Thomas Morris / Mbed 2 deprecated Stacy

Testing 1 blue pill

Dependencies:   mbed mbed-rtos TextLCD

Interface/Interface.cpp@23:07a368f2cdb1, 2019-02-16 (annotated)

Committer:
thomasmorris
Date:
Sat Feb 16 15:19:21 2019 +0000
Revision:
23:07a368f2cdb1
Parent:
21:6d9f6a986647
Child:
24:728de4bf961e
Mutexed;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thomasmorris 23:07a368f2cdb1 1 #include "Interface.hpp" //Include the header file, this acts like a series of forward declarations
thomasmorris 16:9f98ec0ededb 2 //Constructor
thomasmorris 23:07a368f2cdb1 3 INTERFACE::INTERFACE(int Default_Turns)//Set all values to 0 bar the turns to do which is passed through by the constructor being run
thomasmorris 16:9f98ec0ededb 4 {
thomasmorris 23:07a368f2cdb1 5 _Turns_Todo_mutex.lock();
thomasmorris 17:68b3fdabe4c5 6 _Turns_Todo = Default_Turns;
thomasmorris 23:07a368f2cdb1 7 _Turns_Todo_mutex.unlock();
thomasmorris 16:9f98ec0ededb 8 }
thomasmorris 16:9f98ec0ededb 9 INTERFACE::~INTERFACE(){} //Destructor
thomasmorris 16:9f98ec0ededb 10 //Interrupt run functions
thomasmorris 17:68b3fdabe4c5 11 void INTERFACE::Interface_Init()//Set all values to 0 bar the default turns
thomasmorris 16:9f98ec0ededb 12 {
thomasmorris 23:07a368f2cdb1 13 _Function_mutex.lock();
thomasmorris 17:68b3fdabe4c5 14 _Function =0;
thomasmorris 23:07a368f2cdb1 15 _Function_mutex.unlock();
thomasmorris 23:07a368f2cdb1 16
thomasmorris 23:07a368f2cdb1 17 _Twist_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 18 _Twist_Go =0;
thomasmorris 23:07a368f2cdb1 19 _Twist_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 20
thomasmorris 23:07a368f2cdb1 21 _Anneal_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 22 _Anneal_Go =0;
thomasmorris 23:07a368f2cdb1 23 _Anneal_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 24
thomasmorris 23:07a368f2cdb1 25 _Test_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 26 _Test_Go =0;
thomasmorris 23:07a368f2cdb1 27 _Test_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 28
thomasmorris 23:07a368f2cdb1 29 _Select_mutex.lock();
thomasmorris 17:68b3fdabe4c5 30 _Select =0;
thomasmorris 23:07a368f2cdb1 31 _Select_mutex.unlock();
thomasmorris 23:07a368f2cdb1 32
thomasmorris 23:07a368f2cdb1 33 _Turns_Done_mutex.lock();
thomasmorris 17:68b3fdabe4c5 34 _Turns_Done =0;
thomasmorris 23:07a368f2cdb1 35 _Turns_Done_mutex.unlock();
thomasmorris 23:07a368f2cdb1 36
thomasmorris 23:07a368f2cdb1 37 _Turns_Todo_mutex.lock();
thomasmorris 23:07a368f2cdb1 38 _Turns_Todo =_Turns_Todo;
thomasmorris 23:07a368f2cdb1 39 _Turns_Todo_mutex.unlock();
thomasmorris 23:07a368f2cdb1 40
thomasmorris 23:07a368f2cdb1 41 _Loop_mutex.lock();
thomasmorris 17:68b3fdabe4c5 42 _Loop =0;
thomasmorris 23:07a368f2cdb1 43 _Loop_mutex.unlock();
thomasmorris 23:07a368f2cdb1 44
thomasmorris 23:07a368f2cdb1 45 _Wait_Time_mutex.lock();
thomasmorris 17:68b3fdabe4c5 46 _Wait_Time =0;
thomasmorris 23:07a368f2cdb1 47 _Wait_Time_mutex.unlock();
thomasmorris 23:07a368f2cdb1 48
thomasmorris 23:07a368f2cdb1 49 _Duty_Cycle_mutex.lock();
thomasmorris 17:68b3fdabe4c5 50 _Duty_Cycle =0;
thomasmorris 23:07a368f2cdb1 51 _Duty_Cycle_mutex.unlock();
thomasmorris 23:07a368f2cdb1 52
thomasmorris 23:07a368f2cdb1 53 _Power_Time_mutex.lock();
thomasmorris 17:68b3fdabe4c5 54 _Power_Time =0;
thomasmorris 23:07a368f2cdb1 55 _Power_Time_mutex.unlock();
thomasmorris 23:07a368f2cdb1 56
thomasmorris 23:07a368f2cdb1 57 Led_Select_Left_mutex.lock();
thomasmorris 23:07a368f2cdb1 58 Led_Select_Left = 0;
thomasmorris 23:07a368f2cdb1 59 Led_Select_Left_mutex.unlock();
thomasmorris 23:07a368f2cdb1 60
thomasmorris 23:07a368f2cdb1 61 Led_Select_Right_mutex.lock();
thomasmorris 23:07a368f2cdb1 62 Led_Select_Right= 0;
thomasmorris 23:07a368f2cdb1 63 Led_Select_Right_mutex.unlock();
thomasmorris 23:07a368f2cdb1 64
thomasmorris 23:07a368f2cdb1 65 Led_Power_mutex.lock();
thomasmorris 23:07a368f2cdb1 66 Led_Power =0;
thomasmorris 23:07a368f2cdb1 67 Led_Power_mutex.unlock();
thomasmorris 23:07a368f2cdb1 68
thomasmorris 23:07a368f2cdb1 69 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 70 _System_Running =0;
thomasmorris 23:07a368f2cdb1 71 _System_Running_mutex.unlock();
thomasmorris 16:9f98ec0ededb 72 }
thomasmorris 17:68b3fdabe4c5 73 void INTERFACE::Up()//Up Routine
thomasmorris 16:9f98ec0ededb 74 {
thomasmorris 17:68b3fdabe4c5 75 if (_Function == 0)//Turns Function
thomasmorris 16:9f98ec0ededb 76 {
thomasmorris 23:07a368f2cdb1 77 _Turns_Todo_mutex.lock();
thomasmorris 23:07a368f2cdb1 78 _Turns_Todo = _Turns_Todo +1;//Increases Turn number
thomasmorris 23:07a368f2cdb1 79 _Turns_Todo_mutex.unlock();
thomasmorris 16:9f98ec0ededb 80 }
thomasmorris 17:68b3fdabe4c5 81 else if (_Function == 1)//Annealing Function
thomasmorris 16:9f98ec0ededb 82 {
thomasmorris 17:68b3fdabe4c5 83 if (_Select == false)//Select = 0
thomasmorris 23:07a368f2cdb1 84 {
thomasmorris 23:07a368f2cdb1 85 _Loop_mutex.lock();
thomasmorris 16:9f98ec0ededb 86 _Loop = _Loop + 1; //Increases Repetitions in Annealing
thomasmorris 23:07a368f2cdb1 87 _Loop_mutex.unlock();
thomasmorris 16:9f98ec0ededb 88 }
thomasmorris 17:68b3fdabe4c5 89 else if (_Select == true)//Select = 1
thomasmorris 16:9f98ec0ededb 90 {
thomasmorris 23:07a368f2cdb1 91 _Wait_Time_mutex.lock();
thomasmorris 16:9f98ec0ededb 92 _Wait_Time = _Wait_Time + 1; //Increases Wait time
thomasmorris 23:07a368f2cdb1 93 _Wait_Time_mutex.unlock();
thomasmorris 16:9f98ec0ededb 94 }
thomasmorris 16:9f98ec0ededb 95 }
thomasmorris 17:68b3fdabe4c5 96 else if (_Function == 2)//Test Function
thomasmorris 16:9f98ec0ededb 97 {
thomasmorris 17:68b3fdabe4c5 98 if (_Select == false)//Select = 0
thomasmorris 16:9f98ec0ededb 99 {
thomasmorris 16:9f98ec0ededb 100 if (_Duty_Cycle < 100)
thomasmorris 16:9f98ec0ededb 101 {
thomasmorris 23:07a368f2cdb1 102 _Duty_Cycle_mutex.lock();
thomasmorris 16:9f98ec0ededb 103 _Duty_Cycle = _Duty_Cycle + 10; //Increases Testing Duty Cycle
thomasmorris 23:07a368f2cdb1 104 _Duty_Cycle_mutex.unlock();
thomasmorris 16:9f98ec0ededb 105 }
thomasmorris 17:68b3fdabe4c5 106 else if (_Select == true)//Select = 1
thomasmorris 16:9f98ec0ededb 107 {
thomasmorris 23:07a368f2cdb1 108 _Power_Time_mutex.lock();
thomasmorris 16:9f98ec0ededb 109 _Power_Time = _Power_Time + 1; //Increases time on
thomasmorris 23:07a368f2cdb1 110 _Power_Time_mutex.unlock();
thomasmorris 16:9f98ec0ededb 111 }
thomasmorris 16:9f98ec0ededb 112 }
thomasmorris 16:9f98ec0ededb 113 }
thomasmorris 16:9f98ec0ededb 114 }
thomasmorris 17:68b3fdabe4c5 115 void INTERFACE::Down()//Down Routine
thomasmorris 16:9f98ec0ededb 116 {
thomasmorris 17:68b3fdabe4c5 117 if (_Function == 0)//Turn Function
thomasmorris 16:9f98ec0ededb 118 {
thomasmorris 23:07a368f2cdb1 119 _Turns_Todo_mutex.lock();
thomasmorris 23:07a368f2cdb1 120 _Turns_Todo = _Turns_Todo -1;//Decrement Turn number
thomasmorris 23:07a368f2cdb1 121 _Turns_Todo_mutex.unlock();
thomasmorris 16:9f98ec0ededb 122 }
thomasmorris 17:68b3fdabe4c5 123 else if (_Function == 1)//Anneal Function
thomasmorris 16:9f98ec0ededb 124 {
thomasmorris 17:68b3fdabe4c5 125 if (_Select == false)//Select = 0
thomasmorris 16:9f98ec0ededb 126 {
thomasmorris 21:6d9f6a986647 127
thomasmorris 16:9f98ec0ededb 128 if (_Loop > 0)
thomasmorris 16:9f98ec0ededb 129 {
thomasmorris 23:07a368f2cdb1 130 _Loop_mutex.lock();
thomasmorris 16:9f98ec0ededb 131 _Loop = _Loop - 1;
thomasmorris 23:07a368f2cdb1 132 _Loop_mutex.unlock();
thomasmorris 16:9f98ec0ededb 133 }
thomasmorris 17:68b3fdabe4c5 134 else if (_Select == true)//Select = 1
thomasmorris 16:9f98ec0ededb 135 {
thomasmorris 16:9f98ec0ededb 136 if (_Wait_Time > 0)
thomasmorris 16:9f98ec0ededb 137 {
thomasmorris 23:07a368f2cdb1 138 _Wait_Time_mutex.lock();
thomasmorris 16:9f98ec0ededb 139 _Wait_Time = _Wait_Time - 1;
thomasmorris 23:07a368f2cdb1 140 _Wait_Time_mutex.unlock();
thomasmorris 16:9f98ec0ededb 141 }
thomasmorris 16:9f98ec0ededb 142 }
thomasmorris 16:9f98ec0ededb 143 }
thomasmorris 16:9f98ec0ededb 144 }
thomasmorris 17:68b3fdabe4c5 145 else if (_Function == 2)//Test Function
thomasmorris 16:9f98ec0ededb 146 {
thomasmorris 17:68b3fdabe4c5 147 if (_Select == false)//Select = 0
thomasmorris 16:9f98ec0ededb 148 {
thomasmorris 16:9f98ec0ededb 149 if (_Duty_Cycle > 0)
thomasmorris 16:9f98ec0ededb 150 {
thomasmorris 23:07a368f2cdb1 151 _Duty_Cycle_mutex.lock();
thomasmorris 16:9f98ec0ededb 152 _Duty_Cycle = _Duty_Cycle - 10; //Decreases duty
thomasmorris 23:07a368f2cdb1 153 _Duty_Cycle_mutex.unlock();
thomasmorris 16:9f98ec0ededb 154 }
thomasmorris 17:68b3fdabe4c5 155 else if (_Select == true)//Select = 1
thomasmorris 16:9f98ec0ededb 156 {
thomasmorris 16:9f98ec0ededb 157 if (_Power_Time > 0)
thomasmorris 16:9f98ec0ededb 158 {
thomasmorris 23:07a368f2cdb1 159 _Power_Time_mutex.lock();
thomasmorris 23:07a368f2cdb1 160 _Power_Time = _Power_Time - 1; //Decreases Time on
thomasmorris 23:07a368f2cdb1 161 _Power_Time_mutex.unlock();
thomasmorris 16:9f98ec0ededb 162 }
thomasmorris 16:9f98ec0ededb 163 }
thomasmorris 16:9f98ec0ededb 164 }
thomasmorris 16:9f98ec0ededb 165 }
thomasmorris 16:9f98ec0ededb 166 }
thomasmorris 17:68b3fdabe4c5 167 void INTERFACE::Start_Stop()//Start / Stop Routine
thomasmorris 16:9f98ec0ededb 168 {
thomasmorris 23:07a368f2cdb1 169 _System_Running = !_System_Running;
thomasmorris 23:07a368f2cdb1 170 //System not running cases (START)
thomasmorris 23:07a368f2cdb1 171 if (_Function == 0 & _System_Running == 0)//Twist selected
thomasmorris 23:07a368f2cdb1 172 {
thomasmorris 23:07a368f2cdb1 173 _Twist_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 174 _Twist_Go = true;//toggle used for coiling and twisting and Running the code
thomasmorris 23:07a368f2cdb1 175 _Twist_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 176 }
thomasmorris 23:07a368f2cdb1 177 else if (_Function == 1 & _System_Running == 0) //Annealing selected
thomasmorris 23:07a368f2cdb1 178 {
thomasmorris 23:07a368f2cdb1 179 _Anneal_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 180 _Anneal_Go = true;//toggle and Run the code
thomasmorris 23:07a368f2cdb1 181 _Anneal_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 182 }
thomasmorris 23:07a368f2cdb1 183 else if (_Function == 2 & _System_Running == 0) //Testing selected
thomasmorris 16:9f98ec0ededb 184 {
thomasmorris 23:07a368f2cdb1 185 _Test_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 186 _Test_Go = true;//toggle and run the code
thomasmorris 23:07a368f2cdb1 187 _Test_Go_mutex.unlock();
thomasmorris 16:9f98ec0ededb 188 }
thomasmorris 23:07a368f2cdb1 189 //System Running cases (STOP)
thomasmorris 23:07a368f2cdb1 190 else if (_Function == 0 & _System_Running == 1)//Twist selected to be stopped
thomasmorris 23:07a368f2cdb1 191 {
thomasmorris 23:07a368f2cdb1 192 _Twist_Stop_mutex.lock();
thomasmorris 23:07a368f2cdb1 193 _Twist_Stop = true;
thomasmorris 23:07a368f2cdb1 194 _Twist_Stop_mutex.unlock();
thomasmorris 23:07a368f2cdb1 195 printf("Twisting Code Paused\n");
thomasmorris 23:07a368f2cdb1 196 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 197 _System_Running = 2;
thomasmorris 23:07a368f2cdb1 198 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 199 STEPPER_MOTOR_1.Pause_Code();
thomasmorris 23:07a368f2cdb1 200 }
thomasmorris 23:07a368f2cdb1 201 else if (_Function == 1 & _System_Running == 1) //Annealing selected to be stopped
thomasmorris 23:07a368f2cdb1 202 {
thomasmorris 23:07a368f2cdb1 203 _Anneal_Stop_mutex.lock();
thomasmorris 23:07a368f2cdb1 204 _Anneal_Stop = true;
thomasmorris 23:07a368f2cdb1 205 _Anneal_Stop_mutex.unlock();
thomasmorris 23:07a368f2cdb1 206 printf("Annealing Code Paused\n");
thomasmorris 23:07a368f2cdb1 207 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 208 _System_Running = 2;
thomasmorris 23:07a368f2cdb1 209 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 210 }
thomasmorris 23:07a368f2cdb1 211 else if (_Function == 2 & _System_Running == 1) //Testing selected to be stopped
thomasmorris 16:9f98ec0ededb 212 {
thomasmorris 23:07a368f2cdb1 213 _Test_Stop_mutex.lock();
thomasmorris 23:07a368f2cdb1 214 _Test_Stop = true;
thomasmorris 23:07a368f2cdb1 215 _Test_Stop_mutex.unlock();
thomasmorris 23:07a368f2cdb1 216 printf("Testing Code Paused\n");
thomasmorris 23:07a368f2cdb1 217 _Tendon_mutex.lock();
thomasmorris 23:07a368f2cdb1 218 Tendon_Power=0;
thomasmorris 23:07a368f2cdb1 219 _Tendon_mutex.unlock();
thomasmorris 23:07a368f2cdb1 220
thomasmorris 23:07a368f2cdb1 221 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 222 _System_Running = 2;
thomasmorris 23:07a368f2cdb1 223 _System_Running_mutex.unlock();
thomasmorris 16:9f98ec0ededb 224 }
thomasmorris 23:07a368f2cdb1 225 //System Running cases (Unpause)
thomasmorris 23:07a368f2cdb1 226 else if (_Function == 0 & _System_Running == 2)//Twist selected to be unpasued
thomasmorris 23:07a368f2cdb1 227 {
thomasmorris 23:07a368f2cdb1 228 _Twist_Stop_mutex.lock();
thomasmorris 23:07a368f2cdb1 229 _Twist_Stop = false;
thomasmorris 23:07a368f2cdb1 230 _Twist_Stop_mutex.unlock();
thomasmorris 23:07a368f2cdb1 231
thomasmorris 23:07a368f2cdb1 232 _Twist_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 233 _Twist_Go = true;//toggle used for coiling and twisting and Running the code
thomasmorris 23:07a368f2cdb1 234 _Twist_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 235
thomasmorris 23:07a368f2cdb1 236 STEPPER_MOTOR_1.Unpause_Code();
thomasmorris 23:07a368f2cdb1 237
thomasmorris 23:07a368f2cdb1 238 printf("Twisting Code unpaused\n");
thomasmorris 23:07a368f2cdb1 239
thomasmorris 23:07a368f2cdb1 240 }
thomasmorris 23:07a368f2cdb1 241 else if (_Function == 1 & _System_Running == 2) //Annealing selected to be unpaused
thomasmorris 16:9f98ec0ededb 242 {
thomasmorris 23:07a368f2cdb1 243 _Anneal_Stop_mutex.lock();
thomasmorris 23:07a368f2cdb1 244 _Anneal_Stop = false;
thomasmorris 23:07a368f2cdb1 245 _Anneal_Stop_mutex.unlock();
thomasmorris 23:07a368f2cdb1 246 printf("Annealing Code unpaused\n");
thomasmorris 23:07a368f2cdb1 247
thomasmorris 23:07a368f2cdb1 248 _Anneal_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 249 _Anneal_Go = true;//toggle and Run the code
thomasmorris 23:07a368f2cdb1 250 _Anneal_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 251 }
thomasmorris 23:07a368f2cdb1 252 else if (_Function == 2 & _System_Running == 2) //Testing selected to be re run
thomasmorris 23:07a368f2cdb1 253 {
thomasmorris 23:07a368f2cdb1 254 _Test_Stop_mutex.lock();
thomasmorris 23:07a368f2cdb1 255 _Test_Stop = false;
thomasmorris 23:07a368f2cdb1 256 _Test_Stop_mutex.unlock();
thomasmorris 23:07a368f2cdb1 257 printf("Testing Code unpaused\n");
thomasmorris 23:07a368f2cdb1 258 _Test_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 259 _Test_Go = true;//toggle and run the code
thomasmorris 23:07a368f2cdb1 260 _Test_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 261
thomasmorris 23:07a368f2cdb1 262
thomasmorris 16:9f98ec0ededb 263 }
thomasmorris 16:9f98ec0ededb 264 }
thomasmorris 17:68b3fdabe4c5 265 void INTERFACE::Function()//Function Routine used to increment through the three functions
thomasmorris 16:9f98ec0ededb 266 {
thomasmorris 17:68b3fdabe4c5 267 /*
thomasmorris 17:68b3fdabe4c5 268 Function 0 = Turn
thomasmorris 17:68b3fdabe4c5 269 Function 1 = Anneal
thomasmorris 17:68b3fdabe4c5 270 Function 2 = Test
thomasmorris 17:68b3fdabe4c5 271 */
thomasmorris 16:9f98ec0ededb 272 if (_Function < 2){
thomasmorris 23:07a368f2cdb1 273 _Function_mutex.lock();
thomasmorris 16:9f98ec0ededb 274 _Function = _Function + 1;
thomasmorris 23:07a368f2cdb1 275 _Function_mutex.unlock();
thomasmorris 16:9f98ec0ededb 276 }
thomasmorris 16:9f98ec0ededb 277 else
thomasmorris 16:9f98ec0ededb 278 {
thomasmorris 23:07a368f2cdb1 279 _Function_mutex.lock();
thomasmorris 16:9f98ec0ededb 280 _Function = 0;
thomasmorris 23:07a368f2cdb1 281 _Function_mutex.unlock();
thomasmorris 16:9f98ec0ededb 282 }
thomasmorris 16:9f98ec0ededb 283 }
thomasmorris 17:68b3fdabe4c5 284 void INTERFACE::Select()//Select Routine
thomasmorris 16:9f98ec0ededb 285 {
thomasmorris 23:07a368f2cdb1 286 _Select_mutex.lock();
thomasmorris 17:68b3fdabe4c5 287 _Select = !_Select;//Toggle select to choose between two options e.g. Duty cycle and loops as only two options are avalible
thomasmorris 23:07a368f2cdb1 288 _Select_mutex.unlock();
thomasmorris 23:07a368f2cdb1 289 if(_Function == 0)
thomasmorris 21:6d9f6a986647 290 {
thomasmorris 23:07a368f2cdb1 291 Led_Select_Left_mutex.lock();
thomasmorris 23:07a368f2cdb1 292 Led_Select_Right = 1;
thomasmorris 23:07a368f2cdb1 293 Led_Select_Left_mutex.unlock();
thomasmorris 23:07a368f2cdb1 294 }
thomasmorris 23:07a368f2cdb1 295 else if(_Select == false)
thomasmorris 23:07a368f2cdb1 296 {
thomasmorris 23:07a368f2cdb1 297 Led_Select_Left_mutex.lock();
thomasmorris 21:6d9f6a986647 298 Led_Select_Left = 1;
thomasmorris 23:07a368f2cdb1 299 Led_Select_Left_mutex.unlock();
thomasmorris 23:07a368f2cdb1 300
thomasmorris 23:07a368f2cdb1 301 Led_Select_Right_mutex.lock();
thomasmorris 21:6d9f6a986647 302 Led_Select_Right= 0;
thomasmorris 23:07a368f2cdb1 303 Led_Select_Right_mutex.unlock();
thomasmorris 21:6d9f6a986647 304 }
thomasmorris 21:6d9f6a986647 305 else
thomasmorris 21:6d9f6a986647 306 {
thomasmorris 23:07a368f2cdb1 307 Led_Select_Left_mutex.lock();
thomasmorris 21:6d9f6a986647 308 Led_Select_Left = 0;
thomasmorris 23:07a368f2cdb1 309 Led_Select_Left_mutex.unlock();
thomasmorris 23:07a368f2cdb1 310
thomasmorris 23:07a368f2cdb1 311 Led_Select_Right_mutex.lock();
thomasmorris 21:6d9f6a986647 312 Led_Select_Right= 1;
thomasmorris 23:07a368f2cdb1 313 Led_Select_Right_mutex.unlock();
thomasmorris 21:6d9f6a986647 314 }
thomasmorris 17:68b3fdabe4c5 315 //Output to leds here dependant upon the select value e.g. 0 is left led and 1 is right led
thomasmorris 16:9f98ec0ededb 316 }
thomasmorris 17:68b3fdabe4c5 317 void INTERFACE::Interface_main()//Main Routine to execute commands when the start button has been pressed
thomasmorris 16:9f98ec0ededb 318 {
thomasmorris 16:9f98ec0ededb 319 if (_Function == 0) //Turning Code
thomasmorris 16:9f98ec0ededb 320 {
thomasmorris 16:9f98ec0ededb 321 if (_Twist_Go == true)
thomasmorris 16:9f98ec0ededb 322 {
thomasmorris 23:07a368f2cdb1 323 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 324 Led_Power = 1;
thomasmorris 23:07a368f2cdb1 325 Led_Power_mutex.unlock();
thomasmorris 23:07a368f2cdb1 326
thomasmorris 23:07a368f2cdb1 327 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 328 _System_Running = 1;
thomasmorris 23:07a368f2cdb1 329 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 330
thomasmorris 17:68b3fdabe4c5 331 STEPPER_MOTOR_1.Rotate_Steps(_Turns_Todo);//Rotates for the specified number of steps given
thomasmorris 23:07a368f2cdb1 332
thomasmorris 23:07a368f2cdb1 333 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 334 _System_Running = 0;
thomasmorris 23:07a368f2cdb1 335 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 336
thomasmorris 23:07a368f2cdb1 337
thomasmorris 23:07a368f2cdb1 338 _Twist_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 339 _Twist_Go = false;
thomasmorris 23:07a368f2cdb1 340 _Twist_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 341
thomasmorris 23:07a368f2cdb1 342 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 343 Led_Power = 0;
thomasmorris 23:07a368f2cdb1 344 Led_Power_mutex.unlock();
thomasmorris 16:9f98ec0ededb 345 }
thomasmorris 16:9f98ec0ededb 346 }
thomasmorris 16:9f98ec0ededb 347 else if (_Function == 1) //Annealing Code
thomasmorris 16:9f98ec0ededb 348 {
thomasmorris 16:9f98ec0ededb 349 if (_Anneal_Go == true)
thomasmorris 16:9f98ec0ededb 350 {
thomasmorris 23:07a368f2cdb1 351 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 352 Led_Power = 1;
thomasmorris 23:07a368f2cdb1 353 Led_Power_mutex.unlock();
thomasmorris 23:07a368f2cdb1 354
thomasmorris 23:07a368f2cdb1 355 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 356 _System_Running = 1;
thomasmorris 23:07a368f2cdb1 357 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 358
thomasmorris 16:9f98ec0ededb 359 for ( int counter = 0; counter < _Loop; counter++) //Loop value, check if works
thomasmorris 16:9f98ec0ededb 360 {
thomasmorris 23:07a368f2cdb1 361 if(_System_Running == 1)
thomasmorris 23:07a368f2cdb1 362 {
thomasmorris 23:07a368f2cdb1 363 _Tendon_mutex.lock();
thomasmorris 23:07a368f2cdb1 364 Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare
thomasmorris 23:07a368f2cdb1 365 Tendon_Power=1; // set duty cycle to 100%
thomasmorris 23:07a368f2cdb1 366 wait(_Wait_Time);//Variable
thomasmorris 23:07a368f2cdb1 367 Tendon_Power=0; // set duty cycle to 0%
thomasmorris 23:07a368f2cdb1 368 wait(6);//Fixed off time
thomasmorris 23:07a368f2cdb1 369 _Tendon_mutex.unlock();
thomasmorris 23:07a368f2cdb1 370 }
thomasmorris 23:07a368f2cdb1 371 while(_System_Running == 2)//Stops the system and just spins in this while loop until system running is not paused
thomasmorris 23:07a368f2cdb1 372 {
thomasmorris 23:07a368f2cdb1 373 _Tendon_mutex.lock();
thomasmorris 23:07a368f2cdb1 374 Tendon_Power =0;
thomasmorris 23:07a368f2cdb1 375 _Tendon_mutex.unlock();
thomasmorris 23:07a368f2cdb1 376 }
thomasmorris 16:9f98ec0ededb 377 }
thomasmorris 23:07a368f2cdb1 378
thomasmorris 23:07a368f2cdb1 379 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 380 _System_Running = 0;
thomasmorris 23:07a368f2cdb1 381 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 382
thomasmorris 23:07a368f2cdb1 383 _Anneal_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 384 _Anneal_Go = false;
thomasmorris 23:07a368f2cdb1 385 _Anneal_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 386
thomasmorris 23:07a368f2cdb1 387 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 388 Led_Power = 0;
thomasmorris 23:07a368f2cdb1 389 Led_Power_mutex.unlock();
thomasmorris 16:9f98ec0ededb 390 }
thomasmorris 16:9f98ec0ededb 391 }
thomasmorris 23:07a368f2cdb1 392 else if (_Function == 2) //Testing Code //This code is paused / unpaused in start / stop note this code is not paused it is re run.
thomasmorris 16:9f98ec0ededb 393 {
thomasmorris 16:9f98ec0ededb 394 if (_Test_Go == true)
thomasmorris 16:9f98ec0ededb 395 {
thomasmorris 23:07a368f2cdb1 396 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 397 Led_Power = 1;
thomasmorris 23:07a368f2cdb1 398 Led_Power_mutex.unlock();
thomasmorris 23:07a368f2cdb1 399
thomasmorris 23:07a368f2cdb1 400 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 401 _System_Running = 1;
thomasmorris 23:07a368f2cdb1 402 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 403
thomasmorris 23:07a368f2cdb1 404 _Tendon_mutex.lock();
thomasmorris 16:9f98ec0ededb 405 Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare
thomasmorris 16:9f98ec0ededb 406 Tendon_Power= _Duty_Cycle / 100; // set duty cycle to variable input from buttons between 0-1 (on lcd this is a percentage) also increment by values of 10
thomasmorris 16:9f98ec0ededb 407 wait(_Power_Time);//Variable on time for power on
thomasmorris 16:9f98ec0ededb 408 Tendon_Power=0; // set duty cycle to 0% and power off
thomasmorris 23:07a368f2cdb1 409 _Tendon_mutex.unlock();
thomasmorris 23:07a368f2cdb1 410
thomasmorris 23:07a368f2cdb1 411 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 412 _System_Running = 0;
thomasmorris 23:07a368f2cdb1 413 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 414
thomasmorris 23:07a368f2cdb1 415 _Test_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 416 _Test_Go = false;
thomasmorris 23:07a368f2cdb1 417 _Test_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 418
thomasmorris 23:07a368f2cdb1 419 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 420 Led_Power = 0;
thomasmorris 23:07a368f2cdb1 421 Led_Power_mutex.unlock();
thomasmorris 16:9f98ec0ededb 422 }
thomasmorris 16:9f98ec0ededb 423 }
thomasmorris 16:9f98ec0ededb 424 }
thomasmorris 17:68b3fdabe4c5 425 //Setter functions
thomasmorris 23:07a368f2cdb1 426 void INTERFACE::Set_System_Running(int System_Running){_System_Running_mutex.lock(); _System_Running = System_Running; _System_Running_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 427 void INTERFACE::Set_Function(int Function){_Function_mutex.lock();_Function = Function;_Function_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 428 void INTERFACE::Set_Twist_Go(bool Twist_Go){_Twist_Go_mutex.lock();_Twist_Go = Twist_Go;_Twist_Go_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 429 void INTERFACE::Set_Anneal_Go(bool Anneal_Go){_Anneal_Go_mutex.lock();_Anneal_Go = Anneal_Go;_Anneal_Go_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 430 void INTERFACE::Set_Test_Go(bool Test_Go){_Test_Go_mutex.lock();_Test_Go = Test_Go;_Test_Go_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 431 void INTERFACE::Set_Twist_Stop(bool Twist_Stop){_Twist_Stop_mutex.lock();_Twist_Stop = Twist_Stop;_Twist_Stop_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 432 void INTERFACE::Set_Anneal_Stop(bool Anneal_Stop){_Anneal_Stop_mutex.lock();_Anneal_Stop = Anneal_Stop;_Anneal_Stop_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 433 void INTERFACE::Set_Test_Stop(bool Test_Stop){_Test_Stop_mutex.lock();_Test_Go = Test_Stop;_Test_Stop_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 434 void INTERFACE::Set_Select(bool Select){_Select_mutex.lock();_Select = Select;_Select_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 435 void INTERFACE::Set_Turns_Done(int Turns_Done){_Turns_Done_mutex.lock();_Turns_Done = Turns_Done;_Turns_Done_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 436 void INTERFACE::Set_Turns_To_Do(int Turns_Todo){_Turns_Todo_mutex.lock();_Turns_Todo = Turns_Todo;_Turns_Todo_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 437 void INTERFACE::Set_Loop(int Loop){_Loop_mutex.lock();Loop = Loop;_Loop_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 438 void INTERFACE::Set_Wait_Time(int Wait_Time){_Wait_Time_mutex.lock();_Wait_Time = Wait_Time;_Wait_Time_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 439 void INTERFACE::Set_Duty_Cycle(int Duty_Cycle){_Duty_Cycle_mutex.lock();_Duty_Cycle = Duty_Cycle;_Duty_Cycle_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 440 void INTERFACE::Set_Power_Time(float Power_Time){_Power_Time_mutex.lock();_Power_Time = Power_Time;_Power_Time_mutex.unlock();}
thomasmorris 17:68b3fdabe4c5 441 //Getter functions
thomasmorris 23:07a368f2cdb1 442 int INTERFACE::Get_System_Running(){return _System_Running;}
thomasmorris 23:07a368f2cdb1 443 int INTERFACE::Get_Function(){return _Function;}
thomasmorris 16:9f98ec0ededb 444 bool INTERFACE::Get_Twist_Go(){return _Twist_Go;}
thomasmorris 16:9f98ec0ededb 445 bool INTERFACE::Get_Anneal_Go(){return _Anneal_Go;}
thomasmorris 16:9f98ec0ededb 446 bool INTERFACE::Get_Test_Go(){return _Test_Go;}
thomasmorris 23:07a368f2cdb1 447 bool INTERFACE::Get_Twist_Stop(){return _Twist_Stop;}
thomasmorris 23:07a368f2cdb1 448 bool INTERFACE::Get_Anneal_Stop(){return _Anneal_Stop;}
thomasmorris 23:07a368f2cdb1 449 bool INTERFACE::Get_Test_Stop(){return _Test_Stop;}
thomasmorris 16:9f98ec0ededb 450 bool INTERFACE::Get_Select(){return _Select;}
thomasmorris 18:3523660f3930 451 int INTERFACE::Get_Turns_Done(){_Turns_Done = STEPPER_MOTOR_1.Get_Turns(); return _Turns_Done;}
thomasmorris 16:9f98ec0ededb 452 int INTERFACE::Get_Turns_To_Do(){return _Turns_Todo;}
thomasmorris 16:9f98ec0ededb 453 int INTERFACE::Get_Loop(){return _Loop;}
thomasmorris 16:9f98ec0ededb 454 int INTERFACE::Get_Wait_Time(){return _Wait_Time;}
thomasmorris 16:9f98ec0ededb 455 int INTERFACE::Get_Duty_Cycle(){return _Duty_Cycle;}
thomasmorris 23:07a368f2cdb1 456 int INTERFACE::Get_Power_Time(){return _Power_Time;}