Mitchell Hatfield / Mbed 2 deprecated Component_Test_Interface

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Dependencies:   BridgeDriver FrontPanelButtons MCP23017 SDFileSystem TextLCD mbed

Devices/Motor.cpp@14:953820302fb7, 2014-10-02 (annotated)

Committer:
mehatfie
Date:
Thu Oct 02 23:49:44 2014 +0000
Revision:
14:953820302fb7
Parent:
11:bc9cd2869f95 
- Working system, code testing on two Test Systems and works directly as desired; - Fixed bug where the cycle timer does not add the first cycle and takes it as zero

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mehatfie 2:3e7baa3e3fec 1 #include "Motor.hpp"
mehatfie 2:3e7baa3e3fec 2
mehatfie 2:3e7baa3e3fec 3 //Constructor
mehatfie 5:e36e0538a903 4 Motor::Motor(LineData lineData){
mehatfie 14:953820302fb7 5 this->errorFlag = 0;
mehatfie 2:3e7baa3e3fec 6
mehatfie 9:5a0c4c6e39c7 7 //Order of Line: Command, Local_Name, MOTOR, MotorID(A,B,C,D)
mehatfie 9:5a0c4c6e39c7 8 //Since we can't return from a constructor, instead we'll flip a flag, and check it after we've added the device in interpretCommand
mehatfie 9:5a0c4c6e39c7 9 if (lineData.numWords != 4)
mehatfie 9:5a0c4c6e39c7 10 this->errorFlag = 1;
mehatfie 14:953820302fb7 11
mehatfie 2:3e7baa3e3fec 12 string channel = lineData.word[3]; //Parameter is a single character, so dereference the point to the word
mehatfie 2:3e7baa3e3fec 13
mehatfie 2:3e7baa3e3fec 14 if ((channel.compare("A") == 0) || (channel.compare("a") == 0))
mehatfie 2:3e7baa3e3fec 15 this->motor = BridgeDriver::MOTOR_A;
mehatfie 2:3e7baa3e3fec 16 else if ((channel.compare("B") == 0) || (channel.compare("b") == 0))
mehatfie 2:3e7baa3e3fec 17 this->motor = BridgeDriver::MOTOR_B;
mehatfie 2:3e7baa3e3fec 18 else if ((channel.compare("C") == 0) || (channel.compare("c") == 0))
mehatfie 2:3e7baa3e3fec 19 this->motor = BridgeDriver::MOTOR_C;
mehatfie 2:3e7baa3e3fec 20 else if ((channel.compare("D") == 0) || (channel.compare("d") == 0))
mehatfie 2:3e7baa3e3fec 21 this->motor = BridgeDriver::MOTOR_D;
mehatfie 9:5a0c4c6e39c7 22
mehatfie 9:5a0c4c6e39c7 23 //MotorID not known
mehatfie 9:5a0c4c6e39c7 24 else
mehatfie 9:5a0c4c6e39c7 25 this->errorFlag = 1;
mehatfie 9:5a0c4c6e39c7 26
mehatfie 6:d1594fd2ec5a 27 bridges.enablePwm(this->motor, 1);
mehatfie 2:3e7baa3e3fec 28 }
mehatfie 2:3e7baa3e3fec 29
mehatfie 2:3e7baa3e3fec 30
mehatfie 2:3e7baa3e3fec 31 enum BridgeDriver::Motors Motor::getMotor(){
mehatfie 2:3e7baa3e3fec 32 return this->motor;
mehatfie 2:3e7baa3e3fec 33 }
mehatfie 2:3e7baa3e3fec 34
mehatfie 2:3e7baa3e3fec 35 //A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
mehatfie 5:e36e0538a903 36 int Motor::interpret(LineData &lineData){
mehatfie 9:5a0c4c6e39c7 37
mehatfie 2:3e7baa3e3fec 38 //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
mehatfie 2:3e7baa3e3fec 39 string func = lineData.word[1];
mehatfie 2:3e7baa3e3fec 40
mehatfie 2:3e7baa3e3fec 41 /******************************************************************************/
mehatfie 2:3e7baa3e3fec 42 /*** <Func: enableBrake> ***/
mehatfie 2:3e7baa3e3fec 43 /******************************************************************************/
mehatfie 2:3e7baa3e3fec 44 if (func.compare("enableBrake") == 0){
mehatfie 2:3e7baa3e3fec 45
mehatfie 9:5a0c4c6e39c7 46 if (lineData.numWords != 3){
mehatfie 9:5a0c4c6e39c7 47 ErrorOut("Incorrect number of parameters", lineData.lineNumber);
mehatfie 9:5a0c4c6e39c7 48 return -1;
mehatfie 2:3e7baa3e3fec 49 }
mehatfie 2:3e7baa3e3fec 50
mehatfie 2:3e7baa3e3fec 51 //Initialize and Convert Parameters
mehatfie 2:3e7baa3e3fec 52 string enable = lineData.word[2];
mehatfie 2:3e7baa3e3fec 53 int enableValue = 0;
mehatfie 2:3e7baa3e3fec 54
mehatfie 9:5a0c4c6e39c7 55 int numValuesFound = sscanf(enable.c_str(), "%d", &enableValue);
mehatfie 9:5a0c4c6e39c7 56 if (numValuesFound < 1){
mehatfie 9:5a0c4c6e39c7 57 ErrorOut("Parameter Unknown, enableBrake value can't be converted", lineData.lineNumber);
mehatfie 9:5a0c4c6e39c7 58 return -1;
mehatfie 9:5a0c4c6e39c7 59 }
mehatfie 10:e8db892fbc52 60
mehatfie 10:e8db892fbc52 61 //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
mehatfie 10:e8db892fbc52 62 if (DummyMode)
mehatfie 10:e8db892fbc52 63 return 0; //Function operated successfully but doesn't return a value
mehatfie 10:e8db892fbc52 64
mehatfie 2:3e7baa3e3fec 65 bridges.enableBraking(getMotor(), enableValue);
mehatfie 2:3e7baa3e3fec 66 }
mehatfie 2:3e7baa3e3fec 67
mehatfie 2:3e7baa3e3fec 68 /******************************************************************************/
mehatfie 2:3e7baa3e3fec 69 /*** <Func: forceBrake> ***/
mehatfie 2:3e7baa3e3fec 70 /******************************************************************************/
mehatfie 2:3e7baa3e3fec 71 else if (func.compare("forceBrake") == 0){
mehatfie 2:3e7baa3e3fec 72
mehatfie 9:5a0c4c6e39c7 73 if (lineData.numWords != 2){
mehatfie 9:5a0c4c6e39c7 74 ErrorOut("Incorrect number of parameters", lineData.lineNumber);
mehatfie 9:5a0c4c6e39c7 75 return -1;
mehatfie 2:3e7baa3e3fec 76 }
mehatfie 2:3e7baa3e3fec 77
mehatfie 10:e8db892fbc52 78 //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
mehatfie 10:e8db892fbc52 79 if (DummyMode)
mehatfie 10:e8db892fbc52 80 return 0; //Function operated successfully but doesn't return a value
mehatfie 10:e8db892fbc52 81
mehatfie 2:3e7baa3e3fec 82 bridges.forceBrake(getMotor());
mehatfie 11:bc9cd2869f95 83
mehatfie 11:bc9cd2869f95 84 //Record the settings for Pause and Resume
mehatfie 11:bc9cd2869f95 85 currDir = 0;
mehatfie 11:bc9cd2869f95 86 currSpeed = 0;
mehatfie 2:3e7baa3e3fec 87 }
mehatfie 2:3e7baa3e3fec 88
mehatfie 2:3e7baa3e3fec 89
mehatfie 2:3e7baa3e3fec 90 /******************************************************************************/
mehatfie 2:3e7baa3e3fec 91 /*** <Func: drive> ***/
mehatfie 2:3e7baa3e3fec 92 /******************************************************************************/
mehatfie 2:3e7baa3e3fec 93 else if (func.compare("drive") == 0){
mehatfie 2:3e7baa3e3fec 94
mehatfie 2:3e7baa3e3fec 95 if (lineData.numWords != 4){
mehatfie 9:5a0c4c6e39c7 96 ErrorOut("Incorrect number of parameters", lineData.lineNumber);
mehatfie 9:5a0c4c6e39c7 97 return -1;
mehatfie 2:3e7baa3e3fec 98 }
mehatfie 2:3e7baa3e3fec 99
mehatfie 2:3e7baa3e3fec 100 //Initialize Parameters
mehatfie 2:3e7baa3e3fec 101 string speed = lineData.word[2];
mehatfie 2:3e7baa3e3fec 102 string dir = lineData.word[3];
mehatfie 2:3e7baa3e3fec 103
mehatfie 2:3e7baa3e3fec 104 //Initialize Convertion Variables if needed
mehatfie 2:3e7baa3e3fec 105 float speedValue;
mehatfie 2:3e7baa3e3fec 106 int dirValue = 0;
mehatfie 2:3e7baa3e3fec 107
mehatfie 2:3e7baa3e3fec 108 //Convert string to usable values
mehatfie 9:5a0c4c6e39c7 109 int numValuesFound = sscanf(speed.c_str(), "%f", &speedValue);
mehatfie 9:5a0c4c6e39c7 110 if (numValuesFound < 1){
mehatfie 9:5a0c4c6e39c7 111 ErrorOut("Parameter Unknown, speed value can't be converted", lineData.lineNumber);
mehatfie 9:5a0c4c6e39c7 112 return -1;
mehatfie 9:5a0c4c6e39c7 113 }
mehatfie 9:5a0c4c6e39c7 114
mehatfie 9:5a0c4c6e39c7 115 //Speed is given as a percentage of 100, so convert it to the value needed for the bridge.drive function
mehatfie 2:3e7baa3e3fec 116 speedValue = speedValue / 100;
mehatfie 2:3e7baa3e3fec 117
mehatfie 9:5a0c4c6e39c7 118
mehatfie 9:5a0c4c6e39c7 119 if (speedValue <= 0 && speedValue > 1.0){
mehatfie 9:5a0c4c6e39c7 120 ErrorOut("Speed Value must be between 0 - 100", lineData.lineNumber);
mehatfie 9:5a0c4c6e39c7 121 return -1;
mehatfie 9:5a0c4c6e39c7 122 }
mehatfie 9:5a0c4c6e39c7 123
mehatfie 2:3e7baa3e3fec 124 if (dir.compare("CC") == 0 || dir.compare("cc") == 0)
mehatfie 2:3e7baa3e3fec 125 dirValue = -1; //Turn Clockwise
mehatfie 2:3e7baa3e3fec 126 else if (dir.compare("C") == 0 || dir.compare("c") == 0)
mehatfie 2:3e7baa3e3fec 127 dirValue = 1; //Turn CounterClockwise
mehatfie 9:5a0c4c6e39c7 128
mehatfie 9:5a0c4c6e39c7 129 else{
mehatfie 9:5a0c4c6e39c7 130 ErrorOut("Direction Value must be C or CC", lineData.lineNumber);
mehatfie 9:5a0c4c6e39c7 131 return -1;
mehatfie 9:5a0c4c6e39c7 132 }
mehatfie 2:3e7baa3e3fec 133
mehatfie 10:e8db892fbc52 134 //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
mehatfie 10:e8db892fbc52 135 if (DummyMode)
mehatfie 10:e8db892fbc52 136 return 0; //Function operated successfully but doesn't return a value
mehatfie 10:e8db892fbc52 137
mehatfie 2:3e7baa3e3fec 138 bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
mehatfie 11:bc9cd2869f95 139
mehatfie 11:bc9cd2869f95 140 //Record the settings for Pause and Resume
mehatfie 11:bc9cd2869f95 141 currDir = dirValue;
mehatfie 11:bc9cd2869f95 142 currSpeed = speedValue;
mehatfie 2:3e7baa3e3fec 143 }
mehatfie 9:5a0c4c6e39c7 144
mehatfie 9:5a0c4c6e39c7 145
mehatfie 2:3e7baa3e3fec 146 /******************************************************************************/
mehatfie 2:3e7baa3e3fec 147 /**** <Func: off> ****/
mehatfie 2:3e7baa3e3fec 148 /******************************************************************************/
mehatfie 2:3e7baa3e3fec 149 else if (func.compare("off") == 0){
mehatfie 2:3e7baa3e3fec 150
mehatfie 2:3e7baa3e3fec 151 if (lineData.numWords != 2){
mehatfie 9:5a0c4c6e39c7 152 ErrorOut("Incorrect number of parameters", lineData.lineNumber);
mehatfie 9:5a0c4c6e39c7 153 return -1;
mehatfie 2:3e7baa3e3fec 154 }
mehatfie 10:e8db892fbc52 155
mehatfie 10:e8db892fbc52 156 //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
mehatfie 10:e8db892fbc52 157 if (DummyMode)
mehatfie 10:e8db892fbc52 158 return 0; //Function operated successfully but doesn't return a value
mehatfie 10:e8db892fbc52 159
mehatfie 9:5a0c4c6e39c7 160 off();
mehatfie 2:3e7baa3e3fec 161 }
mehatfie 2:3e7baa3e3fec 162
mehatfie 2:3e7baa3e3fec 163 else {
mehatfie 9:5a0c4c6e39c7 164 ErrorOut("Unknown Command for Motor Class", lineData.lineNumber);
mehatfie 9:5a0c4c6e39c7 165 return -1;
mehatfie 9:5a0c4c6e39c7 166 }
mehatfie 2:3e7baa3e3fec 167
mehatfie 9:5a0c4c6e39c7 168 return 0; //Return success as 0 since no condition had to be met
mehatfie 2:3e7baa3e3fec 169 }
mehatfie 2:3e7baa3e3fec 170
mehatfie 2:3e7baa3e3fec 171
mehatfie 2:3e7baa3e3fec 172
mehatfie 9:5a0c4c6e39c7 173 //For stopping the entire system if an error occurs, can be called from main
mehatfie 9:5a0c4c6e39c7 174 int Motor::off(void){
mehatfie 9:5a0c4c6e39c7 175 bridges.drive(getMotor(), 0, 0); //Turn off the Motor
mehatfie 11:bc9cd2869f95 176
mehatfie 11:bc9cd2869f95 177 //Record the settings for Pause and Resume, and exit
mehatfie 11:bc9cd2869f95 178 currDir = 0;
mehatfie 11:bc9cd2869f95 179 currSpeed = 0;
mehatfie 10:e8db892fbc52 180 return 0;
mehatfie 9:5a0c4c6e39c7 181 }
mehatfie 2:3e7baa3e3fec 182
mehatfie 2:3e7baa3e3fec 183
mehatfie 11:bc9cd2869f95 184 //Stop the motor without changing the previous known settings, so that it will be saved on resume
mehatfie 11:bc9cd2869f95 185 int Motor::pause(void){
mehatfie 11:bc9cd2869f95 186 bridges.drive(getMotor(), 0, 0); //Turn off the Motor
mehatfie 11:bc9cd2869f95 187 return 0;
mehatfie 2:3e7baa3e3fec 188 }
mehatfie 2:3e7baa3e3fec 189
mehatfie 11:bc9cd2869f95 190 //Resume the motor using its previously known settings
mehatfie 11:bc9cd2869f95 191 int Motor::resume(void){
mehatfie 11:bc9cd2869f95 192 bridges.drive(getMotor(), this->currDir, this->currSpeed); //Resume Motor from it's last known state
mehatfie 11:bc9cd2869f95 193 return 0;
mehatfie 2:3e7baa3e3fec 194 }