Thomas Morris / Mbed 2 deprecated Stacy

Testing 1 blue pill

Dependencies:   mbed mbed-rtos TextLCD

Interface/Interface.cpp@28:3193157ebb0c, 2019-03-11 (annotated)

Committer:
thomasmorris
Date:
Mon Mar 11 14:19:26 2019 +0000
Revision:
28:3193157ebb0c
Parent:
26:83550fc299aa
Child:
29:f3b1387c81f1
Version 16 Working

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 25:9751619fa030 3 INTERFACE::INTERFACE(){}//Set all values to 0
thomasmorris 16:9f98ec0ededb 4 INTERFACE::~INTERFACE(){} //Destructor
thomasmorris 17:68b3fdabe4c5 5 void INTERFACE::Interface_Init()//Set all values to 0 bar the default turns
thomasmorris 16:9f98ec0ededb 6 {
thomasmorris 24:728de4bf961e 7 Led_Select_Left_mutex.lock();
thomasmorris 24:728de4bf961e 8 Led_Select_Left = 0;
thomasmorris 24:728de4bf961e 9 Led_Select_Left_mutex.unlock();
thomasmorris 24:728de4bf961e 10
thomasmorris 24:728de4bf961e 11 Led_Select_Right_mutex.lock();
thomasmorris 24:728de4bf961e 12 Led_Select_Right= 0;
thomasmorris 24:728de4bf961e 13 Led_Select_Right_mutex.unlock();
thomasmorris 24:728de4bf961e 14
thomasmorris 23:07a368f2cdb1 15 _Function_mutex.lock();
thomasmorris 26:83550fc299aa 16 _Function = Type_of_Rig;
thomasmorris 23:07a368f2cdb1 17 _Function_mutex.unlock();
thomasmorris 23:07a368f2cdb1 18
thomasmorris 23:07a368f2cdb1 19 _Twist_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 20 _Twist_Go =0;
thomasmorris 23:07a368f2cdb1 21 _Twist_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 22
thomasmorris 23:07a368f2cdb1 23 _Anneal_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 24 _Anneal_Go =0;
thomasmorris 23:07a368f2cdb1 25 _Anneal_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 26
thomasmorris 23:07a368f2cdb1 27 _Test_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 28 _Test_Go =0;
thomasmorris 23:07a368f2cdb1 29 _Test_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 30
thomasmorris 23:07a368f2cdb1 31 _Select_mutex.lock();
thomasmorris 17:68b3fdabe4c5 32 _Select =0;
thomasmorris 23:07a368f2cdb1 33 _Select_mutex.unlock();
thomasmorris 23:07a368f2cdb1 34
thomasmorris 23:07a368f2cdb1 35 _Turns_Done_mutex.lock();
thomasmorris 17:68b3fdabe4c5 36 _Turns_Done =0;
thomasmorris 23:07a368f2cdb1 37 _Turns_Done_mutex.unlock();
thomasmorris 23:07a368f2cdb1 38
thomasmorris 23:07a368f2cdb1 39 _Loop_mutex.lock();
thomasmorris 25:9751619fa030 40 _Loop =6;
thomasmorris 23:07a368f2cdb1 41 _Loop_mutex.unlock();
thomasmorris 23:07a368f2cdb1 42
thomasmorris 25:9751619fa030 43 _On_Time_mutex.lock();
thomasmorris 25:9751619fa030 44 _On_Time =6;
thomasmorris 25:9751619fa030 45 _On_Time_mutex.unlock();
thomasmorris 25:9751619fa030 46
thomasmorris 25:9751619fa030 47 _Off_Time_mutex.lock();
thomasmorris 25:9751619fa030 48 _Off_Time =6;
thomasmorris 25:9751619fa030 49 _Off_Time_mutex.unlock();
thomasmorris 23:07a368f2cdb1 50
thomasmorris 23:07a368f2cdb1 51 _Duty_Cycle_mutex.lock();
thomasmorris 17:68b3fdabe4c5 52 _Duty_Cycle =0;
thomasmorris 23:07a368f2cdb1 53 _Duty_Cycle_mutex.unlock();
thomasmorris 23:07a368f2cdb1 54
thomasmorris 23:07a368f2cdb1 55 _Power_Time_mutex.lock();
thomasmorris 17:68b3fdabe4c5 56 _Power_Time =0;
thomasmorris 23:07a368f2cdb1 57 _Power_Time_mutex.unlock();
thomasmorris 23:07a368f2cdb1 58
thomasmorris 23:07a368f2cdb1 59 Led_Select_Left_mutex.lock();
thomasmorris 23:07a368f2cdb1 60 Led_Select_Left = 0;
thomasmorris 23:07a368f2cdb1 61 Led_Select_Left_mutex.unlock();
thomasmorris 23:07a368f2cdb1 62
thomasmorris 23:07a368f2cdb1 63 Led_Select_Right_mutex.lock();
thomasmorris 23:07a368f2cdb1 64 Led_Select_Right= 0;
thomasmorris 23:07a368f2cdb1 65 Led_Select_Right_mutex.unlock();
thomasmorris 23:07a368f2cdb1 66
thomasmorris 23:07a368f2cdb1 67 Led_Power_mutex.lock();
thomasmorris 23:07a368f2cdb1 68 Led_Power =0;
thomasmorris 23:07a368f2cdb1 69 Led_Power_mutex.unlock();
thomasmorris 23:07a368f2cdb1 70
thomasmorris 23:07a368f2cdb1 71 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 72 _System_Running =0;
thomasmorris 23:07a368f2cdb1 73 _System_Running_mutex.unlock();
thomasmorris 24:728de4bf961e 74
thomasmorris 24:728de4bf961e 75
thomasmorris 26:83550fc299aa 76 Led_Select_Left_mutex.lock();
thomasmorris 26:83550fc299aa 77 Led_Select_Left = 0;
thomasmorris 26:83550fc299aa 78 Led_Select_Left_mutex.unlock();
thomasmorris 24:728de4bf961e 79
thomasmorris 26:83550fc299aa 80 Led_Select_Right_mutex.lock();
thomasmorris 26:83550fc299aa 81 Led_Select_Right= 1;
thomasmorris 26:83550fc299aa 82 Led_Select_Right_mutex.unlock();
thomasmorris 26:83550fc299aa 83
thomasmorris 26:83550fc299aa 84 _Turns_Todo_mutex.lock();
thomasmorris 26:83550fc299aa 85 if(Type_of_Rig == 2)
thomasmorris 26:83550fc299aa 86 {
thomasmorris 26:83550fc299aa 87 _Turns_Todo = Default_Coiling_Turns;
thomasmorris 26:83550fc299aa 88 }
thomasmorris 26:83550fc299aa 89 else if(Type_of_Rig == 3)
thomasmorris 26:83550fc299aa 90 {
thomasmorris 26:83550fc299aa 91 _Turns_Todo = Default_Twisting_Turns;
thomasmorris 26:83550fc299aa 92 }
thomasmorris 26:83550fc299aa 93 _Turns_Todo_mutex.unlock();
thomasmorris 16:9f98ec0ededb 94 }
thomasmorris 17:68b3fdabe4c5 95 void INTERFACE::Up()//Up Routine
thomasmorris 16:9f98ec0ededb 96 {
thomasmorris 26:83550fc299aa 97 printf("In up routine\n");
thomasmorris 26:83550fc299aa 98 printf("Function value is: %d\n",_Function);
thomasmorris 26:83550fc299aa 99 printf("Select Value is :%d\n",_Select);
thomasmorris 25:9751619fa030 100 if (_Function == 2 || _Function == 3 )//Coiling or twist Function
thomasmorris 16:9f98ec0ededb 101 {
thomasmorris 23:07a368f2cdb1 102 _Turns_Todo_mutex.lock();
thomasmorris 26:83550fc299aa 103 _Turns_Todo = _Turns_Todo +1;
thomasmorris 23:07a368f2cdb1 104 _Turns_Todo_mutex.unlock();
thomasmorris 16:9f98ec0ededb 105 }
thomasmorris 25:9751619fa030 106 else if (_Function == 0)//Annealing Function
thomasmorris 16:9f98ec0ededb 107 {
thomasmorris 25:9751619fa030 108 if (_Select == 0)//Select = 0
thomasmorris 23:07a368f2cdb1 109 {
thomasmorris 26:83550fc299aa 110 if(_On_Time > 0)
thomasmorris 26:83550fc299aa 111 {
thomasmorris 26:83550fc299aa 112 _On_Time_mutex.lock();
thomasmorris 26:83550fc299aa 113 _On_Time = _On_Time+ 1; //Increments On time
thomasmorris 26:83550fc299aa 114 _On_Time_mutex.unlock();
thomasmorris 26:83550fc299aa 115 }
thomasmorris 16:9f98ec0ededb 116 }
thomasmorris 25:9751619fa030 117 else if (_Select == 1)//Select = 1
thomasmorris 16:9f98ec0ededb 118 {
thomasmorris 26:83550fc299aa 119 if(_Loop > 0)
thomasmorris 26:83550fc299aa 120 {
thomasmorris 26:83550fc299aa 121 _Loop_mutex.lock();
thomasmorris 26:83550fc299aa 122 _Loop = _Loop + 1; //Increments Repetitions in Annealing
thomasmorris 26:83550fc299aa 123 _Loop_mutex.unlock();
thomasmorris 26:83550fc299aa 124 }
thomasmorris 25:9751619fa030 125 }
thomasmorris 26:83550fc299aa 126 else if (_Select == 2)//Select = 2
thomasmorris 25:9751619fa030 127 {
thomasmorris 26:83550fc299aa 128 if(_Off_Time > 0)
thomasmorris 26:83550fc299aa 129 {
thomasmorris 26:83550fc299aa 130 _Off_Time_mutex.lock();
thomasmorris 26:83550fc299aa 131 _Off_Time = _Off_Time + 1; //Increments Off time
thomasmorris 26:83550fc299aa 132 _Off_Time_mutex.unlock();
thomasmorris 26:83550fc299aa 133 }
thomasmorris 16:9f98ec0ededb 134 }
thomasmorris 16:9f98ec0ededb 135 }
thomasmorris 25:9751619fa030 136 else if (_Function == 1)//Test Function
thomasmorris 16:9f98ec0ededb 137 {
thomasmorris 26:83550fc299aa 138 if (_Select == 1)//Select = 1
thomasmorris 16:9f98ec0ededb 139 {
thomasmorris 16:9f98ec0ededb 140 if (_Duty_Cycle < 100)
thomasmorris 16:9f98ec0ededb 141 {
thomasmorris 23:07a368f2cdb1 142 _Duty_Cycle_mutex.lock();
thomasmorris 16:9f98ec0ededb 143 _Duty_Cycle = _Duty_Cycle + 10; //Increases Testing Duty Cycle
thomasmorris 23:07a368f2cdb1 144 _Duty_Cycle_mutex.unlock();
thomasmorris 16:9f98ec0ededb 145 }
thomasmorris 24:728de4bf961e 146 }
thomasmorris 26:83550fc299aa 147 else if (_Select == 0)//Select = 0
thomasmorris 24:728de4bf961e 148 {
thomasmorris 24:728de4bf961e 149 _Power_Time_mutex.lock();
thomasmorris 24:728de4bf961e 150 _Power_Time = _Power_Time + 1; //Increases time on
thomasmorris 24:728de4bf961e 151 _Power_Time_mutex.unlock();
thomasmorris 16:9f98ec0ededb 152 }
thomasmorris 16:9f98ec0ededb 153 }
thomasmorris 16:9f98ec0ededb 154 }
thomasmorris 17:68b3fdabe4c5 155 void INTERFACE::Down()//Down Routine
thomasmorris 16:9f98ec0ededb 156 {
thomasmorris 25:9751619fa030 157 if (_Function == 2 || _Function == 3)//Coiling or twist Function
thomasmorris 25:9751619fa030 158 {
thomasmorris 23:07a368f2cdb1 159 _Turns_Todo_mutex.lock();
thomasmorris 26:83550fc299aa 160 _Turns_Todo = _Turns_Todo -1;
thomasmorris 23:07a368f2cdb1 161 _Turns_Todo_mutex.unlock();
thomasmorris 16:9f98ec0ededb 162 }
thomasmorris 26:83550fc299aa 163 else if (_Function == 0)//Annealing Function
thomasmorris 16:9f98ec0ededb 164 {
thomasmorris 25:9751619fa030 165 if (_Select == 0)//Select = 0
thomasmorris 26:83550fc299aa 166 {
thomasmorris 26:83550fc299aa 167 if(_On_Time > 1)
thomasmorris 16:9f98ec0ededb 168 {
thomasmorris 26:83550fc299aa 169 _On_Time_mutex.lock();
thomasmorris 26:83550fc299aa 170 _On_Time = _On_Time - 1; //Decrements On time
thomasmorris 26:83550fc299aa 171 _On_Time_mutex.unlock();
thomasmorris 16:9f98ec0ededb 172 }
thomasmorris 24:728de4bf961e 173 }
thomasmorris 25:9751619fa030 174 else if (_Select == 1)//Select = 1
thomasmorris 24:728de4bf961e 175 {
thomasmorris 26:83550fc299aa 176 if(_Loop > 1)
thomasmorris 26:83550fc299aa 177 {
thomasmorris 26:83550fc299aa 178 _Loop_mutex.lock();
thomasmorris 26:83550fc299aa 179 _Loop = _Loop - 1; //Decrements Repetitions in Annealing
thomasmorris 26:83550fc299aa 180 _Loop_mutex.unlock();
thomasmorris 26:83550fc299aa 181 }
thomasmorris 25:9751619fa030 182 }
thomasmorris 26:83550fc299aa 183 else if (_Select == 2)//Select = 2
thomasmorris 25:9751619fa030 184 {
thomasmorris 26:83550fc299aa 185 if(_Off_Time > 1)
thomasmorris 26:83550fc299aa 186 {
thomasmorris 26:83550fc299aa 187 _Off_Time_mutex.lock();
thomasmorris 26:83550fc299aa 188 _Off_Time = _Off_Time - 1; //Decrements Off time
thomasmorris 26:83550fc299aa 189 _Off_Time_mutex.unlock();
thomasmorris 26:83550fc299aa 190 }
thomasmorris 16:9f98ec0ededb 191 }
thomasmorris 16:9f98ec0ededb 192 }
thomasmorris 25:9751619fa030 193 else if (_Function == 1)//Test Function
thomasmorris 16:9f98ec0ededb 194 {
thomasmorris 26:83550fc299aa 195 if (_Select == 1)//Select = 1
thomasmorris 16:9f98ec0ededb 196 {
thomasmorris 16:9f98ec0ededb 197 if (_Duty_Cycle > 0)
thomasmorris 16:9f98ec0ededb 198 {
thomasmorris 23:07a368f2cdb1 199 _Duty_Cycle_mutex.lock();
thomasmorris 16:9f98ec0ededb 200 _Duty_Cycle = _Duty_Cycle - 10; //Decreases duty
thomasmorris 23:07a368f2cdb1 201 _Duty_Cycle_mutex.unlock();
thomasmorris 16:9f98ec0ededb 202 }
thomasmorris 24:728de4bf961e 203 }
thomasmorris 26:83550fc299aa 204 else if (_Select == 0)//Select = 0
thomasmorris 24:728de4bf961e 205 {
thomasmorris 24:728de4bf961e 206 if (_Power_Time > 0)
thomasmorris 16:9f98ec0ededb 207 {
thomasmorris 24:728de4bf961e 208 _Power_Time_mutex.lock();
thomasmorris 24:728de4bf961e 209 _Power_Time = _Power_Time - 1; //Decreases Time on
thomasmorris 24:728de4bf961e 210 _Power_Time_mutex.unlock();
thomasmorris 16:9f98ec0ededb 211 }
thomasmorris 16:9f98ec0ededb 212 }
thomasmorris 16:9f98ec0ededb 213 }
thomasmorris 16:9f98ec0ededb 214 }
thomasmorris 28:3193157ebb0c 215 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
thomasmorris 17:68b3fdabe4c5 216 void INTERFACE::Start_Stop()//Start / Stop Routine
thomasmorris 16:9f98ec0ededb 217 {
thomasmorris 28:3193157ebb0c 218 /*
thomasmorris 28:3193157ebb0c 219 System Running = 0 Stop
thomasmorris 28:3193157ebb0c 220 System Running = 1 Running
thomasmorris 28:3193157ebb0c 221 System Running = 2 Paused
thomasmorris 28:3193157ebb0c 222 */
thomasmorris 24:728de4bf961e 223
thomasmorris 28:3193157ebb0c 224 printf("Function is: %d, System is: %d\n",_Function,_System_Running);//Used for debugging
thomasmorris 28:3193157ebb0c 225
thomasmorris 28:3193157ebb0c 226 //Start Cases for when the system is stopped///////////////////////////////////////////////////////////////////////////////////
thomasmorris 28:3193157ebb0c 227 if ((_Function == 2 || _Function == 3) & _System_Running == 0)//Twist selected
thomasmorris 23:07a368f2cdb1 228 {
thomasmorris 28:3193157ebb0c 229 _System_Running_mutex.lock();
thomasmorris 28:3193157ebb0c 230 _System_Running = 1;//Code is running
thomasmorris 28:3193157ebb0c 231 _System_Running_mutex.unlock();
thomasmorris 24:728de4bf961e 232
thomasmorris 23:07a368f2cdb1 233 _Twist_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 234 _Twist_Go = true;//toggle used for coiling and twisting and Running the code
thomasmorris 23:07a368f2cdb1 235 _Twist_Go_mutex.unlock();
thomasmorris 24:728de4bf961e 236
thomasmorris 23:07a368f2cdb1 237 }
thomasmorris 28:3193157ebb0c 238 else if (_Function == 0 & _System_Running == 0) //Annealing selected
thomasmorris 23:07a368f2cdb1 239 {
thomasmorris 28:3193157ebb0c 240 _System_Running_mutex.lock();
thomasmorris 28:3193157ebb0c 241 _System_Running = 1;//Code is running
thomasmorris 28:3193157ebb0c 242 _System_Running_mutex.unlock();
thomasmorris 24:728de4bf961e 243
thomasmorris 23:07a368f2cdb1 244 _Anneal_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 245 _Anneal_Go = true;//toggle and Run the code
thomasmorris 23:07a368f2cdb1 246 _Anneal_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 247 }
thomasmorris 28:3193157ebb0c 248 else if (_Function == 1 & _System_Running == 0) //Testing selected
thomasmorris 16:9f98ec0ededb 249 {
thomasmorris 28:3193157ebb0c 250 _System_Running_mutex.lock();
thomasmorris 28:3193157ebb0c 251 _System_Running = 1;//Code is running
thomasmorris 28:3193157ebb0c 252 _System_Running_mutex.unlock();
thomasmorris 28:3193157ebb0c 253
thomasmorris 23:07a368f2cdb1 254 _Test_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 255 _Test_Go = true;//toggle and run the code
thomasmorris 23:07a368f2cdb1 256 _Test_Go_mutex.unlock();
thomasmorris 16:9f98ec0ededb 257 }
thomasmorris 28:3193157ebb0c 258 ///////////////////////////////////////
thomasmorris 28:3193157ebb0c 259
thomasmorris 28:3193157ebb0c 260 //System Running cases run to pause the code
thomasmorris 28:3193157ebb0c 261 else if ((_Function == 2 || _Function == 3) & _System_Running == 1)//Coiling / Twisting selected to be paused
thomasmorris 23:07a368f2cdb1 262 {
thomasmorris 23:07a368f2cdb1 263 _Twist_Stop_mutex.lock();
thomasmorris 23:07a368f2cdb1 264 _Twist_Stop = true;
thomasmorris 23:07a368f2cdb1 265 _Twist_Stop_mutex.unlock();
thomasmorris 25:9751619fa030 266
thomasmorris 25:9751619fa030 267 if(_Function == 2)
thomasmorris 25:9751619fa030 268 {
thomasmorris 25:9751619fa030 269 printf("Coiling Code Paused\n");
thomasmorris 25:9751619fa030 270 }
thomasmorris 25:9751619fa030 271 if(_Function == 3)
thomasmorris 25:9751619fa030 272 {
thomasmorris 25:9751619fa030 273 printf("Twisting Code Paused\n");
thomasmorris 25:9751619fa030 274 }
thomasmorris 23:07a368f2cdb1 275 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 276 _System_Running = 2;
thomasmorris 23:07a368f2cdb1 277 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 278 STEPPER_MOTOR_1.Pause_Code();
thomasmorris 23:07a368f2cdb1 279 }
thomasmorris 25:9751619fa030 280 else if (_Function == 0 & _System_Running == 1) //Annealing selected to be stopped
thomasmorris 23:07a368f2cdb1 281 {
thomasmorris 23:07a368f2cdb1 282 _Anneal_Stop_mutex.lock();
thomasmorris 23:07a368f2cdb1 283 _Anneal_Stop = true;
thomasmorris 23:07a368f2cdb1 284 _Anneal_Stop_mutex.unlock();
thomasmorris 23:07a368f2cdb1 285 printf("Annealing Code Paused\n");
thomasmorris 23:07a368f2cdb1 286 _System_Running_mutex.lock();
thomasmorris 28:3193157ebb0c 287 _System_Running = 2;//Pause code
thomasmorris 23:07a368f2cdb1 288 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 289 }
thomasmorris 28:3193157ebb0c 290 else if (_Function == 1 & _System_Running == 1) //Testing selected to be paused
thomasmorris 16:9f98ec0ededb 291 {
thomasmorris 23:07a368f2cdb1 292 _Test_Stop_mutex.lock();
thomasmorris 23:07a368f2cdb1 293 _Test_Stop = true;
thomasmorris 23:07a368f2cdb1 294 _Test_Stop_mutex.unlock();
thomasmorris 24:728de4bf961e 295
thomasmorris 23:07a368f2cdb1 296 printf("Testing Code Paused\n");
thomasmorris 24:728de4bf961e 297
thomasmorris 23:07a368f2cdb1 298 _Tendon_mutex.lock();
thomasmorris 23:07a368f2cdb1 299 Tendon_Power=0;
thomasmorris 23:07a368f2cdb1 300 _Tendon_mutex.unlock();
thomasmorris 23:07a368f2cdb1 301
thomasmorris 23:07a368f2cdb1 302 _System_Running_mutex.lock();
thomasmorris 28:3193157ebb0c 303 _System_Running = 2;//Pause code
thomasmorris 23:07a368f2cdb1 304 _System_Running_mutex.unlock();
thomasmorris 16:9f98ec0ededb 305 }
thomasmorris 28:3193157ebb0c 306
thomasmorris 28:3193157ebb0c 307 ////////////////
thomasmorris 28:3193157ebb0c 308 //System Paused cases run to unpause
thomasmorris 28:3193157ebb0c 309 else if ((_Function == 2 || _Function == 3) & _System_Running == 2)//Coil Twist selected to be unpaused
thomasmorris 23:07a368f2cdb1 310 {
thomasmorris 28:3193157ebb0c 311 _Twist_Stop_mutex.lock();
thomasmorris 28:3193157ebb0c 312 _Twist_Stop = false;
thomasmorris 28:3193157ebb0c 313 _Twist_Stop_mutex.unlock();
thomasmorris 28:3193157ebb0c 314
thomasmorris 23:07a368f2cdb1 315 _Twist_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 316 _Twist_Go = true;//toggle used for coiling and twisting and Running the code
thomasmorris 23:07a368f2cdb1 317 _Twist_Go_mutex.unlock();
thomasmorris 28:3193157ebb0c 318
thomasmorris 28:3193157ebb0c 319 STEPPER_MOTOR_1.Unpause_Code();
thomasmorris 28:3193157ebb0c 320
thomasmorris 28:3193157ebb0c 321 if(_Function == 2)//Coiling
thomasmorris 28:3193157ebb0c 322 {
thomasmorris 28:3193157ebb0c 323 printf("Coiling Code unpaused\n");
thomasmorris 28:3193157ebb0c 324 }
thomasmorris 28:3193157ebb0c 325 if(_Function == 3)//Twisiting
thomasmorris 28:3193157ebb0c 326 {
thomasmorris 28:3193157ebb0c 327 printf("Twisting Code unpaused\n");
thomasmorris 28:3193157ebb0c 328 }
thomasmorris 28:3193157ebb0c 329 _System_Running_mutex.lock();
thomasmorris 28:3193157ebb0c 330 _System_Running = 1;//Code is unpaused
thomasmorris 28:3193157ebb0c 331 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 332 }
thomasmorris 28:3193157ebb0c 333 else if (_Function == 0 & _System_Running == 2) //Annealing selected to be unpaused
thomasmorris 16:9f98ec0ededb 334 {
thomasmorris 28:3193157ebb0c 335 _Anneal_Stop_mutex.lock();
thomasmorris 28:3193157ebb0c 336 _Anneal_Stop = false;
thomasmorris 28:3193157ebb0c 337 _Anneal_Stop_mutex.unlock();
thomasmorris 28:3193157ebb0c 338 printf("Annealing Code unpaused\n");
thomasmorris 28:3193157ebb0c 339
thomasmorris 23:07a368f2cdb1 340 _Anneal_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 341 _Anneal_Go = true;//toggle and Run the code
thomasmorris 23:07a368f2cdb1 342 _Anneal_Go_mutex.unlock();
thomasmorris 28:3193157ebb0c 343 _System_Running_mutex.lock();
thomasmorris 28:3193157ebb0c 344 _System_Running = 1;//Code is unpaused
thomasmorris 28:3193157ebb0c 345 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 346 }
thomasmorris 28:3193157ebb0c 347 else if (_Function == 1 & _System_Running == 2) //Testing selected to be re run
thomasmorris 23:07a368f2cdb1 348 {
thomasmorris 28:3193157ebb0c 349 _Test_Stop_mutex.lock();
thomasmorris 28:3193157ebb0c 350 _Test_Stop = false;
thomasmorris 28:3193157ebb0c 351 _Test_Stop_mutex.unlock();
thomasmorris 28:3193157ebb0c 352 printf("Testing Code unpaused\n");
thomasmorris 23:07a368f2cdb1 353 _Test_Go_mutex.lock();
thomasmorris 23:07a368f2cdb1 354 _Test_Go = true;//toggle and run the code
thomasmorris 23:07a368f2cdb1 355 _Test_Go_mutex.unlock();
thomasmorris 28:3193157ebb0c 356 _System_Running_mutex.lock();
thomasmorris 28:3193157ebb0c 357 _System_Running = 1;//Code is unpaused
thomasmorris 28:3193157ebb0c 358 _System_Running_mutex.unlock();
thomasmorris 16:9f98ec0ededb 359 }
thomasmorris 16:9f98ec0ededb 360 }
thomasmorris 17:68b3fdabe4c5 361 void INTERFACE::Function()//Function Routine used to increment through the three functions
thomasmorris 16:9f98ec0ededb 362 {
thomasmorris 17:68b3fdabe4c5 363 /*
thomasmorris 25:9751619fa030 364 Function 0 = Anneal
thomasmorris 25:9751619fa030 365 Function 1 = Test
thomasmorris 25:9751619fa030 366 Function 2 = Coiling
thomasmorris 25:9751619fa030 367 Function 3 = Twisting
thomasmorris 17:68b3fdabe4c5 368 */
thomasmorris 26:83550fc299aa 369 if(Type_of_Rig == 3)
thomasmorris 26:83550fc299aa 370 {
thomasmorris 26:83550fc299aa 371 if(_Function < 3)
thomasmorris 26:83550fc299aa 372 {
thomasmorris 26:83550fc299aa 373 if(_Function == 1)//Skip coiling
thomasmorris 26:83550fc299aa 374 {
thomasmorris 26:83550fc299aa 375 _Function_mutex.lock();
thomasmorris 26:83550fc299aa 376 _Function = _Function + 1;
thomasmorris 26:83550fc299aa 377 _Function_mutex.unlock();
thomasmorris 26:83550fc299aa 378 }
thomasmorris 26:83550fc299aa 379 _Function_mutex.lock();
thomasmorris 26:83550fc299aa 380 _Function = _Function + 1;
thomasmorris 26:83550fc299aa 381 _Function_mutex.unlock();
thomasmorris 26:83550fc299aa 382 }
thomasmorris 26:83550fc299aa 383 else if(_Function == 3)
thomasmorris 26:83550fc299aa 384 {
thomasmorris 26:83550fc299aa 385 _Function = 0;
thomasmorris 26:83550fc299aa 386 }
thomasmorris 26:83550fc299aa 387 }
thomasmorris 25:9751619fa030 388 if(Type_of_Rig == 2)
thomasmorris 25:9751619fa030 389 {
thomasmorris 25:9751619fa030 390 if(_Function < 2)
thomasmorris 25:9751619fa030 391 {
thomasmorris 25:9751619fa030 392 _Function_mutex.lock();
thomasmorris 26:83550fc299aa 393 _Function = _Function + 1;
thomasmorris 26:83550fc299aa 394 _Function_mutex.unlock();
thomasmorris 25:9751619fa030 395 }
thomasmorris 25:9751619fa030 396 else if(_Function == 2)
thomasmorris 25:9751619fa030 397 {
thomasmorris 26:83550fc299aa 398 _Function = 0;
thomasmorris 25:9751619fa030 399 }
thomasmorris 16:9f98ec0ededb 400 }
thomasmorris 16:9f98ec0ededb 401 }
thomasmorris 17:68b3fdabe4c5 402 void INTERFACE::Select()//Select Routine
thomasmorris 16:9f98ec0ededb 403 {
thomasmorris 23:07a368f2cdb1 404 _Select_mutex.lock();
thomasmorris 26:83550fc299aa 405 if(_Function == 0)//Anneal
thomasmorris 25:9751619fa030 406 {
thomasmorris 26:83550fc299aa 407 printf("Select Value is :%d\n",_Select);
thomasmorris 26:83550fc299aa 408 if(_Select == 2)
thomasmorris 26:83550fc299aa 409 {
thomasmorris 26:83550fc299aa 410 _Select = 0;
thomasmorris 26:83550fc299aa 411 }
thomasmorris 26:83550fc299aa 412 else if(_Select == 1)
thomasmorris 26:83550fc299aa 413 {
thomasmorris 26:83550fc299aa 414 _Select = 2;
thomasmorris 26:83550fc299aa 415 }
thomasmorris 26:83550fc299aa 416 else if(_Select == 0)
thomasmorris 26:83550fc299aa 417 {
thomasmorris 26:83550fc299aa 418 _Select = 1;
thomasmorris 26:83550fc299aa 419 }
thomasmorris 26:83550fc299aa 420 if(_Select == 0 || _Select == 2)
thomasmorris 26:83550fc299aa 421 {
thomasmorris 26:83550fc299aa 422 Led_Select_Left_mutex.lock();
thomasmorris 26:83550fc299aa 423 Led_Select_Left = 0;
thomasmorris 26:83550fc299aa 424 Led_Select_Left_mutex.unlock();
thomasmorris 26:83550fc299aa 425
thomasmorris 26:83550fc299aa 426 Led_Select_Right_mutex.lock();
thomasmorris 26:83550fc299aa 427 Led_Select_Right= 1;
thomasmorris 26:83550fc299aa 428 Led_Select_Right_mutex.unlock();
thomasmorris 26:83550fc299aa 429 }
thomasmorris 26:83550fc299aa 430 else if(_Select == 1)
thomasmorris 26:83550fc299aa 431 {
thomasmorris 26:83550fc299aa 432 Led_Select_Left_mutex.lock();
thomasmorris 26:83550fc299aa 433 Led_Select_Left = 1;
thomasmorris 26:83550fc299aa 434 Led_Select_Left_mutex.unlock();
thomasmorris 26:83550fc299aa 435
thomasmorris 26:83550fc299aa 436 Led_Select_Right_mutex.lock();
thomasmorris 26:83550fc299aa 437 Led_Select_Right= 0;
thomasmorris 26:83550fc299aa 438 Led_Select_Right_mutex.unlock();
thomasmorris 26:83550fc299aa 439 }
thomasmorris 26:83550fc299aa 440 printf("Select Value is :%d\n",_Select);
thomasmorris 25:9751619fa030 441 }
thomasmorris 26:83550fc299aa 442 else if(_Function == 1)//Test
thomasmorris 23:07a368f2cdb1 443 {
thomasmorris 26:83550fc299aa 444 if(_Select == 0)
thomasmorris 26:83550fc299aa 445 {
thomasmorris 26:83550fc299aa 446 _Select = 1;
thomasmorris 26:83550fc299aa 447 }
thomasmorris 26:83550fc299aa 448 else if(_Select == 1)
thomasmorris 26:83550fc299aa 449 {
thomasmorris 26:83550fc299aa 450 _Select = 0;
thomasmorris 26:83550fc299aa 451 }
thomasmorris 23:07a368f2cdb1 452
thomasmorris 26:83550fc299aa 453 if(_Select == 0)
thomasmorris 26:83550fc299aa 454 {
thomasmorris 26:83550fc299aa 455 Led_Select_Left_mutex.lock();
thomasmorris 26:83550fc299aa 456 Led_Select_Left = 0;
thomasmorris 26:83550fc299aa 457 Led_Select_Left_mutex.unlock();
thomasmorris 26:83550fc299aa 458
thomasmorris 26:83550fc299aa 459 Led_Select_Right_mutex.lock();
thomasmorris 26:83550fc299aa 460 Led_Select_Right= 1;
thomasmorris 26:83550fc299aa 461 Led_Select_Right_mutex.unlock();
thomasmorris 26:83550fc299aa 462 }
thomasmorris 26:83550fc299aa 463 else if(_Select ==1)
thomasmorris 26:83550fc299aa 464 {
thomasmorris 26:83550fc299aa 465 Led_Select_Left_mutex.lock();
thomasmorris 26:83550fc299aa 466 Led_Select_Left = 1;
thomasmorris 26:83550fc299aa 467 Led_Select_Left_mutex.unlock();
thomasmorris 26:83550fc299aa 468
thomasmorris 26:83550fc299aa 469 Led_Select_Right_mutex.lock();
thomasmorris 26:83550fc299aa 470 Led_Select_Right= 0;
thomasmorris 26:83550fc299aa 471 Led_Select_Right_mutex.unlock();
thomasmorris 26:83550fc299aa 472 }
thomasmorris 21:6d9f6a986647 473 }
thomasmorris 26:83550fc299aa 474 else if(_Function == 2 || _Function == 3)
thomasmorris 21:6d9f6a986647 475 {
thomasmorris 26:83550fc299aa 476 _Select = 0;
thomasmorris 23:07a368f2cdb1 477 Led_Select_Left_mutex.lock();
thomasmorris 21:6d9f6a986647 478 Led_Select_Left = 0;
thomasmorris 23:07a368f2cdb1 479 Led_Select_Left_mutex.unlock();
thomasmorris 23:07a368f2cdb1 480
thomasmorris 23:07a368f2cdb1 481 Led_Select_Right_mutex.lock();
thomasmorris 21:6d9f6a986647 482 Led_Select_Right= 1;
thomasmorris 26:83550fc299aa 483 Led_Select_Right_mutex.unlock();
thomasmorris 21:6d9f6a986647 484 }
thomasmorris 26:83550fc299aa 485 _Select_mutex.unlock();
thomasmorris 16:9f98ec0ededb 486 }
thomasmorris 17:68b3fdabe4c5 487 void INTERFACE::Interface_main()//Main Routine to execute commands when the start button has been pressed
thomasmorris 16:9f98ec0ededb 488 {
thomasmorris 28:3193157ebb0c 489 if (_Function == 2 || _Function == 3) //Turning Code for coiling and twisting
thomasmorris 16:9f98ec0ededb 490 {
thomasmorris 16:9f98ec0ededb 491 if (_Twist_Go == true)
thomasmorris 16:9f98ec0ededb 492 {
thomasmorris 23:07a368f2cdb1 493 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 494 Led_Power = 1;
thomasmorris 23:07a368f2cdb1 495 Led_Power_mutex.unlock();
thomasmorris 23:07a368f2cdb1 496
thomasmorris 23:07a368f2cdb1 497 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 498 _System_Running = 1;
thomasmorris 23:07a368f2cdb1 499 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 500
thomasmorris 25:9751619fa030 501 STEPPER_MOTOR_1.Rotate_Steps(_Turns_Todo,_Function);//Rotates for the specified number of steps given
thomasmorris 23:07a368f2cdb1 502
thomasmorris 23:07a368f2cdb1 503 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 504 _System_Running = 0;
thomasmorris 23:07a368f2cdb1 505 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 506
thomasmorris 23:07a368f2cdb1 507
thomasmorris 23:07a368f2cdb1 508 _Twist_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 509 _Twist_Go = false;
thomasmorris 23:07a368f2cdb1 510 _Twist_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 511
thomasmorris 23:07a368f2cdb1 512 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 513 Led_Power = 0;
thomasmorris 23:07a368f2cdb1 514 Led_Power_mutex.unlock();
thomasmorris 16:9f98ec0ededb 515 }
thomasmorris 16:9f98ec0ededb 516 }
thomasmorris 25:9751619fa030 517 else if (_Function == 0) //Annealing Code
thomasmorris 16:9f98ec0ededb 518 {
thomasmorris 16:9f98ec0ededb 519 if (_Anneal_Go == true)
thomasmorris 16:9f98ec0ededb 520 {
thomasmorris 23:07a368f2cdb1 521 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 522 Led_Power = 1;
thomasmorris 23:07a368f2cdb1 523 Led_Power_mutex.unlock();
thomasmorris 23:07a368f2cdb1 524
thomasmorris 23:07a368f2cdb1 525 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 526 _System_Running = 1;
thomasmorris 23:07a368f2cdb1 527 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 528
thomasmorris 16:9f98ec0ededb 529 for ( int counter = 0; counter < _Loop; counter++) //Loop value, check if works
thomasmorris 16:9f98ec0ededb 530 {
thomasmorris 23:07a368f2cdb1 531 if(_System_Running == 1)
thomasmorris 23:07a368f2cdb1 532 {
thomasmorris 23:07a368f2cdb1 533 _Tendon_mutex.lock();
thomasmorris 23:07a368f2cdb1 534 Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare
thomasmorris 23:07a368f2cdb1 535 Tendon_Power=1; // set duty cycle to 100%
thomasmorris 25:9751619fa030 536 _On_Time_mutex.lock();
thomasmorris 25:9751619fa030 537 wait(_On_Time);//Variable
thomasmorris 25:9751619fa030 538 _On_Time_mutex.unlock();
thomasmorris 23:07a368f2cdb1 539 Tendon_Power=0; // set duty cycle to 0%
thomasmorris 25:9751619fa030 540 _Off_Time_mutex.lock();
thomasmorris 25:9751619fa030 541 wait(_Off_Time);//Fixed off time
thomasmorris 25:9751619fa030 542 _Off_Time_mutex.unlock();
thomasmorris 23:07a368f2cdb1 543 _Tendon_mutex.unlock();
thomasmorris 23:07a368f2cdb1 544 }
thomasmorris 23:07a368f2cdb1 545 while(_System_Running == 2)//Stops the system and just spins in this while loop until system running is not paused
thomasmorris 23:07a368f2cdb1 546 {
thomasmorris 23:07a368f2cdb1 547 _Tendon_mutex.lock();
thomasmorris 23:07a368f2cdb1 548 Tendon_Power =0;
thomasmorris 23:07a368f2cdb1 549 _Tendon_mutex.unlock();
thomasmorris 23:07a368f2cdb1 550 }
thomasmorris 16:9f98ec0ededb 551 }
thomasmorris 23:07a368f2cdb1 552
thomasmorris 23:07a368f2cdb1 553 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 554 _System_Running = 0;
thomasmorris 23:07a368f2cdb1 555 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 556
thomasmorris 23:07a368f2cdb1 557 _Anneal_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 558 _Anneal_Go = false;
thomasmorris 23:07a368f2cdb1 559 _Anneal_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 560
thomasmorris 23:07a368f2cdb1 561 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 562 Led_Power = 0;
thomasmorris 23:07a368f2cdb1 563 Led_Power_mutex.unlock();
thomasmorris 16:9f98ec0ededb 564 }
thomasmorris 16:9f98ec0ededb 565 }
thomasmorris 25:9751619fa030 566 else if (_Function == 1) //Testing Code //This code is paused / unpaused in start / stop note this code is not paused it is re run.
thomasmorris 16:9f98ec0ededb 567 {
thomasmorris 16:9f98ec0ededb 568 if (_Test_Go == true)
thomasmorris 16:9f98ec0ededb 569 {
thomasmorris 23:07a368f2cdb1 570 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 571 Led_Power = 1;
thomasmorris 23:07a368f2cdb1 572 Led_Power_mutex.unlock();
thomasmorris 23:07a368f2cdb1 573
thomasmorris 23:07a368f2cdb1 574 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 575 _System_Running = 1;
thomasmorris 23:07a368f2cdb1 576 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 577
thomasmorris 23:07a368f2cdb1 578 _Tendon_mutex.lock();
thomasmorris 16:9f98ec0ededb 579 Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare
thomasmorris 16:9f98ec0ededb 580 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 581 wait(_Power_Time);//Variable on time for power on
thomasmorris 16:9f98ec0ededb 582 Tendon_Power=0; // set duty cycle to 0% and power off
thomasmorris 23:07a368f2cdb1 583 _Tendon_mutex.unlock();
thomasmorris 23:07a368f2cdb1 584
thomasmorris 23:07a368f2cdb1 585 _System_Running_mutex.lock();
thomasmorris 23:07a368f2cdb1 586 _System_Running = 0;
thomasmorris 23:07a368f2cdb1 587 _System_Running_mutex.unlock();
thomasmorris 23:07a368f2cdb1 588
thomasmorris 23:07a368f2cdb1 589 _Test_Go_mutex.lock();
thomasmorris 17:68b3fdabe4c5 590 _Test_Go = false;
thomasmorris 23:07a368f2cdb1 591 _Test_Go_mutex.unlock();
thomasmorris 23:07a368f2cdb1 592
thomasmorris 23:07a368f2cdb1 593 Led_Power_mutex.lock();
thomasmorris 21:6d9f6a986647 594 Led_Power = 0;
thomasmorris 23:07a368f2cdb1 595 Led_Power_mutex.unlock();
thomasmorris 16:9f98ec0ededb 596 }
thomasmorris 16:9f98ec0ededb 597 }
thomasmorris 16:9f98ec0ededb 598 }
thomasmorris 17:68b3fdabe4c5 599 //Setter functions
thomasmorris 23:07a368f2cdb1 600 void INTERFACE::Set_System_Running(int System_Running){_System_Running_mutex.lock(); _System_Running = System_Running; _System_Running_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 601 void INTERFACE::Set_Function(int Function){_Function_mutex.lock();_Function = Function;_Function_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 602 void INTERFACE::Set_Twist_Go(bool Twist_Go){_Twist_Go_mutex.lock();_Twist_Go = Twist_Go;_Twist_Go_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 603 void INTERFACE::Set_Anneal_Go(bool Anneal_Go){_Anneal_Go_mutex.lock();_Anneal_Go = Anneal_Go;_Anneal_Go_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 604 void INTERFACE::Set_Test_Go(bool Test_Go){_Test_Go_mutex.lock();_Test_Go = Test_Go;_Test_Go_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 605 void INTERFACE::Set_Twist_Stop(bool Twist_Stop){_Twist_Stop_mutex.lock();_Twist_Stop = Twist_Stop;_Twist_Stop_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 606 void INTERFACE::Set_Anneal_Stop(bool Anneal_Stop){_Anneal_Stop_mutex.lock();_Anneal_Stop = Anneal_Stop;_Anneal_Stop_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 607 void INTERFACE::Set_Test_Stop(bool Test_Stop){_Test_Stop_mutex.lock();_Test_Go = Test_Stop;_Test_Stop_mutex.unlock();}
thomasmorris 25:9751619fa030 608 void INTERFACE::Set_Select(int Select){_Select_mutex.lock();_Select = Select;_Select_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 609 void INTERFACE::Set_Turns_Done(int Turns_Done){_Turns_Done_mutex.lock();_Turns_Done = Turns_Done;_Turns_Done_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 610 void INTERFACE::Set_Turns_To_Do(int Turns_Todo){_Turns_Todo_mutex.lock();_Turns_Todo = Turns_Todo;_Turns_Todo_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 611 void INTERFACE::Set_Loop(int Loop){_Loop_mutex.lock();Loop = Loop;_Loop_mutex.unlock();}
thomasmorris 25:9751619fa030 612 void INTERFACE::Set_On_Time(int On_Time){_On_Time_mutex.lock();_On_Time = On_Time;_On_Time_mutex.unlock();}
thomasmorris 25:9751619fa030 613 void INTERFACE::Set_Off_Time(int Off_Time){_Off_Time_mutex.lock();_Off_Time = Off_Time;_Off_Time_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 614 void INTERFACE::Set_Duty_Cycle(int Duty_Cycle){_Duty_Cycle_mutex.lock();_Duty_Cycle = Duty_Cycle;_Duty_Cycle_mutex.unlock();}
thomasmorris 23:07a368f2cdb1 615 void INTERFACE::Set_Power_Time(float Power_Time){_Power_Time_mutex.lock();_Power_Time = Power_Time;_Power_Time_mutex.unlock();}
thomasmorris 17:68b3fdabe4c5 616 //Getter functions
thomasmorris 23:07a368f2cdb1 617 int INTERFACE::Get_System_Running(){return _System_Running;}
thomasmorris 23:07a368f2cdb1 618 int INTERFACE::Get_Function(){return _Function;}
thomasmorris 16:9f98ec0ededb 619 bool INTERFACE::Get_Twist_Go(){return _Twist_Go;}
thomasmorris 16:9f98ec0ededb 620 bool INTERFACE::Get_Anneal_Go(){return _Anneal_Go;}
thomasmorris 16:9f98ec0ededb 621 bool INTERFACE::Get_Test_Go(){return _Test_Go;}
thomasmorris 23:07a368f2cdb1 622 bool INTERFACE::Get_Twist_Stop(){return _Twist_Stop;}
thomasmorris 23:07a368f2cdb1 623 bool INTERFACE::Get_Anneal_Stop(){return _Anneal_Stop;}
thomasmorris 23:07a368f2cdb1 624 bool INTERFACE::Get_Test_Stop(){return _Test_Stop;}
thomasmorris 25:9751619fa030 625 int INTERFACE::Get_Select(){return _Select;}
thomasmorris 18:3523660f3930 626 int INTERFACE::Get_Turns_Done(){_Turns_Done = STEPPER_MOTOR_1.Get_Turns(); return _Turns_Done;}
thomasmorris 16:9f98ec0ededb 627 int INTERFACE::Get_Turns_To_Do(){return _Turns_Todo;}
thomasmorris 16:9f98ec0ededb 628 int INTERFACE::Get_Loop(){return _Loop;}
thomasmorris 25:9751619fa030 629 int INTERFACE::Get_On_Time(){return _On_Time;}
thomasmorris 25:9751619fa030 630 int INTERFACE::Get_Off_Time(){return _Off_Time;}
thomasmorris 16:9f98ec0ededb 631 int INTERFACE::Get_Duty_Cycle(){return _Duty_Cycle;}
thomasmorris 23:07a368f2cdb1 632 int INTERFACE::Get_Power_Time(){return _Power_Time;}