Diff: bench.h

Revision:

11:fc82dd22a527

Parent:

10:77fcbad99a31

--- a/bench.h	Mon Feb 17 15:15:24 2020 +0000
+++ b/bench.h	Wed Aug 12 12:05:58 2020 +0000
@@ -12,8 +12,7 @@
 #include "lcm101.h"
 #include "SPTEPressureSensor.h"
 #include "Valve.h"
-
-#include "PinDetect.h"
+#include "LinearActuator.h"
 
 /**
  * Class to read out sensory information from the second test bench:
@@ -43,9 +42,9 @@
     // constructor
     Bench(PinName mosi = AS5048_MOSI, PinName miso = AS5048_MISO, PinName sck = AS5048_SCLK, PinName cs = AS5048_CS, 
         bool use5kN = sensors::use5kN,PinName p_lcm101 = LCM101, 
-        PinName p_spte0 = SPTE_0, PinName p_spte1 = SPTE_1,PinName p_valve = VALVE_PIN,
+        PinName p_spte0 = SPTE_0, PinName p_spte1 = SPTE_1,PinName p_valve = VALVE_PIN,PinName p_laDir = LINACT_DIR_PIN, PinName p_laPwm = LINACT_PWM_PIN,
         PinName sd_mosi = SD_MOSI, PinName sd_miso = SD_MISO, PinName sd_sck = SD_SCK, PinName sd_cs = SD_CS,
-        PinName tx = USBTX, PinName rx = USBRX, PinName but0 = SW2, PinName but1 = SW3);  
+        PinName tx = USBTX, PinName rx = USBRX);  
 
     
     //setup
@@ -58,6 +57,10 @@
 
     bool isLogging();//indicates if we are now datalogging
     void stopLogging();//halts the data logging if we are now datalogging
+    void StopLogging(); //halts the data logging if we are now datalogging
+    void StartLogging(const char * fname_append = "data"); //starts datalogging
+    void RestartLogging(const char * fname_append = "data");//restart datalogging
+    void LogData();
     
     //reading angle sensors
     As5048* get_as5048();
@@ -88,6 +91,11 @@
     bool getValve();
     void setValve(bool pressurise); 
     
+    // controlling linear actuator
+    void setDir(bool dir);
+    bool getDir();
+    void setPWM(int pwm);    
+    
     /** Object for printing/receiving data to the PC the test rig is connected 
     * to. Note that it uses the MODSERIAL.h class.
     */
@@ -103,17 +111,16 @@
     
     Ticker tick_update, tick_serial, tick_logging; //for the updating of sensor values, printing of serial data and logging of data
     Timer timer;
+    Timer keyIntT;//timer to debounce keypresses
+    int keyIntOffset;//for setting initial value of keyIntT
     int firstReadMS; //first timer value read
     bool startedLogging; //in the middle of a logging cycle
     
     bool is_logging;
     bool is_printing;
     bool was_printing; //if printing is paused true if is_printing was true
-        
-    //buttons
-    PinDetect lowerBut;
-    PinDetect upperBut;
-    
+    char k; //value from keyboard
+            
     //joint angle 
     As5048 as5048_;
     
@@ -129,6 +136,9 @@
     //valve
     ValveDigital valveFesto;
     
+    //linear actuator
+    LinearActuator LinAct;
+    
     //SD card
     SDFileSystem sd;
     FILE * fp_data;
@@ -141,9 +151,10 @@
     float extraColValues[maxCols];//value held in extra columns for current time step
        
     void InitSdCard();      
-    void StartLogging(const char * fname_append = "data");
-    void StopLogging();
-    void LogData();
+
+    //for toggling logging or printing
+    void ToggleState(MODSERIAL_IRQ_INFO *q);
+
     void ToggleLogging();
     
     // serial printing