VoltageDriver.cpp

00001 #include "VoltageDriver.hpp"
00002 
00003 //Constructor
00004 VoltageDriver::VoltageDriver(LineData lineData){
00005     this->errorFlag = 0;
00006         
00007     //Order of Line: Command, Local_Name, VOLTAGE_DRIVER, Channel(1,2,3,4,5,6,7,8)
00008     if (lineData.numWords != 4)
00009         this->errorFlag = 1;
00010       
00011     string channelstr = lineData.word[3]; //Parameter is a number
00012     int numValuesFound = sscanf(channelstr.c_str(), "%d", &channel);
00013     if (numValuesFound < 1)
00014         this->errorFlag = 1;
00015         
00016     //Channel Value between 1 to 8
00017     if (channel >= 1 && channel <= 8){
00018         
00019         switch (channel){
00020             case 1:
00021             case 2:
00022                 bridges.enablePwm(BridgeDriver::MOTOR_A, 0);
00023                 break;
00024             case 3:
00025             case 4:
00026                 bridges.enablePwm(BridgeDriver::MOTOR_B, 0);
00027                 break;
00028             case 5:
00029             case 6:
00030                 bridges.enablePwm(BridgeDriver::MOTOR_C, 0);
00031                 break;
00032             case 7:
00033             case 8:
00034                 bridges.enablePwm(BridgeDriver::MOTOR_D, 0);
00035                 break;
00036         }    
00037     }
00038     
00039     //Channel does not fall into valid selection
00040     else
00041         this->errorFlag = 1;
00042 }
00043 
00044 
00045 int VoltageDriver::getChannel(){     
00046     return this->channel;
00047 }
00048 
00049 
00050 //A line consists of [ __(Local_Name)__ __(function)__ __(parameter1)__ __(parameter2)__ __(parameter3)__ ... and so on]
00051 int VoltageDriver::interpret(LineData &lineData){
00052 
00053     //Order of line: local_name, function_name, param1, param2, param3,.......
00054     string func = lineData.word[1];
00055                
00056     /******************************************************************************/
00057     /***                       <func: forcebrake>                               ***/
00058     /******************************************************************************/
00059     if (func.compare("forcebrake") == 0){
00060         
00061         if (lineData.numWords != 2){
00062             ErrorOut("Incorrect number of parameters", lineData.lineNumber);
00063             return -1;
00064         }
00065         
00066         //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
00067         if (DummyMode)
00068             return 0; //Function operated successfully but doesn't return a value
00069             
00070         bridges.forceBrake(channel);
00071         
00072         //Record the settings for Pause and Resume
00073         currState = 0;
00074     }
00075     
00076     
00077     /******************************************************************************/
00078     /***                           <func: drive>                                ***/
00079     /******************************************************************************/
00080     else if (func.compare("drive") == 0){
00081         //order of line: local_name, drive
00082 
00083         if (lineData.numWords != 2){
00084             ErrorOut("Incorrect number of parameters", lineData.lineNumber);
00085             return -1;
00086         }
00087 
00088         //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
00089         if (DummyMode)
00090             return 0; //Function operated successfully but doesn't return a value
00091  
00092         bridges.drive(channel, 1); //turn channel on
00093 
00094         //Record the settings for Pause and Resume
00095         currState = 1;
00096     }
00097     
00098     
00099     /******************************************************************************/
00100     /****                           <func: off>                                ****/
00101     /******************************************************************************/
00102     else if (func.compare("off") == 0){
00103         
00104         if (lineData.numWords != 2){
00105             ErrorOut("Incorrect number of parameters", lineData.lineNumber);
00106             return -1;
00107         }
00108         
00109         //All syntax checking done by this point, if Dummy then return success in order to check the code, no need to perform functionality
00110         if (DummyMode)
00111             return 0; //Function operated successfully but doesn't return a value
00112             
00113         off();
00114     }
00115     
00116     
00117     else {
00118         ErrorOut("Unknown Command for Voltage Driver Class", lineData.lineNumber);
00119         return -1;
00120     }  
00121             
00122     return 0; //Return success as 0 since no condition had to be met
00123 }
00124 
00125 
00126 //For stopping the entire system if an error occurs, can be called from main
00127 int VoltageDriver::off(void){
00128     bridges.drive(getChannel(), 0); //turn channel off
00129     
00130     //Record the settings for Pause and Resume, and exit
00131     currState = 0;
00132     return 0;
00133 }
00134 
00135 
00136 //Stop the driver without changing the previous known settings, so that it will be saved on resume
00137 int VoltageDriver::pause(void){
00138     bridges.drive(getChannel(), 0); //turn channel off
00139     return 0;
00140 }
00141 
00142 //Resume the driver using its previously known settings
00143 int VoltageDriver::resume(void){
00144     bridges.drive(getChannel(), this->currState); //turn channel off
00145     return 0;
00146 }
00147 
00148