Diff: Devices/Motor.cpp

Revision:

4:86d0d04cc055

Parent:

2:3e7baa3e3fec

Child:

5:e36e0538a903

diff -r 078e9a1e8be3 -r 86d0d04cc055 Devices/Motor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Devices/Motor.cpp	Fri Sep 19 01:54:00 2014 +0000
@@ -0,0 +1,224 @@
+#include "Motor.hpp"
+//#include "mbed.h"
+//#include "LocalPinNames.h"
+//#include "BridgeDriver.h"
+
+//Constructor
+Motor::Motor(Line 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);*/
+    
+    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))
+            this->motor = BridgeDriver::MOTOR_A;
+    else if ((channel.compare("B") == 0) || (channel.compare("b") == 0))
+            this->motor = BridgeDriver::MOTOR_B;
+    else if ((channel.compare("C") == 0) || (channel.compare("c") == 0))
+            this->motor = BridgeDriver::MOTOR_C;
+    else if ((channel.compare("D") == 0) || (channel.compare("d") == 0))
+            this->motor = BridgeDriver::MOTOR_D;
+}
+    
+    
+enum BridgeDriver::Motors Motor::getMotor(){     
+    return this->motor;
+}
+
+//A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
+int Motor::interpret(Line &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];
+        
+    /******************************************************************************/
+    /***                       <Func: enableBrake>                              ***/
+    /******************************************************************************/
+    if (func.compare("enableBrake") == 0){
+        
+        if (lineData.numWords != 4){
+             //Error Check, incorrect number of parameter, error out
+            return 0;
+        }
+        
+        //Initialize and Convert Parameters
+        string enable = lineData.word[2];
+        int enableValue = 0;
+        sscanf(enable.c_str(), "%d", &enableValue);
+        
+        bridges.enableBraking(getMotor(), enableValue);
+    }
+        
+    /******************************************************************************/
+    /***                       <Func: forceBrake>                               ***/
+    /******************************************************************************/
+    else if (func.compare("forceBrake") == 0){
+        
+        if (lineData.numWords != 3){
+             //Error Check, incorrect number of parameter, error out
+            return 0;
+        }
+        
+        bridges.forceBrake(getMotor());
+    }
+    
+    
+    /******************************************************************************/
+    /***                           <Func: drive>                                ***/
+    /******************************************************************************/
+    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;
+        }
+                
+        //Initialize Parameters
+        string speed = lineData.word[2];
+        string 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
+        sscanf(speed.c_str(), "%f", &speedValue);
+        speedValue = speedValue / 100;
+        
+        if (speedValue <= 0)
+            return 0; //Error Out because a value gives no functionality or is wrong
+                
+        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
+        
+        
+        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;
+        }
+             
+        bridges.drive(getMotor(), 0, 0); //Turn off the Motor
+    }
+    
+    else {
+        return 0;
+        
+    }  
+    
+    return 1;
+}
+
+
+
+
+
+
+
+/*
+int Motor::enableBrake(){
+  
+    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);
+    
+    //If the atoi returned anything besides 0, it worked properly
+    if (enableValue) 
+        bridges.enableBraking(getMotor(), enableValue);
+    else{
+         //Error Check, incorrect number of parameter, error out
+        return 0;
+    }
+    
+    return 1;
+}
+
+int Motor::forceBrake(){
+
+    if (lineData.numWords != 3){
+         //Error Check, incorrect number of parameter, error out
+        return 0;
+    }
+    
+    bridges.forceBrake(getMotor());
+}
+    
+int Motor::drive(){
+        
+            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
+}    
+*/
+
+
+        
\ No newline at end of file