Revision 6:7ab57721c0fb, committed 2014-07-07

Comitter:

terryLAI

Date:

Mon Jul 07 06:10:11 2014 +0000

Parent:

5:098e6a44bd94

Commit message:

wait pwm;

Changed in this revision

--- a/buzzer.cpp	Fri Jul 04 16:08:29 2014 +0000
+++ b/buzzer.cpp	Mon Jul 07 06:10:11 2014 +0000
@@ -33,17 +33,7 @@
 Buzzer::Buzzer(MyDigitalOut* buzzer)
 {
     this->_buzzer = buzzer;
-    ON();
-    wait(0.1);
-    OFF();
-    wait(0.1);
-    ON();
-    wait(0.1);
-    OFF();
-    wait(0.1);
-    ON();
-    wait(0.2);
-    OFF();
+    boot();
 }
 
 Buzzer::~Buzzer(){}
@@ -88,3 +78,54 @@
     time_out.detach();
     time_out.attach(this, &Buzzer::check_time_out, TIME_OUT);
 }
+
+void Buzzer::target_not_found()
+{
+    ON();
+    wait(0.1);
+    OFF();
+    wait(0.1);
+    ON();
+    wait(0.2);
+    OFF();
+}
+
+
+void Buzzer::boot()
+{
+    ON();
+    wait(0.1);
+    OFF();
+    wait(0.1);
+    ON();
+    wait(0.1);
+    OFF();
+    wait(0.1);
+    ON();
+    wait(0.2);
+    OFF();
+}
+
+
+void Buzzer::take_photo()
+{
+    ON();
+    wait(0.2);
+    OFF();
+}
+
+void Buzzer::notice(uint8_t type)
+{
+    switch (type)
+    {
+     case BUZZER_TARGET_NOT_FOUND:
+        target_not_found();
+        break;
+    
+     case BUZZER_TAKE_PHOTO:
+        take_photo();
+        break;
+    }
+}
+
+ 

--- a/buzzer.h	Fri Jul 04 16:08:29 2014 +0000
+++ b/buzzer.h	Mon Jul 07 06:10:11 2014 +0000
@@ -32,6 +32,9 @@
 #include "define.h"
 #include "mbed.h"
 
+#define BUZZER_TARGET_NOT_FOUND 0x01
+#define BUZZER_TAKE_PHOTO 0x02
+
 #define TIME_OUT 20 //8 seconds
 
 class Buzzer
@@ -47,10 +50,15 @@
     void check_time_out();
     void time_out_init();
     
+    void notice(uint8_t type);
+    void target_not_found();
+    void take_photo();
 private:
     MyDigitalOut* _buzzer; 
     uint8_t flag;
     Timeout time_out;
+    
+    void boot();
 };
 
 #endif
\ No newline at end of file

--- a/communication.cpp	Fri Jul 04 16:08:29 2014 +0000
+++ b/communication.cpp	Mon Jul 07 06:10:11 2014 +0000
@@ -69,6 +69,7 @@
     info_ok_IntelToMbed = 0;
     info_ok_MbedToArduino = 0;
     
+    buzzer_type=0;
     
    
     _MSB = 0;
@@ -185,7 +186,7 @@
                 }
                 check_sum = 0;
 
-                if(_x == STARTER || _x == COMPASS_STARTER)
+                if(_x == STARTER || _x == COMPASS_STARTER || _x == BUZZER_STARTER)
                 {
                     state_IntelToMbed++;
                     forward_msg_buffer[0] = _x;
@@ -263,6 +264,7 @@
                 {
                     state_IntelToMbed++;
                     forward_msg_buffer[4] = _x;
+                    buzzer_type = _x;
                 }
                 else
                 {
@@ -511,6 +513,7 @@
             }
         }
     }
+    
     else if(action_type == 1) //lifter
     {
         uint32_t pulseCountOld = 0;
@@ -628,6 +631,9 @@
      else if(action_type == 4)
     {
         
+        
+        
+        
         putByte(BUZZER_STARTER ,1); //1 means IntelToMbed
         putByte(0,1); //O
         putByte(0,1); //K
@@ -732,4 +738,5 @@
 void Communication::clearBuffer()
 {
     _in = _out = 0;
+    memset(buffer_compass,0,BUFFER_SIZE);
 }
\ No newline at end of file

--- a/communication.h	Fri Jul 04 16:08:29 2014 +0000
+++ b/communication.h	Mon Jul 07 06:10:11 2014 +0000
@@ -92,6 +92,8 @@
     
       int read();
     
+    uint8_t buzzer_type;
+    
 private:
     void init();
     uint8_t* buffer_IntelToMbed;

--- a/main.cpp	Fri Jul 04 16:08:29 2014 +0000
+++ b/main.cpp	Mon Jul 07 06:10:11 2014 +0000
@@ -76,13 +76,7 @@
         else if(com.getInfoOK(0) == 5) //buzzer
         {
             printf("main(). Buzzer action starting...\r\n");
-            buzzer.ON();
-            wait(0.1);
-            buzzer.OFF();
-            wait(0.1);
-            buzzer.ON();
-            wait(0.2);
-            buzzer.OFF();
+            buzzer.notice(com.buzzer_type);
             com.ACK(&lifter, &camera_platform);
             com.resetInfoOK(0);
             com.resetInfoOK(1);