Peter Bartels / Mbed 2 deprecated Main-script_groep7_PID_31-10-2014

Mainscript inclusief PID (uitgevoerd middag 31-10-2014)

Dependencies:   Encoder HIDScope TextLCD mbed

Fork of Main-script_groep7 by Peter Bartels

main.cpp@6:565b4fc42323, 2014-10-31 (annotated)

Committer:
phgbartels
Date:
Fri Oct 31 11:23:37 2014 +0000
Revision:
6:565b4fc42323
Parent:
5:4842219cb77c
Child:
7:f016dd2e8ea9
Werkend script, nu nog waarden vari?ren

Who changed what in which revision?

UserRevisionLine numberNew contents of line
phgbartels 0:2386012c6594 1 /********************************************/
phgbartels 0:2386012c6594 2 /* */
phgbartels 0:2386012c6594 3 /* BRONCODE GROEP 7, MODULE 9, 2014 */
phgbartels 0:2386012c6594 4 /* *-THE SLAP-* */
phgbartels 0:2386012c6594 5 /* */
phgbartels 0:2386012c6594 6 /* -Anne ten Dam */
phgbartels 0:2386012c6594 7 /* -Laura de Heus */
phgbartels 0:2386012c6594 8 /* -Moniek Strijdveen */
phgbartels 0:2386012c6594 9 /* -Bart Arendshorst */
phgbartels 0:2386012c6594 10 /* -Peter Bartels */
phgbartels 0:2386012c6594 11 /********************************************/
phgbartels 0:2386012c6594 12
phgbartels 0:2386012c6594 13 /*
phgbartels 0:2386012c6594 14 #include voor alle libraries
phgbartels 0:2386012c6594 15 */
phgbartels 0:2386012c6594 16 #include "TextLCD.h"
phgbartels 0:2386012c6594 17 #include "mbed.h"
phgbartels 0:2386012c6594 18 #include "encoder.h"
phgbartels 1:b08ac32d1ddc 19 //#include "HIDScope.h"
phgbartels 0:2386012c6594 20 #include "PwmOut.h"
phgbartels 0:2386012c6594 21
phgbartels 0:2386012c6594 22 /*
phgbartels 0:2386012c6594 23 #define vaste waarden
phgbartels 0:2386012c6594 24 */
phgbartels 0:2386012c6594 25 /*definieren pinnen Motor 1*/
phgbartels 0:2386012c6594 26 #define M1_PWM PTA5
phgbartels 0:2386012c6594 27 #define M1_DIR PTA4
phgbartels 0:2386012c6594 28 #define M2_PWM PTC8
phgbartels 0:2386012c6594 29 #define M2_DIR PTC9
phgbartels 0:2386012c6594 30 /*Definieren minimale waarden PWM per motor*/
phgbartels 0:2386012c6594 31 #define PWM1_min_50 0.529 /*met koppelstuk!*/
phgbartels 0:2386012c6594 32 #define PWM2_min_30 0.529 /*aanpassen! Klopt nog niet met koppelstuk*/
phgbartels 0:2386012c6594 33 /*Definieren om de hoeveel seconden er gegevens naar de HID-scope gestuurd worden.*/
phgbartels 0:2386012c6594 34 #define TSAMP 0.005
phgbartels 5:4842219cb77c 35 #define K_P (5)
phgbartels 5:4842219cb77c 36 #define K_I (0.1 * TSAMP)
phgbartels 5:4842219cb77c 37 #define K_D (0)
phgbartels 0:2386012c6594 38 //#define K_D (0.0005 /TSAMP)
phgbartels 0:2386012c6594 39 #define I_LIMIT 100.
phgbartels 0:2386012c6594 40 #define PI 3.1415926535897
phgbartels 0:2386012c6594 41 #define lengte_arm 0.5
phgbartels 0:2386012c6594 42
phgbartels 0:2386012c6594 43 /*
phgbartels 0:2386012c6594 44 Geef een naam aan een actie en vertel welke pinnen hiervoor gebruikt worden.
phgbartels 0:2386012c6594 45 */
phgbartels 0:2386012c6594 46 TextLCD lcd(PTD2, PTA12, PTB2, PTB3, PTC2, PTA13, TextLCD::LCD16x2); // rs, e, d4-d7
phgbartels 0:2386012c6594 47 Encoder motor1(PTD3,PTD1);
phgbartels 0:2386012c6594 48 Encoder motor2(PTD5, PTD0);
phgbartels 0:2386012c6594 49 PwmOut pwm_motor1(M1_PWM);
phgbartels 0:2386012c6594 50 PwmOut pwm_motor2(M2_PWM);
phgbartels 0:2386012c6594 51 DigitalOut motordir1(M1_DIR);
phgbartels 0:2386012c6594 52 DigitalOut motordir2(M2_DIR);
phgbartels 0:2386012c6594 53 DigitalOut LEDGREEN(LED_GREEN);
phgbartels 0:2386012c6594 54 DigitalOut LEDRED(LED_RED);
phgbartels 4:377ddd65e4a6 55 Serial pc(USBTX,USBRX);
phgbartels 0:2386012c6594 56 /*
phgbartels 0:2386012c6594 57 definieer namen aan var, float, int, static float, uint8_t, uint16_t etc. en geef ze eventueel een waarde
phgbartels 0:2386012c6594 58 */
phgbartels 0:2386012c6594 59 Ticker statemachine;
phgbartels 0:2386012c6594 60 Ticker screen;
phgbartels 0:2386012c6594 61 int previous_herhalingen = 0;
phgbartels 1:b08ac32d1ddc 62 int current_herhalingen = 0;
phgbartels 0:2386012c6594 63 int PWM2_percentage = 100;
phgbartels 0:2386012c6594 64 int aantal_rotaties_1 = 10;
phgbartels 0:2386012c6594 65 int aantalcr_1 = 1600;
phgbartels 0:2386012c6594 66 int aantalcr_2 = 960;
phgbartels 0:2386012c6594 67 int beginpos_motor1;
phgbartels 0:2386012c6594 68 int beginpos_motor1_new;
phgbartels 0:2386012c6594 69 int beginpos_motor2;
phgbartels 0:2386012c6594 70 int beginpos_motor2_new;
phgbartels 0:2386012c6594 71 int previous_pos_motor1 = 0;
phgbartels 0:2386012c6594 72 int current_pos_motor1;
phgbartels 5:4842219cb77c 73 int EMG = 1;
phgbartels 0:2386012c6594 74 int delta_pos_motor1_puls;
phgbartels 0:2386012c6594 75 void clamp(float * in, float min, float max);
phgbartels 0:2386012c6594 76 volatile bool looptimerflag;
phgbartels 2:de7b6c1d67c4 77 int16_t gewenste_snelheid = 2;
phgbartels 2:de7b6c1d67c4 78 int16_t gewenste_snelheid_rad = 4;
phgbartels 2:de7b6c1d67c4 79 int16_t gewenste_snelheid_rad_return = 1;
phgbartels 0:2386012c6594 80 float pid(float setpoint, float measurement);
phgbartels 0:2386012c6594 81 float pos_motor1_rad;
phgbartels 0:2386012c6594 82 float PWM1_percentage = 0;
phgbartels 0:2386012c6594 83 float delta_pos_motor1_rad;
phgbartels 0:2386012c6594 84 float snelheid_motor1_rad;
phgbartels 0:2386012c6594 85 float snelheid_arm_ms;
phgbartels 0:2386012c6594 86 float PWM1;
phgbartels 0:2386012c6594 87 float PWM2;
phgbartels 0:2386012c6594 88 float Speed_motor1;
phgbartels 0:2386012c6594 89 float Speed_motor1rad;
phgbartels 1:b08ac32d1ddc 90 float setpoint = 0;
phgbartels 1:b08ac32d1ddc 91 float prev_setpoint = 0;
phgbartels 6:565b4fc42323 92 float hoek_gewenst = 0;
phgbartels 6:565b4fc42323 93 float hoek_nul = 0;
phgbartels 6:565b4fc42323 94 float snelheid_slaan = 8;
phgbartels 6:565b4fc42323 95 float snelheid_naar_nul = 3;
phgbartels 0:2386012c6594 96
phgbartels 1:b08ac32d1ddc 97 //HIDScope scope(6);
phgbartels 0:2386012c6594 98
phgbartels 0:2386012c6594 99 enum state_t {RUST, ARM_KALIBRATIE, EMG_KALIBRATIE, METEN_RICHTING, METEN_HOOGTE, INSTELLEN_RICHTING, SLAAN, RETURN2RUST}; //verschillende stadia definieren voor gebruik in CASES
phgbartels 0:2386012c6594 100 state_t state = RUST;
phgbartels 0:2386012c6594 101
phgbartels 0:2386012c6594 102 //functies die vanuit de statemachinefunction aangeroepen kunnen worden
phgbartels 0:2386012c6594 103 void rust() {
phgbartels 0:2386012c6594 104 current_herhalingen = previous_herhalingen + 1; previous_herhalingen = current_herhalingen;
phgbartels 0:2386012c6594 105 }
phgbartels 0:2386012c6594 106
phgbartels 0:2386012c6594 107 void arm_kalibratie() {
phgbartels 0:2386012c6594 108 //voor nu om de loop te doorlopen wordt onderstaande code gebruikt. Nogmaal gesproken moet er gewacht worden op een 'hoog' signaal van een knop
phgbartels 0:2386012c6594 109 current_herhalingen = previous_herhalingen + 1; previous_herhalingen = current_herhalingen;
phgbartels 0:2386012c6594 110 motor1.setPosition(0);
phgbartels 1:b08ac32d1ddc 111 motor2.setPosition(0);
phgbartels 0:2386012c6594 112 }
phgbartels 0:2386012c6594 113
phgbartels 0:2386012c6594 114 void emg_kalibratie() {
phgbartels 0:2386012c6594 115 current_herhalingen = previous_herhalingen + 1; previous_herhalingen = current_herhalingen;
phgbartels 0:2386012c6594 116 }
phgbartels 0:2386012c6594 117
phgbartels 0:2386012c6594 118 void meten_richting() {
phgbartels 0:2386012c6594 119 current_herhalingen = previous_herhalingen + 1; previous_herhalingen = current_herhalingen;
phgbartels 0:2386012c6594 120 }
phgbartels 0:2386012c6594 121
phgbartels 0:2386012c6594 122 void meten_hoogte() {
phgbartels 0:2386012c6594 123 current_herhalingen = previous_herhalingen + 1; previous_herhalingen = current_herhalingen;
phgbartels 0:2386012c6594 124 }
phgbartels 0:2386012c6594 125
phgbartels 0:2386012c6594 126 void instellen_richting() {
phgbartels 0:2386012c6594 127 current_herhalingen = previous_herhalingen + 1; previous_herhalingen = current_herhalingen;
phgbartels 0:2386012c6594 128 }
phgbartels 0:2386012c6594 129
phgbartels 3:156c3e536ed4 130 void GotoPosition (float position_setpoint_rad, float speed_radpersecond) {
phgbartels 5:4842219cb77c 131
phgbartels 0:2386012c6594 132 current_pos_motor1 = motor1.getPosition(); //bekijk na elke 0.005s wat de huidige 'waarde' van de encoder is
phgbartels 5:4842219cb77c 133 //delta_pos_motor1_puls = current_pos_motor1 - previous_pos_motor1; //Bereken wat het verschil in waarde is voor het berekenen van de snelheid(puls)
phgbartels 0:2386012c6594 134 pos_motor1_rad = current_pos_motor1/(1600/(2*PI)); //echte waarde omrekenen naar rad voor (positie) PID regelaar
phgbartels 5:4842219cb77c 135 //delta_pos_motor1_rad = delta_pos_motor1_puls/(1600/(2*PI)); //delta waarde omrekenen naar rad voor snelheidsbepaling (rad)
phgbartels 2:de7b6c1d67c4 136 //snelheid_motor1_rad = delta_pos_motor1_rad / TSAMP; //rad delen door TSAMP om rad/s te verkrijgen
phgbartels 2:de7b6c1d67c4 137 //snelheid_arm_ms = snelheid_motor1_rad * lengte_arm; //deze waarde maar lengte van de arm om de snelheid van het uiteinde van die arm te verkrijgen
phgbartels 1:b08ac32d1ddc 138 //scope.set(0, snelheid_motor1_rad);
phgbartels 0:2386012c6594 139
phgbartels 0:2386012c6594 140 previous_pos_motor1 = current_pos_motor1; //sla de huidige waarde op als vorige waarde.
phgbartels 0:2386012c6594 141
phgbartels 0:2386012c6594 142 //nu gaan we positie regelen i.p.v. snelheid.
phgbartels 5:4842219cb77c 143
phgbartels 5:4842219cb77c 144 if (fabs(pos_motor1_rad - position_setpoint_rad) <= 0.05) //if position error < ...rad, then stop.
phgbartels 0:2386012c6594 145 {
phgbartels 3:156c3e536ed4 146 speed_radpersecond = 0;
phgbartels 4:377ddd65e4a6 147 setpoint = pos_motor1_rad;
phgbartels 2:de7b6c1d67c4 148 current_herhalingen = previous_herhalingen + 1;
phgbartels 2:de7b6c1d67c4 149 previous_herhalingen = current_herhalingen;
phgbartels 4:377ddd65e4a6 150 pc.printf("stop\n\r");
phgbartels 5:4842219cb77c 151 PWM1_percentage = 0;
phgbartels 0:2386012c6594 152 }
phgbartels 4:377ddd65e4a6 153 else if(pos_motor1_rad - position_setpoint_rad < 0)
phgbartels 4:377ddd65e4a6 154 {
phgbartels 5:4842219cb77c 155 setpoint = prev_setpoint +( TSAMP * speed_radpersecond);
phgbartels 5:4842219cb77c 156 PWM1_percentage = pid(setpoint, pos_motor1_rad);
phgbartels 4:377ddd65e4a6 157 }
phgbartels 3:156c3e536ed4 158 else
phgbartels 4:377ddd65e4a6 159 {
phgbartels 5:4842219cb77c 160 setpoint = prev_setpoint -( TSAMP * speed_radpersecond);
phgbartels 5:4842219cb77c 161 PWM1_percentage = pid(setpoint, pos_motor1_rad);
phgbartels 4:377ddd65e4a6 162 }
phgbartels 0:2386012c6594 163 /*new_pwm = (setpoint - motor1.getPosition())*.001; -> P action*/
phgbartels 5:4842219cb77c 164 pc.printf("%f\n\r",PWM1_percentage);
phgbartels 4:377ddd65e4a6 165
phgbartels 5:4842219cb77c 166
phgbartels 1:b08ac32d1ddc 167 //scope.set(1, setpoint-pos_motor1_rad);
phgbartels 0:2386012c6594 168
phgbartels 0:2386012c6594 169 if (PWM1_percentage < -100)
phgbartels 0:2386012c6594 170 {
phgbartels 0:2386012c6594 171 PWM1_percentage = -100;
phgbartels 0:2386012c6594 172 }
phgbartels 0:2386012c6594 173 else if (PWM1_percentage >100)
phgbartels 0:2386012c6594 174 {
phgbartels 0:2386012c6594 175 PWM1_percentage =100;
phgbartels 0:2386012c6594 176 }
phgbartels 0:2386012c6594 177
phgbartels 4:377ddd65e4a6 178 if(PWM1_percentage < 0)
phgbartels 0:2386012c6594 179 {
phgbartels 0:2386012c6594 180 motordir1 = 1;
phgbartels 0:2386012c6594 181 }
phgbartels 0:2386012c6594 182 else
phgbartels 0:2386012c6594 183 {
phgbartels 0:2386012c6594 184 motordir1 = 0;
phgbartels 0:2386012c6594 185 }
phgbartels 0:2386012c6594 186
phgbartels 4:377ddd65e4a6 187 pwm_motor1.write(abs(PWM1_percentage/100.));//abs(((1-PWM1_min_50)/100)*PWM1_percentage + PWM1_min_50));
phgbartels 1:b08ac32d1ddc 188 //scope.set(5, abs(((1-PWM1_min_50)/100)*PWM1_percentage + PWM1_min_50));
phgbartels 0:2386012c6594 189 prev_setpoint = setpoint;
phgbartels 2:de7b6c1d67c4 190 //scope.send();
phgbartels 2:de7b6c1d67c4 191 }
phgbartels 2:de7b6c1d67c4 192
phgbartels 3:156c3e536ed4 193
phgbartels 0:2386012c6594 194
phgbartels 0:2386012c6594 195 float pid(float setpoint, float measurement)
phgbartels 0:2386012c6594 196 {
phgbartels 0:2386012c6594 197 float error;
phgbartels 0:2386012c6594 198 static float prev_error = 0;
phgbartels 0:2386012c6594 199 float out_p = 0;
phgbartels 0:2386012c6594 200 static float out_i = 0;
phgbartels 0:2386012c6594 201 float out_d = 0;
phgbartels 0:2386012c6594 202 error = (setpoint-measurement);
phgbartels 0:2386012c6594 203 out_p = error*K_P;
phgbartels 0:2386012c6594 204 out_i += error*K_I;
phgbartels 0:2386012c6594 205 out_d = (error-prev_error)*K_D;
phgbartels 0:2386012c6594 206 clamp(&out_i,-I_LIMIT,I_LIMIT);
phgbartels 0:2386012c6594 207 prev_error = error;
phgbartels 1:b08ac32d1ddc 208 //scope.set(2, out_p);
phgbartels 1:b08ac32d1ddc 209 //scope.set(3, out_i);
phgbartels 1:b08ac32d1ddc 210 //scope.set(4, out_d);
phgbartels 0:2386012c6594 211 return out_p + out_i + out_d;
phgbartels 0:2386012c6594 212 }
phgbartels 0:2386012c6594 213
phgbartels 0:2386012c6594 214 void clamp(float* in, float min, float max) // "*" is een pointer (verwijst naar het adres waar een variebele instaat). Dus je slaat niet de variabele op
phgbartels 0:2386012c6594 215 // maar de locatie van de variabele.
phgbartels 0:2386012c6594 216 {
phgbartels 0:2386012c6594 217 *in > min ? /*(*/*in < max? /*niets doen*/ : *in = max/*)*/: *in = min; // a ? b : c --> als a waar is, dan doe je b, en anders c
phgbartels 0:2386012c6594 218 // *in = het getal dat staat op locatie van in --> waarde van new_pwm
phgbartels 0:2386012c6594 219 }
phgbartels 0:2386012c6594 220
phgbartels 0:2386012c6594 221 void statemachinefunction()
phgbartels 0:2386012c6594 222 {
phgbartels 0:2386012c6594 223 switch(state) {
phgbartels 0:2386012c6594 224 case RUST: {
phgbartels 0:2386012c6594 225 rust();
phgbartels 0:2386012c6594 226 /*voorwaarde wanneer hij door kan naar de volgende case*/
phgbartels 5:4842219cb77c 227 if (current_herhalingen == 100 && EMG == 1)
phgbartels 0:2386012c6594 228 {
phgbartels 0:2386012c6594 229 current_herhalingen = 0;
phgbartels 0:2386012c6594 230 previous_herhalingen = 0;
phgbartels 1:b08ac32d1ddc 231 state = ARM_KALIBRATIE;
phgbartels 5:4842219cb77c 232 EMG = 0;
phgbartels 0:2386012c6594 233 }
phgbartels 1:b08ac32d1ddc 234 break;
phgbartels 0:2386012c6594 235 /*bepalen hoe je zorgt dat je maar 1x de kalibraties uitvoerd! (Of eventueel de arm kalibratie elke keer!!)*/
phgbartels 0:2386012c6594 236 //if (metingstatus<5);
phgbartels 0:2386012c6594 237 // state = ARMKALIBRATIE;
phgbartels 0:2386012c6594 238 //if (metingstatus==5);
phgbartels 0:2386012c6594 239 // state = METEN_RICHTING;
phgbartels 0:2386012c6594 240 //break;
phgbartels 0:2386012c6594 241 //}
phgbartels 0:2386012c6594 242 }
phgbartels 0:2386012c6594 243
phgbartels 0:2386012c6594 244 case ARM_KALIBRATIE:
phgbartels 0:2386012c6594 245 {
phgbartels 0:2386012c6594 246 arm_kalibratie();
phgbartels 5:4842219cb77c 247 if (current_herhalingen == 100)
phgbartels 0:2386012c6594 248 {
phgbartels 0:2386012c6594 249 current_herhalingen = 0;
phgbartels 0:2386012c6594 250 previous_herhalingen = 0;
phgbartels 1:b08ac32d1ddc 251 state = EMG_KALIBRATIE;
phgbartels 2:de7b6c1d67c4 252 motor1.setPosition(0);
phgbartels 2:de7b6c1d67c4 253 motor2.setPosition(0);
phgbartels 2:de7b6c1d67c4 254 pwm_motor1.period_us(100);
phgbartels 2:de7b6c1d67c4 255 pwm_motor2.period_us(100);
phgbartels 0:2386012c6594 256 }
phgbartels 1:b08ac32d1ddc 257 break;
phgbartels 0:2386012c6594 258 }
phgbartels 0:2386012c6594 259
phgbartels 0:2386012c6594 260 case EMG_KALIBRATIE:
phgbartels 0:2386012c6594 261 {
phgbartels 0:2386012c6594 262 emg_kalibratie();
phgbartels 5:4842219cb77c 263 if (current_herhalingen == 100)
phgbartels 0:2386012c6594 264 {
phgbartels 0:2386012c6594 265 state = METEN_RICHTING;
phgbartels 0:2386012c6594 266 current_herhalingen = 0;
phgbartels 0:2386012c6594 267 previous_herhalingen = 0;
phgbartels 0:2386012c6594 268 }
phgbartels 1:b08ac32d1ddc 269 break;
phgbartels 0:2386012c6594 270 }
phgbartels 0:2386012c6594 271
phgbartels 0:2386012c6594 272 case METEN_RICHTING:
phgbartels 0:2386012c6594 273 {
phgbartels 0:2386012c6594 274 meten_richting();
phgbartels 5:4842219cb77c 275 if (current_herhalingen == 100)
phgbartels 0:2386012c6594 276 {
phgbartels 0:2386012c6594 277 state = METEN_HOOGTE;
phgbartels 0:2386012c6594 278 current_herhalingen = 0;
phgbartels 0:2386012c6594 279 previous_herhalingen = 0;
phgbartels 0:2386012c6594 280 }
phgbartels 1:b08ac32d1ddc 281 break;
phgbartels 0:2386012c6594 282 }
phgbartels 0:2386012c6594 283
phgbartels 0:2386012c6594 284 case METEN_HOOGTE:
phgbartels 0:2386012c6594 285 {
phgbartels 0:2386012c6594 286 meten_hoogte();
phgbartels 5:4842219cb77c 287 if (current_herhalingen == 100)
phgbartels 0:2386012c6594 288 {
phgbartels 0:2386012c6594 289 state = INSTELLEN_RICHTING;
phgbartels 0:2386012c6594 290 current_herhalingen = 0;
phgbartels 0:2386012c6594 291 previous_herhalingen = 0;
phgbartels 0:2386012c6594 292 }
phgbartels 1:b08ac32d1ddc 293 break;
phgbartels 0:2386012c6594 294 }
phgbartels 0:2386012c6594 295
phgbartels 0:2386012c6594 296 case INSTELLEN_RICHTING:
phgbartels 0:2386012c6594 297 {
phgbartels 0:2386012c6594 298 instellen_richting();
phgbartels 5:4842219cb77c 299 if (current_herhalingen == 100)
phgbartels 0:2386012c6594 300 {
phgbartels 0:2386012c6594 301 state = SLAAN;
phgbartels 0:2386012c6594 302 current_herhalingen = 0;
phgbartels 0:2386012c6594 303 previous_herhalingen = 0;
phgbartels 0:2386012c6594 304 }
phgbartels 2:de7b6c1d67c4 305 break;
phgbartels 1:b08ac32d1ddc 306
phgbartels 0:2386012c6594 307 }
phgbartels 0:2386012c6594 308
phgbartels 0:2386012c6594 309 case SLAAN:
phgbartels 0:2386012c6594 310 {
phgbartels 6:565b4fc42323 311 GotoPosition(hoek_gewenst , snelheid_slaan);
phgbartels 5:4842219cb77c 312 if (current_herhalingen == 100)
phgbartels 0:2386012c6594 313 {
phgbartels 0:2386012c6594 314 state = RETURN2RUST;
phgbartels 0:2386012c6594 315 current_herhalingen = 0;
phgbartels 0:2386012c6594 316 previous_herhalingen = 0;
phgbartels 2:de7b6c1d67c4 317 prev_setpoint =0;
phgbartels 2:de7b6c1d67c4 318 setpoint =0;
phgbartels 2:de7b6c1d67c4 319
phgbartels 0:2386012c6594 320 }
phgbartels 2:de7b6c1d67c4 321 break;
phgbartels 0:2386012c6594 322 }
phgbartels 0:2386012c6594 323
phgbartels 0:2386012c6594 324 case RETURN2RUST:
phgbartels 0:2386012c6594 325 {
phgbartels 6:565b4fc42323 326 GotoPosition(hoek_nul, snelheid_naar_nul);
phgbartels 5:4842219cb77c 327 if (current_herhalingen == 100)
phgbartels 0:2386012c6594 328 {
phgbartels 0:2386012c6594 329 state = RUST;
phgbartels 0:2386012c6594 330 current_herhalingen = 0;
phgbartels 0:2386012c6594 331 previous_herhalingen = 0;
phgbartels 0:2386012c6594 332 }
phgbartels 5:4842219cb77c 333
phgbartels 1:b08ac32d1ddc 334 break;
phgbartels 0:2386012c6594 335 }
phgbartels 0:2386012c6594 336
phgbartels 0:2386012c6594 337 default: {
phgbartels 0:2386012c6594 338 state = RUST;
phgbartels 0:2386012c6594 339 }
phgbartels 0:2386012c6594 340
phgbartels 0:2386012c6594 341 }//switch(state)
phgbartels 0:2386012c6594 342 }//void statemachinefunction
phgbartels 0:2386012c6594 343
phgbartels 0:2386012c6594 344
phgbartels 0:2386012c6594 345 void screenupdate(){
phgbartels 0:2386012c6594 346 if(state==RUST){
phgbartels 0:2386012c6594 347 lcd.cls();
phgbartels 0:2386012c6594 348 lcd.locate(0,0);
phgbartels 5:4842219cb77c 349 lcd.printf("V.I.C.T.O.R.Y."); //regel 1 LCD scherm
phgbartels 0:2386012c6594 350 lcd.locate(0,1);
phgbartels 0:2386012c6594 351 lcd.printf(" GROEP 7 ");
phgbartels 0:2386012c6594 352 }
phgbartels 0:2386012c6594 353 else{
phgbartels 0:2386012c6594 354 lcd.cls();
phgbartels 0:2386012c6594 355 lcd.printf("state %d", state); //hier nog aan toevoegen hoe je de 'waarde', dus eigenlijk tekst, die opgeslagen staat in state kan printen.
phgbartels 0:2386012c6594 356 }
phgbartels 0:2386012c6594 357 }
phgbartels 0:2386012c6594 358
phgbartels 0:2386012c6594 359 int main() {
phgbartels 4:377ddd65e4a6 360 pc.baud(115200);
phgbartels 4:377ddd65e4a6 361 statemachine.attach(&statemachinefunction, TSAMP); // the address of the function to be attached (flip) and the interval (2 seconds)
phgbartels 0:2386012c6594 362 screen.attach(&screenupdate, 0.2);
phgbartels 4:377ddd65e4a6 363 while(1);
phgbartels 0:2386012c6594 364 }