Code to let Gr20's BioRobotics2017 robot come to live.
Dependencies: FastPWM MODSERIAL QEI mbed
ui.h@7:b9a209f889f5, 2017-11-13 (annotated)
- Committer:
- megrootens
- Date:
- Mon Nov 13 10:39:55 2017 +0000
- Revision:
- 7:b9a209f889f5
- Parent:
- 5:088917beb5e4
- Child:
- 8:383a0fb48121
Moved implementation to separate .cpp files, by using static const variables for constants in namespaces and extern declarations for non-const vars.; Code compiles & runs on a board. **Not yet tested on the actual robot!**
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
megrootens | 5:088917beb5e4 | 1 | #ifndef _UI_H_ |
megrootens | 5:088917beb5e4 | 2 | #define _UI_H_ |
megrootens | 5:088917beb5e4 | 3 | |
megrootens | 0:caa8ee3bd882 | 4 | #include "MODSERIAL.h" |
megrootens | 0:caa8ee3bd882 | 5 | |
megrootens | 0:caa8ee3bd882 | 6 | #define LED_ON 0 |
megrootens | 0:caa8ee3bd882 | 7 | |
megrootens | 0:caa8ee3bd882 | 8 | /** |
megrootens | 0:caa8ee3bd882 | 9 | * User interface |
megrootens | 0:caa8ee3bd882 | 10 | */ |
megrootens | 0:caa8ee3bd882 | 11 | namespace ui |
megrootens | 0:caa8ee3bd882 | 12 | { |
megrootens | 2:df0c6af898ac | 13 | // Sample time |
megrootens | 7:b9a209f889f5 | 14 | static const double kSampleTime = 0.5; |
megrootens | 0:caa8ee3bd882 | 15 | |
megrootens | 2:df0c6af898ac | 16 | // UI states |
megrootens | 0:caa8ee3bd882 | 17 | enum State { |
megrootens | 0:caa8ee3bd882 | 18 | IGNORE, |
megrootens | 0:caa8ee3bd882 | 19 | STATE_SWITCHING, |
megrootens | 0:caa8ee3bd882 | 20 | ROBOT_CONTROL |
megrootens | 0:caa8ee3bd882 | 21 | }; |
megrootens | 0:caa8ee3bd882 | 22 | |
megrootens | 2:df0c6af898ac | 23 | // UI state description |
megrootens | 7:b9a209f889f5 | 24 | static const char *StateNames[] = { |
megrootens | 0:caa8ee3bd882 | 25 | "Ignore user input", |
megrootens | 0:caa8ee3bd882 | 26 | "State switching", |
megrootens | 0:caa8ee3bd882 | 27 | "Control robot" |
megrootens | 0:caa8ee3bd882 | 28 | }; |
megrootens | 0:caa8ee3bd882 | 29 | |
megrootens | 2:df0c6af898ac | 30 | // Change state |
megrootens | 0:caa8ee3bd882 | 31 | void SwitchState(State new_state); |
megrootens | 0:caa8ee3bd882 | 32 | |
megrootens | 2:df0c6af898ac | 33 | // Current state |
megrootens | 7:b9a209f889f5 | 34 | extern State state; |
megrootens | 0:caa8ee3bd882 | 35 | |
megrootens | 2:df0c6af898ac | 36 | // LEDs and Serial |
megrootens | 7:b9a209f889f5 | 37 | extern DigitalOut rgb_led[]; |
megrootens | 7:b9a209f889f5 | 38 | extern MODSERIAL serial; |
megrootens | 0:caa8ee3bd882 | 39 | |
megrootens | 2:df0c6af898ac | 40 | // Interrupt switches |
megrootens | 0:caa8ee3bd882 | 41 | void InterruptSwitch2(); |
megrootens | 0:caa8ee3bd882 | 42 | void InterruptSwitch3(); |
megrootens | 0:caa8ee3bd882 | 43 | |
megrootens | 2:df0c6af898ac | 44 | // Display robot status through LEDs |
megrootens | 0:caa8ee3bd882 | 45 | void StatusDisplay(); |
megrootens | 2:df0c6af898ac | 46 | } |
megrootens | 5:088917beb5e4 | 47 | |
megrootens | 5:088917beb5e4 | 48 | #endif |