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@32:7b58f5574b7a, 2021-04-04 (annotated)
- Committer:
- khaiminhvn
- Date:
- Sun Apr 04 18:50:41 2021 +0000
- Revision:
- 32:7b58f5574b7a
- Parent:
- 30:7fce3ae08754
- Child:
- 35:aa4395b4a1a0
Fixed display
Who changed what in which revision?
User | Revision | Line number | New 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 | 30:7fce3ae08754 | 32 | LowPowerTimer t,t_mode, t_disp, t_recon, t_wind; |
khaiminhvn | 28:1b8e1d100b58 | 33 | int mode = OP_ETHERNET; |
khaiminhvn | 27:26f41a320436 | 34 | int prevm = mode; |
jump_man | 17:238ccf7e3676 | 35 | EthernetInterface eth; |
khaiminhvn | 0:74d6e93ec977 | 36 | |
khaiminhvn | 0:74d6e93ec977 | 37 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 0:74d6e93ec977 | 38 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 0:74d6e93ec977 | 39 | int main() |
khaiminhvn | 0:74d6e93ec977 | 40 | { |
khaiminhvn | 7:2b6438e586e6 | 41 | i2c.frequency(I2C_FREQ); |
khaiminhvn | 10:566529fff615 | 42 | Accelerometer acc(&i2c); //Accelerometer |
khaiminhvn | 7:2b6438e586e6 | 43 | LCD lcd(&i2c); |
khaiminhvn | 16:326404a7a8b8 | 44 | temp_fans fan; |
khaiminhvn | 7:2b6438e586e6 | 45 | |
khaiminhvn | 0:74d6e93ec977 | 46 | float ang_P,ang_R; |
khaiminhvn | 0:74d6e93ec977 | 47 | float ref_R1,ref_R2; |
khaiminhvn | 0:74d6e93ec977 | 48 | int t_elapsed; |
khaiminhvn | 0:74d6e93ec977 | 49 | int wthres = WIND_THRES_INIT; |
khaiminhvn | 6:0b7a6e51cdf8 | 50 | |
khaiminhvn | 8:a1481d5f0572 | 51 | //FLAGS |
khaiminhvn | 8:a1481d5f0572 | 52 | int flag_time = 1; //Normal mode time |
khaiminhvn | 8:a1481d5f0572 | 53 | int flag_idle = 0; //Idling time |
khaiminhvn | 8:a1481d5f0572 | 54 | int flag_disp = 1; //Anti-flickering |
khaiminhvn | 9:6e950b9a9a81 | 55 | int flag_bres = 0; //Flag for checking button released |
khaiminhvn | 14:3989d03a8b98 | 56 | int flag_flas = 1; //Flag for flashing symbol |
khaiminhvn | 24:ea7abc25a697 | 57 | int flag_cali = 0; //Flag for calibration |
khaiminhvn | 28:1b8e1d100b58 | 58 | int flag_rec = 0; //Flag for auto reconnection |
khaiminhvn | 26:b30a61a55b2f | 59 | bool flag_eth = false; //Flag for ethernet connection |
jump_man | 17:238ccf7e3676 | 60 | bool flag_aTrack; //Flag for active tracking (0 - offline, 1 - online) |
khaiminhvn | 26:b30a61a55b2f | 61 | bool flag_powerOn = true; |
khaiminhvn | 20:0a6609515810 | 62 | float sun_angle; |
khaiminhvn | 8:a1481d5f0572 | 63 | |
khaiminhvn | 28:1b8e1d100b58 | 64 | //PUSHBUTTONS |
khaiminhvn | 8:a1481d5f0572 | 65 | Pushbutton bt_inc(PIN_BTINC); |
khaiminhvn | 8:a1481d5f0572 | 66 | Pushbutton bt_dec(PIN_BTDEC); |
khaiminhvn | 20:0a6609515810 | 67 | Pushbutton bt_fn(PIN_BTFN,&mode,&flag_disp,PIN_BTINC); |
khaiminhvn | 8:a1481d5f0572 | 68 | |
khaiminhvn | 28:1b8e1d100b58 | 69 | //ETHERNET INTERFACE |
khaiminhvn | 28:1b8e1d100b58 | 70 | GUI* gui; |
khaiminhvn | 28:1b8e1d100b58 | 71 | Inverter* inverter; |
khaiminhvn | 28:1b8e1d100b58 | 72 | |
khaiminhvn | 11:2ade1ad7bad6 | 73 | string topL = "INITIALIZING"; |
khaiminhvn | 11:2ade1ad7bad6 | 74 | string botL = ""; |
khaiminhvn | 11:2ade1ad7bad6 | 75 | lcd.LCD_display(topL, botL); |
khaiminhvn | 0:74d6e93ec977 | 76 | |
khaiminhvn | 0:74d6e93ec977 | 77 | t.start(); //Start timer |
khaiminhvn | 10:566529fff615 | 78 | t_disp.start(); |
khaiminhvn | 30:7fce3ae08754 | 79 | t_wind.start(); |
khaiminhvn | 6:0b7a6e51cdf8 | 80 | |
khaiminhvn | 0:74d6e93ec977 | 81 | while(1) |
khaiminhvn | 0:74d6e93ec977 | 82 | { |
khaiminhvn | 0:74d6e93ec977 | 83 | switch(mode) |
khaiminhvn | 0:74d6e93ec977 | 84 | { |
khaiminhvn | 28:1b8e1d100b58 | 85 | case OP_ETHERNET:{ |
khaiminhvn | 28:1b8e1d100b58 | 86 | topL = "CONNECT ONLINE?"; |
khaiminhvn | 29:5b14b0ec5efc | 87 | botL = "NO[DE] YES[IN]"; |
khaiminhvn | 28:1b8e1d100b58 | 88 | lcd.LCD_display(topL,botL); |
khaiminhvn | 28:1b8e1d100b58 | 89 | while(true){ |
khaiminhvn | 28:1b8e1d100b58 | 90 | if(bt_inc.read()){ |
khaiminhvn | 29:5b14b0ec5efc | 91 | topL = "CONNECTING"; |
khaiminhvn | 29:5b14b0ec5efc | 92 | botL = ""; |
khaiminhvn | 29:5b14b0ec5efc | 93 | lcd.LCD_display(topL, botL); |
khaiminhvn | 28:1b8e1d100b58 | 94 | flag_rec = 1; |
khaiminhvn | 28:1b8e1d100b58 | 95 | eth.connect(); |
khaiminhvn | 28:1b8e1d100b58 | 96 | gui = new GUI("ws://int-sol-ref.herokuapp.com/", ð, &flag_eth); |
khaiminhvn | 28:1b8e1d100b58 | 97 | inverter = new Inverter("int-sol-ref.herokuapp.com", 80, ð); |
khaiminhvn | 28:1b8e1d100b58 | 98 | bt_fn.setConnected(flag_eth); |
khaiminhvn | 28:1b8e1d100b58 | 99 | |
khaiminhvn | 28:1b8e1d100b58 | 100 | if (flag_eth){gui->getSunAngle();} |
khaiminhvn | 28:1b8e1d100b58 | 101 | if (flag_eth){ |
khaiminhvn | 28:1b8e1d100b58 | 102 | topL = "ETHERNET"; |
khaiminhvn | 28:1b8e1d100b58 | 103 | botL = "CONNECTED"; |
khaiminhvn | 28:1b8e1d100b58 | 104 | lcd.LCD_display(topL, botL); |
khaiminhvn | 28:1b8e1d100b58 | 105 | } |
khaiminhvn | 28:1b8e1d100b58 | 106 | else{ |
khaiminhvn | 28:1b8e1d100b58 | 107 | topL = "ETHERNET"; |
khaiminhvn | 28:1b8e1d100b58 | 108 | botL = "NOT CONNECTED"; |
khaiminhvn | 28:1b8e1d100b58 | 109 | lcd.LCD_display(topL, botL); |
khaiminhvn | 28:1b8e1d100b58 | 110 | } |
khaiminhvn | 28:1b8e1d100b58 | 111 | wait_us(1000000); |
khaiminhvn | 28:1b8e1d100b58 | 112 | t_recon.start(); |
khaiminhvn | 28:1b8e1d100b58 | 113 | break; |
khaiminhvn | 28:1b8e1d100b58 | 114 | } |
khaiminhvn | 28:1b8e1d100b58 | 115 | else if(bt_dec.read()){ |
khaiminhvn | 28:1b8e1d100b58 | 116 | flag_rec = 0; |
khaiminhvn | 28:1b8e1d100b58 | 117 | break; |
khaiminhvn | 28:1b8e1d100b58 | 118 | } |
khaiminhvn | 28:1b8e1d100b58 | 119 | } |
khaiminhvn | 28:1b8e1d100b58 | 120 | |
khaiminhvn | 28:1b8e1d100b58 | 121 | mode = OP_CALIBRATION; |
khaiminhvn | 28:1b8e1d100b58 | 122 | break; |
khaiminhvn | 28:1b8e1d100b58 | 123 | } |
khaiminhvn | 28:1b8e1d100b58 | 124 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 28:1b8e1d100b58 | 125 | case OP_CALIBRATION:{ |
khaiminhvn | 28:1b8e1d100b58 | 126 | if(flag_disp){ |
khaiminhvn | 28:1b8e1d100b58 | 127 | topL = "PUT SENSORS IN"; |
khaiminhvn | 28:1b8e1d100b58 | 128 | botL = "CALIBRATION SLOT"; |
khaiminhvn | 28:1b8e1d100b58 | 129 | lcd.LCD_display(topL, botL); |
khaiminhvn | 28:1b8e1d100b58 | 130 | flag_disp = 0; |
khaiminhvn | 28:1b8e1d100b58 | 131 | } |
khaiminhvn | 28:1b8e1d100b58 | 132 | break; |
khaiminhvn | 28:1b8e1d100b58 | 133 | } |
khaiminhvn | 28:1b8e1d100b58 | 134 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 135 | case OP_PLACEMENT:{ |
khaiminhvn | 24:ea7abc25a697 | 136 | if(flag_cali == 0){ |
khaiminhvn | 24:ea7abc25a697 | 137 | topL = "CALIBRATING"; |
khaiminhvn | 24:ea7abc25a697 | 138 | botL = ""; |
khaiminhvn | 24:ea7abc25a697 | 139 | lcd.LCD_display(topL,botL); |
khaiminhvn | 24:ea7abc25a697 | 140 | acc.calibrate(); |
khaiminhvn | 24:ea7abc25a697 | 141 | topL = "PUT SENSOR ON"; |
khaiminhvn | 24:ea7abc25a697 | 142 | botL = "PANEL&REFLECTORS"; |
khaiminhvn | 24:ea7abc25a697 | 143 | lcd.LCD_display(topL,botL); |
khaiminhvn | 24:ea7abc25a697 | 144 | flag_cali = 1; |
khaiminhvn | 24:ea7abc25a697 | 145 | } |
khaiminhvn | 28:1b8e1d100b58 | 146 | flag_disp = 1; |
khaiminhvn | 7:2b6438e586e6 | 147 | break; |
khaiminhvn | 8:a1481d5f0572 | 148 | } |
khaiminhvn | 0:74d6e93ec977 | 149 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 14:3989d03a8b98 | 150 | case OP_CONFIRM:{ |
khaiminhvn | 14:3989d03a8b98 | 151 | while(mode == OP_CONFIRM){ |
khaiminhvn | 14:3989d03a8b98 | 152 | topL = "R1 || P || R2"; |
khaiminhvn | 16:326404a7a8b8 | 153 | botL = Misc::itos(acc.getAngle(S_R1),3) + |
khaiminhvn | 16:326404a7a8b8 | 154 | "||" + Misc::itos(acc.getAngle(S_PANEL),3) + |
khaiminhvn | 16:326404a7a8b8 | 155 | "||" + Misc::itos(acc.getAngle(S_R2),3); |
khaiminhvn | 14:3989d03a8b98 | 156 | lcd.LCD_display(topL,botL); |
khaiminhvn | 14:3989d03a8b98 | 157 | flag_disp = 0; |
khaiminhvn | 14:3989d03a8b98 | 158 | wait_us(LCD_RRATE); |
khaiminhvn | 14:3989d03a8b98 | 159 | } |
khaiminhvn | 14:3989d03a8b98 | 160 | } |
khaiminhvn | 14:3989d03a8b98 | 161 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 162 | case OP_NORMAL:{ |
khaiminhvn | 28:1b8e1d100b58 | 163 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 28:1b8e1d100b58 | 164 | if (flag_eth){gui->getSunAngle();} |
khaiminhvn | 28:1b8e1d100b58 | 165 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 27:26f41a320436 | 166 | prevm = mode; |
khaiminhvn | 26:b30a61a55b2f | 167 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_NORMAL){break;} |
khaiminhvn | 16:326404a7a8b8 | 168 | fan.checkTemp(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 16:326404a7a8b8 | 169 | ane.checkWind(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 30:7fce3ae08754 | 170 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 12:14bac44e33b9 | 171 | topL = "NORMAL:IDLING"; |
khaiminhvn | 24:ea7abc25a697 | 172 | topL = (flag_aTrack) ? topL : "*" + topL; |
khaiminhvn | 14:3989d03a8b98 | 173 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 29:5b14b0ec5efc | 174 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 28:1b8e1d100b58 | 175 | + ((flag_eth)?Misc::itos(inverter->getPower()):"---") + "W"; |
khaiminhvn | 10:566529fff615 | 176 | t_disp.reset(); |
khaiminhvn | 10:566529fff615 | 177 | t_disp.start(); |
khaiminhvn | 8:a1481d5f0572 | 178 | lcd.LCD_display(topL,botL); |
khaiminhvn | 8:a1481d5f0572 | 179 | } |
khaiminhvn | 0:74d6e93ec977 | 180 | |
khaiminhvn | 12:14bac44e33b9 | 181 | if(flag_time) //If delay interval has passed |
khaiminhvn | 12:14bac44e33b9 | 182 | { |
khaiminhvn | 12:14bac44e33b9 | 183 | ane.checkWind(&mode); |
khaiminhvn | 12:14bac44e33b9 | 184 | //Get Angle of Panel |
khaiminhvn | 20:0a6609515810 | 185 | if(flag_aTrack) |
khaiminhvn | 20:0a6609515810 | 186 | ang_P = acc.getAngle(S_PANEL); |
khaiminhvn | 20:0a6609515810 | 187 | else{ |
khaiminhvn | 28:1b8e1d100b58 | 188 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 26:b30a61a55b2f | 189 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_NORMAL){break;} |
khaiminhvn | 20:0a6609515810 | 190 | ang_P = sun_angle; |
khaiminhvn | 20:0a6609515810 | 191 | } |
khaiminhvn | 12:14bac44e33b9 | 192 | |
khaiminhvn | 12:14bac44e33b9 | 193 | //Calculate the Angle of Both Reflector |
khaiminhvn | 12:14bac44e33b9 | 194 | ref_R1 = Algorithm::calcAngle(1,ang_P); |
khaiminhvn | 12:14bac44e33b9 | 195 | ref_R2 = Algorithm::calcAngle(2,ang_P); |
khaiminhvn | 12:14bac44e33b9 | 196 | |
khaiminhvn | 14:3989d03a8b98 | 197 | //Moving Reflector 1 |
khaiminhvn | 12:14bac44e33b9 | 198 | ang_R = acc.getAngle(S_R1); |
khaiminhvn | 15:2b3b5d8bf692 | 199 | while(ang_R <= ref_R1 && !acc.checkAngle(ref_R1,ang_R) && mode == OP_NORMAL) |
khaiminhvn | 12:14bac44e33b9 | 200 | { |
khaiminhvn | 28:1b8e1d100b58 | 201 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 26:b30a61a55b2f | 202 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_NORMAL){break;} |
khaiminhvn | 30:7fce3ae08754 | 203 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 16:326404a7a8b8 | 204 | fan.checkTemp(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 16:326404a7a8b8 | 205 | ane.checkWind(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 14:3989d03a8b98 | 206 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 207 | topL = (flag_flas)? "NORMAL:R1 <=>" : "NORMAL:R1 <-=->"; |
khaiminhvn | 24:ea7abc25a697 | 208 | topL = (flag_aTrack) ? topL : "*" + topL; |
khaiminhvn | 14:3989d03a8b98 | 209 | flag_flas = !flag_flas; |
khaiminhvn | 29:5b14b0ec5efc | 210 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 28:1b8e1d100b58 | 211 | + ((flag_eth)?Misc::itos(inverter->getPower()):"---") + "W"; |
khaiminhvn | 14:3989d03a8b98 | 212 | t_disp.reset(); |
khaiminhvn | 14:3989d03a8b98 | 213 | t_disp.start(); |
khaiminhvn | 14:3989d03a8b98 | 214 | } |
khaiminhvn | 14:3989d03a8b98 | 215 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 216 | motor.moveForward(M1); |
khaiminhvn | 12:14bac44e33b9 | 217 | ang_R = acc.getAngle(S_R1); |
khaiminhvn | 12:14bac44e33b9 | 218 | } |
khaiminhvn | 15:2b3b5d8bf692 | 219 | while(ang_R >= ref_R1 && !acc.checkAngle(ref_R1,ang_R) && mode == OP_NORMAL) |
khaiminhvn | 12:14bac44e33b9 | 220 | { |
khaiminhvn | 28:1b8e1d100b58 | 221 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 26:b30a61a55b2f | 222 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_NORMAL){break;} |
khaiminhvn | 30:7fce3ae08754 | 223 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 16:326404a7a8b8 | 224 | fan.checkTemp(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 16:326404a7a8b8 | 225 | ane.checkWind(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 14:3989d03a8b98 | 226 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 227 | topL = (flag_flas)? "NORMAL:R1 > = < " : "NORMAL:R1 ->=<-"; |
khaiminhvn | 24:ea7abc25a697 | 228 | topL = (flag_aTrack) ? topL : "*" + topL; |
khaiminhvn | 14:3989d03a8b98 | 229 | flag_flas = !flag_flas; |
khaiminhvn | 29:5b14b0ec5efc | 230 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 28:1b8e1d100b58 | 231 | + ((flag_eth)?Misc::itos(inverter->getPower()):"---") + "W"; |
khaiminhvn | 14:3989d03a8b98 | 232 | t_disp.reset(); |
khaiminhvn | 14:3989d03a8b98 | 233 | t_disp.start(); |
khaiminhvn | 14:3989d03a8b98 | 234 | } |
khaiminhvn | 14:3989d03a8b98 | 235 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 236 | motor.moveBackward(M1); |
khaiminhvn | 12:14bac44e33b9 | 237 | ang_R = acc.getAngle(S_R1); |
khaiminhvn | 12:14bac44e33b9 | 238 | } |
khaiminhvn | 12:14bac44e33b9 | 239 | motor.stop(); |
khaiminhvn | 12:14bac44e33b9 | 240 | |
khaiminhvn | 12:14bac44e33b9 | 241 | //Moving Reflector 2 |
khaiminhvn | 12:14bac44e33b9 | 242 | ang_R = acc.getAngle(S_R2); |
khaiminhvn | 15:2b3b5d8bf692 | 243 | while(ang_R <= ref_R2 && !acc.checkAngle(ref_R2,ang_R) && mode == OP_NORMAL) |
khaiminhvn | 12:14bac44e33b9 | 244 | { |
khaiminhvn | 28:1b8e1d100b58 | 245 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 26:b30a61a55b2f | 246 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_NORMAL){break;} |
khaiminhvn | 30:7fce3ae08754 | 247 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 16:326404a7a8b8 | 248 | fan.checkTemp(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 16:326404a7a8b8 | 249 | ane.checkWind(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 14:3989d03a8b98 | 250 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 251 | topL = (flag_flas)? "NORMAL:R2 <=>" : "NORMAL:R2 <-=->"; |
khaiminhvn | 24:ea7abc25a697 | 252 | topL = (flag_aTrack) ? topL : "*" + topL; |
khaiminhvn | 14:3989d03a8b98 | 253 | flag_flas = !flag_flas; |
khaiminhvn | 29:5b14b0ec5efc | 254 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 28:1b8e1d100b58 | 255 | + ((flag_eth)?Misc::itos(inverter->getPower()):"---") + "W"; |
khaiminhvn | 14:3989d03a8b98 | 256 | t_disp.reset(); |
khaiminhvn | 14:3989d03a8b98 | 257 | t_disp.start(); |
khaiminhvn | 14:3989d03a8b98 | 258 | } |
khaiminhvn | 14:3989d03a8b98 | 259 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 260 | motor.moveForward(M2); |
khaiminhvn | 12:14bac44e33b9 | 261 | ang_R = acc.getAngle(S_R2); |
khaiminhvn | 12:14bac44e33b9 | 262 | } |
khaiminhvn | 15:2b3b5d8bf692 | 263 | while(ang_R >= ref_R2 && !acc.checkAngle(ref_R2,ang_R) && mode == OP_NORMAL) |
khaiminhvn | 12:14bac44e33b9 | 264 | { |
khaiminhvn | 28:1b8e1d100b58 | 265 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 26:b30a61a55b2f | 266 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_NORMAL){break;} |
khaiminhvn | 30:7fce3ae08754 | 267 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 16:326404a7a8b8 | 268 | fan.checkTemp(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 16:326404a7a8b8 | 269 | ane.checkWind(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 14:3989d03a8b98 | 270 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 271 | topL = (flag_flas)? "NORMAL:R2 > = < " : "NORMAL:R2 ->=<-"; |
khaiminhvn | 24:ea7abc25a697 | 272 | topL = (flag_aTrack) ? topL : "*" + topL; |
khaiminhvn | 14:3989d03a8b98 | 273 | flag_flas = !flag_flas; |
khaiminhvn | 29:5b14b0ec5efc | 274 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 28:1b8e1d100b58 | 275 | + ((flag_eth)?Misc::itos(inverter->getPower()):"---") + "W"; |
khaiminhvn | 14:3989d03a8b98 | 276 | t_disp.reset(); |
khaiminhvn | 14:3989d03a8b98 | 277 | t_disp.start(); |
khaiminhvn | 14:3989d03a8b98 | 278 | } |
khaiminhvn | 14:3989d03a8b98 | 279 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 280 | motor.moveBackward(M2); |
khaiminhvn | 12:14bac44e33b9 | 281 | ang_R = acc.getAngle(S_R2); |
khaiminhvn | 12:14bac44e33b9 | 282 | } |
khaiminhvn | 12:14bac44e33b9 | 283 | motor.stop(); |
khaiminhvn | 12:14bac44e33b9 | 284 | flag_time = 0; //Reset timer flag |
khaiminhvn | 12:14bac44e33b9 | 285 | flag_disp = 1; //Reset display flag |
khaiminhvn | 12:14bac44e33b9 | 286 | t.reset(); //Reset timer |
khaiminhvn | 12:14bac44e33b9 | 287 | } |
khaiminhvn | 12:14bac44e33b9 | 288 | t_elapsed = (int)timer_read_s(t); |
khaiminhvn | 12:14bac44e33b9 | 289 | flag_time = (t_elapsed >= TIME_NORMAL) ? 1 : 0; //Enable flag if delay interval has passed |
khaiminhvn | 9:6e950b9a9a81 | 290 | flag_idle = 0; |
khaiminhvn | 7:2b6438e586e6 | 291 | break; |
khaiminhvn | 8:a1481d5f0572 | 292 | } |
khaiminhvn | 7:2b6438e586e6 | 293 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 294 | case OP_WIND:{ |
khaiminhvn | 28:1b8e1d100b58 | 295 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 28:1b8e1d100b58 | 296 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 29:5b14b0ec5efc | 297 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_WIND){break;} |
khaiminhvn | 30:7fce3ae08754 | 298 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 299 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 300 | fan.checkTemp(&mode);if(mode != OP_WIND){break;} |
khaiminhvn | 16:326404a7a8b8 | 301 | ane.checkWind(&mode);if(mode != OP_WIND){break;} |
khaiminhvn | 14:3989d03a8b98 | 302 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 303 | topL = (flag_flas)? "WIND SAFETY *!*" : "WIND SAFETY"; |
khaiminhvn | 15:2b3b5d8bf692 | 304 | flag_flas = !flag_flas; |
khaiminhvn | 29:5b14b0ec5efc | 305 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 28:1b8e1d100b58 | 306 | + ((flag_eth)?Misc::itos(inverter->getPower()):"---") + "W"; |
khaiminhvn | 29:5b14b0ec5efc | 307 | lcd.LCD_display(topL,botL); |
khaiminhvn | 10:566529fff615 | 308 | t_disp.reset(); |
khaiminhvn | 10:566529fff615 | 309 | t_disp.start(); |
khaiminhvn | 10:566529fff615 | 310 | } |
khaiminhvn | 0:74d6e93ec977 | 311 | |
khaiminhvn | 11:2ade1ad7bad6 | 312 | //Move all motor backward |
khaiminhvn | 11:2ade1ad7bad6 | 313 | motor.moveBackward(M_ALL); |
khaiminhvn | 11:2ade1ad7bad6 | 314 | flag_time = 1; //Set the system in motion once windspeed has subsided |
khaiminhvn | 9:6e950b9a9a81 | 315 | flag_idle = 0; |
khaiminhvn | 7:2b6438e586e6 | 316 | break; |
khaiminhvn | 8:a1481d5f0572 | 317 | } |
khaiminhvn | 0:74d6e93ec977 | 318 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 319 | case OP_MANUAL1:{ |
khaiminhvn | 28:1b8e1d100b58 | 320 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 30:7fce3ae08754 | 321 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 322 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 323 | fan.checkTemp(&mode);if(mode != OP_MANUAL1){break;} |
khaiminhvn | 15:2b3b5d8bf692 | 324 | topL = "MANUAL:M1"; |
khaiminhvn | 29:5b14b0ec5efc | 325 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 29:5b14b0ec5efc | 326 | + Misc::itos(acc.getAngle(S_R1)) + "deg"; |
khaiminhvn | 8:a1481d5f0572 | 327 | if(flag_disp){ |
khaiminhvn | 8:a1481d5f0572 | 328 | lcd.LCD_display(topL,botL); |
khaiminhvn | 8:a1481d5f0572 | 329 | flag_disp = 0; |
khaiminhvn | 8:a1481d5f0572 | 330 | } |
khaiminhvn | 0:74d6e93ec977 | 331 | |
khaiminhvn | 12:14bac44e33b9 | 332 | //TIMEOUT |
khaiminhvn | 12:14bac44e33b9 | 333 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 12:14bac44e33b9 | 334 | if(!flag_idle) //Check if button is not pressed |
khaiminhvn | 12:14bac44e33b9 | 335 | { |
khaiminhvn | 12:14bac44e33b9 | 336 | t_mode.reset(); |
khaiminhvn | 12:14bac44e33b9 | 337 | t_mode.start(); |
khaiminhvn | 12:14bac44e33b9 | 338 | flag_idle = 1; //Indicate idling |
khaiminhvn | 12:14bac44e33b9 | 339 | } |
khaiminhvn | 12:14bac44e33b9 | 340 | else if(timer_read_s(t_mode) > TIME_MANUAL_TIMEOUT) |
khaiminhvn | 12:14bac44e33b9 | 341 | { |
khaiminhvn | 12:14bac44e33b9 | 342 | mode = OP_NORMAL; |
khaiminhvn | 12:14bac44e33b9 | 343 | flag_disp = 1; |
khaiminhvn | 12:14bac44e33b9 | 344 | break; |
khaiminhvn | 12:14bac44e33b9 | 345 | } |
khaiminhvn | 12:14bac44e33b9 | 346 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 12:14bac44e33b9 | 347 | |
khaiminhvn | 12:14bac44e33b9 | 348 | while(bt_inc.read()) //Extend |
khaiminhvn | 12:14bac44e33b9 | 349 | { |
khaiminhvn | 30:7fce3ae08754 | 350 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 15:2b3b5d8bf692 | 351 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 352 | topL = (flag_flas)? "MANUAL:M1 <=> " : "MANUAL:M1 <-=->"; |
khaiminhvn | 15:2b3b5d8bf692 | 353 | flag_flas = !flag_flas; |
khaiminhvn | 15:2b3b5d8bf692 | 354 | t_disp.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 355 | t_disp.start(); |
khaiminhvn | 32:7b58f5574b7a | 356 | botL = "EXTEND" + Misc::blank(1) + Misc::itos(acc.getAngle(S_R1)) + "deg"; |
khaiminhvn | 12:14bac44e33b9 | 357 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 358 | } |
khaiminhvn | 15:2b3b5d8bf692 | 359 | |
khaiminhvn | 12:14bac44e33b9 | 360 | flag_idle = 0; |
khaiminhvn | 12:14bac44e33b9 | 361 | motor.moveForward(M1); |
khaiminhvn | 12:14bac44e33b9 | 362 | } |
khaiminhvn | 12:14bac44e33b9 | 363 | while(bt_dec.read()) //Retract |
khaiminhvn | 12:14bac44e33b9 | 364 | { |
khaiminhvn | 30:7fce3ae08754 | 365 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 15:2b3b5d8bf692 | 366 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 367 | topL = (flag_flas)? "MANUAL:M1 > = <" : "MANUAL:M1 ->=<-"; |
khaiminhvn | 15:2b3b5d8bf692 | 368 | flag_flas = !flag_flas; |
khaiminhvn | 15:2b3b5d8bf692 | 369 | t_disp.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 370 | t_disp.start(); |
khaiminhvn | 32:7b58f5574b7a | 371 | botL = "RETRACT"+ Misc::blank(1) + Misc::itos(acc.getAngle(S_R1)) + "deg"; |
khaiminhvn | 12:14bac44e33b9 | 372 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 373 | } |
khaiminhvn | 12:14bac44e33b9 | 374 | flag_idle = 0; |
khaiminhvn | 12:14bac44e33b9 | 375 | motor.moveBackward(M1); |
khaiminhvn | 12:14bac44e33b9 | 376 | } |
khaiminhvn | 12:14bac44e33b9 | 377 | if(!bt_inc.read() && !bt_dec.read() && !flag_disp) |
khaiminhvn | 12:14bac44e33b9 | 378 | { |
khaiminhvn | 12:14bac44e33b9 | 379 | flag_disp = 1; |
khaiminhvn | 12:14bac44e33b9 | 380 | motor.stop(); |
khaiminhvn | 12:14bac44e33b9 | 381 | } |
khaiminhvn | 15:2b3b5d8bf692 | 382 | flag_time = 1; |
khaiminhvn | 7:2b6438e586e6 | 383 | break; |
khaiminhvn | 8:a1481d5f0572 | 384 | } |
khaiminhvn | 7:2b6438e586e6 | 385 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 386 | case OP_MANUAL2:{ |
khaiminhvn | 28:1b8e1d100b58 | 387 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 30:7fce3ae08754 | 388 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 389 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 390 | fan.checkTemp(&mode);if(mode != OP_MANUAL2){break;} |
khaiminhvn | 15:2b3b5d8bf692 | 391 | topL = "MANUAL:M2"; |
khaiminhvn | 29:5b14b0ec5efc | 392 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 29:5b14b0ec5efc | 393 | + Misc::itos(acc.getAngle(S_R2)) + "deg"; |
khaiminhvn | 8:a1481d5f0572 | 394 | if(flag_disp){ |
khaiminhvn | 8:a1481d5f0572 | 395 | lcd.LCD_display(topL,botL); |
khaiminhvn | 8:a1481d5f0572 | 396 | flag_disp = 0; |
khaiminhvn | 8:a1481d5f0572 | 397 | } |
khaiminhvn | 12:14bac44e33b9 | 398 | |
khaiminhvn | 12:14bac44e33b9 | 399 | //TIMEOUT |
khaiminhvn | 12:14bac44e33b9 | 400 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 12:14bac44e33b9 | 401 | if(!flag_idle) //Check if button is not pressed |
khaiminhvn | 12:14bac44e33b9 | 402 | { |
khaiminhvn | 12:14bac44e33b9 | 403 | t_mode.reset(); |
khaiminhvn | 12:14bac44e33b9 | 404 | t_mode.start(); |
khaiminhvn | 12:14bac44e33b9 | 405 | flag_idle = 1; //Indicate idling |
khaiminhvn | 12:14bac44e33b9 | 406 | } |
khaiminhvn | 12:14bac44e33b9 | 407 | else if(timer_read_s(t_mode) > TIME_MANUAL_TIMEOUT) |
khaiminhvn | 12:14bac44e33b9 | 408 | { |
khaiminhvn | 12:14bac44e33b9 | 409 | mode = OP_NORMAL; |
khaiminhvn | 12:14bac44e33b9 | 410 | flag_disp = 1; |
khaiminhvn | 12:14bac44e33b9 | 411 | break; |
khaiminhvn | 12:14bac44e33b9 | 412 | } |
khaiminhvn | 12:14bac44e33b9 | 413 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 12:14bac44e33b9 | 414 | |
khaiminhvn | 12:14bac44e33b9 | 415 | while(bt_inc.read()) //Extend |
khaiminhvn | 12:14bac44e33b9 | 416 | { |
khaiminhvn | 30:7fce3ae08754 | 417 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 15:2b3b5d8bf692 | 418 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 419 | topL = (flag_flas)? "MANUAL:M2 <=> " : "MANUAL:M2 <-=->"; |
khaiminhvn | 15:2b3b5d8bf692 | 420 | flag_flas = !flag_flas; |
khaiminhvn | 15:2b3b5d8bf692 | 421 | t_disp.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 422 | t_disp.start(); |
khaiminhvn | 32:7b58f5574b7a | 423 | botL = "EXTEND" + Misc::blank(1) + Misc::itos(acc.getAngle(S_R2)) + "deg"; |
khaiminhvn | 12:14bac44e33b9 | 424 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 425 | } |
khaiminhvn | 15:2b3b5d8bf692 | 426 | |
khaiminhvn | 12:14bac44e33b9 | 427 | flag_idle = 0; |
khaiminhvn | 16:326404a7a8b8 | 428 | motor.moveForward(M2); |
khaiminhvn | 12:14bac44e33b9 | 429 | } |
khaiminhvn | 12:14bac44e33b9 | 430 | while(bt_dec.read()) //Retract |
khaiminhvn | 12:14bac44e33b9 | 431 | { |
khaiminhvn | 30:7fce3ae08754 | 432 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 15:2b3b5d8bf692 | 433 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 434 | topL = (flag_flas)? "MANUAL:M2 > = <" : "MANUAL:M2 ->=<-"; |
khaiminhvn | 15:2b3b5d8bf692 | 435 | flag_flas = !flag_flas; |
khaiminhvn | 15:2b3b5d8bf692 | 436 | t_disp.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 437 | t_disp.start(); |
khaiminhvn | 32:7b58f5574b7a | 438 | botL = "RETRACT" + Misc::blank(1) + Misc::itos(acc.getAngle(S_R2)) + "deg"; |
khaiminhvn | 12:14bac44e33b9 | 439 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 440 | } |
khaiminhvn | 12:14bac44e33b9 | 441 | flag_idle = 0; |
khaiminhvn | 16:326404a7a8b8 | 442 | motor.moveBackward(M2); |
khaiminhvn | 12:14bac44e33b9 | 443 | } |
khaiminhvn | 12:14bac44e33b9 | 444 | if(!bt_inc.read() && !bt_dec.read() && !flag_disp) |
khaiminhvn | 12:14bac44e33b9 | 445 | { |
khaiminhvn | 12:14bac44e33b9 | 446 | flag_disp = 1; |
khaiminhvn | 12:14bac44e33b9 | 447 | motor.stop(); |
khaiminhvn | 12:14bac44e33b9 | 448 | } |
khaiminhvn | 15:2b3b5d8bf692 | 449 | flag_time = 1; |
khaiminhvn | 15:2b3b5d8bf692 | 450 | break; |
khaiminhvn | 15:2b3b5d8bf692 | 451 | } |
khaiminhvn | 15:2b3b5d8bf692 | 452 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 15:2b3b5d8bf692 | 453 | case OP_MANUAL_ALL:{ |
khaiminhvn | 28:1b8e1d100b58 | 454 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 30:7fce3ae08754 | 455 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 456 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 457 | fan.checkTemp(&mode);if(mode != OP_MANUAL_ALL){break;} |
khaiminhvn | 15:2b3b5d8bf692 | 458 | topL = "MANUAL:ALL"; |
khaiminhvn | 29:5b14b0ec5efc | 459 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 29:5b14b0ec5efc | 460 | + Misc::itos(acc.getAngle(S_R1)) + "|" + Misc::itos(acc.getAngle(S_R2)); |
khaiminhvn | 15:2b3b5d8bf692 | 461 | if(flag_disp){ |
khaiminhvn | 15:2b3b5d8bf692 | 462 | lcd.LCD_display(topL,botL); |
khaiminhvn | 15:2b3b5d8bf692 | 463 | flag_disp = 0; |
khaiminhvn | 15:2b3b5d8bf692 | 464 | } |
khaiminhvn | 15:2b3b5d8bf692 | 465 | |
khaiminhvn | 15:2b3b5d8bf692 | 466 | //TIMEOUT |
khaiminhvn | 15:2b3b5d8bf692 | 467 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 15:2b3b5d8bf692 | 468 | if(!flag_idle) //Check if button is not pressed |
khaiminhvn | 15:2b3b5d8bf692 | 469 | { |
khaiminhvn | 15:2b3b5d8bf692 | 470 | t_mode.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 471 | t_mode.start(); |
khaiminhvn | 15:2b3b5d8bf692 | 472 | flag_idle = 1; //Indicate idling |
khaiminhvn | 15:2b3b5d8bf692 | 473 | } |
khaiminhvn | 15:2b3b5d8bf692 | 474 | else if(timer_read_s(t_mode) > TIME_MANUAL_TIMEOUT) |
khaiminhvn | 15:2b3b5d8bf692 | 475 | { |
khaiminhvn | 15:2b3b5d8bf692 | 476 | mode = OP_NORMAL; |
khaiminhvn | 15:2b3b5d8bf692 | 477 | flag_disp = 1; |
khaiminhvn | 15:2b3b5d8bf692 | 478 | break; |
khaiminhvn | 15:2b3b5d8bf692 | 479 | } |
khaiminhvn | 15:2b3b5d8bf692 | 480 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 15:2b3b5d8bf692 | 481 | |
khaiminhvn | 15:2b3b5d8bf692 | 482 | while(bt_inc.read()) //Extend |
khaiminhvn | 15:2b3b5d8bf692 | 483 | { |
khaiminhvn | 30:7fce3ae08754 | 484 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 15:2b3b5d8bf692 | 485 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 486 | topL = (flag_flas)? "MANUAL:ALL <=> " : "MANUAL:ALL <-=->"; |
khaiminhvn | 15:2b3b5d8bf692 | 487 | flag_flas = !flag_flas; |
khaiminhvn | 15:2b3b5d8bf692 | 488 | t_disp.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 489 | t_disp.start(); |
khaiminhvn | 32:7b58f5574b7a | 490 | botL = "EXTEND" + Misc::blank(1) + Misc::itos(acc.getAngle(S_R1)) + "|" + Misc::itos(acc.getAngle(S_R2)); |
khaiminhvn | 15:2b3b5d8bf692 | 491 | lcd.LCD_display(topL,botL); |
khaiminhvn | 15:2b3b5d8bf692 | 492 | } |
khaiminhvn | 15:2b3b5d8bf692 | 493 | |
khaiminhvn | 15:2b3b5d8bf692 | 494 | flag_idle = 0; |
khaiminhvn | 16:326404a7a8b8 | 495 | motor.moveForward(M_ALL); |
khaiminhvn | 15:2b3b5d8bf692 | 496 | } |
khaiminhvn | 15:2b3b5d8bf692 | 497 | while(bt_dec.read()) //Retract |
khaiminhvn | 15:2b3b5d8bf692 | 498 | { |
khaiminhvn | 30:7fce3ae08754 | 499 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 15:2b3b5d8bf692 | 500 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 501 | topL = (flag_flas)? "MANUAL:ALL > = <" : "MANUAL:ALL ->=<-"; |
khaiminhvn | 15:2b3b5d8bf692 | 502 | flag_flas = !flag_flas; |
khaiminhvn | 15:2b3b5d8bf692 | 503 | t_disp.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 504 | t_disp.start(); |
khaiminhvn | 32:7b58f5574b7a | 505 | botL = "RETRACT" + Misc::blank(1) + Misc::itos(acc.getAngle(S_R1)) + "|" + Misc::itos(acc.getAngle(S_R2)); |
khaiminhvn | 15:2b3b5d8bf692 | 506 | lcd.LCD_display(topL,botL); |
khaiminhvn | 15:2b3b5d8bf692 | 507 | } |
khaiminhvn | 15:2b3b5d8bf692 | 508 | flag_idle = 0; |
khaiminhvn | 16:326404a7a8b8 | 509 | motor.moveBackward(M_ALL); |
khaiminhvn | 15:2b3b5d8bf692 | 510 | } |
khaiminhvn | 15:2b3b5d8bf692 | 511 | if(!bt_inc.read() && !bt_dec.read() && !flag_disp) |
khaiminhvn | 15:2b3b5d8bf692 | 512 | { |
khaiminhvn | 15:2b3b5d8bf692 | 513 | flag_disp = 1; |
khaiminhvn | 15:2b3b5d8bf692 | 514 | motor.stop(); |
khaiminhvn | 15:2b3b5d8bf692 | 515 | } |
khaiminhvn | 15:2b3b5d8bf692 | 516 | flag_time = 1; |
khaiminhvn | 0:74d6e93ec977 | 517 | break; |
khaiminhvn | 8:a1481d5f0572 | 518 | } |
khaiminhvn | 7:2b6438e586e6 | 519 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 520 | case OP_WSETTING:{ |
khaiminhvn | 28:1b8e1d100b58 | 521 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 30:7fce3ae08754 | 522 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 523 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 524 | fan.checkTemp(&mode);if(mode != OP_WSETTING){break;} |
khaiminhvn | 7:2b6438e586e6 | 525 | topL = "Threshold:"; |
khaiminhvn | 9:6e950b9a9a81 | 526 | botL = Misc::itos(wthres) + " kph"; |
khaiminhvn | 8:a1481d5f0572 | 527 | if(flag_disp){ |
khaiminhvn | 8:a1481d5f0572 | 528 | lcd.LCD_display(topL,botL); |
khaiminhvn | 8:a1481d5f0572 | 529 | flag_disp = 0; |
khaiminhvn | 8:a1481d5f0572 | 530 | } |
khaiminhvn | 0:74d6e93ec977 | 531 | |
khaiminhvn | 9:6e950b9a9a81 | 532 | //TIMEOUT |
khaiminhvn | 9:6e950b9a9a81 | 533 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 9:6e950b9a9a81 | 534 | if(!flag_idle) //Check if button is not pressed |
khaiminhvn | 9:6e950b9a9a81 | 535 | { |
khaiminhvn | 9:6e950b9a9a81 | 536 | t_mode.reset(); |
khaiminhvn | 9:6e950b9a9a81 | 537 | t_mode.start(); |
khaiminhvn | 9:6e950b9a9a81 | 538 | flag_idle = 1; //Indicate idling |
khaiminhvn | 9:6e950b9a9a81 | 539 | } |
khaiminhvn | 9:6e950b9a9a81 | 540 | else if(timer_read_s(t_mode) > TIME_WSETTING_TIMEOUT) |
khaiminhvn | 9:6e950b9a9a81 | 541 | { |
khaiminhvn | 9:6e950b9a9a81 | 542 | mode = OP_NORMAL; |
khaiminhvn | 9:6e950b9a9a81 | 543 | flag_disp = 1; |
khaiminhvn | 9:6e950b9a9a81 | 544 | break; |
khaiminhvn | 9:6e950b9a9a81 | 545 | } |
khaiminhvn | 9:6e950b9a9a81 | 546 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 9:6e950b9a9a81 | 547 | |
khaiminhvn | 9:6e950b9a9a81 | 548 | if(!(flag_bres == 1 && bt_inc.read()) && !(flag_bres == -1 && bt_dec.read())){ |
khaiminhvn | 9:6e950b9a9a81 | 549 | if(bt_inc.read() && wthres < WIND_THRES_MAX) |
khaiminhvn | 9:6e950b9a9a81 | 550 | { |
khaiminhvn | 24:ea7abc25a697 | 551 | wthres += WIND_INC; |
khaiminhvn | 24:ea7abc25a697 | 552 | ane.setThres(wthres); |
khaiminhvn | 28:1b8e1d100b58 | 553 | if(flag_eth){gui->survivalSpeed(wthres);} |
khaiminhvn | 9:6e950b9a9a81 | 554 | botL = Misc::itos(wthres) + " kph"; |
khaiminhvn | 9:6e950b9a9a81 | 555 | lcd.LCD_display(topL,botL); |
khaiminhvn | 9:6e950b9a9a81 | 556 | flag_idle = 0; |
khaiminhvn | 9:6e950b9a9a81 | 557 | flag_bres = 1; |
khaiminhvn | 9:6e950b9a9a81 | 558 | } |
khaiminhvn | 9:6e950b9a9a81 | 559 | else if(bt_dec.read() && wthres > WIND_THRES_MIN) |
khaiminhvn | 9:6e950b9a9a81 | 560 | { |
khaiminhvn | 24:ea7abc25a697 | 561 | wthres -= WIND_INC; |
khaiminhvn | 24:ea7abc25a697 | 562 | ane.setThres(wthres); |
khaiminhvn | 28:1b8e1d100b58 | 563 | if(flag_eth){gui->survivalSpeed(wthres);} |
khaiminhvn | 9:6e950b9a9a81 | 564 | botL = Misc::itos(wthres) + " kph"; |
khaiminhvn | 9:6e950b9a9a81 | 565 | lcd.LCD_display(topL,botL); |
khaiminhvn | 9:6e950b9a9a81 | 566 | flag_idle = 0; |
khaiminhvn | 9:6e950b9a9a81 | 567 | flag_bres = -1; |
khaiminhvn | 9:6e950b9a9a81 | 568 | } |
khaiminhvn | 9:6e950b9a9a81 | 569 | else{ |
khaiminhvn | 9:6e950b9a9a81 | 570 | flag_bres = 0; |
khaiminhvn | 9:6e950b9a9a81 | 571 | } |
khaiminhvn | 9:6e950b9a9a81 | 572 | } |
khaiminhvn | 9:6e950b9a9a81 | 573 | |
khaiminhvn | 9:6e950b9a9a81 | 574 | flag_time = 1; //Set the system in motion once done adjusting |
khaiminhvn | 7:2b6438e586e6 | 575 | break; |
khaiminhvn | 8:a1481d5f0572 | 576 | } |
khaiminhvn | 16:326404a7a8b8 | 577 | //////////////////////////////////////////////////////////////////////// |
khaiminhvn | 16:326404a7a8b8 | 578 | case OP_OVERHEAT:{ |
khaiminhvn | 28:1b8e1d100b58 | 579 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 30:7fce3ae08754 | 580 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 581 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 582 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 16:326404a7a8b8 | 583 | topL = (flag_flas)? "*!* OVERHEAT *!*": " OVERHEAT "; |
khaiminhvn | 16:326404a7a8b8 | 584 | botL = (flag_flas)? " KEEP DISTANCE " : (" " + Misc::itos(fan.getTemp(),3) + "C"); |
khaiminhvn | 16:326404a7a8b8 | 585 | flag_flas = !flag_flas; |
khaiminhvn | 16:326404a7a8b8 | 586 | t_disp.reset(); |
khaiminhvn | 16:326404a7a8b8 | 587 | t_disp.start(); |
khaiminhvn | 16:326404a7a8b8 | 588 | lcd.LCD_display(topL,botL); |
khaiminhvn | 16:326404a7a8b8 | 589 | } |
khaiminhvn | 16:326404a7a8b8 | 590 | motor.moveBackward(M_ALL); |
khaiminhvn | 16:326404a7a8b8 | 591 | fan.checkTemp(&mode); |
khaiminhvn | 16:326404a7a8b8 | 592 | flag_disp = 1; |
khaiminhvn | 16:326404a7a8b8 | 593 | flag_time = 1; |
khaiminhvn | 16:326404a7a8b8 | 594 | break; |
khaiminhvn | 16:326404a7a8b8 | 595 | } |
khaiminhvn | 16:326404a7a8b8 | 596 | //////////////////////////////////////////////////////////////////////// |
khaiminhvn | 16:326404a7a8b8 | 597 | case OP_OVERHEAT_MAN:{ |
khaiminhvn | 28:1b8e1d100b58 | 598 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 30:7fce3ae08754 | 599 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 600 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 601 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 16:326404a7a8b8 | 602 | topL = (flag_flas)? "*!* OVERHEAT *!*": " OVERHEAT "; |
khaiminhvn | 16:326404a7a8b8 | 603 | botL = (flag_flas)? " PRESS FN " : (" " + Misc::itos(fan.getTemp(),3) + "C"); |
khaiminhvn | 16:326404a7a8b8 | 604 | flag_flas = !flag_flas; |
khaiminhvn | 16:326404a7a8b8 | 605 | t_disp.reset(); |
khaiminhvn | 16:326404a7a8b8 | 606 | t_disp.start(); |
khaiminhvn | 16:326404a7a8b8 | 607 | lcd.LCD_display(topL,botL); |
khaiminhvn | 16:326404a7a8b8 | 608 | } |
khaiminhvn | 16:326404a7a8b8 | 609 | motor.stop(); |
khaiminhvn | 16:326404a7a8b8 | 610 | flag_disp = 1; |
khaiminhvn | 16:326404a7a8b8 | 611 | break; |
khaiminhvn | 16:326404a7a8b8 | 612 | } |
jump_man | 17:238ccf7e3676 | 613 | //////////////////////////////////////////////////////////////////////// |
jump_man | 17:238ccf7e3676 | 614 | case OP_POWER_OFF:{ |
khaiminhvn | 28:1b8e1d100b58 | 615 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 28:1b8e1d100b58 | 616 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 27:26f41a320436 | 617 | prevm = mode; |
jump_man | 17:238ccf7e3676 | 618 | if(mode != OP_POWER_OFF){break;} |
khaiminhvn | 26:b30a61a55b2f | 619 | if(flag_powerOn){ |
khaiminhvn | 26:b30a61a55b2f | 620 | mode = OP_NORMAL; |
khaiminhvn | 26:b30a61a55b2f | 621 | break; |
khaiminhvn | 26:b30a61a55b2f | 622 | } |
khaiminhvn | 30:7fce3ae08754 | 623 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 26:b30a61a55b2f | 624 | fan.checkTemp(&mode);if(mode != OP_POWER_OFF){break;} |
jump_man | 17:238ccf7e3676 | 625 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
jump_man | 17:238ccf7e3676 | 626 | topL = "SLEEP MODE"; |
jump_man | 17:238ccf7e3676 | 627 | flag_flas = !flag_flas; |
jump_man | 17:238ccf7e3676 | 628 | botL = Misc::itos(ane.getWind(&flag_disp),3) + "kph | " + Misc::itos(fan.getTemp()) + "C"; |
jump_man | 17:238ccf7e3676 | 629 | t_disp.reset(); |
jump_man | 17:238ccf7e3676 | 630 | t_disp.start(); |
jump_man | 17:238ccf7e3676 | 631 | lcd.LCD_display(topL,botL); |
jump_man | 17:238ccf7e3676 | 632 | } |
jump_man | 17:238ccf7e3676 | 633 | |
jump_man | 17:238ccf7e3676 | 634 | //Move all motor backward |
jump_man | 17:238ccf7e3676 | 635 | motor.moveBackward(M_ALL); |
jump_man | 17:238ccf7e3676 | 636 | flag_time = 1; //Set the system in motion once windspeed has subsided |
jump_man | 17:238ccf7e3676 | 637 | break; |
jump_man | 17:238ccf7e3676 | 638 | } |
khaiminhvn | 20:0a6609515810 | 639 | //////////////////////////////////////////////////////////////////////// |
khaiminhvn | 20:0a6609515810 | 640 | case OP_ATRACK:{ |
khaiminhvn | 28:1b8e1d100b58 | 641 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 27:26f41a320436 | 642 | prevm = mode; |
khaiminhvn | 20:0a6609515810 | 643 | flag_aTrack = !flag_aTrack; |
khaiminhvn | 28:1b8e1d100b58 | 644 | gui->activeTracking(flag_aTrack); |
khaiminhvn | 30:7fce3ae08754 | 645 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 21:e9978d9823fe | 646 | fan.checkTemp(&mode);if(mode != OP_ATRACK){break;} |
khaiminhvn | 20:0a6609515810 | 647 | topL = "TRACKING MODE:"; |
khaiminhvn | 20:0a6609515810 | 648 | botL = (flag_aTrack) ? "ACTIVE (ACC)" : "AUTO (ONLINE)"; |
khaiminhvn | 20:0a6609515810 | 649 | lcd.LCD_display(topL,botL); |
khaiminhvn | 20:0a6609515810 | 650 | flag_disp = 0; |
khaiminhvn | 20:0a6609515810 | 651 | wait_us(TIME_ATRACK_TIMEOUT); |
khaiminhvn | 20:0a6609515810 | 652 | |
khaiminhvn | 20:0a6609515810 | 653 | mode = OP_NORMAL; |
khaiminhvn | 20:0a6609515810 | 654 | flag_time = 1; //Set the system in motion once done adjusting |
khaiminhvn | 20:0a6609515810 | 655 | break; |
khaiminhvn | 20:0a6609515810 | 656 | } |
khaiminhvn | 20:0a6609515810 | 657 | //////////////////////////////////////////////////////////////////////// |
khaiminhvn | 23:5dff9aed3727 | 658 | case OP_RECONNECT:{ |
khaiminhvn | 23:5dff9aed3727 | 659 | topL = "CONNECTING"; |
khaiminhvn | 23:5dff9aed3727 | 660 | botL = ""; |
khaiminhvn | 23:5dff9aed3727 | 661 | lcd.LCD_display(topL,botL); |
khaiminhvn | 26:b30a61a55b2f | 662 | |
khaiminhvn | 26:b30a61a55b2f | 663 | for(int i = 0; (i < CONN_N && !flag_eth); i++){ |
khaiminhvn | 26:b30a61a55b2f | 664 | eth.connect(); |
khaiminhvn | 28:1b8e1d100b58 | 665 | gui->refreshConnection(URL,&flag_eth); |
khaiminhvn | 26:b30a61a55b2f | 666 | wait_us(1000000); |
khaiminhvn | 28:1b8e1d100b58 | 667 | inverter->connect(URL, PORT); |
khaiminhvn | 26:b30a61a55b2f | 668 | } |
khaiminhvn | 26:b30a61a55b2f | 669 | wait_us(1000000); |
khaiminhvn | 23:5dff9aed3727 | 670 | bt_fn.setConnected(flag_eth); |
khaiminhvn | 23:5dff9aed3727 | 671 | |
khaiminhvn | 28:1b8e1d100b58 | 672 | if (flag_eth){gui->getSunAngle();} |
khaiminhvn | 23:5dff9aed3727 | 673 | if (flag_eth){ |
khaiminhvn | 23:5dff9aed3727 | 674 | topL = "ETHERNET"; |
khaiminhvn | 23:5dff9aed3727 | 675 | botL = "CONNECTED"; |
khaiminhvn | 23:5dff9aed3727 | 676 | lcd.LCD_display(topL, botL); |
khaiminhvn | 23:5dff9aed3727 | 677 | } |
khaiminhvn | 23:5dff9aed3727 | 678 | else{ |
khaiminhvn | 23:5dff9aed3727 | 679 | topL = "ETHERNET"; |
khaiminhvn | 23:5dff9aed3727 | 680 | botL = "NOT CONNECTED"; |
khaiminhvn | 23:5dff9aed3727 | 681 | lcd.LCD_display(topL, botL); |
khaiminhvn | 23:5dff9aed3727 | 682 | } |
khaiminhvn | 23:5dff9aed3727 | 683 | wait_us(TIME_RECONNECT_TIMEOUT); |
khaiminhvn | 23:5dff9aed3727 | 684 | |
khaiminhvn | 23:5dff9aed3727 | 685 | mode = OP_NORMAL; |
khaiminhvn | 23:5dff9aed3727 | 686 | flag_time = 1; //Set the system in motion once done adjusting |
khaiminhvn | 23:5dff9aed3727 | 687 | break; |
khaiminhvn | 23:5dff9aed3727 | 688 | } |
khaiminhvn | 23:5dff9aed3727 | 689 | //////////////////////////////////////////////////////////////////////// |
khaiminhvn | 0:74d6e93ec977 | 690 | } |
khaiminhvn | 28:1b8e1d100b58 | 691 | if(!flag_eth && timer_read_s(t_recon) >= TIME_RECON && flag_rec){ |
khaiminhvn | 26:b30a61a55b2f | 692 | eth.connect(); |
khaiminhvn | 28:1b8e1d100b58 | 693 | gui->refreshConnection(URL,&flag_eth); |
khaiminhvn | 28:1b8e1d100b58 | 694 | inverter->connect(URL, PORT); |
khaiminhvn | 26:b30a61a55b2f | 695 | bt_fn.setConnected(flag_eth); |
khaiminhvn | 26:b30a61a55b2f | 696 | } |
jump_man | 17:238ccf7e3676 | 697 | |
khaiminhvn | 7:2b6438e586e6 | 698 | wait_us(LOOP_DELAY); |
khaiminhvn | 0:74d6e93ec977 | 699 | } |
khaiminhvn | 0:74d6e93ec977 | 700 | |
khaiminhvn | 0:74d6e93ec977 | 701 | } |
khaiminhvn | 0:74d6e93ec977 | 702 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 703 | //////////////////////////////////////////////////////////////////////////////// |