Sem Bertelink / Mbed 2 deprecated MOD09_Biorobotics_Groep_14lol

lololololol

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@6:61618bf71a08, 2019-09-13 (annotated)

Committer:
Hendrikvg
Date:
Fri Sep 13 11:00:52 2019 +0000
Revision:
6:61618bf71a08
Parent:
5:dc3a076bbb10
Child:
7:d307e31f7391
State Machine seems to work, with timing. Although the ticker function doesn't seem to be the most reliant thing in the world.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RobertoO 0:67c50348f842 1 #include "mbed.h"
RobertoO 1:b862262a9d14 2 #include "MODSERIAL.h"
RobertoO 0:67c50348f842 3
RobertoO 1:b862262a9d14 4 MODSERIAL pc(USBTX, USBRX);
Hendrikvg 3:68d78770639b 5 DigitalOut ledr(LED_RED);
Hendrikvg 3:68d78770639b 6 DigitalOut ledg(LED_GREEN);
Hendrikvg 3:68d78770639b 7 DigitalOut ledb(LED_BLUE);
Hendrikvg 6:61618bf71a08 8 Ticker RE;
Hendrikvg 6:61618bf71a08 9 Timer R;
Hendrikvg 6:61618bf71a08 10 Timer G;
Hendrikvg 6:61618bf71a08 11 Timer B;
Hendrikvg 2:d9b0ebf3fcca 12
Hendrikvg 6:61618bf71a08 13 volatile char Command;
Hendrikvg 6:61618bf71a08 14 enum states {red, green, blue};
Hendrikvg 2:d9b0ebf3fcca 15
Hendrikvg 6:61618bf71a08 16 states CurrentState = red;
Hendrikvg 6:61618bf71a08 17 bool StateChanged = true;
Hendrikvg 6:61618bf71a08 18
Hendrikvg 6:61618bf71a08 19 void ES()
Hendrikvg 2:d9b0ebf3fcca 20 {
Hendrikvg 6:61618bf71a08 21 Command = 'r';
Hendrikvg 6:61618bf71a08 22 }
Hendrikvg 6:61618bf71a08 23
Hendrikvg 6:61618bf71a08 24 void CheckCommandFromTerminal(void)
Hendrikvg 6:61618bf71a08 25 {
Hendrikvg 6:61618bf71a08 26 Command = pc.getcNb();
Hendrikvg 2:d9b0ebf3fcca 27 }
RobertoO 0:67c50348f842 28
Hendrikvg 6:61618bf71a08 29 void StateMachine(void)
Hendrikvg 6:61618bf71a08 30 {
Hendrikvg 6:61618bf71a08 31 switch(CurrentState) {
Hendrikvg 6:61618bf71a08 32 case red:
Hendrikvg 6:61618bf71a08 33 if (StateChanged) {
Hendrikvg 6:61618bf71a08 34 pc.printf("Initiating turning LED red\n\r");
Hendrikvg 6:61618bf71a08 35 StateChanged= false;
Hendrikvg 6:61618bf71a08 36 ledr = 0;
Hendrikvg 6:61618bf71a08 37 ledg = 1;
Hendrikvg 6:61618bf71a08 38 ledb = 1;
Hendrikvg 6:61618bf71a08 39 R.start();
Hendrikvg 6:61618bf71a08 40 pc.printf("LED is now red!\n\r");
Hendrikvg 6:61618bf71a08 41 }
Hendrikvg 6:61618bf71a08 42 if (Command == 'g') {
Hendrikvg 6:61618bf71a08 43 R.stop();
Hendrikvg 6:61618bf71a08 44 pc.printf("The LED has been red for %f seconds!\n\r", R.read());
Hendrikvg 6:61618bf71a08 45 CurrentState= green;
Hendrikvg 6:61618bf71a08 46 StateChanged= true;
Hendrikvg 6:61618bf71a08 47 }
Hendrikvg 6:61618bf71a08 48 if (Command == 'b') {
Hendrikvg 6:61618bf71a08 49 R.stop();
Hendrikvg 6:61618bf71a08 50 pc.printf("The LED has been red for %f seconds!\n\r", R.read());
Hendrikvg 6:61618bf71a08 51 CurrentState= blue;
Hendrikvg 6:61618bf71a08 52 StateChanged= true;
Hendrikvg 6:61618bf71a08 53 }
Hendrikvg 6:61618bf71a08 54 else {}
Hendrikvg 6:61618bf71a08 55 break;
Hendrikvg 6:61618bf71a08 56 case green:
Hendrikvg 6:61618bf71a08 57 if (StateChanged) {
Hendrikvg 6:61618bf71a08 58 pc.printf("Initiating turning LED green\n\r");
Hendrikvg 6:61618bf71a08 59 StateChanged= false;
Hendrikvg 6:61618bf71a08 60 ledr = 1;
Hendrikvg 6:61618bf71a08 61 ledg = 0;
Hendrikvg 6:61618bf71a08 62 ledb = 1;
Hendrikvg 6:61618bf71a08 63 G.start();
Hendrikvg 6:61618bf71a08 64 pc.printf("LED is now green!\n\r");
Hendrikvg 6:61618bf71a08 65 }
Hendrikvg 6:61618bf71a08 66 if (Command == 'r') {
Hendrikvg 6:61618bf71a08 67 G.stop();
Hendrikvg 6:61618bf71a08 68 pc.printf("The LED has been green for %f seconds!\n\r", G.read());
Hendrikvg 6:61618bf71a08 69 CurrentState= red;
Hendrikvg 6:61618bf71a08 70 StateChanged= true;
Hendrikvg 6:61618bf71a08 71 }
Hendrikvg 6:61618bf71a08 72 if (Command == 'b') {
Hendrikvg 6:61618bf71a08 73 G.stop();
Hendrikvg 6:61618bf71a08 74 pc.printf("The LED has been green for %f seconds!\n\r", G.read());
Hendrikvg 6:61618bf71a08 75 CurrentState= blue;
Hendrikvg 6:61618bf71a08 76 StateChanged= true;
Hendrikvg 6:61618bf71a08 77 }
Hendrikvg 6:61618bf71a08 78 else {}
Hendrikvg 6:61618bf71a08 79 break;
Hendrikvg 6:61618bf71a08 80 case blue:
Hendrikvg 6:61618bf71a08 81 if (StateChanged) {
Hendrikvg 6:61618bf71a08 82 pc.printf("Initiating turning LED blue\n\r");
Hendrikvg 6:61618bf71a08 83 StateChanged= false;
Hendrikvg 6:61618bf71a08 84 ledr = 1;
Hendrikvg 6:61618bf71a08 85 ledg = 1;
Hendrikvg 6:61618bf71a08 86 ledb = 0;
Hendrikvg 6:61618bf71a08 87 B.start();
Hendrikvg 6:61618bf71a08 88 pc.printf("LED is now blue!\n\r");
Hendrikvg 6:61618bf71a08 89 }
Hendrikvg 6:61618bf71a08 90 if (Command == 'r') {
Hendrikvg 6:61618bf71a08 91 B.stop();
Hendrikvg 6:61618bf71a08 92 pc.printf("The LED has been blue for %f seconds!\n\r", B.read());
Hendrikvg 6:61618bf71a08 93 CurrentState= red;
Hendrikvg 6:61618bf71a08 94 StateChanged= true;
Hendrikvg 6:61618bf71a08 95 }
Hendrikvg 6:61618bf71a08 96 if (Command == 'g') {
Hendrikvg 6:61618bf71a08 97 B.stop();
Hendrikvg 6:61618bf71a08 98 pc.printf("The LED has been blue for %f seconds!\n\r", B.read());
Hendrikvg 6:61618bf71a08 99 CurrentState= green;
Hendrikvg 6:61618bf71a08 100 StateChanged= true;
Hendrikvg 6:61618bf71a08 101 }
Hendrikvg 6:61618bf71a08 102 else {}
Hendrikvg 6:61618bf71a08 103 break;
Hendrikvg 6:61618bf71a08 104 default:
Hendrikvg 6:61618bf71a08 105 pc.printf("Unknown or unimplemented state reached!\n");
Hendrikvg 6:61618bf71a08 106 }
Hendrikvg 6:61618bf71a08 107 }
RobertoO 0:67c50348f842 108 int main()
RobertoO 0:67c50348f842 109 {
RobertoO 0:67c50348f842 110 pc.baud(115200);
Hendrikvg 6:61618bf71a08 111 RE.attach(ES,3);
Hendrikvg 6:61618bf71a08 112 while(true) {
Hendrikvg 6:61618bf71a08 113 CheckCommandFromTerminal();
Hendrikvg 6:61618bf71a08 114 StateMachine();
RobertoO 0:67c50348f842 115 }
Hendrikvg 2:d9b0ebf3fcca 116 }