Revision 0:cbb61997e231, committed 2014-10-15

Comitter:

perr1940

Date:

Wed Oct 15 18:44:04 2014 +0000

Child:

1:78452728a306

Commit message:

Not working, but close. Going to through in a while loop and see if that's better.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib	Wed Oct 15 18:44:04 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AjK/code/MODSERIAL/#ae0408ebdd68

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UI/UI.cpp	Wed Oct 15 18:44:04 2014 +0000
@@ -0,0 +1,94 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+#include "initDatabed.h"
+#include "UI.h"
+
+// UI button variables
+int buttonA = 1; // state of remote button
+int buttonA_prev = 1;
+
+// push hold vars
+float tHold = .6;  // hold time for sit/stand
+float tIdle = 2; // time out to confirm sit or stance (s)
+int SSconfirm = 0; // sit/stand variable for confirmation process
+float tRelease = .3; // time since last transmission to determine button release
+
+
+// various timers
+Timer time_StateChange;
+Timer time_pressA;
+Timer time_pressB;
+
+int buttonB = 1; // state of remote button
+int buttonB_prev = 1;
+char xbeeBuffer[250];
+int dataCnt=0;
+int UI=0;
+
+float time_sinceA, time_sinceB; //time since the button was first pressed
+void readBuffer()
+{
+    while (xbeeUI.readable() && dataCnt<250) {
+        xbeeBuffer[dataCnt] = xbeeUI.getc();
+        dataCnt++;
+    }
+}
+
+void checkUI_XBee()
+{
+
+    buttonA_prev = buttonA;
+    buttonB_prev = buttonB;
+    if(dataCnt>=22) {
+        char * index=strchr(xbeeBuffer,0x7e);
+        buttonA = (xbeeBuffer[index-xbeeBuffer+21]>>1) & 1;  // on DIO1
+        buttonB = (xbeeBuffer[index-xbeeBuffer+21]>>2) & 1;  // on DIO2
+        dataCnt=0;
+        if (buttonA == 0 && buttonA_prev==1) {//buton was just pressed
+            time_pressA.reset();
+            time_pressA.start();
+            time_sinceA=0;
+        }
+
+        else if(buttonA==0) {
+            time_sinceA=time_pressA; //button is still pressed
+        }
+
+        if (buttonB == 0 && buttonB_prev==1) {//button was just pressed
+            time_pressB.reset();
+            time_pressB.start();
+            time_sinceB=0;
+        } else if(buttonB==0) {
+            time_sinceB=time_pressB; //button is still pressed
+        }
+    }
+    if((time_pressA-time_sinceA)>=tRelease) { //button was released
+        if(time_pressA-tRelease>=tHold) { //if the button was held before released
+            UI=3; //UI command is a held A button
+        } else {
+            UI=1; //UI command is a pressed A button
+        }
+        buttonA=1; //button A is released
+        time_pressA.stop(); //reset the button A timer
+        time_pressA.reset();
+    }
+    if(time_pressB-time_sinceB>=tRelease) { //button was released
+        if(time_pressB-tRelease>=tHold) { //if the button was held before released
+            UI=4; //UI command is a held B button
+        } else {
+            UI=2; //UI command is a pressed B button
+        }
+        buttonB=1; //button B is released
+        time_pressB.stop(); //reset the button B timer
+        time_pressB.reset();
+    }
+
+    dataCnt=0;
+}
+
+void initializeUI()
+{
+    xbeeUI.baud(115200);
+    mainPower=0;
+
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UI/UI.h	Wed Oct 15 18:44:04 2014 +0000
@@ -0,0 +1,20 @@
+#ifndef UI_H
+#define UI_H
+
+/**
+* Copyright (c) 2014
+* All rights reserved.
+*
+ *
+ * by: Bradley Perry
+ *
+*/
+
+#include "mbed.h"
+#include "MODSERIAL.h"
+#include "initDatabed.h"
+extern int UI;
+#endif
+
+extern void checkUI_XBee();
+extern void readBuffer();
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/initDatabed/initDatabed.cpp	Wed Oct 15 18:44:04 2014 +0000
@@ -0,0 +1,28 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+MODSERIAL xbeeUI(p28, p27); //XBee UI crutch communication
+
+Serial pc(USBTX, USBRX);
+SPISlave comm(p5, p6, p7, p8); // mosi, miso, sclk, ssel
+
+// amplifier power on
+DigitalOut mainPower(p26); // power to board/motors etc
+
+// various LEDs
+DigitalOut statusLed(p15);
+DigitalOut boardLed1(LED1);
+DigitalOut boardLed2(LED2);
+DigitalOut boardLed3(LED3);
+DigitalOut boardLed4(LED4);
+
+void initializeDatabed() {
+    xbeeUI.baud(115200);
+    pc.baud(921600);
+
+    comm.frequency(12000000);
+
+    wait(1);
+    pc.printf("Starting databed...\r\n");
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/initDatabed/initDatabed.h	Wed Oct 15 18:44:04 2014 +0000
@@ -0,0 +1,25 @@
+#ifndef INIT_H
+#define INIT_H
+
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+extern MODSERIAL xbeeUI;  // left xbee
+
+extern Serial pc;
+extern SPISlave comm; // mosi, miso, sclk, ssel
+
+// amplifier power on
+extern DigitalOut mainPower; // power to board/motors etc
+
+// various LEDs
+extern DigitalOut statusLed;
+extern DigitalOut boardLed1;
+extern DigitalOut boardLed2;
+extern DigitalOut boardLed3;
+extern DigitalOut boardLed4;
+
+
+#endif
+
+extern void initializeDatabed();
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 15 18:44:04 2014 +0000
@@ -0,0 +1,44 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+#include "initDatabed.h"
+#include "UI.h"
+
+Timer t_debug;
+
+int main()
+{
+    int dataIn[2], dataOut[2];
+    dataOut[0]=1;
+    dataOut[1]=2;
+    mainPower=0;//Don't turn on for initial testing
+    initializeDatabed();
+    comm.reply(dataOut[0]);//make this the first message
+    pc.printf("DataBed On!\r\n");
+    int counter=0;
+    //float blah=1;
+    //t_debug.start();
+    while (1) { //Run these functions as fast as possible
+        if(comm.receive()) {
+            //t_debug.reset();
+            dataIn[0] = comm.read();//Read the SPI buffer
+            if(dataIn[0]==75) {
+                comm.reply(dataOut[1]);// Make this the next reply
+                dataIn[1]=comm.read();//Read the SPI buffer
+                //pc.printf("T");
+            }
+            if(counter>=100) {
+                UI=0;//set the UI to 0 unless it's changed in checkUI_Xbee()
+                readBuffer();
+                checkUI_XBee(); //check UI from Xbee
+                counter=0;
+            }
+            //dataOut[0]=UI;
+            comm.reply(dataOut[0]);//Set the communication for the next round
+            pc.printf("Data: %d, %d,\r\n", dataIn[0], dataIn[1]);
+            counter++;
+            //blah=t_debug.read_us();
+            //pc.printf("UI: %d\r\n", UI);
+            //pc.printf("T: %f \r\n ", blah);
+        }
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Oct 15 18:44:04 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/552587b429a1
\ No newline at end of file