Thomas Morris / Mbed 2 deprecated Stacy

Testing 1 blue pill

Dependencies:   mbed mbed-rtos TextLCD

Interface/Interface.cpp@21:6d9f6a986647, 2019-02-14 (annotated)

Committer:
thomasmorris
Date:
Thu Feb 14 10:22:54 2019 +0000
Revision:
21:6d9f6a986647
Parent:
18:3523660f3930
Child:
23:07a368f2cdb1
Debounce code added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thomasmorris 16:9f98ec0ededb 1 #include "Interface.hpp" //Include the header file, this acts like a series of forward declarations
thomasmorris 16:9f98ec0ededb 2 PwmOut Tendon_Power(PE_8);
thomasmorris 16:9f98ec0ededb 3 //Constructor
thomasmorris 17:68b3fdabe4c5 4 INTERFACE::INTERFACE(int Default_Turns)//Set all values to 0
thomasmorris 16:9f98ec0ededb 5 {
thomasmorris 17:68b3fdabe4c5 6 _Turns_Todo = Default_Turns;
thomasmorris 16:9f98ec0ededb 7 }
thomasmorris 16:9f98ec0ededb 8 INTERFACE::~INTERFACE(){} //Destructor
thomasmorris 16:9f98ec0ededb 9 //Interrupt run functions
thomasmorris 17:68b3fdabe4c5 10 void INTERFACE::Interface_Init()//Set all values to 0 bar the default turns
thomasmorris 16:9f98ec0ededb 11 {
thomasmorris 17:68b3fdabe4c5 12 _No_Of_Rotations =20;
thomasmorris 17:68b3fdabe4c5 13 _Function =0;
thomasmorris 17:68b3fdabe4c5 14 _Twist_Go =0;
thomasmorris 17:68b3fdabe4c5 15 _Anneal_Go =0;
thomasmorris 17:68b3fdabe4c5 16 _Test_Go =0;
thomasmorris 17:68b3fdabe4c5 17 _Select =0;
thomasmorris 17:68b3fdabe4c5 18 _Turns_Done =0;
thomasmorris 17:68b3fdabe4c5 19 _Turns_Todo =20;
thomasmorris 17:68b3fdabe4c5 20 _Loop =0;
thomasmorris 17:68b3fdabe4c5 21 _Wait_Time =0;
thomasmorris 17:68b3fdabe4c5 22 _Duty_Cycle =0;
thomasmorris 17:68b3fdabe4c5 23 _Power_Time =0;
thomasmorris 16:9f98ec0ededb 24 }
thomasmorris 17:68b3fdabe4c5 25 void INTERFACE::Up()//Up Routine
thomasmorris 16:9f98ec0ededb 26 {
thomasmorris 17:68b3fdabe4c5 27 if (_Function == 0)//Turns Function
thomasmorris 16:9f98ec0ededb 28 {
thomasmorris 16:9f98ec0ededb 29 _No_Of_Rotations = _No_Of_Rotations + 1;//Increases Turn number
thomasmorris 16:9f98ec0ededb 30 _Turns_Todo = _No_Of_Rotations;
thomasmorris 16:9f98ec0ededb 31 }
thomasmorris 17:68b3fdabe4c5 32 else if (_Function == 1)//Annealing Function
thomasmorris 16:9f98ec0ededb 33 {
thomasmorris 17:68b3fdabe4c5 34 if (_Select == false)//Select = 0
thomasmorris 16:9f98ec0ededb 35 {
thomasmorris 16:9f98ec0ededb 36 _Loop = _Loop + 1; //Increases Repetitions in Annealing
thomasmorris 16:9f98ec0ededb 37 }
thomasmorris 17:68b3fdabe4c5 38 else if (_Select == true)//Select = 1
thomasmorris 16:9f98ec0ededb 39 {
thomasmorris 16:9f98ec0ededb 40 _Wait_Time = _Wait_Time + 1; //Increases Wait time
thomasmorris 16:9f98ec0ededb 41 }
thomasmorris 16:9f98ec0ededb 42 }
thomasmorris 17:68b3fdabe4c5 43 else if (_Function == 2)//Test Function
thomasmorris 16:9f98ec0ededb 44 {
thomasmorris 17:68b3fdabe4c5 45 if (_Select == false)//Select = 0
thomasmorris 16:9f98ec0ededb 46 {
thomasmorris 16:9f98ec0ededb 47 if (_Duty_Cycle < 100)
thomasmorris 16:9f98ec0ededb 48 {
thomasmorris 16:9f98ec0ededb 49 _Duty_Cycle = _Duty_Cycle + 10; //Increases Testing Duty Cycle
thomasmorris 16:9f98ec0ededb 50 }
thomasmorris 17:68b3fdabe4c5 51 else if (_Select == true)//Select = 1
thomasmorris 16:9f98ec0ededb 52 {
thomasmorris 16:9f98ec0ededb 53 _Power_Time = _Power_Time + 1; //Increases time on
thomasmorris 16:9f98ec0ededb 54 }
thomasmorris 16:9f98ec0ededb 55 }
thomasmorris 16:9f98ec0ededb 56 }
thomasmorris 16:9f98ec0ededb 57 }
thomasmorris 17:68b3fdabe4c5 58 void INTERFACE::Down()//Down Routine
thomasmorris 16:9f98ec0ededb 59 {
thomasmorris 17:68b3fdabe4c5 60 if (_Function == 0)//Turn Function
thomasmorris 16:9f98ec0ededb 61 {
thomasmorris 16:9f98ec0ededb 62 _No_Of_Rotations = _No_Of_Rotations - 1;
thomasmorris 16:9f98ec0ededb 63 _Turns_Todo = _No_Of_Rotations;
thomasmorris 16:9f98ec0ededb 64 }
thomasmorris 17:68b3fdabe4c5 65 else if (_Function == 1)//Anneal Function
thomasmorris 16:9f98ec0ededb 66 {
thomasmorris 17:68b3fdabe4c5 67 if (_Select == false)//Select = 0
thomasmorris 16:9f98ec0ededb 68 {
thomasmorris 21:6d9f6a986647 69
thomasmorris 16:9f98ec0ededb 70 if (_Loop > 0)
thomasmorris 16:9f98ec0ededb 71 {
thomasmorris 16:9f98ec0ededb 72 _Loop = _Loop - 1;
thomasmorris 16:9f98ec0ededb 73 }
thomasmorris 17:68b3fdabe4c5 74 else if (_Select == true)//Select = 1
thomasmorris 16:9f98ec0ededb 75 {
thomasmorris 16:9f98ec0ededb 76 if (_Wait_Time > 0)
thomasmorris 16:9f98ec0ededb 77 {
thomasmorris 16:9f98ec0ededb 78 _Wait_Time = _Wait_Time - 1;
thomasmorris 16:9f98ec0ededb 79 }
thomasmorris 16:9f98ec0ededb 80 }
thomasmorris 16:9f98ec0ededb 81 }
thomasmorris 16:9f98ec0ededb 82 }
thomasmorris 17:68b3fdabe4c5 83 else if (_Function == 2)//Test Function
thomasmorris 16:9f98ec0ededb 84 {
thomasmorris 17:68b3fdabe4c5 85 if (_Select == false)//Select = 0
thomasmorris 16:9f98ec0ededb 86 {
thomasmorris 16:9f98ec0ededb 87 if (_Duty_Cycle > 0)
thomasmorris 16:9f98ec0ededb 88 {
thomasmorris 16:9f98ec0ededb 89 _Duty_Cycle = _Duty_Cycle - 10; //Decreases duty
thomasmorris 16:9f98ec0ededb 90 }
thomasmorris 17:68b3fdabe4c5 91 else if (_Select == true)//Select = 1
thomasmorris 16:9f98ec0ededb 92 {
thomasmorris 16:9f98ec0ededb 93 if (_Power_Time > 0)
thomasmorris 16:9f98ec0ededb 94 {
thomasmorris 16:9f98ec0ededb 95 _Power_Time = _Power_Time - 1; //Decreases Time on
thomasmorris 16:9f98ec0ededb 96 }
thomasmorris 16:9f98ec0ededb 97 }
thomasmorris 16:9f98ec0ededb 98 }
thomasmorris 16:9f98ec0ededb 99 }
thomasmorris 16:9f98ec0ededb 100 }
thomasmorris 17:68b3fdabe4c5 101 void INTERFACE::Start_Stop()//Start / Stop Routine
thomasmorris 16:9f98ec0ededb 102 {
thomasmorris 16:9f98ec0ededb 103 if (_Function == 0)//Twist selected
thomasmorris 16:9f98ec0ededb 104 {
thomasmorris 17:68b3fdabe4c5 105 _Twist_Go = !_Twist_Go;//toggle used for coiling and twisting and Running the code
thomasmorris 16:9f98ec0ededb 106 }
thomasmorris 16:9f98ec0ededb 107 else if (_Function == 1) //Annealing selected
thomasmorris 16:9f98ec0ededb 108 {
thomasmorris 17:68b3fdabe4c5 109 _Anneal_Go = !_Anneal_Go;//toggle and Run the code
thomasmorris 16:9f98ec0ededb 110 }
thomasmorris 16:9f98ec0ededb 111 else if (_Function == 2) //Testing selected
thomasmorris 16:9f98ec0ededb 112 {
thomasmorris 17:68b3fdabe4c5 113 _Test_Go = !_Test_Go;//toggle and run the code
thomasmorris 16:9f98ec0ededb 114 }
thomasmorris 16:9f98ec0ededb 115 }
thomasmorris 17:68b3fdabe4c5 116 void INTERFACE::Function()//Function Routine used to increment through the three functions
thomasmorris 16:9f98ec0ededb 117 {
thomasmorris 17:68b3fdabe4c5 118 /*
thomasmorris 17:68b3fdabe4c5 119 Function 0 = Turn
thomasmorris 17:68b3fdabe4c5 120 Function 1 = Anneal
thomasmorris 17:68b3fdabe4c5 121 Function 2 = Test
thomasmorris 17:68b3fdabe4c5 122 */
thomasmorris 16:9f98ec0ededb 123 if (_Function < 2){
thomasmorris 16:9f98ec0ededb 124 _Function = _Function + 1;
thomasmorris 16:9f98ec0ededb 125 }
thomasmorris 16:9f98ec0ededb 126 else
thomasmorris 16:9f98ec0ededb 127 {
thomasmorris 16:9f98ec0ededb 128 _Function = 0;
thomasmorris 16:9f98ec0ededb 129 }
thomasmorris 16:9f98ec0ededb 130 }
thomasmorris 17:68b3fdabe4c5 131 void INTERFACE::Select()//Select Routine
thomasmorris 16:9f98ec0ededb 132 {
thomasmorris 17:68b3fdabe4c5 133 _Select = !_Select;//Toggle select to choose between two options e.g. Duty cycle and loops as only two options are avalible
thomasmorris 21:6d9f6a986647 134 if(_Select == false)
thomasmorris 21:6d9f6a986647 135 {
thomasmorris 21:6d9f6a986647 136 Led_Select_Left = 1;
thomasmorris 21:6d9f6a986647 137 Led_Select_Right= 0;
thomasmorris 21:6d9f6a986647 138 }
thomasmorris 21:6d9f6a986647 139 else
thomasmorris 21:6d9f6a986647 140 {
thomasmorris 21:6d9f6a986647 141 Led_Select_Left = 0;
thomasmorris 21:6d9f6a986647 142 Led_Select_Right= 1;
thomasmorris 21:6d9f6a986647 143 }
thomasmorris 17:68b3fdabe4c5 144 //Output to leds here dependant upon the select value e.g. 0 is left led and 1 is right led
thomasmorris 16:9f98ec0ededb 145 }
thomasmorris 17:68b3fdabe4c5 146 void INTERFACE::Interface_main()//Main Routine to execute commands when the start button has been pressed
thomasmorris 16:9f98ec0ededb 147 {
thomasmorris 16:9f98ec0ededb 148 if (_Function == 0) //Turning Code
thomasmorris 16:9f98ec0ededb 149 {
thomasmorris 16:9f98ec0ededb 150 if (_Twist_Go == true)
thomasmorris 16:9f98ec0ededb 151 {
thomasmorris 21:6d9f6a986647 152 Led_Power = 1;
thomasmorris 18:3523660f3930 153 //printf("20 Turns\n");
thomasmorris 17:68b3fdabe4c5 154 //STEPPER_MOTOR_1.Rotate_Steps(22);
thomasmorris 17:68b3fdabe4c5 155 STEPPER_MOTOR_1.Rotate_Steps(_Turns_Todo);//Rotates for the specified number of steps given
thomasmorris 17:68b3fdabe4c5 156 _Twist_Go = false;
thomasmorris 21:6d9f6a986647 157 Led_Power = 0;
thomasmorris 16:9f98ec0ededb 158 }
thomasmorris 16:9f98ec0ededb 159 }
thomasmorris 16:9f98ec0ededb 160 else if (_Function == 1) //Annealing Code
thomasmorris 16:9f98ec0ededb 161 {
thomasmorris 16:9f98ec0ededb 162 if (_Anneal_Go == true)
thomasmorris 16:9f98ec0ededb 163 {
thomasmorris 21:6d9f6a986647 164 Led_Power = 1;
thomasmorris 16:9f98ec0ededb 165 for ( int counter = 0; counter < _Loop; counter++) //Loop value, check if works
thomasmorris 16:9f98ec0ededb 166 {
thomasmorris 16:9f98ec0ededb 167 Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare
thomasmorris 16:9f98ec0ededb 168 Tendon_Power=1; // set duty cycle to 100%
thomasmorris 16:9f98ec0ededb 169 wait(_Wait_Time);//Variable
thomasmorris 16:9f98ec0ededb 170 Tendon_Power=0; // set duty cycle to 0%
thomasmorris 16:9f98ec0ededb 171 wait(6);//Fixed off time
thomasmorris 16:9f98ec0ededb 172 }
thomasmorris 17:68b3fdabe4c5 173 _Anneal_Go = false;
thomasmorris 21:6d9f6a986647 174 Led_Power = 0;
thomasmorris 16:9f98ec0ededb 175 }
thomasmorris 16:9f98ec0ededb 176 }
thomasmorris 16:9f98ec0ededb 177 else if (_Function == 2) //Testing Code
thomasmorris 16:9f98ec0ededb 178 {
thomasmorris 16:9f98ec0ededb 179 if (_Test_Go == true)
thomasmorris 16:9f98ec0ededb 180 {
thomasmorris 21:6d9f6a986647 181 Led_Power = 1;
thomasmorris 16:9f98ec0ededb 182 Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare
thomasmorris 16:9f98ec0ededb 183 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 184 wait(_Power_Time);//Variable on time for power on
thomasmorris 16:9f98ec0ededb 185 Tendon_Power=0; // set duty cycle to 0% and power off
thomasmorris 17:68b3fdabe4c5 186 _Test_Go = false;
thomasmorris 21:6d9f6a986647 187 Led_Power = 0;
thomasmorris 16:9f98ec0ededb 188 }
thomasmorris 16:9f98ec0ededb 189 }
thomasmorris 16:9f98ec0ededb 190 }
thomasmorris 17:68b3fdabe4c5 191 //Setter functions
thomasmorris 16:9f98ec0ededb 192 void INTERFACE::Set_No_Of_Rotations(int Rotations){_No_Of_Rotations = Rotations;}
thomasmorris 16:9f98ec0ededb 193 void INTERFACE::Set_Function(int Function){_Function = Function;}
thomasmorris 16:9f98ec0ededb 194 void INTERFACE::Set_Twist_Go(bool Twist_Go){_Twist_Go = Twist_Go;}
thomasmorris 16:9f98ec0ededb 195 void INTERFACE::Set_Anneal_Go(bool Anneal_Go){_Anneal_Go = Anneal_Go;}
thomasmorris 16:9f98ec0ededb 196 void INTERFACE::Set_Test_Go(bool Test_Go){_Test_Go = Test_Go;}
thomasmorris 16:9f98ec0ededb 197 void INTERFACE::Set_Select(bool Select){_Select = Select;}
thomasmorris 16:9f98ec0ededb 198 void INTERFACE::Set_Turns_Done(int Turns_Done){_Turns_Done = Turns_Done;}
thomasmorris 16:9f98ec0ededb 199 void INTERFACE::Set_Turns_To_Do(int Turns_Todo){_Turns_Todo = Turns_Todo;}
thomasmorris 16:9f98ec0ededb 200 void INTERFACE::Set_Loop(int Loop){Loop = Loop;}
thomasmorris 16:9f98ec0ededb 201 void INTERFACE::Set_Wait_Time(int Wait_Time){_Wait_Time = Wait_Time;}
thomasmorris 16:9f98ec0ededb 202 void INTERFACE::Set_Duty_Cycle(int Duty_Cycle){_Duty_Cycle = Duty_Cycle;}
thomasmorris 16:9f98ec0ededb 203 void INTERFACE::Set_Power_Time(float Power_Time){_Power_Time = Power_Time;}
thomasmorris 17:68b3fdabe4c5 204 //Getter functions
thomasmorris 16:9f98ec0ededb 205 int INTERFACE::Get_No_Of_Rotations(){return _No_Of_Rotations;}
thomasmorris 16:9f98ec0ededb 206 int INTERFACE::Get_Function(){return _Function;}
thomasmorris 16:9f98ec0ededb 207 bool INTERFACE::Get_Twist_Go(){return _Twist_Go;}
thomasmorris 16:9f98ec0ededb 208 bool INTERFACE::Get_Anneal_Go(){return _Anneal_Go;}
thomasmorris 16:9f98ec0ededb 209 bool INTERFACE::Get_Test_Go(){return _Test_Go;}
thomasmorris 16:9f98ec0ededb 210 bool INTERFACE::Get_Select(){return _Select;}
thomasmorris 18:3523660f3930 211 int INTERFACE::Get_Turns_Done(){_Turns_Done = STEPPER_MOTOR_1.Get_Turns(); return _Turns_Done;}
thomasmorris 18:3523660f3930 212 //int INTERFACE::Get_Turns_Done(){return _Turns_Done;}
thomasmorris 17:68b3fdabe4c5 213
thomasmorris 16:9f98ec0ededb 214 int INTERFACE::Get_Turns_To_Do(){return _Turns_Todo;}
thomasmorris 16:9f98ec0ededb 215 int INTERFACE::Get_Loop(){return _Loop;}
thomasmorris 16:9f98ec0ededb 216 int INTERFACE::Get_Wait_Time(){return _Wait_Time;}
thomasmorris 16:9f98ec0ededb 217 int INTERFACE::Get_Duty_Cycle(){return _Duty_Cycle;}
thomasmorris 16:9f98ec0ededb 218 int INTERFACE::Get_Power_Time(){return _Power_Time;}