Diff: main.cpp

Revision:

2:f8199cc69b20

Parent:

0:0c8935f6db19

--- a/main.cpp	Thu Sep 20 11:38:48 2012 +0000
+++ b/main.cpp	Fri Sep 21 14:24:10 2012 +0000
@@ -1,14 +1,155 @@
-#include "mbed.h"
-#include "HBridge.h"
-
-HBridge hbridge(p18,p15,p22);
-DigitalIn button(p16);
-AnalogIn pot1(p19);
-
-int main() {
- button.mode(PullDown);
-    while(1) {
-        hbridge.speed((pot1 - 0.5) * 2);
-        hbridge.power(bool(button));
-    }
-}
+#include "mbed.h"
+#include "HBridge.h"
+#include "ActionCue.h"
+#include "WavPlayer.h"
+#include "MSCFileSystem.h"
+
+#define TICK_TIME 0.05
+
+MSCFileSystem msc("msc"); // Mount flash drive under the name "msc"
+LocalFileSystem local("local");
+WavPlayer player;
+
+HBridge hbridge(p18,p15,p22);
+DigitalIn button(p16);
+AnalogIn pot1(p19);
+
+HBridge hbridge2(p28,p27,p21);
+DigitalIn button2(p17);
+AnalogIn pot2(p20);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+ActionCue cue;
+
+Ticker ticks;
+
+float c_time;
+
+int audioNumber = 0;
+float audioTime = 0;
+
+extern "C" void HardFault_Handler()
+{
+    error("Hard Fault!\n");
+}
+
+
+enum actionTypes
+{
+    Null = -1,
+    Debug = 0,
+    c_led1,
+    c_led2,
+    motor1,
+    motor2,
+    play
+};
+
+void onTick()
+{
+    while(cue.numActionsStored() > 0)
+    {
+        Action act = cue.nextAction();
+        if(act.actionTime <= c_time)
+        {
+            cue.usedFirst();
+            //printf("Action. Time: %f Type: %i\n\r",act.actionTime, act.actionType);
+            switch(act.actionType)
+            {
+                case Debug:
+                    printf("Action. Time: %f Type: %i\n\r",act.actionTime, act.actionType);
+                    break;
+                case c_led1:
+                    led1 = bool(act.actionInt);
+                    break;
+                case c_led2:
+                    led2 = bool(act.actionInt);
+                    break;
+                case motor1:
+                    hbridge.speed(act.actionFloat);
+                    hbridge.power(true);
+                    break;
+                case motor2:
+                    hbridge2.speed(act.actionFloat);
+                    hbridge2.power(true);
+                    break;
+                case play:
+                    audioNumber = act.actionInt;
+                    audioTime = act.actionFloat;
+                    break;
+                default:
+                    break;
+            }
+        }
+        else
+        {
+            break;
+        }
+    }
+    c_time += float(TICK_TIME);
+}
+
+actionTypes parseType(char in[4])
+{
+         if(strcmp(in, "NULL") == 0) return Null;
+    else if(strcmp(in, "DEBG") == 0) return Debug;
+    else if(strcmp(in, "LED1") == 0) return c_led1;
+    else if(strcmp(in, "LED2") == 0) return c_led2;
+    else if(strcmp(in, "MTR1") == 0) return motor1;
+    else if(strcmp(in, "MTR2") == 0) return motor2;
+    else if(strcmp(in, "PLAY") == 0) return play;
+    else return Null;
+}
+
+int main() {
+    button.mode(PullDown);
+    ticks.attach(&onTick,TICK_TIME);
+    c_time = 0;
+    int returned = 4;
+    printf("Opening the file \n\r");
+    FILE* sequence = fopen("/local/seq.txt","r");
+    
+    if(sequence != NULL)
+    {
+        printf("File opened\n\r");
+        while(returned >= 2)
+        {
+            float temptime = 0;
+            char code[5];
+            int tempint = 0;
+            float tempfloat = 0;
+            returned = fscanf(sequence, "%f %4s %d %f", &temptime, &code, &tempint, &tempfloat);
+
+            if(returned >= 2)
+            {
+                actionTypes temptype = parseType(code);
+                Action act(temptime, temptype, tempint, tempfloat);
+                cue.addAction(act);
+                printf("Read Action. Time: %f Type: %i\n\r",act.actionTime, act.actionType);
+
+            }
+        }
+    }
+    
+    cue.orderCue();
+    
+    while(1)
+    {
+        if(audioNumber != 0)
+        {
+            char filename[16];
+            sprintf(filename, "/msc/%2.2i.wav",audioNumber);
+            printf("Playin': %s\n\r",filename);
+            FILE* file = fopen(filename, "r");
+            player.open(&file);
+            if(audioTime == 0) player.play();
+            else player.play(audioTime);
+            fclose(file);
+            audioNumber = 0;
+        }
+    }
+    
+
+}