Diff: Devices/Motor.cpp

Revision:

9:5a0c4c6e39c7

Parent:

6:d1594fd2ec5a

Child:

10:e8db892fbc52

--- a/Devices/Motor.cpp	Wed Sep 24 01:46:02 2014 +0000
+++ b/Devices/Motor.cpp	Wed Sep 24 22:23:00 2014 +0000
@@ -1,21 +1,13 @@
 #include "Motor.hpp"
-//#include "mbed.h"
-//#include "LocalPinNames.h"
-//#include "BridgeDriver.h"
 
 //Constructor
 Motor::Motor(LineData lineData){
-    /*
-    //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;
-    }*/
     
-    /*lcd.setAddress(0,3);
-    lcd.printf("CHECK Motor Construct");
-    wait(2);*/
-    
+    //Order of Line: Command, Local_Name, MOTOR, MotorID(A,B,C,D)
+    //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
+    if (lineData.numWords != 4)
+        this->errorFlag = 1;
+        
     string channel = lineData.word[3]; //Parameter is a single character, so dereference the point to the word
 
     if ((channel.compare("A") == 0) || (channel.compare("a") == 0))
@@ -26,7 +18,11 @@
             this->motor = BridgeDriver::MOTOR_C;
     else if ((channel.compare("D") == 0) || (channel.compare("d") == 0))
             this->motor = BridgeDriver::MOTOR_D;
-
+    
+    //MotorID not known
+    else
+        this->errorFlag = 1;
+        
     bridges.enablePwm(this->motor, 1);
 }
     
@@ -37,15 +33,8 @@
 
 //A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
 int Motor::interpret(LineData &lineData){
-    /*
-    lcd.setAddress(0,2);
-    lcd.printf("CHECK Motor 123456");
-    lcd.setAddress(0,3);
-    lcd.printf("func: %s  ", lineData.word[1]);
-    wait(2);*/
-    
+
     //Order of Line: Local_Name, Function_Name, Param1, Param2, Param3,.......
-    //char localname[15] = lineData.word[0]; //just for the sake of following the variable easily and understanding 
     string func = lineData.word[1];
         
     /******************************************************************************/
@@ -53,16 +42,21 @@
     /******************************************************************************/
     if (func.compare("enableBrake") == 0){
         
-        if (lineData.numWords != 4){
-             //Error Check, incorrect number of parameter, error out
-            return 0;
+        if (lineData.numWords != 3){
+            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
+            return -1;
         }
         
         //Initialize and Convert Parameters
         string enable = lineData.word[2];
         int enableValue = 0;
-        sscanf(enable.c_str(), "%d", &enableValue);
         
+        int numValuesFound = sscanf(enable.c_str(), "%d", &enableValue);
+        if (numValuesFound < 1){
+            ErrorOut("Parameter Unknown, enableBrake value can't be converted", lineData.lineNumber);
+            return -1;
+        }
+    
         bridges.enableBraking(getMotor(), enableValue);
     }
         
@@ -71,9 +65,9 @@
     /******************************************************************************/
     else if (func.compare("forceBrake") == 0){
         
-        if (lineData.numWords != 3){
-             //Error Check, incorrect number of parameter, error out
-            return 0;
+        if (lineData.numWords != 2){
+            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
+            return -1;
         }
         
         bridges.forceBrake(getMotor());
@@ -85,15 +79,9 @@
     /******************************************************************************/
     else if (func.compare("drive") == 0){
         
-        /*lcd.setAddress(0,2);
-        lcd.printf("wrd2: %s", lineData.word[1]);
-        lcd.setAddress(0,3);
-        lcd.printf("TEST2  ");
-        wait(2);*/
-
         if (lineData.numWords != 4){
-             //Error Check, incorrect number of parameter, error out
-            return 0;
+            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
+            return -1;
         }
                 
         //Initialize Parameters
@@ -105,55 +93,62 @@
         int dirValue = 0;
         
         //Convert string to usable values
-        //NOTE both atof and atoi functions return 0 if no valid conversion could be performed
-        sscanf(speed.c_str(), "%f", &speedValue);
+        int numValuesFound = sscanf(speed.c_str(), "%f", &speedValue);
+        if (numValuesFound < 1){
+            ErrorOut("Parameter Unknown, speed value can't be converted", lineData.lineNumber);
+            return -1;
+        }
+        
+        //Speed is given as a percentage of 100, so convert it to the value needed for the bridge.drive function
         speedValue = speedValue / 100;
         
-        if (speedValue <= 0)
-            return 0; //Error Out because a value gives no functionality or is wrong
-                
+        
+        if (speedValue <= 0 && speedValue > 1.0){
+            ErrorOut("Speed Value must be between 0 - 100", lineData.lineNumber);
+            return -1;
+        }
+        
         if (dir.compare("CC") == 0 || dir.compare("cc") == 0)
             dirValue = -1; //Turn Clockwise
         else if (dir.compare("C") == 0 || dir.compare("c") == 0)
             dirValue = 1; //Turn CounterClockwise
-        else
-            return 0; //Error Out since the parameter is incorrect
-        
+            
+        else{
+            ErrorOut("Direction Value must be C or CC", lineData.lineNumber);
+            return -1;
+        }
         
         bridges.drive(getMotor(), dirValue, speedValue); //Turn on the Motor
-        
     }
+    
+    
     /******************************************************************************/
     /****                           <Func: off>                                ****/
     /******************************************************************************/
     else if (func.compare("off") == 0){
         
-        /*lcd.setAddress(0,2);
-        lcd.printf("wrd2: %s", lineData.word[1]);
-        lcd.setAddress(0,3);
-        lcd.printf("TEST2  ");
-        wait(1);*/
-        
         if (lineData.numWords != 2){
-             //Error Check, incorrect number of parameter, error out
-            return 0;
+            ErrorOut("Incorrect number of parameters", lineData.lineNumber);
+            return -1;
         }
              
-        bridges.drive(getMotor(), 0, 0); //Turn off the Motor
+        off();
     }
     
     else {
-        return 0;
-        
-    }  
+        ErrorOut("Unknown Command for Motor Class", lineData.lineNumber);
+        return -1;
+    }
     
-    return 1;
+    return 0; //Return success as 0 since no condition had to be met
 }
 
 
 
-
-
+//For stopping the entire system if an error occurs, can be called from main
+int Motor::off(void){
+    bridges.drive(getMotor(), 0, 0); //Turn off the Motor
+}
 
 
 /*