade1ad7bad6 91 lcd.LCD_display(topL,botL);
khaiminhvn 11:2ade1ad7bad6 92 acc.calibrate();
khaiminhvn 11:2ade1ad7bad6 93 topL = "PUT SENSOR ON";
khaiminhvn 11:2ade1ad7bad6 94 botL = "PANEL&REFLECTORS";
khaiminhvn 8:a1481d5f0572 95 lcd.LCD_display(topL,botL);
khaiminhvn 8:a1481d5f0572 96 flag_disp = 0;
khaiminhvn 8:a1481d5f0572 97 }
khaiminhvn 7:2b6438e586e6 98
khaiminhvn 7:2b6438e586e6 99 break;
khaiminhvn 8:a1481d5f0572 100 }
khaiminhvn 0:74d6e93ec977 101 ////////////////////////////////////////////////////////////////////////////////
khaiminhvn 14:3989d03a8b98 102 case OP_CONFIRM:{
khaiminhvn 14:3989d03a8b98 103 while(mode == OP_CONFIRM){
khaiminhvn 14:3989d03a8b98 104 topL = "R1 || P || R2";
khaiminhvn 16:326404a7a8b8 105 botL = Misc::itos(acc.getAngle(S_R1),3) +
khaiminhvn 16:326404a7a8b8 106 "||" + Misc::itos(acc.getAngle(S_PANEL),3) +
khaiminhvn 16:326404a7a8b8 107 "||" + Misc::itos(acc.getAngle(S_R2),3);
khaiminhvn 14:3989d03a8b98 108 lcd.LCD_display(topL,botL);
khaiminhvn 14:3989d03a8b98 109 flag_disp = 0;
khaiminhvn 14:3989d03a8b98 110 wait_us(LCD_RRATE);
khaiminhvn 14:3989d03a8b98 111 }
khaiminhvn 14:3989d03a8b98 112 }
khaiminhvn 14:3989d03a8b98 113 ////////////////////////////////////////////////////////////////////////////////
khaiminhvn 7:2b6438e586e6 114 case OP_NORMAL:{
jump_man 17:238ccf7e3676 115 if (flag_eth){gui.receives(&wthres, &flag_aTrack, &flag_powerOn);}
khaiminhvn 16:326404a7a8b8 116 fan.checkTemp(&mode);if(mode != OP_NORMAL){break;}
khaiminhvn 16:326404a7a8b8 117 ane.checkWind(&mode);if(mode != OP_NORMAL){break;}
jump_man 17:238ccf7e3676 118 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 12:14bac44e33b9 119 topL = "NORMAL:IDLING";
khaiminhvn 14:3989d03a8b98 120 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 16:326404a7a8b8 121 botL = Misc::itos(ane.getWind(&flag_disp),3) + "kph | " + Misc::itos(fan.getTemp()) + "C";
khaiminhvn 10:566529fff615 122 t_disp.reset();
khaiminhvn 10:566529fff615 123 t_disp.start();
khaiminhvn 10:566529fff615 124 }
khaiminhvn 8:a1481d5f0572 125 if(flag_disp){
khaiminhvn 8:a1481d5f0572 126 lcd.LCD_display(topL,botL);
khaiminhvn 8:a1481d5f0572 127 flag_disp = 0;
khaiminhvn 8:a1481d5f0572 128 }
khaiminhvn 0:74d6e93ec977 129
khaiminhvn 12:14bac44e33b9 130 if(flag_time) //If delay interval has passed
khaiminhvn 12:14bac44e33b9 131 {
khaiminhvn 12:14bac44e33b9 132 ane.checkWind(&mode);
khaiminhvn 12:14bac44e33b9 133 //Get Angle of Panel
khaiminhvn 12:14bac44e33b9 134 ang_P = acc.getAngle(S_PANEL);
khaiminhvn 12:14bac44e33b9 135
khaiminhvn 12:14bac44e33b9 136 //Calculate the Angle of Both Reflector
khaiminhvn 12:14bac44e33b9 137 ref_R1 = Algorithm::calcAngle(1,ang_P);
khaiminhvn 12:14bac44e33b9 138 ref_R2 = Algorithm::calcAngle(2,ang_P);
khaiminhvn 12:14bac44e33b9 139
khaiminhvn 14:3989d03a8b98 140 //Moving Reflector 1
khaiminhvn 12:14bac44e33b9 141 ang_R = acc.getAngle(S_R1);
khaiminhvn 15:2b3b5d8bf692 142 while(ang_R <= ref_R1 && !acc.checkAngle(ref_R1,ang_R) && mode == OP_NORMAL)
khaiminhvn 12:14bac44e33b9 143 {
jump_man 17:238ccf7e3676 144 if (flag_eth){gui.receives(&wthres, &flag_aTrack, &flag_powerOn);}
jump_man 17:238ccf7e3676 145 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 16:326404a7a8b8 146 fan.checkTemp(&mode);if(mode != OP_NORMAL){break;}
khaiminhvn 16:326404a7a8b8 147 ane.checkWind(&mode);if(mode != OP_NORMAL){break;}
khaiminhvn 14:3989d03a8b98 148 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 15:2b3b5d8bf692 149 topL = (flag_flas)? "NORMAL:R1 <=>" : "NORMAL:R1 <-=->";
khaiminhvn 14:3989d03a8b98 150 flag_flas = !flag_flas;
khaiminhvn 16:326404a7a8b8 151 botL = Misc::itos(ane.getWind(&flag_disp),3) + "kph | " + Misc::itos(fan.getTemp()) + "C";
khaiminhvn 14:3989d03a8b98 152 t_disp.reset();
khaiminhvn 14:3989d03a8b98 153 t_disp.start();
khaiminhvn 14:3989d03a8b98 154 }
khaiminhvn 14:3989d03a8b98 155 lcd.LCD_display(topL,botL);
khaiminhvn 12:14bac44e33b9 156 motor.moveForward(M1);
khaiminhvn 12:14bac44e33b9 157 ang_R = acc.getAngle(S_R1);
khaiminhvn 12:14bac44e33b9 158 }
khaiminhvn 15:2b3b5d8bf692 159 while(ang_R >= ref_R1 && !acc.checkAngle(ref_R1,ang_R) && mode == OP_NORMAL)
khaiminhvn 12:14bac44e33b9 160 {
jump_man 17:238ccf7e3676 161 if (flag_eth){gui.receives(&wthres, &flag_aTrack, &flag_powerOn);}
jump_man 17:238ccf7e3676 162 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 16:326404a7a8b8 163 fan.checkTemp(&mode);if(mode != OP_NORMAL){break;}
khaiminhvn 16:326404a7a8b8 164 ane.checkWind(&mode);if(mode != OP_NORMAL){break;}
khaiminhvn 14:3989d03a8b98 165 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 15:2b3b5d8bf692 166 topL = (flag_flas)? "NORMAL:R1 > = < " : "NORMAL:R1 ->=<-";
khaiminhvn 14:3989d03a8b98 167 flag_flas = !flag_flas;
khaiminhvn 16:326404a7a8b8 168 botL = Misc::itos(ane.getWind(&flag_disp),3) + "kph | " + Misc::itos(fan.getTemp()) + "C";
khaiminhvn 14:3989d03a8b98 169 t_disp.reset();
khaiminhvn 14:3989d03a8b98 170 t_disp.start();
khaiminhvn 14:3989d03a8b98 171 }
khaiminhvn 14:3989d03a8b98 172 lcd.LCD_display(topL,botL);
khaiminhvn 12:14bac44e33b9 173 motor.moveBackward(M1);
khaiminhvn 12:14bac44e33b9 174 ang_R = acc.getAngle(S_R1);
khaiminhvn 12:14bac44e33b9 175 }
khaiminhvn 12:14bac44e33b9 176 motor.stop();
khaiminhvn 12:14bac44e33b9 177
khaiminhvn 12:14bac44e33b9 178 //Moving Reflector 2
khaiminhvn 12:14bac44e33b9 179 ang_R = acc.getAngle(S_R2);
khaiminhvn 15:2b3b5d8bf692 180 while(ang_R <= ref_R2 && !acc.checkAngle(ref_R2,ang_R) && mode == OP_NORMAL)
khaiminhvn 12:14bac44e33b9 181 {
jump_man 17:238ccf7e3676 182 if (flag_eth){gui.receives(&wthres, &flag_aTrack, &flag_powerOn);}
jump_man 17:238ccf7e3676 183 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 16:326404a7a8b8 184 fan.checkTemp(&mode);if(mode != OP_NORMAL){break;}
khaiminhvn 16:326404a7a8b8 185 ane.checkWind(&mode);if(mode != OP_NORMAL){break;}
khaiminhvn 14:3989d03a8b98 186 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 15:2b3b5d8bf692 187 topL = (flag_flas)? "NORMAL:R2 <=>" : "NORMAL:R2 <-=->";
khaiminhvn 14:3989d03a8b98 188 flag_flas = !flag_flas;
khaiminhvn 16:326404a7a8b8 189 botL = Misc::itos(ane.getWind(&flag_disp),3) + "kph | " + Misc::itos(fan.getTemp()) + "C";
khaiminhvn 14:3989d03a8b98 190 t_disp.reset();
khaiminhvn 14:3989d03a8b98 191 t_disp.start();
khaiminhvn 14:3989d03a8b98 192 }
khaiminhvn 14:3989d03a8b98 193 lcd.LCD_display(topL,botL);
khaiminhvn 12:14bac44e33b9 194 motor.moveForward(M2);
khaiminhvn 12:14bac44e33b9 195 ang_R = acc.getAngle(S_R2);
khaiminhvn 12:14bac44e33b9 196 }
khaiminhvn 15:2b3b5d8bf692 197 while(ang_R >= ref_R2 && !acc.checkAngle(ref_R2,ang_R) && mode == OP_NORMAL)
khaiminhvn 12:14bac44e33b9 198 {
jump_man 17:238ccf7e3676 199 if (flag_eth){gui.receives(&wthres, &flag_aTrack, &flag_powerOn);}
jump_man 17:238ccf7e3676 200 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 16:326404a7a8b8 201 fan.checkTemp(&mode);if(mode != OP_NORMAL){break;}
khaiminhvn 16:326404a7a8b8 202 ane.checkWind(&mode);if(mode != OP_NORMAL){break;}
khaiminhvn 14:3989d03a8b98 203 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 15:2b3b5d8bf692 204 topL = (flag_flas)? "NORMAL:R2 > = < " : "NORMAL:R2 ->=<-";
khaiminhvn 14:3989d03a8b98 205 flag_flas = !flag_flas;
khaiminhvn 16:326404a7a8b8 206 botL = Misc::itos(ane.getWind(&flag_disp),3) + "kph | " + Misc::itos(fan.getTemp()) + "C";
khaiminhvn 14:3989d03a8b98 207 t_disp.reset();
khaiminhvn 14:3989d03a8b98 208 t_disp.start();
khaiminhvn 14:3989d03a8b98 209 }
khaiminhvn 14:3989d03a8b98 210 lcd.LCD_display(topL,botL);
khaiminhvn 12:14bac44e33b9 211 motor.moveBackward(M2);
khaiminhvn 12:14bac44e33b9 212 ang_R = acc.getAngle(S_R2);
khaiminhvn 12:14bac44e33b9 213 }
khaiminhvn 12:14bac44e33b9 214 motor.stop();
khaiminhvn 12:14bac44e33b9 215 flag_time = 0; //Reset timer flag
khaiminhvn 12:14bac44e33b9 216 flag_disp = 1; //Reset display flag
khaiminhvn 12:14bac44e33b9 217 t.reset(); //Reset timer
khaiminhvn 12:14bac44e33b9 218 }
khaiminhvn 12:14bac44e33b9 219 t_elapsed = (int)timer_read_s(t);
khaiminhvn 12:14bac44e33b9 220 flag_time = (t_elapsed >= TIME_NORMAL) ? 1 : 0; //Enable flag if delay interval has passed
khaiminhvn 9:6e950b9a9a81 221 flag_idle = 0;
khaiminhvn 7:2b6438e586e6 222 break;
khaiminhvn 8:a1481d5f0572 223 }
khaiminhvn 7:2b6438e586e6 224 ////////////////////////////////////////////////////////////////////////////////
khaiminhvn 7:2b6438e586e6 225 case OP_WIND:{
jump_man 17:238ccf7e3676 226 if (flag_eth){gui.receives(&wthres, &flag_aTrack, &flag_powerOn);}
jump_man 17:238ccf7e3676 227 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 16:326404a7a8b8 228 fan.checkTemp(&mode);if(mode != OP_WIND){break;}
khaiminhvn 16:326404a7a8b8 229 ane.checkWind(&mode);if(mode != OP_WIND){break;}
khaiminhvn 14:3989d03a8b98 230 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 15:2b3b5d8bf692 231 topL = (flag_flas)? "WIND SAFETY *!*" : "WIND SAFETY";
khaiminhvn 15:2b3b5d8bf692 232 flag_flas = !flag_flas;
khaiminhvn 16:326404a7a8b8 233 botL = Misc::itos(ane.getWind(&flag_disp),3) + "kph | " + Misc::itos(fan.getTemp()) + "C";
khaiminhvn 10:566529fff615 234 t_disp.reset();
khaiminhvn 10:566529fff615 235 t_disp.start();
khaiminhvn 10:566529fff615 236 }
khaiminhvn 8:a1481d5f0572 237 if(flag_disp){
khaiminhvn 8:a1481d5f0572 238 lcd.LCD_display(topL,botL);
khaiminhvn 8:a1481d5f0572 239 flag_disp = 0;
khaiminhvn 8:a1481d5f0572 240 }
khaiminhvn 0:74d6e93ec977 241
khaiminhvn 11:2ade1ad7bad6 242 //Move all motor backward
khaiminhvn 11:2ade1ad7bad6 243 motor.moveBackward(M_ALL);
khaiminhvn 11:2ade1ad7bad6 244 flag_time = 1; //Set the system in motion once windspeed has subsided
khaiminhvn 11:2ade1ad7bad6 245 break;
khaiminhvn 11:2ade1ad7bad6 246
khaiminhvn 9:6e950b9a9a81 247 flag_idle = 0;
khaiminhvn 7:2b6438e586e6 248 break;
khaiminhvn 8:a1481d5f0572 249 }
khaiminhvn 0:74d6e93ec977 250 ////////////////////////////////////////////////////////////////////////////////
khaiminhvn 7:2b6438e586e6 251 case OP_MANUAL1:{
jump_man 17:238ccf7e3676 252 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 16:326404a7a8b8 253 fan.checkTemp(&mode);if(mode != OP_MANUAL1){break;}
khaiminhvn 15:2b3b5d8bf692 254 topL = "MANUAL:M1";
jump_man 17:238ccf7e3676 255 botL = Misc::itos(ane.getWind(&flag_disp)) + "kph*" + Misc::itos(fan.getTemp()) + "C*"
jump_man 17:238ccf7e3676 256 + ((flag_eth)?Misc::itos(inverter.getPower()):"---") + "W";
khaiminhvn 8:a1481d5f0572 257 if(flag_disp){
khaiminhvn 8:a1481d5f0572 258 lcd.LCD_display(topL,botL);
khaiminhvn 8:a1481d5f0572 259 flag_disp = 0;
khaiminhvn 8:a1481d5f0572 260 }
khaiminhvn 0:74d6e93ec977 261
khaiminhvn 12:14bac44e33b9 262 //TIMEOUT
khaiminhvn 12:14bac44e33b9 263 ////////////////////////////////////////////////////////////////////
khaiminhvn 12:14bac44e33b9 264 if(!flag_idle) //Check if button is not pressed
khaiminhvn 12:14bac44e33b9 265 {
khaiminhvn 12:14bac44e33b9 266 t_mode.reset();
khaiminhvn 12:14bac44e33b9 267 t_mode.start();
khaiminhvn 12:14bac44e33b9 268 flag_idle = 1; //Indicate idling
khaiminhvn 12:14bac44e33b9 269 }
khaiminhvn 12:14bac44e33b9 270 else if(timer_read_s(t_mode) > TIME_MANUAL_TIMEOUT)
khaiminhvn 12:14bac44e33b9 271 {
khaiminhvn 12:14bac44e33b9 272 mode = OP_NORMAL;
khaiminhvn 12:14bac44e33b9 273 flag_disp = 1;
khaiminhvn 12:14bac44e33b9 274 break;
khaiminhvn 12:14bac44e33b9 275 }
khaiminhvn 12:14bac44e33b9 276 ////////////////////////////////////////////////////////////////////
khaiminhvn 12:14bac44e33b9 277
khaiminhvn 12:14bac44e33b9 278 while(bt_inc.read()) //Extend
khaiminhvn 12:14bac44e33b9 279 {
jump_man 17:238ccf7e3676 280 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 15:2b3b5d8bf692 281 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 15:2b3b5d8bf692 282 topL = (flag_flas)? "MANUAL:M1 <=> " : "MANUAL:M1 <-=->";
khaiminhvn 15:2b3b5d8bf692 283 flag_flas = !flag_flas;
khaiminhvn 15:2b3b5d8bf692 284 t_disp.reset();
khaiminhvn 15:2b3b5d8bf692 285 t_disp.start();
khaiminhvn 12:14bac44e33b9 286 botL = "EXTENDING";
khaiminhvn 12:14bac44e33b9 287 lcd.LCD_display(topL,botL);
khaiminhvn 12:14bac44e33b9 288 }
khaiminhvn 15:2b3b5d8bf692 289
khaiminhvn 12:14bac44e33b9 290 flag_idle = 0;
khaiminhvn 12:14bac44e33b9 291 motor.moveForward(M1);
khaiminhvn 12:14bac44e33b9 292 }
khaiminhvn 12:14bac44e33b9 293 while(bt_dec.read()) //Retract
khaiminhvn 12:14bac44e33b9 294 {
jump_man 17:238ccf7e3676 295 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 15:2b3b5d8bf692 296 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 15:2b3b5d8bf692 297 topL = (flag_flas)? "MANUAL:M1 > = <" : "MANUAL:M1 ->=<-";
khaiminhvn 15:2b3b5d8bf692 298 flag_flas = !flag_flas;
khaiminhvn 15:2b3b5d8bf692 299 t_disp.reset();
khaiminhvn 15:2b3b5d8bf692 300 t_disp.start();
khaiminhvn 12:14bac44e33b9 301 botL = "RETRACTING";
khaiminhvn 12:14bac44e33b9 302 lcd.LCD_display(topL,botL);
khaiminhvn 12:14bac44e33b9 303 }
khaiminhvn 12:14bac44e33b9 304 flag_idle = 0;
khaiminhvn 12:14bac44e33b9 305 motor.moveBackward(M1);
khaiminhvn 12:14bac44e33b9 306 }
khaiminhvn 12:14bac44e33b9 307 if(!bt_inc.read() && !bt_dec.read() && !flag_disp)
khaiminhvn 12:14bac44e33b9 308 {
khaiminhvn 12:14bac44e33b9 309 flag_disp = 1;
khaiminhvn 12:14bac44e33b9 310 motor.stop();
khaiminhvn 12:14bac44e33b9 311 }
khaiminhvn 15:2b3b5d8bf692 312 flag_time = 1;
khaiminhvn 7:2b6438e586e6 313 break;
khaiminhvn 8:a1481d5f0572 314 }
khaiminhvn 7:2b6438e586e6 315 ////////////////////////////////////////////////////////////////////////////////
khaiminhvn 7:2b6438e586e6 316 case OP_MANUAL2:{
jump_man 17:238ccf7e3676 317 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 16:326404a7a8b8 318 fan.checkTemp(&mode);if(mode != OP_MANUAL2){break;}
khaiminhvn 15:2b3b5d8bf692 319 topL = "MANUAL:M2";
khaiminhvn 16:326404a7a8b8 320 botL = Misc::itos(ane.getWind(&flag_disp),3) + "kph | " + Misc::itos(fan.getTemp()) + "C";
khaiminhvn 8:a1481d5f0572 321 if(flag_disp){
khaiminhvn 8:a1481d5f0572 322 lcd.LCD_display(topL,botL);
khaiminhvn 8:a1481d5f0572 323 flag_disp = 0;
khaiminhvn 8:a1481d5f0572 324 }
khaiminhvn 12:14bac44e33b9 325
khaiminhvn 12:14bac44e33b9 326 //TIMEOUT
khaiminhvn 12:14bac44e33b9 327 ////////////////////////////////////////////////////////////////////
khaiminhvn 12:14bac44e33b9 328 if(!flag_idle) //Check if button is not pressed
khaiminhvn 12:14bac44e33b9 329 {
khaiminhvn 12:14bac44e33b9 330 t_mode.reset();
khaiminhvn 12:14bac44e33b9 331 t_mode.start();
khaiminhvn 12:14bac44e33b9 332 flag_idle = 1; //Indicate idling
khaiminhvn 12:14bac44e33b9 333 }
khaiminhvn 12:14bac44e33b9 334 else if(timer_read_s(t_mode) > TIME_MANUAL_TIMEOUT)
khaiminhvn 12:14bac44e33b9 335 {
khaiminhvn 12:14bac44e33b9 336 mode = OP_NORMAL;
khaiminhvn 12:14bac44e33b9 337 flag_disp = 1;
khaiminhvn 12:14bac44e33b9 338 break;
khaiminhvn 12:14bac44e33b9 339 }
khaiminhvn 12:14bac44e33b9 340 ////////////////////////////////////////////////////////////////////
khaiminhvn 12:14bac44e33b9 341
khaiminhvn 12:14bac44e33b9 342 while(bt_inc.read()) //Extend
khaiminhvn 12:14bac44e33b9 343 {
jump_man 17:238ccf7e3676 344 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 15:2b3b5d8bf692 345 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 15:2b3b5d8bf692 346 topL = (flag_flas)? "MANUAL:M2 <=> " : "MANUAL:M2 <-=->";
khaiminhvn 15:2b3b5d8bf692 347 flag_flas = !flag_flas;
khaiminhvn 15:2b3b5d8bf692 348 t_disp.reset();
khaiminhvn 15:2b3b5d8bf692 349 t_disp.start();
khaiminhvn 12:14bac44e33b9 350 botL = "EXTENDING";
khaiminhvn 12:14bac44e33b9 351 lcd.LCD_display(topL,botL);
khaiminhvn 12:14bac44e33b9 352 }
khaiminhvn 15:2b3b5d8bf692 353
khaiminhvn 12:14bac44e33b9 354 flag_idle = 0;
khaiminhvn 16:326404a7a8b8 355 motor.moveForward(M2);
khaiminhvn 12:14bac44e33b9 356 }
khaiminhvn 12:14bac44e33b9 357 while(bt_dec.read()) //Retract
khaiminhvn 12:14bac44e33b9 358 {
jump_man 17:238ccf7e3676 359 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 15:2b3b5d8bf692 360 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 15:2b3b5d8bf692 361 topL = (flag_flas)? "MANUAL:M2 > = <" : "MANUAL:M2 ->=<-";
khaiminhvn 15:2b3b5d8bf692 362 flag_flas = !flag_flas;
khaiminhvn 15:2b3b5d8bf692 363 t_disp.reset();
khaiminhvn 15:2b3b5d8bf692 364 t_disp.start();
khaiminhvn 12:14bac44e33b9 365 botL = "RETRACTING";
khaiminhvn 12:14bac44e33b9 366 lcd.LCD_display(topL,botL);
khaiminhvn 12:14bac44e33b9 367 }
khaiminhvn 12:14bac44e33b9 368 flag_idle = 0;
khaiminhvn 16:326404a7a8b8 369 motor.moveBackward(M2);
khaiminhvn 12:14bac44e33b9 370 }
khaiminhvn 12:14bac44e33b9 371 if(!bt_inc.read() && !bt_dec.read() && !flag_disp)
khaiminhvn 12:14bac44e33b9 372 {
khaiminhvn 12:14bac44e33b9 373 flag_disp = 1;
khaiminhvn 12:14bac44e33b9 374 motor.stop();
khaiminhvn 12:14bac44e33b9 375 }
khaiminhvn 15:2b3b5d8bf692 376 flag_time = 1;
khaiminhvn 15:2b3b5d8bf692 377 break;
khaiminhvn 15:2b3b5d8bf692 378 }
khaiminhvn 15:2b3b5d8bf692 379 ////////////////////////////////////////////////////////////////////////////////
khaiminhvn 15:2b3b5d8bf692 380 case OP_MANUAL_ALL:{
jump_man 17:238ccf7e3676 381 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 16:326404a7a8b8 382 fan.checkTemp(&mode);if(mode != OP_MANUAL_ALL){break;}
khaiminhvn 15:2b3b5d8bf692 383 topL = "MANUAL:ALL";
khaiminhvn 16:326404a7a8b8 384 botL = Misc::itos(ane.getWind(&flag_disp),3) + "kph | " + Misc::itos(fan.getTemp()) + "C";
khaiminhvn 15:2b3b5d8bf692 385 if(flag_disp){
khaiminhvn 15:2b3b5d8bf692 386 lcd.LCD_display(topL,botL);
khaiminhvn 15:2b3b5d8bf692 387 flag_disp = 0;
khaiminhvn 15:2b3b5d8bf692 388 }
khaiminhvn 15:2b3b5d8bf692 389
khaiminhvn 15:2b3b5d8bf692 390 //TIMEOUT
khaiminhvn 15:2b3b5d8bf692 391 ////////////////////////////////////////////////////////////////////
khaiminhvn 15:2b3b5d8bf692 392 if(!flag_idle) //Check if button is not pressed
khaiminhvn 15:2b3b5d8bf692 393 {
khaiminhvn 15:2b3b5d8bf692 394 t_mode.reset();
khaiminhvn 15:2b3b5d8bf692 395 t_mode.start();
khaiminhvn 15:2b3b5d8bf692 396 flag_idle = 1; //Indicate idling
khaiminhvn 15:2b3b5d8bf692 397 }
khaiminhvn 15:2b3b5d8bf692 398 else if(timer_read_s(t_mode) > TIME_MANUAL_TIMEOUT)
khaiminhvn 15:2b3b5d8bf692 399 {
khaiminhvn 15:2b3b5d8bf692 400 mode = OP_NORMAL;
khaiminhvn 15:2b3b5d8bf692 401 flag_disp = 1;
khaiminhvn 15:2b3b5d8bf692 402 break;
khaiminhvn 15:2b3b5d8bf692 403 }
khaiminhvn 15:2b3b5d8bf692 404 ////////////////////////////////////////////////////////////////////
khaiminhvn 15:2b3b5d8bf692 405
khaiminhvn 15:2b3b5d8bf692 406 while(bt_inc.read()) //Extend
khaiminhvn 15:2b3b5d8bf692 407 {
jump_man 17:238ccf7e3676 408 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 15:2b3b5d8bf692 409 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 15:2b3b5d8bf692 410 topL = (flag_flas)? "MANUAL:ALL <=> " : "MANUAL:ALL <-=->";
khaiminhvn 15:2b3b5d8bf692 411 flag_flas = !flag_flas;
khaiminhvn 15:2b3b5d8bf692 412 t_disp.reset();
khaiminhvn 15:2b3b5d8bf692 413 t_disp.start();
khaiminhvn 15:2b3b5d8bf692 414 botL = "EXTENDING";
khaiminhvn 15:2b3b5d8bf692 415 lcd.LCD_display(topL,botL);
khaiminhvn 15:2b3b5d8bf692 416 }
khaiminhvn 15:2b3b5d8bf692 417
khaiminhvn 15:2b3b5d8bf692 418 flag_idle = 0;
khaiminhvn 16:326404a7a8b8 419 motor.moveForward(M_ALL);
khaiminhvn 15:2b3b5d8bf692 420 }
khaiminhvn 15:2b3b5d8bf692 421 while(bt_dec.read()) //Retract
khaiminhvn 15:2b3b5d8bf692 422 {
jump_man 17:238ccf7e3676 423 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 15:2b3b5d8bf692 424 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 15:2b3b5d8bf692 425 topL = (flag_flas)? "MANUAL:ALL > = <" : "MANUAL:ALL ->=<-";
khaiminhvn 15:2b3b5d8bf692 426 flag_flas = !flag_flas;
khaiminhvn 15:2b3b5d8bf692 427 t_disp.reset();
khaiminhvn 15:2b3b5d8bf692 428 t_disp.start();
khaiminhvn 15:2b3b5d8bf692 429 botL = "RETRACTING";
khaiminhvn 15:2b3b5d8bf692 430 lcd.LCD_display(topL,botL);
khaiminhvn 15:2b3b5d8bf692 431 }
khaiminhvn 15:2b3b5d8bf692 432 flag_idle = 0;
khaiminhvn 16:326404a7a8b8 433 motor.moveBackward(M_ALL);
khaiminhvn 15:2b3b5d8bf692 434 }
khaiminhvn 15:2b3b5d8bf692 435 if(!bt_inc.read() && !bt_dec.read() && !flag_disp)
khaiminhvn 15:2b3b5d8bf692 436 {
khaiminhvn 15:2b3b5d8bf692 437 flag_disp = 1;
khaiminhvn 15:2b3b5d8bf692 438 motor.stop();
khaiminhvn 15:2b3b5d8bf692 439 }
khaiminhvn 15:2b3b5d8bf692 440 flag_time = 1;
khaiminhvn 0:74d6e93ec977 441 break;
khaiminhvn 8:a1481d5f0572 442 }
khaiminhvn 7:2b6438e586e6 443 ////////////////////////////////////////////////////////////////////////////////
khaiminhvn 7:2b6438e586e6 444 case OP_WSETTING:{
jump_man 17:238ccf7e3676 445 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 16:326404a7a8b8 446 fan.checkTemp(&mode);if(mode != OP_WSETTING){break;}
khaiminhvn 7:2b6438e586e6 447 topL = "Threshold:";
khaiminhvn 9:6e950b9a9a81 448 botL = Misc::itos(wthres) + " kph";
khaiminhvn 8:a1481d5f0572 449 if(flag_disp){
khaiminhvn 8:a1481d5f0572 450 lcd.LCD_display(topL,botL);
khaiminhvn 8:a1481d5f0572 451 flag_disp = 0;
khaiminhvn 8:a1481d5f0572 452 }
khaiminhvn 0:74d6e93ec977 453
khaiminhvn 9:6e950b9a9a81 454 //TIMEOUT
khaiminhvn 9:6e950b9a9a81 455 ////////////////////////////////////////////////////////////////////
khaiminhvn 9:6e950b9a9a81 456 if(!flag_idle) //Check if button is not pressed
khaiminhvn 9:6e950b9a9a81 457 {
khaiminhvn 9:6e950b9a9a81 458 t_mode.reset();
khaiminhvn 9:6e950b9a9a81 459 t_mode.start();
khaiminhvn 9:6e950b9a9a81 460 flag_idle = 1; //Indicate idling
khaiminhvn 9:6e950b9a9a81 461 }
khaiminhvn 9:6e950b9a9a81 462 else if(timer_read_s(t_mode) > TIME_WSETTING_TIMEOUT)
khaiminhvn 9:6e950b9a9a81 463 {
khaiminhvn 9:6e950b9a9a81 464 mode = OP_NORMAL;
khaiminhvn 9:6e950b9a9a81 465 flag_disp = 1;
khaiminhvn 9:6e950b9a9a81 466 break;
khaiminhvn 9:6e950b9a9a81 467 }
khaiminhvn 9:6e950b9a9a81 468 ////////////////////////////////////////////////////////////////////
khaiminhvn 9:6e950b9a9a81 469
khaiminhvn 9:6e950b9a9a81 470 if(!(flag_bres == 1 && bt_inc.read()) && !(flag_bres == -1 && bt_dec.read())){
khaiminhvn 9:6e950b9a9a81 471 if(bt_inc.read() && wthres < WIND_THRES_MAX)
khaiminhvn 9:6e950b9a9a81 472 {
khaiminhvn 9:6e950b9a9a81 473 ane.setThres(++wthres);
jump_man 17:238ccf7e3676 474 if(flag_eth){gui.survivalSpeed(wthres);}
khaiminhvn 9:6e950b9a9a81 475 botL = Misc::itos(wthres) + " kph";
khaiminhvn 9:6e950b9a9a81 476 lcd.LCD_display(topL,botL);
khaiminhvn 9:6e950b9a9a81 477 flag_idle = 0;
khaiminhvn 9:6e950b9a9a81 478 flag_bres = 1;
khaiminhvn 9:6e950b9a9a81 479 }
khaiminhvn 9:6e950b9a9a81 480 else if(bt_dec.read() && wthres > WIND_THRES_MIN)
khaiminhvn 9:6e950b9a9a81 481 {
khaiminhvn 9:6e950b9a9a81 482 ane.setThres(--wthres);
jump_man 17:238ccf7e3676 483 if(flag_eth){gui.survivalSpeed(wthres);}
khaiminhvn 9:6e950b9a9a81 484 botL = Misc::itos(wthres) + " kph";
khaiminhvn 9:6e950b9a9a81 485 lcd.LCD_display(topL,botL);
khaiminhvn 9:6e950b9a9a81 486 flag_idle = 0;
khaiminhvn 9:6e950b9a9a81 487 flag_bres = -1;
khaiminhvn 9:6e950b9a9a81 488 }
khaiminhvn 9:6e950b9a9a81 489 else{
khaiminhvn 9:6e950b9a9a81 490 flag_bres = 0;
khaiminhvn 9:6e950b9a9a81 491 }
khaiminhvn 9:6e950b9a9a81 492 }
khaiminhvn 9:6e950b9a9a81 493
khaiminhvn 9:6e950b9a9a81 494 flag_time = 1; //Set the system in motion once done adjusting
khaiminhvn 7:2b6438e586e6 495 break;
khaiminhvn 8:a1481d5f0572 496 }
khaiminhvn 16:326404a7a8b8 497 ////////////////////////////////////////////////////////////////////////
khaiminhvn 16:326404a7a8b8 498 case OP_OVERHEAT:{
jump_man 17:238ccf7e3676 499 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 16:326404a7a8b8 500 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 16:326404a7a8b8 501 topL = (flag_flas)? "*!* OVERHEAT *!*": " OVERHEAT ";
khaiminhvn 16:326404a7a8b8 502 botL = (flag_flas)? " KEEP DISTANCE " : (" " + Misc::itos(fan.getTemp(),3) + "C");
khaiminhvn 16:326404a7a8b8 503 flag_flas = !flag_flas;
khaiminhvn 16:326404a7a8b8 504 t_disp.reset();
khaiminhvn 16:326404a7a8b8 505 t_disp.start();
khaiminhvn 16:326404a7a8b8 506 lcd.LCD_display(topL,botL);
khaiminhvn 16:326404a7a8b8 507 }
khaiminhvn 16:326404a7a8b8 508 motor.moveBackward(M_ALL);
khaiminhvn 16:326404a7a8b8 509 fan.checkTemp(&mode);
khaiminhvn 16:326404a7a8b8 510 flag_disp = 1;
khaiminhvn 16:326404a7a8b8 511 flag_time = 1;
khaiminhvn 16:326404a7a8b8 512 break;
khaiminhvn 16:326404a7a8b8 513 }
khaiminhvn 16:326404a7a8b8 514 ////////////////////////////////////////////////////////////////////////
khaiminhvn 16:326404a7a8b8 515 case OP_OVERHEAT_MAN:{
jump_man 17:238ccf7e3676 516 if (flag_eth){gui.windSpeed(ane.getWind());}
khaiminhvn 16:326404a7a8b8 517 if(timer_read_ms(t_disp) >= LCD_RRATE){
khaiminhvn 16:326404a7a8b8 518 topL = (flag_flas)? "*!* OVERHEAT *!*": " OVERHEAT ";
khaiminhvn 16:326404a7a8b8 519 botL = (flag_flas)? " PRESS FN " : (" " + Misc::itos(fan.getTemp(),3) + "C");
khaiminhvn 16:326404a7a8b8 520 flag_flas = !flag_flas;
khaiminhvn 16:326404a7a8b8 521 t_disp.reset();
khaiminhvn 16:326404a7a8b8 522 t_disp.start();
khaiminhvn 16:326404a7a8b8 523 lcd.LCD_display(topL,botL);
khaiminhvn 16:326404a7a8b8 524 }
khaiminhvn 16:326404a7a8b8 525 motor.stop();
khaiminhvn 16:326404a7a8b8 526 flag_disp = 1;
khaiminhvn 16:326404a7a8b8 527 break;
khaiminhvn 16:326404a7a8b8 528 }
jump_man 17:238ccf7e3676 529 ////////////////////////////////////////////////////////////////////////
jump_man 17:238ccf7e3676 530 case OP_POWER_OFF:{
jump_man 17:238ccf7e3676 531 if (flag_eth){gui.receives(&wthres, &flag_aTrack, &flag_powerOn);}
jump_man 17:238ccf7e3676 532 if(mode != OP_POWER_OFF){break;}
jump_man 17:238ccf7e3676 533 if (flag_eth){gui.windSpeed(ane.getWind());}
jump_man 17:238ccf7e3676 534 fan.checkTemp(&mode);if(mode != OP_WIND){break;}
jump_man 17:238ccf7e3676 535 if(timer_read_ms(t_disp) >= LCD_RRATE){
jump_man 17:238ccf7e3676 536 topL = "SLEEP MODE";
jump_man 17:238ccf7e3676 537 flag_flas = !flag_flas;
jump_man 17:238ccf7e3676 538 botL = Misc::itos(ane.getWind(&flag_disp),3) + "kph | " + Misc::itos(fan.getTemp()) + "C";
jump_man 17:238ccf7e3676 539 t_disp.reset();
jump_man 17:238ccf7e3676 540 t_disp.start();
jump_man 17:238ccf7e3676 541 }
jump_man 17:238ccf7e3676 542 if(flag_disp){
jump_man 17:238ccf7e3676 543 lcd.LCD_display(topL,botL);
jump_man 17:238ccf7e3676 544 flag_disp = 0;
jump_man 17:238ccf7e3676 545 }
jump_man 17:238ccf7e3676 546
jump_man 17:238ccf7e3676 547 //Move all motor backward
jump_man 17:238ccf7e3676 548 motor.moveBackward(M_ALL);
jump_man 17:238ccf7e3676 549 flag_time = 1; //Set the system in motion once windspeed has subsided
jump_man 17:238ccf7e3676 550 break;
jump_man 17:238ccf7e3676 551
jump_man 17:238ccf7e3676 552 flag_idle = 0;
jump_man 17:238ccf7e3676 553 break;
jump_man 17:238ccf7e3676 554 }
khaiminhvn 0:74d6e93ec977 555 }
jump_man 17:238ccf7e3676 556
jump_man 17:238ccf7e3676 557 if (flag_eth){
jump_man 17:238ccf7e3676 558 gui.state(mode);
jump_man 17:238ccf7e3676 559 }
jump_man 17:238ccf7e3676 560
khaiminhvn 7:2b6438e586e6 561 wait_us(LOOP_DELAY);
jump_man 17:238ccf7e3676 562 flag_disp = 1;
khaiminhvn 0:74d6e93ec977 563 }
khaiminhvn 0:74d6e93ec977 564
khaiminhvn 0:74d6e93ec977 565 }
khaiminhvn 0:74d6e93ec977 566 ////////////////////////////////////////////////////////////////////////////////
khaiminhvn 7:2b6438e586e6 567 ////////////////////////////////////////////////////////////////////////////////