Onno Derkman
statemachine opzet
Revision 0:64c100cd152a, committed 2018-10-31
- Comitter:
- onnoderkman
- Date:
- Wed Oct 31 10:47:46 2018 +0000
- Commit message:
- State machine opzet. Overgangen van state naar state zijn nog niet compleet.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Wed Oct 31 10:47:46 2018 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Wed Oct 31 10:47:46 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Sissors/code/MODSERIAL/#a3b2bc878529
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/README.md Wed Oct 31 10:47:46 2018 +0000 @@ -0,0 +1,57 @@ +# Getting started with Blinky on mbed OS + +This guide reviews the steps required to get Blinky working on an mbed OS platform. + +Please install [mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli). + +## Import the example application + +From the command-line, import the example: + +``` +mbed import mbed-os-example-blinky +cd mbed-os-example-blinky +``` + +### Now compile + +Invoke `mbed compile`, and specify the name of your platform and your favorite toolchain (`GCC_ARM`, `ARM`, `IAR`). For example, for the ARM Compiler 5: + +``` +mbed compile -m K64F -t ARM +``` + +Your PC may take a few minutes to compile your code. At the end, you see the following result: + +``` +[snip] ++----------------------------+-------+-------+------+ +| Module | .text | .data | .bss | ++----------------------------+-------+-------+------+ +| Misc | 13939 | 24 | 1372 | +| core/hal | 16993 | 96 | 296 | +| core/rtos | 7384 | 92 | 4204 | +| features/FEATURE_IPV4 | 80 | 0 | 176 | +| frameworks/greentea-client | 1830 | 60 | 44 | +| frameworks/utest | 2392 | 512 | 292 | +| Subtotals | 42618 | 784 | 6384 | ++----------------------------+-------+-------+------+ +Allocated Heap: unknown +Allocated Stack: unknown +Total Static RAM memory (data + bss): 7168 bytes +Total RAM memory (data + bss + heap + stack): 7168 bytes +Total Flash memory (text + data + misc): 43402 bytes +Image: .\.build\K64F\ARM\mbed-os-example-blinky.bin +``` + +### Program your board + +1. Connect your mbed device to the computer over USB. +1. Copy the binary file to the mbed device. +1. Press the reset button to start the program. + +The LED on your platform turns on and off. + +## Troubleshooting + +If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it.
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Oct 31 10:47:46 2018 +0000
@@ -0,0 +1,166 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+DigitalOut ledr(LED1);
+DigitalOut ledg(LED2);
+DigitalOut ledb(LED3);
+DigitalIn button1(SW2);
+DigitalIn button2(SW3);
+MODSERIAL pc(USBTX, USBRX);
+enum states{WAITING, EMG_CAL, BCM, FAIL};
+states CurrentState = WAITING;
+bool StateChanged = true;
+volatile int x = 0;
+bool failure = false;
+
+void ProcessStateMachine(void)
+{
+ switch(CurrentState)
+ {
+ case WAITING: //This state is used to only start calibrating upon user input
+ //State initialization
+ if(StateChanged)
+ {
+ pc.printf("Entering WAITING\r\n");
+ ledr = 0;
+ ledg = 1;
+ ledb = 1;
+ StateChanged = false;
+ }
+ //State actions
+ pc.printf("Still WAITING\r\n");
+ while(button1)
+ {
+ }
+ //State transition
+ CurrentState = EMG_CAL;
+ StateChanged = true;
+ break; // End of WAITING
+ case EMG_CAL: //State for calibrating EMG channels
+ //State initialization
+ if(StateChanged)
+ {
+ pc.printf("Entering EMG calibration\r\n");
+ x = 0;
+ ledr = 1;
+ ledg = 0;
+ ledb = 1;
+ StateChanged = false;
+ }
+ //State actions
+ pc.printf("EMG calibration starting\r\n");
+ wait(0.3f); //Dit moet nog veranderd worden naar timer die opneemt hoe lang hij in WAITING zit.
+ // calibratiestappen voor de emg hier invoegen
+ while(x < 4 && !failure)
+ {
+ if(x == 1)
+ {
+ //Functie die het eerste EMG signaal calibreert
+ }
+ if(x == 2)
+ {
+ //Functie die het tweede EMG signaal calibreert
+ }
+ if(x == 3)
+ {
+ //Functie die het derde EMG signaal calibreert
+ }
+ if(!button2)
+ {
+ failure = true;
+ }
+ if(!button1)
+ {
+ x++;
+ pc.printf("EMG calibration %i is now running\r\n", x);
+ wait(0.2f);
+ }
+ }
+ //State transition
+ if(failure)
+ {
+ CurrentState = FAIL;
+ StateChanged = true;
+ }
+ else
+ {
+ CurrentState = BCM;
+ StateChanged = true;
+ }
+ break; //End of EMG_CAL state
+ case BCM: //State for moving the robot
+ //State initialization
+ if(StateChanged)
+ {
+ pc.printf("Entering Basic Control Mode\r\n");
+ ledr = 1;
+ ledg = 1;
+ ledb = 0;
+ StateChanged = false;
+ }
+ //State actions
+ pc.printf("Basic Control Mode is active\r\n");
+ while(button1 && !failure)
+ {
+ if(!button2)
+ {
+ failure = true;
+ }
+ }
+ //State transition
+ if(failure)
+ {
+ pc.printf("Go to fail mode\r\n");
+ CurrentState = FAIL;
+ StateChanged = true;
+ }
+ else
+ {
+ CurrentState = WAITING;
+ StateChanged = true;
+ }
+ break; //End of BCM state
+ case FAIL: //Fail state
+ //State initialization
+ if(StateChanged)
+ {
+ pc.printf("Fail mode is entered\r\n");
+ failure = false;
+ StateChanged = false;
+ }
+ //State actions
+ pc.printf("Fail mode is active. Press button1 to enter WAITING\r\n");
+ while(button1)
+ {
+ }
+ //State transition
+ CurrentState = WAITING;
+ StateChanged = true;
+ break; //End of FAIL state
+ default: //Emergency state for when something unexpected happens
+ //motoren uit enzo
+ pc.printf("SOS SOS SOS\r\n");
+ ledr = 0;
+ ledg = 0;
+ ledb = 0;
+ while(button1)
+ {
+ ledr = !ledr;
+ wait(0.3f);
+ }
+ CurrentState = WAITING;
+ StateChanged = true;
+ }
+}
+
+int main()
+{
+ pc.baud(115200);
+ ledr = 1;
+ ledg = 1;
+ ledb = 1;
+ while (true)
+ {
+ ProcessStateMachine(); //Activates state machine
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Wed Oct 31 10:47:46 2018 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#e1bea44212b8275f7d8ce7253e758c2e25c57482