Martijn Grootens / Mbed 2 deprecated mbr_2017_robot_gr20

Code to let Gr20's BioRobotics2017 robot come to live.

Dependencies:   FastPWM MODSERIAL QEI mbed

ui.h@2:df0c6af898ac, 2017-11-12 (annotated)

Committer:
megrootens
Date:
Sun Nov 12 14:06:23 2017 +0000
Revision:
2:df0c6af898ac
Parent:
0:caa8ee3bd882
Child:
5:088917beb5e4
this works, only controller needs to be updated since I broke the moving average filtered one....;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
megrootens 0:caa8ee3bd882 1 #include "MODSERIAL.h"
megrootens 0:caa8ee3bd882 2
megrootens 0:caa8ee3bd882 3 #define LED_ON 0
megrootens 0:caa8ee3bd882 4
megrootens 0:caa8ee3bd882 5 /**
megrootens 0:caa8ee3bd882 6 * User interface
megrootens 2:df0c6af898ac 7 *
megrootens 2:df0c6af898ac 8 * Implementation can be found in main.cpp
megrootens 0:caa8ee3bd882 9 */
megrootens 0:caa8ee3bd882 10 namespace ui
megrootens 0:caa8ee3bd882 11 {
megrootens 2:df0c6af898ac 12 // Sample time
megrootens 2:df0c6af898ac 13 const double kSampleTime = 0.5;
megrootens 0:caa8ee3bd882 14
megrootens 2:df0c6af898ac 15 // UI states
megrootens 0:caa8ee3bd882 16 enum State {
megrootens 0:caa8ee3bd882 17 IGNORE,
megrootens 0:caa8ee3bd882 18 STATE_SWITCHING,
megrootens 0:caa8ee3bd882 19 ROBOT_CONTROL
megrootens 0:caa8ee3bd882 20 };
megrootens 0:caa8ee3bd882 21
megrootens 2:df0c6af898ac 22 // UI state description
megrootens 0:caa8ee3bd882 23 const char *StateNames[] = {
megrootens 0:caa8ee3bd882 24 "Ignore user input",
megrootens 0:caa8ee3bd882 25 "State switching",
megrootens 0:caa8ee3bd882 26 "Control robot"
megrootens 0:caa8ee3bd882 27 };
megrootens 0:caa8ee3bd882 28
megrootens 2:df0c6af898ac 29 // Change state
megrootens 0:caa8ee3bd882 30 void SwitchState(State new_state);
megrootens 0:caa8ee3bd882 31
megrootens 2:df0c6af898ac 32 // Current state
megrootens 0:caa8ee3bd882 33 State state = IGNORE;
megrootens 0:caa8ee3bd882 34
megrootens 2:df0c6af898ac 35 // LEDs and Serial
megrootens 0:caa8ee3bd882 36 DigitalOut rgb_led[] {LED_RED, LED_GREEN, LED_BLUE};
megrootens 0:caa8ee3bd882 37 MODSERIAL serial(USBTX,USBRX);
megrootens 0:caa8ee3bd882 38
megrootens 2:df0c6af898ac 39 // Interrupt switches
megrootens 0:caa8ee3bd882 40 void InterruptSwitch2();
megrootens 0:caa8ee3bd882 41 void InterruptSwitch3();
megrootens 0:caa8ee3bd882 42
megrootens 2:df0c6af898ac 43 // Display robot status through LEDs
megrootens 0:caa8ee3bd882 44 void StatusDisplay();
megrootens 2:df0c6af898ac 45 }