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@35:aa4395b4a1a0, 2021-04-15 (annotated)
- Committer:
- khaiminhvn
- Date:
- Thu Apr 15 18:47:41 2021 +0000
- Revision:
- 35:aa4395b4a1a0
- Parent:
- 32:7b58f5574b7a
Added power halting threshold
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 | 35:aa4395b4a1a0 | 63 | int pow; |
khaiminhvn | 8:a1481d5f0572 | 64 | |
khaiminhvn | 28:1b8e1d100b58 | 65 | //PUSHBUTTONS |
khaiminhvn | 8:a1481d5f0572 | 66 | Pushbutton bt_inc(PIN_BTINC); |
khaiminhvn | 8:a1481d5f0572 | 67 | Pushbutton bt_dec(PIN_BTDEC); |
khaiminhvn | 20:0a6609515810 | 68 | Pushbutton bt_fn(PIN_BTFN,&mode,&flag_disp,PIN_BTINC); |
khaiminhvn | 8:a1481d5f0572 | 69 | |
khaiminhvn | 28:1b8e1d100b58 | 70 | //ETHERNET INTERFACE |
khaiminhvn | 28:1b8e1d100b58 | 71 | GUI* gui; |
khaiminhvn | 28:1b8e1d100b58 | 72 | Inverter* inverter; |
khaiminhvn | 28:1b8e1d100b58 | 73 | |
khaiminhvn | 11:2ade1ad7bad6 | 74 | string topL = "INITIALIZING"; |
khaiminhvn | 11:2ade1ad7bad6 | 75 | string botL = ""; |
khaiminhvn | 11:2ade1ad7bad6 | 76 | lcd.LCD_display(topL, botL); |
khaiminhvn | 0:74d6e93ec977 | 77 | |
khaiminhvn | 0:74d6e93ec977 | 78 | t.start(); //Start timer |
khaiminhvn | 10:566529fff615 | 79 | t_disp.start(); |
khaiminhvn | 30:7fce3ae08754 | 80 | t_wind.start(); |
khaiminhvn | 6:0b7a6e51cdf8 | 81 | |
khaiminhvn | 0:74d6e93ec977 | 82 | while(1) |
khaiminhvn | 0:74d6e93ec977 | 83 | { |
khaiminhvn | 0:74d6e93ec977 | 84 | switch(mode) |
khaiminhvn | 0:74d6e93ec977 | 85 | { |
khaiminhvn | 28:1b8e1d100b58 | 86 | case OP_ETHERNET:{ |
khaiminhvn | 28:1b8e1d100b58 | 87 | topL = "CONNECT ONLINE?"; |
khaiminhvn | 29:5b14b0ec5efc | 88 | botL = "NO[DE] YES[IN]"; |
khaiminhvn | 28:1b8e1d100b58 | 89 | lcd.LCD_display(topL,botL); |
khaiminhvn | 28:1b8e1d100b58 | 90 | while(true){ |
khaiminhvn | 28:1b8e1d100b58 | 91 | if(bt_inc.read()){ |
khaiminhvn | 29:5b14b0ec5efc | 92 | topL = "CONNECTING"; |
khaiminhvn | 29:5b14b0ec5efc | 93 | botL = ""; |
khaiminhvn | 29:5b14b0ec5efc | 94 | lcd.LCD_display(topL, botL); |
khaiminhvn | 28:1b8e1d100b58 | 95 | flag_rec = 1; |
khaiminhvn | 28:1b8e1d100b58 | 96 | eth.connect(); |
khaiminhvn | 28:1b8e1d100b58 | 97 | gui = new GUI("ws://int-sol-ref.herokuapp.com/", ð, &flag_eth); |
khaiminhvn | 28:1b8e1d100b58 | 98 | inverter = new Inverter("int-sol-ref.herokuapp.com", 80, ð); |
khaiminhvn | 28:1b8e1d100b58 | 99 | bt_fn.setConnected(flag_eth); |
khaiminhvn | 28:1b8e1d100b58 | 100 | |
khaiminhvn | 28:1b8e1d100b58 | 101 | if (flag_eth){gui->getSunAngle();} |
khaiminhvn | 28:1b8e1d100b58 | 102 | if (flag_eth){ |
khaiminhvn | 28:1b8e1d100b58 | 103 | topL = "ETHERNET"; |
khaiminhvn | 28:1b8e1d100b58 | 104 | botL = "CONNECTED"; |
khaiminhvn | 28:1b8e1d100b58 | 105 | lcd.LCD_display(topL, botL); |
khaiminhvn | 28:1b8e1d100b58 | 106 | } |
khaiminhvn | 28:1b8e1d100b58 | 107 | else{ |
khaiminhvn | 28:1b8e1d100b58 | 108 | topL = "ETHERNET"; |
khaiminhvn | 28:1b8e1d100b58 | 109 | botL = "NOT CONNECTED"; |
khaiminhvn | 28:1b8e1d100b58 | 110 | lcd.LCD_display(topL, botL); |
khaiminhvn | 28:1b8e1d100b58 | 111 | } |
khaiminhvn | 28:1b8e1d100b58 | 112 | wait_us(1000000); |
khaiminhvn | 28:1b8e1d100b58 | 113 | t_recon.start(); |
khaiminhvn | 28:1b8e1d100b58 | 114 | break; |
khaiminhvn | 28:1b8e1d100b58 | 115 | } |
khaiminhvn | 28:1b8e1d100b58 | 116 | else if(bt_dec.read()){ |
khaiminhvn | 28:1b8e1d100b58 | 117 | flag_rec = 0; |
khaiminhvn | 28:1b8e1d100b58 | 118 | break; |
khaiminhvn | 28:1b8e1d100b58 | 119 | } |
khaiminhvn | 28:1b8e1d100b58 | 120 | } |
khaiminhvn | 28:1b8e1d100b58 | 121 | |
khaiminhvn | 28:1b8e1d100b58 | 122 | mode = OP_CALIBRATION; |
khaiminhvn | 28:1b8e1d100b58 | 123 | break; |
khaiminhvn | 28:1b8e1d100b58 | 124 | } |
khaiminhvn | 28:1b8e1d100b58 | 125 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 28:1b8e1d100b58 | 126 | case OP_CALIBRATION:{ |
khaiminhvn | 28:1b8e1d100b58 | 127 | if(flag_disp){ |
khaiminhvn | 28:1b8e1d100b58 | 128 | topL = "PUT SENSORS IN"; |
khaiminhvn | 28:1b8e1d100b58 | 129 | botL = "CALIBRATION SLOT"; |
khaiminhvn | 28:1b8e1d100b58 | 130 | lcd.LCD_display(topL, botL); |
khaiminhvn | 28:1b8e1d100b58 | 131 | flag_disp = 0; |
khaiminhvn | 28:1b8e1d100b58 | 132 | } |
khaiminhvn | 28:1b8e1d100b58 | 133 | break; |
khaiminhvn | 28:1b8e1d100b58 | 134 | } |
khaiminhvn | 28:1b8e1d100b58 | 135 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 136 | case OP_PLACEMENT:{ |
khaiminhvn | 24:ea7abc25a697 | 137 | if(flag_cali == 0){ |
khaiminhvn | 24:ea7abc25a697 | 138 | topL = "CALIBRATING"; |
khaiminhvn | 24:ea7abc25a697 | 139 | botL = ""; |
khaiminhvn | 24:ea7abc25a697 | 140 | lcd.LCD_display(topL,botL); |
khaiminhvn | 24:ea7abc25a697 | 141 | acc.calibrate(); |
khaiminhvn | 24:ea7abc25a697 | 142 | topL = "PUT SENSOR ON"; |
khaiminhvn | 24:ea7abc25a697 | 143 | botL = "PANEL&REFLECTORS"; |
khaiminhvn | 24:ea7abc25a697 | 144 | lcd.LCD_display(topL,botL); |
khaiminhvn | 24:ea7abc25a697 | 145 | flag_cali = 1; |
khaiminhvn | 24:ea7abc25a697 | 146 | } |
khaiminhvn | 28:1b8e1d100b58 | 147 | flag_disp = 1; |
khaiminhvn | 7:2b6438e586e6 | 148 | break; |
khaiminhvn | 8:a1481d5f0572 | 149 | } |
khaiminhvn | 0:74d6e93ec977 | 150 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 14:3989d03a8b98 | 151 | case OP_CONFIRM:{ |
khaiminhvn | 14:3989d03a8b98 | 152 | while(mode == OP_CONFIRM){ |
khaiminhvn | 14:3989d03a8b98 | 153 | topL = "R1 || P || R2"; |
khaiminhvn | 16:326404a7a8b8 | 154 | botL = Misc::itos(acc.getAngle(S_R1),3) + |
khaiminhvn | 16:326404a7a8b8 | 155 | "||" + Misc::itos(acc.getAngle(S_PANEL),3) + |
khaiminhvn | 16:326404a7a8b8 | 156 | "||" + Misc::itos(acc.getAngle(S_R2),3); |
khaiminhvn | 14:3989d03a8b98 | 157 | lcd.LCD_display(topL,botL); |
khaiminhvn | 14:3989d03a8b98 | 158 | flag_disp = 0; |
khaiminhvn | 14:3989d03a8b98 | 159 | wait_us(LCD_RRATE); |
khaiminhvn | 14:3989d03a8b98 | 160 | } |
khaiminhvn | 14:3989d03a8b98 | 161 | } |
khaiminhvn | 14:3989d03a8b98 | 162 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 163 | case OP_NORMAL:{ |
khaiminhvn | 28:1b8e1d100b58 | 164 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 28:1b8e1d100b58 | 165 | if (flag_eth){gui->getSunAngle();} |
khaiminhvn | 28:1b8e1d100b58 | 166 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 27:26f41a320436 | 167 | prevm = mode; |
khaiminhvn | 26:b30a61a55b2f | 168 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_NORMAL){break;} |
khaiminhvn | 16:326404a7a8b8 | 169 | fan.checkTemp(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 16:326404a7a8b8 | 170 | ane.checkWind(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 30:7fce3ae08754 | 171 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 12:14bac44e33b9 | 172 | topL = "NORMAL:IDLING"; |
khaiminhvn | 24:ea7abc25a697 | 173 | topL = (flag_aTrack) ? topL : "*" + topL; |
khaiminhvn | 14:3989d03a8b98 | 174 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 29:5b14b0ec5efc | 175 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 28:1b8e1d100b58 | 176 | + ((flag_eth)?Misc::itos(inverter->getPower()):"---") + "W"; |
khaiminhvn | 10:566529fff615 | 177 | t_disp.reset(); |
khaiminhvn | 10:566529fff615 | 178 | t_disp.start(); |
khaiminhvn | 8:a1481d5f0572 | 179 | lcd.LCD_display(topL,botL); |
khaiminhvn | 8:a1481d5f0572 | 180 | } |
khaiminhvn | 0:74d6e93ec977 | 181 | |
khaiminhvn | 35:aa4395b4a1a0 | 182 | pow = (flag_eth) ? inverter->getPower() : -1; |
khaiminhvn | 35:aa4395b4a1a0 | 183 | if(pow == -1 || pow > THRESHOLD_PER*MAX_POWER){ |
khaiminhvn | 35:aa4395b4a1a0 | 184 | break; |
khaiminhvn | 35:aa4395b4a1a0 | 185 | } |
khaiminhvn | 35:aa4395b4a1a0 | 186 | |
khaiminhvn | 12:14bac44e33b9 | 187 | if(flag_time) //If delay interval has passed |
khaiminhvn | 12:14bac44e33b9 | 188 | { |
khaiminhvn | 12:14bac44e33b9 | 189 | ane.checkWind(&mode); |
khaiminhvn | 12:14bac44e33b9 | 190 | //Get Angle of Panel |
khaiminhvn | 20:0a6609515810 | 191 | if(flag_aTrack) |
khaiminhvn | 20:0a6609515810 | 192 | ang_P = acc.getAngle(S_PANEL); |
khaiminhvn | 20:0a6609515810 | 193 | else{ |
khaiminhvn | 28:1b8e1d100b58 | 194 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 26:b30a61a55b2f | 195 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_NORMAL){break;} |
khaiminhvn | 20:0a6609515810 | 196 | ang_P = sun_angle; |
khaiminhvn | 20:0a6609515810 | 197 | } |
khaiminhvn | 12:14bac44e33b9 | 198 | |
khaiminhvn | 12:14bac44e33b9 | 199 | //Calculate the Angle of Both Reflector |
khaiminhvn | 12:14bac44e33b9 | 200 | ref_R1 = Algorithm::calcAngle(1,ang_P); |
khaiminhvn | 12:14bac44e33b9 | 201 | ref_R2 = Algorithm::calcAngle(2,ang_P); |
khaiminhvn | 12:14bac44e33b9 | 202 | |
khaiminhvn | 14:3989d03a8b98 | 203 | //Moving Reflector 1 |
khaiminhvn | 12:14bac44e33b9 | 204 | ang_R = acc.getAngle(S_R1); |
khaiminhvn | 15:2b3b5d8bf692 | 205 | while(ang_R <= ref_R1 && !acc.checkAngle(ref_R1,ang_R) && mode == OP_NORMAL) |
khaiminhvn | 12:14bac44e33b9 | 206 | { |
khaiminhvn | 28:1b8e1d100b58 | 207 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 26:b30a61a55b2f | 208 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_NORMAL){break;} |
khaiminhvn | 30:7fce3ae08754 | 209 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 16:326404a7a8b8 | 210 | fan.checkTemp(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 16:326404a7a8b8 | 211 | ane.checkWind(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 14:3989d03a8b98 | 212 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 213 | topL = (flag_flas)? "NORMAL:R1 <=>" : "NORMAL:R1 <-=->"; |
khaiminhvn | 24:ea7abc25a697 | 214 | topL = (flag_aTrack) ? topL : "*" + topL; |
khaiminhvn | 14:3989d03a8b98 | 215 | flag_flas = !flag_flas; |
khaiminhvn | 29:5b14b0ec5efc | 216 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 28:1b8e1d100b58 | 217 | + ((flag_eth)?Misc::itos(inverter->getPower()):"---") + "W"; |
khaiminhvn | 14:3989d03a8b98 | 218 | t_disp.reset(); |
khaiminhvn | 14:3989d03a8b98 | 219 | t_disp.start(); |
khaiminhvn | 14:3989d03a8b98 | 220 | } |
khaiminhvn | 14:3989d03a8b98 | 221 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 222 | motor.moveForward(M1); |
khaiminhvn | 12:14bac44e33b9 | 223 | ang_R = acc.getAngle(S_R1); |
khaiminhvn | 12:14bac44e33b9 | 224 | } |
khaiminhvn | 15:2b3b5d8bf692 | 225 | while(ang_R >= ref_R1 && !acc.checkAngle(ref_R1,ang_R) && mode == OP_NORMAL) |
khaiminhvn | 12:14bac44e33b9 | 226 | { |
khaiminhvn | 28:1b8e1d100b58 | 227 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 26:b30a61a55b2f | 228 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_NORMAL){break;} |
khaiminhvn | 30:7fce3ae08754 | 229 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 16:326404a7a8b8 | 230 | fan.checkTemp(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 16:326404a7a8b8 | 231 | ane.checkWind(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 14:3989d03a8b98 | 232 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 233 | topL = (flag_flas)? "NORMAL:R1 > = < " : "NORMAL:R1 ->=<-"; |
khaiminhvn | 24:ea7abc25a697 | 234 | topL = (flag_aTrack) ? topL : "*" + topL; |
khaiminhvn | 14:3989d03a8b98 | 235 | flag_flas = !flag_flas; |
khaiminhvn | 29:5b14b0ec5efc | 236 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 28:1b8e1d100b58 | 237 | + ((flag_eth)?Misc::itos(inverter->getPower()):"---") + "W"; |
khaiminhvn | 14:3989d03a8b98 | 238 | t_disp.reset(); |
khaiminhvn | 14:3989d03a8b98 | 239 | t_disp.start(); |
khaiminhvn | 14:3989d03a8b98 | 240 | } |
khaiminhvn | 14:3989d03a8b98 | 241 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 242 | motor.moveBackward(M1); |
khaiminhvn | 12:14bac44e33b9 | 243 | ang_R = acc.getAngle(S_R1); |
khaiminhvn | 12:14bac44e33b9 | 244 | } |
khaiminhvn | 12:14bac44e33b9 | 245 | motor.stop(); |
khaiminhvn | 12:14bac44e33b9 | 246 | |
khaiminhvn | 12:14bac44e33b9 | 247 | //Moving Reflector 2 |
khaiminhvn | 12:14bac44e33b9 | 248 | ang_R = acc.getAngle(S_R2); |
khaiminhvn | 15:2b3b5d8bf692 | 249 | while(ang_R <= ref_R2 && !acc.checkAngle(ref_R2,ang_R) && mode == OP_NORMAL) |
khaiminhvn | 12:14bac44e33b9 | 250 | { |
khaiminhvn | 28:1b8e1d100b58 | 251 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 26:b30a61a55b2f | 252 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_NORMAL){break;} |
khaiminhvn | 30:7fce3ae08754 | 253 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 16:326404a7a8b8 | 254 | fan.checkTemp(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 16:326404a7a8b8 | 255 | ane.checkWind(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 14:3989d03a8b98 | 256 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 257 | topL = (flag_flas)? "NORMAL:R2 <=>" : "NORMAL:R2 <-=->"; |
khaiminhvn | 24:ea7abc25a697 | 258 | topL = (flag_aTrack) ? topL : "*" + topL; |
khaiminhvn | 14:3989d03a8b98 | 259 | flag_flas = !flag_flas; |
khaiminhvn | 29:5b14b0ec5efc | 260 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 28:1b8e1d100b58 | 261 | + ((flag_eth)?Misc::itos(inverter->getPower()):"---") + "W"; |
khaiminhvn | 14:3989d03a8b98 | 262 | t_disp.reset(); |
khaiminhvn | 14:3989d03a8b98 | 263 | t_disp.start(); |
khaiminhvn | 14:3989d03a8b98 | 264 | } |
khaiminhvn | 14:3989d03a8b98 | 265 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 266 | motor.moveForward(M2); |
khaiminhvn | 12:14bac44e33b9 | 267 | ang_R = acc.getAngle(S_R2); |
khaiminhvn | 12:14bac44e33b9 | 268 | } |
khaiminhvn | 15:2b3b5d8bf692 | 269 | while(ang_R >= ref_R2 && !acc.checkAngle(ref_R2,ang_R) && mode == OP_NORMAL) |
khaiminhvn | 12:14bac44e33b9 | 270 | { |
khaiminhvn | 28:1b8e1d100b58 | 271 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 26:b30a61a55b2f | 272 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_NORMAL){break;} |
khaiminhvn | 30:7fce3ae08754 | 273 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 16:326404a7a8b8 | 274 | fan.checkTemp(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 16:326404a7a8b8 | 275 | ane.checkWind(&mode);if(mode != OP_NORMAL){break;} |
khaiminhvn | 14:3989d03a8b98 | 276 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 277 | topL = (flag_flas)? "NORMAL:R2 > = < " : "NORMAL:R2 ->=<-"; |
khaiminhvn | 24:ea7abc25a697 | 278 | topL = (flag_aTrack) ? topL : "*" + topL; |
khaiminhvn | 14:3989d03a8b98 | 279 | flag_flas = !flag_flas; |
khaiminhvn | 29:5b14b0ec5efc | 280 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 28:1b8e1d100b58 | 281 | + ((flag_eth)?Misc::itos(inverter->getPower()):"---") + "W"; |
khaiminhvn | 14:3989d03a8b98 | 282 | t_disp.reset(); |
khaiminhvn | 14:3989d03a8b98 | 283 | t_disp.start(); |
khaiminhvn | 14:3989d03a8b98 | 284 | } |
khaiminhvn | 14:3989d03a8b98 | 285 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 286 | motor.moveBackward(M2); |
khaiminhvn | 12:14bac44e33b9 | 287 | ang_R = acc.getAngle(S_R2); |
khaiminhvn | 12:14bac44e33b9 | 288 | } |
khaiminhvn | 12:14bac44e33b9 | 289 | motor.stop(); |
khaiminhvn | 12:14bac44e33b9 | 290 | flag_time = 0; //Reset timer flag |
khaiminhvn | 12:14bac44e33b9 | 291 | flag_disp = 1; //Reset display flag |
khaiminhvn | 12:14bac44e33b9 | 292 | t.reset(); //Reset timer |
khaiminhvn | 12:14bac44e33b9 | 293 | } |
khaiminhvn | 12:14bac44e33b9 | 294 | t_elapsed = (int)timer_read_s(t); |
khaiminhvn | 12:14bac44e33b9 | 295 | flag_time = (t_elapsed >= TIME_NORMAL) ? 1 : 0; //Enable flag if delay interval has passed |
khaiminhvn | 9:6e950b9a9a81 | 296 | flag_idle = 0; |
khaiminhvn | 7:2b6438e586e6 | 297 | break; |
khaiminhvn | 8:a1481d5f0572 | 298 | } |
khaiminhvn | 7:2b6438e586e6 | 299 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 300 | case OP_WIND:{ |
khaiminhvn | 28:1b8e1d100b58 | 301 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 28:1b8e1d100b58 | 302 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 29:5b14b0ec5efc | 303 | mode = (flag_powerOn) ? mode : OP_POWER_OFF; if(mode != OP_WIND){break;} |
khaiminhvn | 30:7fce3ae08754 | 304 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 305 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 306 | fan.checkTemp(&mode);if(mode != OP_WIND){break;} |
khaiminhvn | 16:326404a7a8b8 | 307 | ane.checkWind(&mode);if(mode != OP_WIND){break;} |
khaiminhvn | 14:3989d03a8b98 | 308 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 309 | topL = (flag_flas)? "WIND SAFETY *!*" : "WIND SAFETY"; |
khaiminhvn | 15:2b3b5d8bf692 | 310 | flag_flas = !flag_flas; |
khaiminhvn | 29:5b14b0ec5efc | 311 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 28:1b8e1d100b58 | 312 | + ((flag_eth)?Misc::itos(inverter->getPower()):"---") + "W"; |
khaiminhvn | 29:5b14b0ec5efc | 313 | lcd.LCD_display(topL,botL); |
khaiminhvn | 10:566529fff615 | 314 | t_disp.reset(); |
khaiminhvn | 10:566529fff615 | 315 | t_disp.start(); |
khaiminhvn | 10:566529fff615 | 316 | } |
khaiminhvn | 0:74d6e93ec977 | 317 | |
khaiminhvn | 11:2ade1ad7bad6 | 318 | //Move all motor backward |
khaiminhvn | 11:2ade1ad7bad6 | 319 | motor.moveBackward(M_ALL); |
khaiminhvn | 11:2ade1ad7bad6 | 320 | flag_time = 1; //Set the system in motion once windspeed has subsided |
khaiminhvn | 9:6e950b9a9a81 | 321 | flag_idle = 0; |
khaiminhvn | 7:2b6438e586e6 | 322 | break; |
khaiminhvn | 8:a1481d5f0572 | 323 | } |
khaiminhvn | 0:74d6e93ec977 | 324 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 325 | case OP_MANUAL1:{ |
khaiminhvn | 28:1b8e1d100b58 | 326 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 30:7fce3ae08754 | 327 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 328 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 329 | fan.checkTemp(&mode);if(mode != OP_MANUAL1){break;} |
khaiminhvn | 15:2b3b5d8bf692 | 330 | topL = "MANUAL:M1"; |
khaiminhvn | 29:5b14b0ec5efc | 331 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 29:5b14b0ec5efc | 332 | + Misc::itos(acc.getAngle(S_R1)) + "deg"; |
khaiminhvn | 8:a1481d5f0572 | 333 | if(flag_disp){ |
khaiminhvn | 8:a1481d5f0572 | 334 | lcd.LCD_display(topL,botL); |
khaiminhvn | 8:a1481d5f0572 | 335 | flag_disp = 0; |
khaiminhvn | 8:a1481d5f0572 | 336 | } |
khaiminhvn | 0:74d6e93ec977 | 337 | |
khaiminhvn | 12:14bac44e33b9 | 338 | //TIMEOUT |
khaiminhvn | 12:14bac44e33b9 | 339 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 12:14bac44e33b9 | 340 | if(!flag_idle) //Check if button is not pressed |
khaiminhvn | 12:14bac44e33b9 | 341 | { |
khaiminhvn | 12:14bac44e33b9 | 342 | t_mode.reset(); |
khaiminhvn | 12:14bac44e33b9 | 343 | t_mode.start(); |
khaiminhvn | 12:14bac44e33b9 | 344 | flag_idle = 1; //Indicate idling |
khaiminhvn | 12:14bac44e33b9 | 345 | } |
khaiminhvn | 12:14bac44e33b9 | 346 | else if(timer_read_s(t_mode) > TIME_MANUAL_TIMEOUT) |
khaiminhvn | 12:14bac44e33b9 | 347 | { |
khaiminhvn | 12:14bac44e33b9 | 348 | mode = OP_NORMAL; |
khaiminhvn | 12:14bac44e33b9 | 349 | flag_disp = 1; |
khaiminhvn | 12:14bac44e33b9 | 350 | break; |
khaiminhvn | 12:14bac44e33b9 | 351 | } |
khaiminhvn | 12:14bac44e33b9 | 352 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 12:14bac44e33b9 | 353 | |
khaiminhvn | 12:14bac44e33b9 | 354 | while(bt_inc.read()) //Extend |
khaiminhvn | 12:14bac44e33b9 | 355 | { |
khaiminhvn | 30:7fce3ae08754 | 356 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 15:2b3b5d8bf692 | 357 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 358 | topL = (flag_flas)? "MANUAL:M1 <=> " : "MANUAL:M1 <-=->"; |
khaiminhvn | 15:2b3b5d8bf692 | 359 | flag_flas = !flag_flas; |
khaiminhvn | 15:2b3b5d8bf692 | 360 | t_disp.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 361 | t_disp.start(); |
khaiminhvn | 32:7b58f5574b7a | 362 | botL = "EXTEND" + Misc::blank(1) + Misc::itos(acc.getAngle(S_R1)) + "deg"; |
khaiminhvn | 12:14bac44e33b9 | 363 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 364 | } |
khaiminhvn | 15:2b3b5d8bf692 | 365 | |
khaiminhvn | 12:14bac44e33b9 | 366 | flag_idle = 0; |
khaiminhvn | 12:14bac44e33b9 | 367 | motor.moveForward(M1); |
khaiminhvn | 12:14bac44e33b9 | 368 | } |
khaiminhvn | 12:14bac44e33b9 | 369 | while(bt_dec.read()) //Retract |
khaiminhvn | 12:14bac44e33b9 | 370 | { |
khaiminhvn | 30:7fce3ae08754 | 371 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 15:2b3b5d8bf692 | 372 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 373 | topL = (flag_flas)? "MANUAL:M1 > = <" : "MANUAL:M1 ->=<-"; |
khaiminhvn | 15:2b3b5d8bf692 | 374 | flag_flas = !flag_flas; |
khaiminhvn | 15:2b3b5d8bf692 | 375 | t_disp.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 376 | t_disp.start(); |
khaiminhvn | 32:7b58f5574b7a | 377 | botL = "RETRACT"+ Misc::blank(1) + Misc::itos(acc.getAngle(S_R1)) + "deg"; |
khaiminhvn | 12:14bac44e33b9 | 378 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 379 | } |
khaiminhvn | 12:14bac44e33b9 | 380 | flag_idle = 0; |
khaiminhvn | 12:14bac44e33b9 | 381 | motor.moveBackward(M1); |
khaiminhvn | 12:14bac44e33b9 | 382 | } |
khaiminhvn | 12:14bac44e33b9 | 383 | if(!bt_inc.read() && !bt_dec.read() && !flag_disp) |
khaiminhvn | 12:14bac44e33b9 | 384 | { |
khaiminhvn | 12:14bac44e33b9 | 385 | flag_disp = 1; |
khaiminhvn | 12:14bac44e33b9 | 386 | motor.stop(); |
khaiminhvn | 12:14bac44e33b9 | 387 | } |
khaiminhvn | 15:2b3b5d8bf692 | 388 | flag_time = 1; |
khaiminhvn | 7:2b6438e586e6 | 389 | break; |
khaiminhvn | 8:a1481d5f0572 | 390 | } |
khaiminhvn | 7:2b6438e586e6 | 391 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 392 | case OP_MANUAL2:{ |
khaiminhvn | 28:1b8e1d100b58 | 393 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 30:7fce3ae08754 | 394 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 395 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 396 | fan.checkTemp(&mode);if(mode != OP_MANUAL2){break;} |
khaiminhvn | 15:2b3b5d8bf692 | 397 | topL = "MANUAL:M2"; |
khaiminhvn | 29:5b14b0ec5efc | 398 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 29:5b14b0ec5efc | 399 | + Misc::itos(acc.getAngle(S_R2)) + "deg"; |
khaiminhvn | 8:a1481d5f0572 | 400 | if(flag_disp){ |
khaiminhvn | 8:a1481d5f0572 | 401 | lcd.LCD_display(topL,botL); |
khaiminhvn | 8:a1481d5f0572 | 402 | flag_disp = 0; |
khaiminhvn | 8:a1481d5f0572 | 403 | } |
khaiminhvn | 12:14bac44e33b9 | 404 | |
khaiminhvn | 12:14bac44e33b9 | 405 | //TIMEOUT |
khaiminhvn | 12:14bac44e33b9 | 406 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 12:14bac44e33b9 | 407 | if(!flag_idle) //Check if button is not pressed |
khaiminhvn | 12:14bac44e33b9 | 408 | { |
khaiminhvn | 12:14bac44e33b9 | 409 | t_mode.reset(); |
khaiminhvn | 12:14bac44e33b9 | 410 | t_mode.start(); |
khaiminhvn | 12:14bac44e33b9 | 411 | flag_idle = 1; //Indicate idling |
khaiminhvn | 12:14bac44e33b9 | 412 | } |
khaiminhvn | 12:14bac44e33b9 | 413 | else if(timer_read_s(t_mode) > TIME_MANUAL_TIMEOUT) |
khaiminhvn | 12:14bac44e33b9 | 414 | { |
khaiminhvn | 12:14bac44e33b9 | 415 | mode = OP_NORMAL; |
khaiminhvn | 12:14bac44e33b9 | 416 | flag_disp = 1; |
khaiminhvn | 12:14bac44e33b9 | 417 | break; |
khaiminhvn | 12:14bac44e33b9 | 418 | } |
khaiminhvn | 12:14bac44e33b9 | 419 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 12:14bac44e33b9 | 420 | |
khaiminhvn | 12:14bac44e33b9 | 421 | while(bt_inc.read()) //Extend |
khaiminhvn | 12:14bac44e33b9 | 422 | { |
khaiminhvn | 30:7fce3ae08754 | 423 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 15:2b3b5d8bf692 | 424 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 425 | topL = (flag_flas)? "MANUAL:M2 <=> " : "MANUAL:M2 <-=->"; |
khaiminhvn | 15:2b3b5d8bf692 | 426 | flag_flas = !flag_flas; |
khaiminhvn | 15:2b3b5d8bf692 | 427 | t_disp.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 428 | t_disp.start(); |
khaiminhvn | 32:7b58f5574b7a | 429 | botL = "EXTEND" + Misc::blank(1) + Misc::itos(acc.getAngle(S_R2)) + "deg"; |
khaiminhvn | 12:14bac44e33b9 | 430 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 431 | } |
khaiminhvn | 15:2b3b5d8bf692 | 432 | |
khaiminhvn | 12:14bac44e33b9 | 433 | flag_idle = 0; |
khaiminhvn | 16:326404a7a8b8 | 434 | motor.moveForward(M2); |
khaiminhvn | 12:14bac44e33b9 | 435 | } |
khaiminhvn | 12:14bac44e33b9 | 436 | while(bt_dec.read()) //Retract |
khaiminhvn | 12:14bac44e33b9 | 437 | { |
khaiminhvn | 30:7fce3ae08754 | 438 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 15:2b3b5d8bf692 | 439 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 440 | topL = (flag_flas)? "MANUAL:M2 > = <" : "MANUAL:M2 ->=<-"; |
khaiminhvn | 15:2b3b5d8bf692 | 441 | flag_flas = !flag_flas; |
khaiminhvn | 15:2b3b5d8bf692 | 442 | t_disp.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 443 | t_disp.start(); |
khaiminhvn | 32:7b58f5574b7a | 444 | botL = "RETRACT" + Misc::blank(1) + Misc::itos(acc.getAngle(S_R2)) + "deg"; |
khaiminhvn | 12:14bac44e33b9 | 445 | lcd.LCD_display(topL,botL); |
khaiminhvn | 12:14bac44e33b9 | 446 | } |
khaiminhvn | 12:14bac44e33b9 | 447 | flag_idle = 0; |
khaiminhvn | 16:326404a7a8b8 | 448 | motor.moveBackward(M2); |
khaiminhvn | 12:14bac44e33b9 | 449 | } |
khaiminhvn | 12:14bac44e33b9 | 450 | if(!bt_inc.read() && !bt_dec.read() && !flag_disp) |
khaiminhvn | 12:14bac44e33b9 | 451 | { |
khaiminhvn | 12:14bac44e33b9 | 452 | flag_disp = 1; |
khaiminhvn | 12:14bac44e33b9 | 453 | motor.stop(); |
khaiminhvn | 12:14bac44e33b9 | 454 | } |
khaiminhvn | 15:2b3b5d8bf692 | 455 | flag_time = 1; |
khaiminhvn | 15:2b3b5d8bf692 | 456 | break; |
khaiminhvn | 15:2b3b5d8bf692 | 457 | } |
khaiminhvn | 15:2b3b5d8bf692 | 458 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 15:2b3b5d8bf692 | 459 | case OP_MANUAL_ALL:{ |
khaiminhvn | 28:1b8e1d100b58 | 460 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 30:7fce3ae08754 | 461 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 462 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 463 | fan.checkTemp(&mode);if(mode != OP_MANUAL_ALL){break;} |
khaiminhvn | 15:2b3b5d8bf692 | 464 | topL = "MANUAL:ALL"; |
khaiminhvn | 29:5b14b0ec5efc | 465 | botL = Misc::itos(ane.getWind(&flag_disp)) + "kph " + Misc::itos(fan.getTemp()) + "C " |
khaiminhvn | 29:5b14b0ec5efc | 466 | + Misc::itos(acc.getAngle(S_R1)) + "|" + Misc::itos(acc.getAngle(S_R2)); |
khaiminhvn | 15:2b3b5d8bf692 | 467 | if(flag_disp){ |
khaiminhvn | 15:2b3b5d8bf692 | 468 | lcd.LCD_display(topL,botL); |
khaiminhvn | 15:2b3b5d8bf692 | 469 | flag_disp = 0; |
khaiminhvn | 15:2b3b5d8bf692 | 470 | } |
khaiminhvn | 15:2b3b5d8bf692 | 471 | |
khaiminhvn | 15:2b3b5d8bf692 | 472 | //TIMEOUT |
khaiminhvn | 15:2b3b5d8bf692 | 473 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 15:2b3b5d8bf692 | 474 | if(!flag_idle) //Check if button is not pressed |
khaiminhvn | 15:2b3b5d8bf692 | 475 | { |
khaiminhvn | 15:2b3b5d8bf692 | 476 | t_mode.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 477 | t_mode.start(); |
khaiminhvn | 15:2b3b5d8bf692 | 478 | flag_idle = 1; //Indicate idling |
khaiminhvn | 15:2b3b5d8bf692 | 479 | } |
khaiminhvn | 15:2b3b5d8bf692 | 480 | else if(timer_read_s(t_mode) > TIME_MANUAL_TIMEOUT) |
khaiminhvn | 15:2b3b5d8bf692 | 481 | { |
khaiminhvn | 15:2b3b5d8bf692 | 482 | mode = OP_NORMAL; |
khaiminhvn | 15:2b3b5d8bf692 | 483 | flag_disp = 1; |
khaiminhvn | 15:2b3b5d8bf692 | 484 | break; |
khaiminhvn | 15:2b3b5d8bf692 | 485 | } |
khaiminhvn | 15:2b3b5d8bf692 | 486 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 15:2b3b5d8bf692 | 487 | |
khaiminhvn | 15:2b3b5d8bf692 | 488 | while(bt_inc.read()) //Extend |
khaiminhvn | 15:2b3b5d8bf692 | 489 | { |
khaiminhvn | 30:7fce3ae08754 | 490 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 15:2b3b5d8bf692 | 491 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 492 | topL = (flag_flas)? "MANUAL:ALL <=> " : "MANUAL:ALL <-=->"; |
khaiminhvn | 15:2b3b5d8bf692 | 493 | flag_flas = !flag_flas; |
khaiminhvn | 15:2b3b5d8bf692 | 494 | t_disp.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 495 | t_disp.start(); |
khaiminhvn | 32:7b58f5574b7a | 496 | botL = "EXTEND" + Misc::blank(1) + Misc::itos(acc.getAngle(S_R1)) + "|" + Misc::itos(acc.getAngle(S_R2)); |
khaiminhvn | 15:2b3b5d8bf692 | 497 | lcd.LCD_display(topL,botL); |
khaiminhvn | 15:2b3b5d8bf692 | 498 | } |
khaiminhvn | 15:2b3b5d8bf692 | 499 | |
khaiminhvn | 15:2b3b5d8bf692 | 500 | flag_idle = 0; |
khaiminhvn | 16:326404a7a8b8 | 501 | motor.moveForward(M_ALL); |
khaiminhvn | 15:2b3b5d8bf692 | 502 | } |
khaiminhvn | 15:2b3b5d8bf692 | 503 | while(bt_dec.read()) //Retract |
khaiminhvn | 15:2b3b5d8bf692 | 504 | { |
khaiminhvn | 30:7fce3ae08754 | 505 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 15:2b3b5d8bf692 | 506 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 15:2b3b5d8bf692 | 507 | topL = (flag_flas)? "MANUAL:ALL > = <" : "MANUAL:ALL ->=<-"; |
khaiminhvn | 15:2b3b5d8bf692 | 508 | flag_flas = !flag_flas; |
khaiminhvn | 15:2b3b5d8bf692 | 509 | t_disp.reset(); |
khaiminhvn | 15:2b3b5d8bf692 | 510 | t_disp.start(); |
khaiminhvn | 32:7b58f5574b7a | 511 | botL = "RETRACT" + Misc::blank(1) + Misc::itos(acc.getAngle(S_R1)) + "|" + Misc::itos(acc.getAngle(S_R2)); |
khaiminhvn | 15:2b3b5d8bf692 | 512 | lcd.LCD_display(topL,botL); |
khaiminhvn | 15:2b3b5d8bf692 | 513 | } |
khaiminhvn | 15:2b3b5d8bf692 | 514 | flag_idle = 0; |
khaiminhvn | 16:326404a7a8b8 | 515 | motor.moveBackward(M_ALL); |
khaiminhvn | 15:2b3b5d8bf692 | 516 | } |
khaiminhvn | 15:2b3b5d8bf692 | 517 | if(!bt_inc.read() && !bt_dec.read() && !flag_disp) |
khaiminhvn | 15:2b3b5d8bf692 | 518 | { |
khaiminhvn | 15:2b3b5d8bf692 | 519 | flag_disp = 1; |
khaiminhvn | 15:2b3b5d8bf692 | 520 | motor.stop(); |
khaiminhvn | 15:2b3b5d8bf692 | 521 | } |
khaiminhvn | 15:2b3b5d8bf692 | 522 | flag_time = 1; |
khaiminhvn | 0:74d6e93ec977 | 523 | break; |
khaiminhvn | 8:a1481d5f0572 | 524 | } |
khaiminhvn | 7:2b6438e586e6 | 525 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 526 | case OP_WSETTING:{ |
khaiminhvn | 28:1b8e1d100b58 | 527 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 30:7fce3ae08754 | 528 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 529 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 530 | fan.checkTemp(&mode);if(mode != OP_WSETTING){break;} |
khaiminhvn | 7:2b6438e586e6 | 531 | topL = "Threshold:"; |
khaiminhvn | 9:6e950b9a9a81 | 532 | botL = Misc::itos(wthres) + " kph"; |
khaiminhvn | 8:a1481d5f0572 | 533 | if(flag_disp){ |
khaiminhvn | 8:a1481d5f0572 | 534 | lcd.LCD_display(topL,botL); |
khaiminhvn | 8:a1481d5f0572 | 535 | flag_disp = 0; |
khaiminhvn | 8:a1481d5f0572 | 536 | } |
khaiminhvn | 0:74d6e93ec977 | 537 | |
khaiminhvn | 9:6e950b9a9a81 | 538 | //TIMEOUT |
khaiminhvn | 9:6e950b9a9a81 | 539 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 9:6e950b9a9a81 | 540 | if(!flag_idle) //Check if button is not pressed |
khaiminhvn | 9:6e950b9a9a81 | 541 | { |
khaiminhvn | 9:6e950b9a9a81 | 542 | t_mode.reset(); |
khaiminhvn | 9:6e950b9a9a81 | 543 | t_mode.start(); |
khaiminhvn | 9:6e950b9a9a81 | 544 | flag_idle = 1; //Indicate idling |
khaiminhvn | 9:6e950b9a9a81 | 545 | } |
khaiminhvn | 9:6e950b9a9a81 | 546 | else if(timer_read_s(t_mode) > TIME_WSETTING_TIMEOUT) |
khaiminhvn | 9:6e950b9a9a81 | 547 | { |
khaiminhvn | 9:6e950b9a9a81 | 548 | mode = OP_NORMAL; |
khaiminhvn | 9:6e950b9a9a81 | 549 | flag_disp = 1; |
khaiminhvn | 9:6e950b9a9a81 | 550 | break; |
khaiminhvn | 9:6e950b9a9a81 | 551 | } |
khaiminhvn | 9:6e950b9a9a81 | 552 | //////////////////////////////////////////////////////////////////// |
khaiminhvn | 9:6e950b9a9a81 | 553 | |
khaiminhvn | 9:6e950b9a9a81 | 554 | if(!(flag_bres == 1 && bt_inc.read()) && !(flag_bres == -1 && bt_dec.read())){ |
khaiminhvn | 9:6e950b9a9a81 | 555 | if(bt_inc.read() && wthres < WIND_THRES_MAX) |
khaiminhvn | 9:6e950b9a9a81 | 556 | { |
khaiminhvn | 24:ea7abc25a697 | 557 | wthres += WIND_INC; |
khaiminhvn | 24:ea7abc25a697 | 558 | ane.setThres(wthres); |
khaiminhvn | 28:1b8e1d100b58 | 559 | if(flag_eth){gui->survivalSpeed(wthres);} |
khaiminhvn | 9:6e950b9a9a81 | 560 | botL = Misc::itos(wthres) + " kph"; |
khaiminhvn | 9:6e950b9a9a81 | 561 | lcd.LCD_display(topL,botL); |
khaiminhvn | 9:6e950b9a9a81 | 562 | flag_idle = 0; |
khaiminhvn | 9:6e950b9a9a81 | 563 | flag_bres = 1; |
khaiminhvn | 9:6e950b9a9a81 | 564 | } |
khaiminhvn | 9:6e950b9a9a81 | 565 | else if(bt_dec.read() && wthres > WIND_THRES_MIN) |
khaiminhvn | 9:6e950b9a9a81 | 566 | { |
khaiminhvn | 24:ea7abc25a697 | 567 | wthres -= WIND_INC; |
khaiminhvn | 24:ea7abc25a697 | 568 | ane.setThres(wthres); |
khaiminhvn | 28:1b8e1d100b58 | 569 | if(flag_eth){gui->survivalSpeed(wthres);} |
khaiminhvn | 9:6e950b9a9a81 | 570 | botL = Misc::itos(wthres) + " kph"; |
khaiminhvn | 9:6e950b9a9a81 | 571 | lcd.LCD_display(topL,botL); |
khaiminhvn | 9:6e950b9a9a81 | 572 | flag_idle = 0; |
khaiminhvn | 9:6e950b9a9a81 | 573 | flag_bres = -1; |
khaiminhvn | 9:6e950b9a9a81 | 574 | } |
khaiminhvn | 9:6e950b9a9a81 | 575 | else{ |
khaiminhvn | 9:6e950b9a9a81 | 576 | flag_bres = 0; |
khaiminhvn | 9:6e950b9a9a81 | 577 | } |
khaiminhvn | 9:6e950b9a9a81 | 578 | } |
khaiminhvn | 9:6e950b9a9a81 | 579 | |
khaiminhvn | 9:6e950b9a9a81 | 580 | flag_time = 1; //Set the system in motion once done adjusting |
khaiminhvn | 7:2b6438e586e6 | 581 | break; |
khaiminhvn | 8:a1481d5f0572 | 582 | } |
khaiminhvn | 16:326404a7a8b8 | 583 | //////////////////////////////////////////////////////////////////////// |
khaiminhvn | 16:326404a7a8b8 | 584 | case OP_OVERHEAT:{ |
khaiminhvn | 28:1b8e1d100b58 | 585 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 30:7fce3ae08754 | 586 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 587 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 588 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 16:326404a7a8b8 | 589 | topL = (flag_flas)? "*!* OVERHEAT *!*": " OVERHEAT "; |
khaiminhvn | 16:326404a7a8b8 | 590 | botL = (flag_flas)? " KEEP DISTANCE " : (" " + Misc::itos(fan.getTemp(),3) + "C"); |
khaiminhvn | 16:326404a7a8b8 | 591 | flag_flas = !flag_flas; |
khaiminhvn | 16:326404a7a8b8 | 592 | t_disp.reset(); |
khaiminhvn | 16:326404a7a8b8 | 593 | t_disp.start(); |
khaiminhvn | 16:326404a7a8b8 | 594 | lcd.LCD_display(topL,botL); |
khaiminhvn | 16:326404a7a8b8 | 595 | } |
khaiminhvn | 16:326404a7a8b8 | 596 | motor.moveBackward(M_ALL); |
khaiminhvn | 16:326404a7a8b8 | 597 | fan.checkTemp(&mode); |
khaiminhvn | 16:326404a7a8b8 | 598 | flag_disp = 1; |
khaiminhvn | 16:326404a7a8b8 | 599 | flag_time = 1; |
khaiminhvn | 16:326404a7a8b8 | 600 | break; |
khaiminhvn | 16:326404a7a8b8 | 601 | } |
khaiminhvn | 16:326404a7a8b8 | 602 | //////////////////////////////////////////////////////////////////////// |
khaiminhvn | 16:326404a7a8b8 | 603 | case OP_OVERHEAT_MAN:{ |
khaiminhvn | 28:1b8e1d100b58 | 604 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 30:7fce3ae08754 | 605 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 27:26f41a320436 | 606 | prevm = mode; |
khaiminhvn | 16:326404a7a8b8 | 607 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
khaiminhvn | 16:326404a7a8b8 | 608 | topL = (flag_flas)? "*!* OVERHEAT *!*": " OVERHEAT "; |
khaiminhvn | 16:326404a7a8b8 | 609 | botL = (flag_flas)? " PRESS FN " : (" " + Misc::itos(fan.getTemp(),3) + "C"); |
khaiminhvn | 16:326404a7a8b8 | 610 | flag_flas = !flag_flas; |
khaiminhvn | 16:326404a7a8b8 | 611 | t_disp.reset(); |
khaiminhvn | 16:326404a7a8b8 | 612 | t_disp.start(); |
khaiminhvn | 16:326404a7a8b8 | 613 | lcd.LCD_display(topL,botL); |
khaiminhvn | 16:326404a7a8b8 | 614 | } |
khaiminhvn | 16:326404a7a8b8 | 615 | motor.stop(); |
khaiminhvn | 16:326404a7a8b8 | 616 | flag_disp = 1; |
khaiminhvn | 16:326404a7a8b8 | 617 | break; |
khaiminhvn | 16:326404a7a8b8 | 618 | } |
jump_man | 17:238ccf7e3676 | 619 | //////////////////////////////////////////////////////////////////////// |
jump_man | 17:238ccf7e3676 | 620 | case OP_POWER_OFF:{ |
khaiminhvn | 28:1b8e1d100b58 | 621 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 28:1b8e1d100b58 | 622 | if (flag_eth){gui->receives(&wthres, &flag_aTrack, &flag_powerOn,&sun_angle);} |
khaiminhvn | 27:26f41a320436 | 623 | prevm = mode; |
jump_man | 17:238ccf7e3676 | 624 | if(mode != OP_POWER_OFF){break;} |
khaiminhvn | 26:b30a61a55b2f | 625 | if(flag_powerOn){ |
khaiminhvn | 26:b30a61a55b2f | 626 | mode = OP_NORMAL; |
khaiminhvn | 26:b30a61a55b2f | 627 | break; |
khaiminhvn | 26:b30a61a55b2f | 628 | } |
khaiminhvn | 30:7fce3ae08754 | 629 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 26:b30a61a55b2f | 630 | fan.checkTemp(&mode);if(mode != OP_POWER_OFF){break;} |
jump_man | 17:238ccf7e3676 | 631 | if(timer_read_ms(t_disp) >= LCD_RRATE){ |
jump_man | 17:238ccf7e3676 | 632 | topL = "SLEEP MODE"; |
jump_man | 17:238ccf7e3676 | 633 | flag_flas = !flag_flas; |
jump_man | 17:238ccf7e3676 | 634 | botL = Misc::itos(ane.getWind(&flag_disp),3) + "kph | " + Misc::itos(fan.getTemp()) + "C"; |
jump_man | 17:238ccf7e3676 | 635 | t_disp.reset(); |
jump_man | 17:238ccf7e3676 | 636 | t_disp.start(); |
jump_man | 17:238ccf7e3676 | 637 | lcd.LCD_display(topL,botL); |
jump_man | 17:238ccf7e3676 | 638 | } |
jump_man | 17:238ccf7e3676 | 639 | |
jump_man | 17:238ccf7e3676 | 640 | //Move all motor backward |
jump_man | 17:238ccf7e3676 | 641 | motor.moveBackward(M_ALL); |
jump_man | 17:238ccf7e3676 | 642 | flag_time = 1; //Set the system in motion once windspeed has subsided |
jump_man | 17:238ccf7e3676 | 643 | break; |
jump_man | 17:238ccf7e3676 | 644 | } |
khaiminhvn | 20:0a6609515810 | 645 | //////////////////////////////////////////////////////////////////////// |
khaiminhvn | 20:0a6609515810 | 646 | case OP_ATRACK:{ |
khaiminhvn | 28:1b8e1d100b58 | 647 | if (flag_eth && prevm != mode){gui->state(mode);} |
khaiminhvn | 27:26f41a320436 | 648 | prevm = mode; |
khaiminhvn | 20:0a6609515810 | 649 | flag_aTrack = !flag_aTrack; |
khaiminhvn | 28:1b8e1d100b58 | 650 | gui->activeTracking(flag_aTrack); |
khaiminhvn | 30:7fce3ae08754 | 651 | if (flag_eth && timer_read_ms(t_wind) >= TIME_GUIWIND){gui->windSpeed(ane.getWind());t_wind.reset();t_wind.start();} |
khaiminhvn | 21:e9978d9823fe | 652 | fan.checkTemp(&mode);if(mode != OP_ATRACK){break;} |
khaiminhvn | 20:0a6609515810 | 653 | topL = "TRACKING MODE:"; |
khaiminhvn | 20:0a6609515810 | 654 | botL = (flag_aTrack) ? "ACTIVE (ACC)" : "AUTO (ONLINE)"; |
khaiminhvn | 20:0a6609515810 | 655 | lcd.LCD_display(topL,botL); |
khaiminhvn | 20:0a6609515810 | 656 | flag_disp = 0; |
khaiminhvn | 20:0a6609515810 | 657 | wait_us(TIME_ATRACK_TIMEOUT); |
khaiminhvn | 20:0a6609515810 | 658 | |
khaiminhvn | 20:0a6609515810 | 659 | mode = OP_NORMAL; |
khaiminhvn | 20:0a6609515810 | 660 | flag_time = 1; //Set the system in motion once done adjusting |
khaiminhvn | 20:0a6609515810 | 661 | break; |
khaiminhvn | 20:0a6609515810 | 662 | } |
khaiminhvn | 20:0a6609515810 | 663 | //////////////////////////////////////////////////////////////////////// |
khaiminhvn | 23:5dff9aed3727 | 664 | case OP_RECONNECT:{ |
khaiminhvn | 23:5dff9aed3727 | 665 | topL = "CONNECTING"; |
khaiminhvn | 23:5dff9aed3727 | 666 | botL = ""; |
khaiminhvn | 23:5dff9aed3727 | 667 | lcd.LCD_display(topL,botL); |
khaiminhvn | 26:b30a61a55b2f | 668 | |
khaiminhvn | 26:b30a61a55b2f | 669 | for(int i = 0; (i < CONN_N && !flag_eth); i++){ |
khaiminhvn | 26:b30a61a55b2f | 670 | eth.connect(); |
khaiminhvn | 28:1b8e1d100b58 | 671 | gui->refreshConnection(URL,&flag_eth); |
khaiminhvn | 26:b30a61a55b2f | 672 | wait_us(1000000); |
khaiminhvn | 28:1b8e1d100b58 | 673 | inverter->connect(URL, PORT); |
khaiminhvn | 26:b30a61a55b2f | 674 | } |
khaiminhvn | 26:b30a61a55b2f | 675 | wait_us(1000000); |
khaiminhvn | 23:5dff9aed3727 | 676 | bt_fn.setConnected(flag_eth); |
khaiminhvn | 23:5dff9aed3727 | 677 | |
khaiminhvn | 28:1b8e1d100b58 | 678 | if (flag_eth){gui->getSunAngle();} |
khaiminhvn | 23:5dff9aed3727 | 679 | if (flag_eth){ |
khaiminhvn | 23:5dff9aed3727 | 680 | topL = "ETHERNET"; |
khaiminhvn | 23:5dff9aed3727 | 681 | botL = "CONNECTED"; |
khaiminhvn | 23:5dff9aed3727 | 682 | lcd.LCD_display(topL, botL); |
khaiminhvn | 23:5dff9aed3727 | 683 | } |
khaiminhvn | 23:5dff9aed3727 | 684 | else{ |
khaiminhvn | 23:5dff9aed3727 | 685 | topL = "ETHERNET"; |
khaiminhvn | 23:5dff9aed3727 | 686 | botL = "NOT CONNECTED"; |
khaiminhvn | 23:5dff9aed3727 | 687 | lcd.LCD_display(topL, botL); |
khaiminhvn | 23:5dff9aed3727 | 688 | } |
khaiminhvn | 23:5dff9aed3727 | 689 | wait_us(TIME_RECONNECT_TIMEOUT); |
khaiminhvn | 23:5dff9aed3727 | 690 | |
khaiminhvn | 23:5dff9aed3727 | 691 | mode = OP_NORMAL; |
khaiminhvn | 23:5dff9aed3727 | 692 | flag_time = 1; //Set the system in motion once done adjusting |
khaiminhvn | 23:5dff9aed3727 | 693 | break; |
khaiminhvn | 23:5dff9aed3727 | 694 | } |
khaiminhvn | 23:5dff9aed3727 | 695 | //////////////////////////////////////////////////////////////////////// |
khaiminhvn | 0:74d6e93ec977 | 696 | } |
khaiminhvn | 28:1b8e1d100b58 | 697 | if(!flag_eth && timer_read_s(t_recon) >= TIME_RECON && flag_rec){ |
khaiminhvn | 26:b30a61a55b2f | 698 | eth.connect(); |
khaiminhvn | 28:1b8e1d100b58 | 699 | gui->refreshConnection(URL,&flag_eth); |
khaiminhvn | 28:1b8e1d100b58 | 700 | inverter->connect(URL, PORT); |
khaiminhvn | 26:b30a61a55b2f | 701 | bt_fn.setConnected(flag_eth); |
khaiminhvn | 26:b30a61a55b2f | 702 | } |
jump_man | 17:238ccf7e3676 | 703 | |
khaiminhvn | 7:2b6438e586e6 | 704 | wait_us(LOOP_DELAY); |
khaiminhvn | 0:74d6e93ec977 | 705 | } |
khaiminhvn | 0:74d6e93ec977 | 706 | |
khaiminhvn | 0:74d6e93ec977 | 707 | } |
khaiminhvn | 0:74d6e93ec977 | 708 | //////////////////////////////////////////////////////////////////////////////// |
khaiminhvn | 7:2b6438e586e6 | 709 | //////////////////////////////////////////////////////////////////////////////// |