Diff: DeviceClasses.h

Revision:

0:22618cf06f45

Child:

1:5731f31f96be

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DeviceClasses.h	Tue Sep 16 15:28:59 2014 +0000
@@ -0,0 +1,394 @@
+/*#include "mbed.h"
+#include "LocalPinNames.h"
+#include "TextLCD.h"
+#include "BridgeDriver.h"
+*/
+#include "Device.hpp"
+
+
+/**********************************************************************************************************************************/
+/**********************************************************************************************************************************/
+/***************************                        <CLASS: Voltage_Driver>                            ****************************/
+/**********************************************************************************************************************************/
+/**********************************************************************************************************************************/
+
+class Voltage_Driver{
+    
+    public :
+        //uint8_t ch123; //Channel value this device is set to  
+        int ch; 
+        int test;
+        
+        int interpret();
+        int forceBrake();
+        //int forceFloat();
+        float drive();  
+         
+        //Voltage_Driver();          
+        void setChannel(int channel){
+            Voltage_Driver::ch = channel;
+        }
+            
+        int getChannel(){     
+            return Voltage_Driver::ch;
+        }
+};
+
+//Voltage_Driver::Voltage_Driver(void){
+//}
+
+//A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
+int Voltage_Driver::interpret(){
+    /*
+    lcd.cls(); //clear the display
+    lcd.setAddress(0,3);
+    lcd.printf("Test2    ");
+    lcd.setAddress(0,1);
+    lcd.printf("wrd1: %s", lineData.word[0]);
+    lcd.setAddress(0,2);
+    lcd.printf("wrd2: %s", lineData.word[1]);
+    wait(3);
+*/
+    
+            
+    char *firstWord = lineData.word[0]; //get the first word in the line
+/*
+    lcd.setAddress(0,2);
+    lcd.printf("fW: %s", firstWord);
+    lcd.setAddress(0,3);
+    lcd.printf("ch: %d", ch);
+    wait(3);*/
+    
+    //Initialize the class and device
+    if (strncmp(firstWord,"device", 6) == 0){
+        //Order of Line: Command, Local_Name, VOLTAGE_DRIVER, Channel(1,2,3,4,5,6,7,8)
+        
+        test = 10;
+        
+        if (lineData.numWords != 4){
+             //Error Check, incorrect number of parameter, error out
+            return 0;
+        }
+            
+        char *channel = lineData.word[3]; //Parameter is a number
+        int channelValue = atoi(channel);
+        
+        //Channel Value between 1 to 8
+        if (channelValue >= 1 && channelValue <= 8){
+            
+            setChannel(channelValue);
+            //ch = channelValue;
+            
+            lcd.setAddress(0,2);
+            lcd.printf("fW: %s", firstWord);
+            //lcd.setAddress(0,3);
+            //lcd.printf("ch: %d", getChannel());
+            lcd.setAddress(0,3);
+            lcd.printf("test: %d", test);
+            //lcd.setAddress(0,3);
+            //lcd.printf("chString: %s", chString);
+            wait(2);
+    
+            switch (channelValue){
+                case 1:
+                case 2:
+                    bridges.enablePwm(BridgeDriver::MOTOR_A, 0);
+                    break;
+                case 3:
+                case 4:
+                    bridges.enablePwm(BridgeDriver::MOTOR_B, 0);
+                    break;
+                case 5:
+                case 6:
+                    bridges.enablePwm(BridgeDriver::MOTOR_C, 0);
+                    break;
+                case 7:
+                case 8:
+                    bridges.enablePwm(BridgeDriver::MOTOR_D, 0);
+                    break;
+            }
+           /* lcd.setAddress(0,2);
+            lcd.printf("AchannelVal: %d", channelValue);
+            lcd.setAddress(0,3);
+            lcd.printf("Ach: %d", ch);
+            wait(3);*/
+    
+        }
+        else{
+            //ERROR Out
+            //Unacceptable channel, or conversion function failed when converting string to int
+        }
+    }
+    
+    //if the first word is not "device" it means that it's trying to perform a function to a specific Motor
+    else{
+        
+
+            
+        //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
+        char *localname = lineData.word[0]; //just for the sake of following the variable easily and understanding 
+        char *func = lineData.word[1];
+                   
+        /******************************************************************************/
+        /***                       <Func: forceBrake>                               ***/
+        /******************************************************************************/
+        if (strncmp(func,"forceBrake", 10) == 0){
+            
+            if (lineData.numWords != 3){
+                 //Error Check, incorrect number of parameter, error out
+                return 0;
+            }
+            
+            bridges.forceBrake(ch);
+        }
+        
+        
+        /******************************************************************************/
+        /***                           <Func: drive>                                ***/
+        /******************************************************************************/
+        else if (strncmp(func,"drive", 5) == 0){
+            //Order of Line: Local_Name, drive
+            
+            lcd.setAddress(0,0);
+            lcd.printf("lclN: %s ", localname); 
+            lcd.setAddress(0,2);
+            lcd.printf("func: %s ", func);
+            //lcd.setAddress(0,3);
+            //lcd.printf("3ch: %d  ", getChannel());
+            lcd.setAddress(0,3);
+            lcd.printf("test: %d", test);
+            //lcd.setAddress(0,3);
+            //lcd.printf("chString: %s   ", chString);
+            wait(3);
+        
+            if (lineData.numWords != 2){
+                 //Error Check, incorrect number of parameter, error out
+                return 0;
+            }
+             /*           
+            int State = 2;
+            int channelValue = atoi(chString);
+            State = bridges.drive(channelValue, 1); //Turn channel on
+            lcd.setAddress(0,2);
+            lcd.printf("TEST ch: %d, State: %d", channelValue, State);
+            wait(3);*/
+            
+        }
+        
+        
+        /******************************************************************************/
+        /****                           <Func: off>                                ****/
+        /******************************************************************************/
+        else if (strncmp(func,"drive", 5) == 0){
+            //Order of Line: Local_Name, drive, duration
+            
+            if (lineData.numWords != 2){
+                 //Error Check, incorrect number of parameter, error out
+                return 0;
+            }
+            
+            bridges.drive(getChannel(), 0); //Turn channel off
+        }
+        
+        else {
+            return 0;
+            
+        }  
+    }  
+    /*
+    lcd.setAddress(0,3);
+    lcd.printf("ENDch: %d  ", getChannel());
+    wait(3);*/
+            
+    return 1;
+}
+
+
+
+/**********************************************************************************************************************************/
+/**********************************************************************************************************************************/
+/********************************                        <CLASS: Motor>                            ********************************/
+/**********************************************************************************************************************************/
+/**********************************************************************************************************************************/
+
+class Motor{
+    
+    enum BridgeDriver::Motors motor; 
+
+    public :
+        int interpret();
+        void enableBrake();
+        int forceBrake();
+        //int forceFloat();
+        float drive();  
+        
+        
+        void setMotor(BridgeDriver::Motors selectedMotor){
+            motor = selectedMotor;
+        }
+            
+        enum BridgeDriver::Motors getMotor(){     
+            return motor;
+        }
+    
+};
+
+//A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
+int Motor::interpret(){
+    /*
+    lcd.cls(); //clear the display
+    lcd.setAddress(0,3);
+    lcd.printf("Test2    ");
+    lcd.setAddress(0,1);
+    lcd.printf("wrd1: %s", lineData.word[0]);
+    lcd.setAddress(0,2);
+    lcd.printf("wrd2: %s", lineData.word[1]);
+    wait(3);
+*/
+    
+    char *firstWord = lineData.word[0]; //splits the str based on a space delimeter 
+
+    if (strncmp(firstWord,"device", 6) == 0){
+        //Order of Line: Command, Local_Name, VOLTAGE_DRIVER, Channel(1,2,3,4,5,6,7,8)
+
+        if (lineData.numWords != 4){
+             //Error Check, incorrect number of parameter, error out
+            return 0;
+        }
+        
+        char channel = *lineData.word[3]; //Parameter is a single character, so dereference the point to the word
+    
+        switch (channel){
+            case 'A':
+            case 'a':
+                setMotor(BridgeDriver::MOTOR_A);
+                break;
+            case 'B':
+            case 'b':
+                setMotor(BridgeDriver::MOTOR_B);
+                break;
+            case 'C':
+            case 'c':
+                setMotor(BridgeDriver::MOTOR_C);
+                break;
+            case 'D':
+            case 'd':
+                setMotor(BridgeDriver::MOTOR_D);
+                break;
+        }
+    }
+    
+    //if the first word is not "device" it means that it's trying to perform a function to a specific Motor
+    else{
+        //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
+        char *localname = lineData.word[0]; //just for the sake of following the variable easily and understanding 
+        char *func = lineData.word[1];
+            
+        /******************************************************************************/
+        /***                       <Func: enableBrake>                              ***/
+        /******************************************************************************/
+        if (strncmp(func,"enableBrake", 11) == 0){
+            
+            if (lineData.numWords != 4){
+                 //Error Check, incorrect number of parameter, error out
+                return 0;
+            }
+            
+            //Initialize and Convert Parameters
+            char *enable = lineData.word[2];
+            int enableValue = atoi(enable);
+            
+            bridges.enableBraking(getMotor(), enableValue);
+        }
+            
+        /******************************************************************************/
+        /***                       <Func: forceBrake>                               ***/
+        /******************************************************************************/
+        else if (strncmp(func,"forceBrake", 10) == 0){
+            
+            if (lineData.numWords != 3){
+                 //Error Check, incorrect number of parameter, error out
+                return 0;
+            }
+            
+            bridges.forceBrake(getMotor());
+        }
+        
+        
+        /******************************************************************************/
+        /***                           <Func: drive>                                ***/
+        /******************************************************************************/
+        else if (strncmp(func,"drive", 5) == 0){
+            
+            if (lineData.numWords != 4){
+                 //Error Check, incorrect number of parameter, error out
+                return 0;
+            }
+                        
+            //Initialize Parameters
+            char *speed = lineData.word[2];
+            char *dir = lineData.word[3];
+            
+            //Initialize Convertion Variables if needed
+            float speedValue;
+            int dirValue = 0;
+    
+            //Convert string to usable values
+            //NOTE both atof and atoi functions return 0 if no valid conversion could be performed
+            speedValue = atof(speed) / 100;
+            
+            if (speedValue <= 0)
+                return 0; //Error Out because a value gives no functionality or is wrong
+            
+            if (strncmp(dir,"CC", 2) == 0 || strncmp(dir,"cc", 2) == 0)
+                dirValue = -1; //Turn Clockwise
+            else if (strncmp(dir,"C", 1) == 0 || strncmp(dir,"c", 1) == 0)
+                dirValue = 1; //Turn CounterClockwise
+            else
+                return 0; //Error Out since the parameter is incorrect
+                
+            bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
+        }
+        /******************************************************************************/
+        /****                           <Func: off>                                ****/
+        /******************************************************************************/
+        else if (strncmp(func,"off", 3) == 0){
+            
+            if (lineData.numWords != 2){
+                 //Error Check, incorrect number of parameter, error out
+                return 0;
+            }
+                 
+            bridges.drive(getMotor(), 0, 0); //Turn off the Motor
+        }
+        
+        else {
+            return 0;
+            
+        }  
+    }  
+    
+    return 1;
+}
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