Revision 9:19682cb1d8ee, committed 2019-10-04

Comitter:

s1868365

Date:

Fri Oct 04 08:28:04 2019 +0000

Parent:

8:2fc7a3a7f09a

Commit message:

Statemachine 4/okt om 10.30

Changed in this revision

diff -r 2fc7a3a7f09a -r 19682cb1d8ee OpzetjeBrechje.cpp
--- a/OpzetjeBrechje.cpp	Thu Oct 03 12:58:44 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,191 +0,0 @@
-#include "mbed.h"
-//#include "HIDScope.h"
-//#include "QEI.h"
-#include "MODSERIAL.h"
-//#include "BiQuad.h"
-//#include "FastPWM.h"
-
-MODSERIAL pc(USBTX, USBRX);
-
-//TIMER
-timer
-
-//MOTORSPEED
-Motorspeed
-
-//LED
-DigitalOut GreenLED(LED1);
-DigitalOut RedLED(LED2);
-
-//Buttons
-Button1 //to start ME calibration
-Button2
-
-// declare a new variable type (I called it states)
-enum states {STATE_START, STATE_MECALIBRATION,STATE_EMGCALIBRATION,STATE_MOVETOSTART, STATE_READYTOSTART, STATE_DEMO, STATE_MOVE, STATE_WAIT, STATE_OFF};
-
-// create a variable (of type ‘states’) called ‘mystate', initialize it
-states mystate = STATE_START;
-bool stateChanged = true; // Make sure the initialization of first state is executed
-
-void ProcessStateMachine(void) 
-{
-case STATE_START : // Start Robot
-if (stateChanged) //
-{   printf("Robot is on, ready to play. Press button to calibrate");
-    RedLED = 1 ;  //Turn red led on
-    stateChanged = false; 
-    }
-//State Me Calibration
-if (Button1.Pressed())
-{currentState = STATE_MECALIBRATION;
-stateChanged = true;
-}
-break; // end of STATE_START
-
-case STATE_MECALIBRATION:
-if (stateChanged) //
-{   printf("Robot is calibrating ME");
-    RedLED = SLOW BLINK ;  //Blinking SLOW RedLED 
-    //actions of ME CALIBRATION
-    Move motor to Mechanical stop
-    Stop motor
-    Start timer 
-        stateChanged = false; 
-    }
-
-//State EMG calibration
-if (Motorspeed = 0 && timer t > 2)
-{currentState = STATE_EMGCALIBRATION;
-stateChanged = true;
-}
-break; // end of STATE_MECALIBRATION
-
-case STATE_EMGCALIBRATION:
-if (stateChanged) //
-{   printf("Robot is calibrating EMG");
-    RedLED = FAST BLINK ;  //Blinking FAST RedLED 
-    //actions of EMG CALIBRATION
-    Calculating EMG_max
-    Calibrating
-    Measuring current EMG_signal
-        stateChanged = false; 
-    }
-
-//State EMG calibration
-if (EMG_signal < 10% of EMG_max && timer t > 2)
-{currentState = STATE_MOVETOSTART;
-stateChanged = true;
-}
-break; // end of STATE_EMGCALIBRATION
-
-
-case STATE_MOVETOSTART : 
-if (stateChanged) //
-{   printf("Robot is moving to start position");
-    GreenLED = BLINKING FAST ;  //Blinking FastRedLED
-    //actions of Robot moving to start 
-        stateChanged = false; 
-    }
-//State Ready to start
-if (Position is x,y,z ? && timer t > 2) //hoe gaan we dit bepalen?
-{currentState = STATE_READYTOSTART;
-stateChanged = true;
-}
-break; // end of STATE_MOVETOSTART
-
-case STATE_READYTOSTART : 
-if (stateChanged) //
-{   printf("Robot is ready to start, press button 1 for starting DEMO or press button 2 or contract muscle with EMG electrode to start Game Mode ");
-    GreenLED = ON ;  //GreenLed is on
-    //Wait for input user
-        stateChanged = false; 
-    }
-//State Ready to start
-if (Button2.pressed() && timer t > 2 or EMG_signal > 20% EMG_max)
-{currentState = STATE_MOVE;
-stateChanged = true;
-}
-else if (Button1.pressed())
-{currentState = STATE_DEMO;
-stateChanged = true;
-}
-break; // end of STATE_READYTOSTART
-
-case STATE_DEMO : 
-if (stateChanged) //
-{   printf("Robot is performing DEMO");
-    //actions of DEMO
-    stateChanged = false; 
-    }
-
-//State Move to Start
-if ( Position is x,y,z ? && timer t > 2)
-{currentState = STATE_MOVETOSTART;
-stateChanged = true;
-}
-break; // end of State DEMO
-
-
-case STATE_MOVE : 
-if (stateChanged) //
-{   printf("Time to play!");
-    //actions of game mode
-    stateChanged = false; 
-    }
-
-//State Wait
-if (EMG_signal < 20% EMG_max for t > 5)
-{currentState = STATE_WAIT;
-stateChanged = true;
-}
-break; // end of State MOVE
-
-case STATE_WAIT : 
-if (stateChanged) //
-{   printf("Robot is waiting for your actions. Press button 2 or contract muscle to continue playing. Press button 1 to Restart. Hold button 1 pressed to shut down the game");
-    //Waiting for input actions
-    stateChanged = false; 
-    }
-
-//State Move
-if (Button2.pressed() or EMG_signal > 20% EMG_max)
-{currentState = STATE_MOVE;
-stateChanged = true;
-}
-
-else if (Button1.pressed())
-{currentState = STATE_MOVETOSTART;
-stateChanged = true;
-}
-
-else if (Button1.pressed() for timer t > 5) 
-{currentState = STATE_OFF;
-stateChanged = true;
-}
-break; // end of State WAIT
-
-case STATE_OFF:
-if (stateChanged) //
-{   printf("No Signal. Restart by putting out and back in USB cable"
-  stateChanged = false; 
-    }
-
-
-
-default:
-TurnMotorsOff(); // Safety is important!!
-pc.printf(“Unknown or unimplemented state reached!\n”); 
-
-} //end of switch
-
-
-
-
-
-
-int main()
-{
-    
-    }
-}