Thomas Morris
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PROJ324_Final
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ELEC351_Group_T
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Plymouth ELEC351 Group T
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SERIAL_COMMANDS.cpp
00001 #include "SERIAL_COMMANDS.hpp" 00002 int NetworkWaitTime; //Waiting time to update the network 00003 char input[100] = {}; //Character array initialised to NULL 00004 int steps = 0; 00005 int direction = 1; 00006 int Motor_To_Select = 1; 00007 float angle = 0; 00008 bool move_loop = 0; 00009 bool List_move_loop = 0; 00010 00011 00012 //Mutex Locks 00013 00014 void Serial_Commands_Output() //Used for getting input from the user to determine the opperations to perform 00015 { 00016 if(Log_Value == 4){pc.printf("In Serial_Commands\n");} //If logging is enabled, print debug statement 00017 00018 for (int x = 0; x < 100; x++){input[x] = ' ';}; //Fill input with spaces 00019 00020 pc.printf("Please type in a command\n"); //Request command in the terminal 00021 cin.getline(input,sizeof(input),'\r'); //Scan into input from the start of the line to the return character 00022 00023 00024 //LOGGING 00025 if(input[0] == 'L' & input[1] == 'O' & input[2] == 'G' & input[3] == 'G' & input[4] == 'I' & input[5] == 'N' & input[6] == 'G' & input[7] == ' ') 00026 { 00027 int NumberOfChars = 0; int ArrayAddress = 0; string LoggingNumber; int NumberToLogging; //Declare required variables 00028 while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;} //Count the number of characters entered into the console 00029 for(int x=8; x < NumberOfChars; x++){LoggingNumber += input[x];} //Concatenate the characters between the space and the end 00030 stringstream Number(LoggingNumber); //Convert string to stringstream 00031 Number >> NumberToLogging; //Convert stringstream to integer 00032 if (NumberToLogging == 0){pc.printf("NOT LOGGING\n");} //Not Logging 00033 else if (NumberToLogging == 1){pc.printf("LOGGING SPI\n");} //Logging SPI 00034 00035 if (NumberToLogging <= 5){Log_Value = NumberToLogging;} //If inputted value is within bounds equate it to the log state 00036 } 00037 00038 //Motor Control 00039 else if(input[0] == 'M' & input[1] == 'o' & input[2] == 't' & input[3] == 'o' & input[4] == 'r' & input[5] == ' ') 00040 { 00041 int NumberOfChars = 0; int ArrayAddress = 0; string MotorNumber; int Motor_Number; //Declare required variables 00042 while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;} //Count the number of characters entered into the console 00043 for(int x=6; x < NumberOfChars; x++){MotorNumber += input[x];} //Concatenate the characters between the space and the end 00044 stringstream Number(MotorNumber); //Convert string to stringstream 00045 Number >> Motor_Number; //Convert stringstream to integer 00046 if(Motor_Number < 1 || Motor_Number > 6) 00047 { 00048 Motor_Number =0; 00049 pc.printf("Please Select a motor from 1-6\n"); 00050 } 00051 Motor_To_Select = Motor_Number; 00052 //Step Control 00053 pc.printf("Enter the angle to rotate\n"); //Request command in the terminal 00054 scanf("%f",&angle); 00055 //cin.getline(input,sizeof(input),'\r'); //Scan into input from the start of the line to the return character 00056 //if(input[0] == 'S' & input[1] == 't' & input[2] == 'e' & input[3] == 'p' & input[4] == 's' & input[5] == ' ') 00057 { 00058 //angle = input; 00059 if(angle < 0) 00060 { 00061 direction = 0;//Anti Clockwise 00062 } 00063 else 00064 { 00065 direction = 1;//Clockwise 00066 } 00067 float new_angle = abs(angle/1.8);//Converts input to steps 00068 steps = new_angle; 00069 pc.printf("The Motor is: %d\n The Number to step is: %d\n", Motor_Number, steps); 00070 } 00071 00072 } 00073 //MOVE 00074 else if(input[0] == 'M' & input[1] == 'O' & input[2] == 'V' & input[3] == 'E') 00075 { 00076 move_loop = 1; 00077 pc.printf("Enter the Move\n"); //Request command in the terminal 00078 while(move_loop == 1) 00079 { 00080 cin.getline(input,sizeof(input),'\r'); 00081 00082 if(input[0] == 'A' & input[1] == 'F'){STEPPER_MOTOR_1.Rotate_Steps(50 ,1);} 00083 else if(input[0] == 'C' & input[1] == 'F'){STEPPER_MOTOR_1.Rotate_Steps(50 ,0);} 00084 else if(input[0] == 'A' & input[1] == 'B'){STEPPER_MOTOR_2.Rotate_Steps(50 ,1);} 00085 else if(input[0] == 'C' & input[1] == 'B'){STEPPER_MOTOR_2.Rotate_Steps(50 ,0);} 00086 else if(input[0] == 'A' & input[1] == 'L'){STEPPER_MOTOR_3.Rotate_Steps(50 ,1);} 00087 else if(input[0] == 'C' & input[1] == 'L'){STEPPER_MOTOR_3.Rotate_Steps(50 ,0);} 00088 else if(input[0] == 'A' & input[1] == 'R'){STEPPER_MOTOR_4.Rotate_Steps(50 ,1);} 00089 else if(input[0] == 'C' & input[1] == 'R'){STEPPER_MOTOR_4.Rotate_Steps(50 ,0);} 00090 else if(input[0] == 'A' & input[1] == 'U'){STEPPER_MOTOR_5.Rotate_Steps(50 ,1);} 00091 else if(input[0] == 'C' & input[1] == 'U'){STEPPER_MOTOR_5.Rotate_Steps(50 ,0);} 00092 else if(input[0] == 'A' & input[1] == 'D'){STEPPER_MOTOR_6.Rotate_Steps(50 ,1);} 00093 else if(input[0] == 'C' & input[1] == 'D'){STEPPER_MOTOR_6.Rotate_Steps(50 ,0);} 00094 else if(input[0] == 'M' & input[1] == 'O' & input[2] == 'V' & input[3] == 'E') 00095 { 00096 move_loop = 0; 00097 pc.printf("Exiting Move loop\n"); 00098 //Exit moves function 00099 } 00100 else 00101 { 00102 pc.printf("Error please enter a allowed move\n"); 00103 //Error case 00104 } 00105 00106 } 00107 } 00108 //LIST 00109 else if(input[0] == 'L' & input[1] == 'I' & input[2] == 'S' & input[3] == 'T')//This is where the move list shall be added to 00110 { 00111 List_move_loop = 1; 00112 pc.printf("Entered the Move_List Section\n"); //Request command in the terminal 00113 while(List_move_loop == 1) 00114 { 00115 cin.getline(input,sizeof(input),'\r'); 00116 00117 if(input[0] == 'A' & input[1] == 'F'){Move_list[Move_list_pointer] = 1; Move_list_pointer = Move_list_pointer + 1;} 00118 else if(input[0] == 'C' & input[1] == 'F'){Move_list[Move_list_pointer] = 2; Move_list_pointer = Move_list_pointer + 1;} 00119 else if(input[0] == 'A' & input[1] == 'B'){Move_list[Move_list_pointer] = 3; Move_list_pointer = Move_list_pointer + 1;} 00120 else if(input[0] == 'C' & input[1] == 'B'){Move_list[Move_list_pointer] = 4; Move_list_pointer = Move_list_pointer + 1;} 00121 else if(input[0] == 'A' & input[1] == 'L'){Move_list[Move_list_pointer] = 5; Move_list_pointer = Move_list_pointer + 1;} 00122 else if(input[0] == 'C' & input[1] == 'L'){Move_list[Move_list_pointer] = 6; Move_list_pointer = Move_list_pointer + 1;} 00123 else if(input[0] == 'A' & input[1] == 'R'){Move_list[Move_list_pointer] = 7; Move_list_pointer = Move_list_pointer + 1;} 00124 else if(input[0] == 'C' & input[1] == 'R'){Move_list[Move_list_pointer] = 8; Move_list_pointer = Move_list_pointer + 1;} 00125 else if(input[0] == 'A' & input[1] == 'U'){Move_list[Move_list_pointer] = 9; Move_list_pointer = Move_list_pointer + 1;} 00126 else if(input[0] == 'C' & input[1] == 'U'){Move_list[Move_list_pointer] = 10;Move_list_pointer = Move_list_pointer + 1;} 00127 else if(input[0] == 'A' & input[1] == 'D'){Move_list[Move_list_pointer] = 11;Move_list_pointer = Move_list_pointer + 1;} 00128 else if(input[0] == 'C' & input[1] == 'D'){Move_list[Move_list_pointer] = 12;Move_list_pointer = Move_list_pointer + 1;} 00129 00130 00131 else if(input[0] == 'D' & input[1] == 'E' & input[2] == 'L' & input[3] == 'E' & input[4] =='T' & input[5] == 'E') 00132 { 00133 pc.printf("Delete Clear Test\n"); 00134 memset(Move_list, 0, sizeof(Move_list)); 00135 Move_list_pointer = 0; 00136 pc.printf("Move List array and pointer reset\n"); 00137 List_move_loop = 0; 00138 pc.printf("Exiting Move List loop\n"); 00139 } 00140 else if(input[0] == 'L' & input[1] == 'I' & input[2] == 'S' & input[3] == 'T') 00141 { 00142 List_move_loop = 0; 00143 pc.printf("Exiting Move List loop\n"); 00144 //Exit moves function 00145 } 00146 else if(input[0] == 'R' & input[1] == 'E' & input[2] == 'A' & input[3] == 'D') 00147 { 00148 pc.printf("Printing out the move list\n"); 00149 for(int i=0;i <= Move_list_pointer; i+=1) 00150 { 00151 pc.printf("Value %d is %d\n",i,Move_list[i]); 00152 } 00153 pc.printf("Move List test passed\n"); 00154 List_move_loop = 0; 00155 pc.printf("Exiting Move List loop\n"); 00156 //Exit moves function 00157 } 00158 else if(input[0] == 'R' & input[1] == 'U' & input[2] == 'N') 00159 { 00160 List_move_loop = 0; 00161 { 00162 pc.printf("Move point value is : %d\n",Move_list_pointer); 00163 for(int i = 0; i<= Move_list_pointer; i += 1) 00164 { 00165 if(Move_list[i] == 0){pc.printf("Move List Finished\n");} 00166 else if (Move_list[i] == 1){STEPPER_MOTOR_1.Rotate_Steps(50 ,1);} 00167 else if (Move_list[i] == 2){STEPPER_MOTOR_1.Rotate_Steps(50 ,0);} 00168 else if (Move_list[i] == 3){STEPPER_MOTOR_2.Rotate_Steps(50 ,1);} 00169 else if (Move_list[i] == 4){STEPPER_MOTOR_2.Rotate_Steps(50 ,0);} 00170 else if (Move_list[i] == 5){STEPPER_MOTOR_3.Rotate_Steps(50 ,1);} 00171 else if (Move_list[i] == 6){STEPPER_MOTOR_3.Rotate_Steps(50 ,0);} 00172 else if (Move_list[i] == 7){STEPPER_MOTOR_4.Rotate_Steps(50 ,1);} 00173 else if (Move_list[i] == 8){STEPPER_MOTOR_4.Rotate_Steps(50 ,0);} 00174 else if (Move_list[i] == 9){STEPPER_MOTOR_5.Rotate_Steps(50 ,1);} 00175 else if (Move_list[i] == 10){STEPPER_MOTOR_5.Rotate_Steps(50 ,0);} 00176 else if (Move_list[i] == 11){STEPPER_MOTOR_6.Rotate_Steps(50 ,1);} 00177 else if (Move_list[i] == 12){STEPPER_MOTOR_6.Rotate_Steps(50 ,0);} 00178 else pc.printf("Finished\n"); 00179 } 00180 pc.printf("List Run sucessful\n"); 00181 } 00182 pc.printf("List execution finished\n"); 00183 } 00184 //TEST RUN 00185 else if(input[0] == 'T' & input[1] == 'E' & input[2] == 'S' & input[3] == 'T' & input[4] == '_' & input[5] == 'R' & input[6] == 'U' & input[7] == 'N')//This is the test run code 00186 { 00187 memset(Move_list, 0, sizeof(Move_list)); 00188 Move_list_pointer = 0; 00189 Move_list[Move_list_pointer] = 1 ;Move_list_pointer = Move_list_pointer + 1; 00190 Move_list[Move_list_pointer] = 2 ;Move_list_pointer = Move_list_pointer + 1; 00191 Move_list[Move_list_pointer] = 3 ;Move_list_pointer = Move_list_pointer + 1; 00192 Move_list[Move_list_pointer] = 4 ;Move_list_pointer = Move_list_pointer + 1; 00193 Move_list[Move_list_pointer] = 5 ;Move_list_pointer = Move_list_pointer + 1; 00194 Move_list[Move_list_pointer] = 6 ;Move_list_pointer = Move_list_pointer + 1; 00195 Move_list[Move_list_pointer] = 7 ;Move_list_pointer = Move_list_pointer + 1; 00196 Move_list[Move_list_pointer] = 8 ;Move_list_pointer = Move_list_pointer + 1; 00197 Move_list[Move_list_pointer] = 9 ;Move_list_pointer = Move_list_pointer + 1; 00198 Move_list[Move_list_pointer] = 10 ;Move_list_pointer = Move_list_pointer + 1; 00199 Move_list[Move_list_pointer] = 11 ;Move_list_pointer = Move_list_pointer + 1; 00200 Move_list[Move_list_pointer] = 12 ;Move_list_pointer = Move_list_pointer + 1; 00201 00202 pc.printf("Array filled for test\n"); 00203 List_move_loop = 0; 00204 pc.printf("Exiting Move List loop\n"); 00205 } 00206 else 00207 { 00208 pc.printf("Error please enter a allowed move\n"); 00209 //Error case 00210 } 00211 00212 } 00213 } 00214 //Colours 00215 if(input[0] == 'C' & input[1] == 'O' & input[2] == 'L' & input[3] == 'O' & input[4] == 'U' & input[5] == 'R' & input[6] == 'S' & input[7] == ' ') 00216 { 00217 int NumberOfChars = 0; int ArrayAddress = 0; string COLOURSNUBMER; int NUMBERTOCOLOUR; //Declare required variables 00218 while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;} //Count the number of characters entered into the console 00219 for(int x=8; x < NumberOfChars; x++){COLOURSNUBMER += input[x];} //Concatenate the characters between the space and the end 00220 stringstream Number(COLOURSNUBMER); //Convert string to stringstream 00221 Number >> NUMBERTOCOLOUR; 00222 int n = NUMBERTOCOLOUR -1 ; //Convert stringstream to integer 00223 pc.printf("Showing side %D\n",NUMBERTOCOLOUR); 00224 00225 00226 pc.printf("%c,%c,%c\n%c,%c,%c\n%c,%c,%c\n", 00227 Value_convert(CubeMap[n][0][0]),Value_convert(CubeMap[n][0][1]),Value_convert(CubeMap[n][0][2]) 00228 ,Value_convert(CubeMap[n][1][0]),Value_convert(CubeMap[n][1][1]),Value_convert(CubeMap[n][1][2]) 00229 ,Value_convert(CubeMap[n][2][0]),Value_convert(CubeMap[n][2][1]),Value_convert(CubeMap[n][2][2]));;//Side n 00230 00231 00232 } 00233 //SIDE_ADD 00234 if(input[0] == 'S' & input[1] == 'I' & input[2] == 'D' & input[3] == 'E' & input[4] == '_' & input[5] == 'A' & input[6] == 'D' & input[7] == 'D' & input[8] == ' ') 00235 { 00236 int NumberOfChars = 0; int ArrayAddress = 0; string SIDENUMBER; int NUMBERTOSIDE; //Declare required variables 00237 while(input[ArrayAddress] != '\0'){NumberOfChars++; ArrayAddress++;} //Count the number of characters entered into the console 00238 for(int x=9; x < NumberOfChars; x++){SIDENUMBER += input[x];} //Concatenate the characters between the space and the end 00239 stringstream Number(SIDENUMBER); //Convert string to stringstream 00240 Number >> NUMBERTOSIDE; 00241 pc.printf("Please enter in the colour of segment 1:\n"); 00242 int Colour_value; 00243 cin >>Colour_value; 00244 NUMBERTOSIDE = NUMBERTOSIDE - 1; 00245 00246 CubeMap[NUMBERTOSIDE][0][0] = convert(Colour_value); 00247 pc.printf("Please enter in the colour of segment 2:\n"); 00248 cin >>Colour_value; 00249 CubeMap[NUMBERTOSIDE][0][1] = convert(Colour_value); 00250 pc.printf("Please enter in the colour of segment 3:\n"); 00251 cin >>Colour_value; 00252 CubeMap[NUMBERTOSIDE][0][2] = convert(Colour_value); 00253 pc.printf("Please enter in the colour of segment 4:\n"); 00254 cin >>Colour_value; 00255 CubeMap[NUMBERTOSIDE][1][0] = convert(Colour_value); 00256 pc.printf("Please enter in the colour of segment 5:\n"); 00257 cin >>Colour_value; 00258 CubeMap[NUMBERTOSIDE][1][1] = convert(Colour_value); 00259 pc.printf("Please enter in the colour of segment 6:\n"); 00260 cin >>Colour_value; 00261 CubeMap[NUMBERTOSIDE][1][2] = convert(Colour_value); 00262 pc.printf("Please enter in the colour of segment 7:\n"); 00263 cin >>Colour_value; 00264 CubeMap[NUMBERTOSIDE][2][0] = convert(Colour_value); 00265 pc.printf("Please enter in the colour of segment 8:\n"); 00266 cin >>Colour_value; 00267 CubeMap[NUMBERTOSIDE][2][1] = convert(Colour_value); 00268 pc.printf("Please enter in the colour of segment 9:\n"); 00269 cin >>Colour_value; 00270 CubeMap[NUMBERTOSIDE][2][2] = convert(Colour_value); 00271 pc.printf("Side filled\n"); 00272 cin.getline(input,sizeof(input),'\r'); 00273 } 00274 //SIDE_CLEAR 00275 if(input[0] == 'S' & input[1] == 'I' & input[2] == 'D' & input[3] == 'E' & input[4] == '_' & input[5] == 'C' & input[6] == 'L' & input[7] == 'E' & input[8] == 'A' & input[9] == 'R') 00276 { 00277 00278 for(int i =0; i<=6;i++) 00279 { 00280 CubeMap[i][0][0] = convert(0); 00281 CubeMap[i][0][1] = convert(0); 00282 CubeMap[i][0][2] = convert(0); 00283 CubeMap[i][1][0] = convert(0); 00284 CubeMap[i][1][1] = convert(0); 00285 CubeMap[i][1][2] = convert(0); 00286 CubeMap[i][2][0] = convert(0); 00287 CubeMap[i][2][1] = convert(0); 00288 CubeMap[i][2][2] = convert(0); 00289 } 00290 pc.printf("All sides cleared of data\n"); 00291 } 00292 //HELP 00293 else if(input[0] == 'H' & input[1] == 'E' & input[2] == 'L' & input[3] == 'P') 00294 { 00295 pc.printf("Please specify the function you would like help in\nMOTOR , LOGGING , MOVE \n"); //Print introduction line 00296 cin.getline(input,sizeof(input),'\r'); 00297 if(input[0] == 'M' & input[1] == 'O' & input[2] == 'T' & input[3] == 'O' & input[4] == 'R'){pc.printf("Motor x selects a motor in the range of 1-6\nThen you issue the angle which is a number either positive or negative\n");} 00298 else if(input[0] == 'L' & input[1] == 'O' & input[2] == 'G' & input[3] == 'G' & input[4] == 'I' & input[5] == 'N' & input[6] == 'G'){pc.printf("Logging enables to user to get more information from the specific area which is logged\n");} 00299 else if(input[0] == 'M' & input[1] == 'O' & input[2] == 'V' & input[3] == 'E'){pc.printf("Allows the user to enter in a movement\n");} 00300 else if(input[0] == 'L' & input[1] == 'I' & input[2] == 'S' & input[3] == 'T'){pc.printf("Allows the user to to view / set a list of movements that can be performed\n");} 00301 else if(input[0] == 'C' & input[1] == 'O' & input[2] == 'L' & input[3] == 'O' & input[4] == 'U' & input[5] == 'R' & input[6] == 'S'){pc.printf("Allows the user to view and set the information upon the cubemap\n");} 00302 else{pc.printf("Enter the specific help area for more information\n");} 00303 } 00304 else 00305 { 00306 pc.printf("Please enter an acceptable command\n"); 00307 } 00308 }
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