Thomas Morris
Testing 1 blue pill
Dependencies: mbed mbed-rtos TextLCD
Diff: Interface/Interface.cpp
- Revision:
- 25:9751619fa030
- Parent:
- 24:728de4bf961e
- Child:
- 26:83550fc299aa
--- a/Interface/Interface.cpp Mon Feb 18 12:02:34 2019 +0000
+++ b/Interface/Interface.cpp Mon Feb 18 22:04:54 2019 +0000
@@ -1,11 +1,7 @@
#include "Interface.hpp" //Include the header file, this acts like a series of forward declarations
//Constructor
-INTERFACE::INTERFACE(int Default_Turns)//Set all values to 0 bar the turns to do which is passed through by the constructor being run
-{
- _Turns_Todo_mutex.lock();
- _Turns_Todo = Default_Turns;
- _Turns_Todo_mutex.unlock();
-}
+INTERFACE::INTERFACE(){}//Set all values to 0
+
INTERFACE::~INTERFACE(){} //Destructor
//Interrupt run functions
void INTERFACE::Interface_Init()//Set all values to 0 bar the default turns
@@ -19,7 +15,7 @@
Led_Select_Right_mutex.unlock();
_Function_mutex.lock();
- _Function =0;
+ _Function =2;
_Function_mutex.unlock();
_Twist_Go_mutex.lock();
@@ -43,16 +39,27 @@
_Turns_Done_mutex.unlock();
_Turns_Todo_mutex.lock();
- _Turns_Todo =_Turns_Todo;
+ if(Type_of_Rig == 2)
+ {
+ _Turns_Todo = Default_Coiling_Turns;
+ }
+ else if(Type_of_Rig == 3)
+ {
+ _Turns_Todo = Default_Twisting_Turns;
+ }
_Turns_Todo_mutex.unlock();
_Loop_mutex.lock();
- _Loop =0;
+ _Loop =6;
_Loop_mutex.unlock();
- _Wait_Time_mutex.lock();
- _Wait_Time =0;
- _Wait_Time_mutex.unlock();
+ _On_Time_mutex.lock();
+ _On_Time =6;
+ _On_Time_mutex.unlock();
+
+ _Off_Time_mutex.lock();
+ _Off_Time =6;
+ _Off_Time_mutex.unlock();
_Duty_Cycle_mutex.lock();
_Duty_Cycle =0;
@@ -89,30 +96,40 @@
}
void INTERFACE::Up()//Up Routine
{
- if (_Function == 0)//Turns Function
+ if (_Function == 2 || _Function == 3 )//Coiling or twist Function
{
_Turns_Todo_mutex.lock();
- _Turns_Todo = _Turns_Todo +1;//Increases Turn number
+ while(button_up.read() == 1)
+ {
+ _Turns_Todo = _Turns_Todo +1;
+ Thread::wait(100);
+ }
_Turns_Todo_mutex.unlock();
}
- else if (_Function == 1)//Annealing Function
+ else if (_Function == 0)//Annealing Function
{
- if (_Select == false)//Select = 0
+ if (_Select == 0)//Select = 0
{
_Loop_mutex.lock();
_Loop = _Loop + 1; //Increases Repetitions in Annealing
_Loop_mutex.unlock();
}
- else if (_Select == true)//Select = 1
+ else if (_Select == 1)//Select = 1
{
- _Wait_Time_mutex.lock();
- _Wait_Time = _Wait_Time + 1; //Increases Wait time
- _Wait_Time_mutex.unlock();
+ _On_Time_mutex.lock();
+ _On_Time = _On_Time + 1; //Increases On time
+ _On_Time_mutex.unlock();
+ }
+ else if (_Select == 2)//Select = 1
+ {
+ _Off_Time_mutex.lock();
+ _Off_Time = _On_Time + 1; //Increases Off time
+ _Off_Time_mutex.unlock();
}
}
- else if (_Function == 2)//Test Function
+ else if (_Function == 1)//Test Function
{
- if (_Select == false)//Select = 0
+ if (_Select == 0)//Select = 0
{
if (_Duty_Cycle < 100)
{
@@ -121,7 +138,7 @@
_Duty_Cycle_mutex.unlock();
}
}
- else if (_Select == true)//Select = 1
+ else if (_Select == 1)//Select = 1
{
_Power_Time_mutex.lock();
_Power_Time = _Power_Time + 1; //Increases time on
@@ -131,15 +148,19 @@
}
void INTERFACE::Down()//Down Routine
{
- if (_Function == 0)//Turn Function
- {
+ if (_Function == 2 || _Function == 3)//Coiling or twist Function
+ {
_Turns_Todo_mutex.lock();
- _Turns_Todo = _Turns_Todo -1;//Decrement Turn number
+ while(button_up.read() == 1)
+ {
+ _Turns_Todo = _Turns_Todo -1;
+ Thread::wait(100);
+ }
_Turns_Todo_mutex.unlock();
}
- else if (_Function == 1)//Anneal Function
+ else if (_Function == 0)//Anneal Function
{
- if (_Select == false)//Select = 0
+ if (_Select == 0)//Select = 0
{
if (_Loop > 0)
@@ -149,19 +170,22 @@
_Loop_mutex.unlock();
}
}
- else if (_Select == true)//Select = 1
+ else if (_Select == 1)//Select = 1
{
- if (_Wait_Time > 0)
- {
- _Wait_Time_mutex.lock();
- _Wait_Time = _Wait_Time - 1;
- _Wait_Time_mutex.unlock();
- }
+ _On_Time_mutex.lock();
+ _On_Time = _On_Time - 1; //Decrease On time
+ _On_Time_mutex.unlock();
+ }
+ else if (_Select == 2)//Select = 1
+ {
+ _Off_Time_mutex.lock();
+ _Off_Time = _On_Time - 1; //Decrements Off time
+ _Off_Time_mutex.unlock();
}
}
- else if (_Function == 2)//Test Function
+ else if (_Function == 1)//Test Function
{
- if (_Select == false)//Select = 0
+ if (_Select == 0)//Select = 0
{
if (_Duty_Cycle > 0)
{
@@ -170,7 +194,7 @@
_Duty_Cycle_mutex.unlock();
}
}
- else if (_Select == true)//Select = 1
+ else if (_Select == 1)//Select = 1
{
if (_Power_Time > 0)
{
@@ -193,9 +217,8 @@
printf("Function is: %d, System is: %d\n",_Function,_System_Running);
//System Running cases (Unpause)
- if (_Function == 0 & _System_Running == 2)//Twist selected to be unpasued
+ if ((_Function == 2 || _Function == 3) & _System_Running == 2)//Coil Twist selected to be unpaused
{
- printf("Twisting Code unpaused\n");
_Twist_Stop_mutex.lock();
_Twist_Stop = false;
_Twist_Stop_mutex.unlock();
@@ -206,11 +229,18 @@
STEPPER_MOTOR_1.Unpause_Code();
- printf("Twisting Code unpaused\n");
+ if(_Function == 2)//Coiling
+ {
+ printf("Coiling Code unpaused\n");
+ }
+ if(_Function == 3)//Twisiting
+ {
+ printf("Twisting Code unpaused\n");
+ }
_System_Running = 0;
}
- else if (_Function == 1 & _System_Running == 2) //Annealing selected to be unpaused
+ else if (_Function == 0 & _System_Running == 2) //Annealing selected to be unpaused
{
_Anneal_Stop_mutex.lock();
_Anneal_Stop = false;
@@ -222,7 +252,7 @@
_Anneal_Go_mutex.unlock();
_System_Running = 0;
}
- else if (_Function == 2 & _System_Running == 2) //Testing selected to be re run
+ else if (_Function == 1 & _System_Running == 2) //Testing selected to be re run
{
_Test_Stop_mutex.lock();
_Test_Stop = false;
@@ -235,18 +265,26 @@
}
//System Running cases (STOP)
- else if (_Function == 0 & _System_Running == 1)//Twist selected to be stopped
+ else if ((_Function == 2 || _Function == 3) & _System_Running == 1)//Coiling / Twisting selected to be stopped
{
_Twist_Stop_mutex.lock();
_Twist_Stop = true;
_Twist_Stop_mutex.unlock();
- printf("Twisting Code Paused\n");
+
+ if(_Function == 2)
+ {
+ printf("Coiling Code Paused\n");
+ }
+ if(_Function == 3)
+ {
+ printf("Twisting Code Paused\n");
+ }
_System_Running_mutex.lock();
_System_Running = 2;
_System_Running_mutex.unlock();
STEPPER_MOTOR_1.Pause_Code();
}
- else if (_Function == 1 & _System_Running == 1) //Annealing selected to be stopped
+ else if (_Function == 0 & _System_Running == 1) //Annealing selected to be stopped
{
_Anneal_Stop_mutex.lock();
_Anneal_Stop = true;
@@ -256,7 +294,7 @@
_System_Running = 2;
_System_Running_mutex.unlock();
}
- else if (_Function == 2 & _System_Running == 1) //Testing selected to be stopped
+ else if (_Function == 1 & _System_Running == 1) //Testing selected to be stopped
{
_Test_Stop_mutex.lock();
_Test_Stop = true;
@@ -273,19 +311,19 @@
_System_Running_mutex.unlock();
}
//Start Cases
- else if (_Function == 0 & _System_Running == 0)//Twist selected
+ else if ((_Function == 2 || _Function == 3) & _System_Running == 0)//Twist selected
{
_Twist_Go_mutex.lock();
_Twist_Go = true;//toggle used for coiling and twisting and Running the code
_Twist_Go_mutex.unlock();
}
- else if (_Function == 1 & _System_Running == 0) //Annealing selected
+ else if (_Function == 0 & _System_Running == 0) //Annealing selected
{
_Anneal_Go_mutex.lock();
_Anneal_Go = true;//toggle and Run the code
_Anneal_Go_mutex.unlock();
}
- else if (_Function == 2 & _System_Running == 0) //Testing selected
+ else if (_Function == 1 & _System_Running == 0) //Testing selected
{
_Test_Go_mutex.lock();
_Test_Go = true;//toggle and run the code
@@ -295,26 +333,68 @@
void INTERFACE::Function()//Function Routine used to increment through the three functions
{
/*
- Function 0 = Turn
- Function 1 = Anneal
- Function 2 = Test
+ Function 0 = Anneal
+ Function 1 = Test
+ Function 2 = Coiling
+ Function 3 = Twisting
*/
- if (_Function < 2){
- _Function_mutex.lock();
- _Function = _Function + 1;
- _Function_mutex.unlock();
+
+ if(Type_of_Rig == 2)
+ {
+ if(_Function < 2)
+ {
+ _Function_mutex.lock();
+ _Function = _Function + 1;
+ _Function_mutex.unlock();
+ }
+ else if(_Function == 2)
+ {
+ _Function_mutex.lock();
+ _Function = 0;
+ _Function_mutex.unlock();
+ }
}
- else
+ else if(Type_of_Rig == 3)
{
- _Function_mutex.lock();
- _Function = 0;
- _Function_mutex.unlock();
+ if(_Function == 3)
+ {
+ _Function_mutex.lock();
+ _Function = 0;
+ _Function_mutex.unlock();
+ }
+ else if(_Function < 2)
+ {
+ _Function_mutex.lock();
+ _Function = _Function + 1;
+ _Function_mutex.unlock();
+ }
+ else if(_Function == 2)
+ {
+ _Function_mutex.lock();
+ _Function = 3;
+ _Function_mutex.unlock();
+ }
}
}
void INTERFACE::Select()//Select Routine
{
_Select_mutex.lock();
- _Select = !_Select;//Toggle select to choose between two options e.g. Duty cycle and loops as only two options are avalible
+ if(_Select == 0 & _Function == !2)//All but anneal have 2 component menu's
+ {
+ _Select = 1;
+ }
+ else if(_Select == 1 & _Function == !2)//Toggle the value
+ {
+ _Select = 0;
+ }
+ else if(_Function == 1 & _Select < 2)
+ {
+ _Select = _Select + 1;
+ }
+ else if(_Select == 2 & _Function == 1)//Set select to 0 if the function is anneal, as anneal has 3 components in the menu
+ {
+ _Select = 0;
+ }
_Select_mutex.unlock();
if(_Function == 0)
{
@@ -322,7 +402,7 @@
Led_Select_Right = 1;
Led_Select_Left_mutex.unlock();
}
- else if(_Select == false)
+ else if(_Function == 1 & _Select == false)
{
Led_Select_Left_mutex.lock();
Led_Select_Left = 1;
@@ -332,7 +412,7 @@
Led_Select_Right= 0;
Led_Select_Right_mutex.unlock();
}
- else
+ else if(_Function == 1 & _Select == true)
{
Led_Select_Left_mutex.lock();
Led_Select_Left = 0;
@@ -342,11 +422,30 @@
Led_Select_Right= 1;
Led_Select_Right_mutex.unlock();
}
- //Output to leds here dependant upon the select value e.g. 0 is left led and 1 is right led
+ else if(_Function == 2 & _Select == false)
+ {
+ Led_Select_Left_mutex.lock();
+ Led_Select_Left = 1;
+ Led_Select_Left_mutex.unlock();
+
+ Led_Select_Right_mutex.lock();
+ Led_Select_Right= 0;
+ Led_Select_Right_mutex.unlock();
+ }
+ else if(_Function == 2 & _Select == true)
+ {
+ Led_Select_Left_mutex.lock();
+ Led_Select_Left = 0;
+ Led_Select_Left_mutex.unlock();
+
+ Led_Select_Right_mutex.lock();
+ Led_Select_Right= 1;
+ Led_Select_Right_mutex.unlock();
+ }
}
void INTERFACE::Interface_main()//Main Routine to execute commands when the start button has been pressed
{
- if (_Function == 0) //Turning Code
+ if (_Function == 2 || _Function == 3) //Turning Code
{
if (_Twist_Go == true)
{
@@ -358,7 +457,7 @@
_System_Running = 1;
_System_Running_mutex.unlock();
- STEPPER_MOTOR_1.Rotate_Steps(_Turns_Todo);//Rotates for the specified number of steps given
+ STEPPER_MOTOR_1.Rotate_Steps(_Turns_Todo,_Function);//Rotates for the specified number of steps given
_System_Running_mutex.lock();
_System_Running = 0;
@@ -374,7 +473,7 @@
Led_Power_mutex.unlock();
}
}
- else if (_Function == 1) //Annealing Code
+ else if (_Function == 0) //Annealing Code
{
if (_Anneal_Go == true)
{
@@ -393,9 +492,13 @@
_Tendon_mutex.lock();
Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare
Tendon_Power=1; // set duty cycle to 100%
- wait(_Wait_Time);//Variable
+ _On_Time_mutex.lock();
+ wait(_On_Time);//Variable
+ _On_Time_mutex.unlock();
Tendon_Power=0; // set duty cycle to 0%
- wait(6);//Fixed off time
+ _Off_Time_mutex.lock();
+ wait(_Off_Time);//Fixed off time
+ _Off_Time_mutex.unlock();
_Tendon_mutex.unlock();
}
while(_System_Running == 2)//Stops the system and just spins in this while loop until system running is not paused
@@ -419,7 +522,7 @@
Led_Power_mutex.unlock();
}
}
- else if (_Function == 2) //Testing Code //This code is paused / unpaused in start / stop note this code is not paused it is re run.
+ else if (_Function == 1) //Testing Code //This code is paused / unpaused in start / stop note this code is not paused it is re run.
{
if (_Test_Go == true)
{
@@ -461,11 +564,12 @@
void INTERFACE::Set_Twist_Stop(bool Twist_Stop){_Twist_Stop_mutex.lock();_Twist_Stop = Twist_Stop;_Twist_Stop_mutex.unlock();}
void INTERFACE::Set_Anneal_Stop(bool Anneal_Stop){_Anneal_Stop_mutex.lock();_Anneal_Stop = Anneal_Stop;_Anneal_Stop_mutex.unlock();}
void INTERFACE::Set_Test_Stop(bool Test_Stop){_Test_Stop_mutex.lock();_Test_Go = Test_Stop;_Test_Stop_mutex.unlock();}
-void INTERFACE::Set_Select(bool Select){_Select_mutex.lock();_Select = Select;_Select_mutex.unlock();}
+void INTERFACE::Set_Select(int Select){_Select_mutex.lock();_Select = Select;_Select_mutex.unlock();}
void INTERFACE::Set_Turns_Done(int Turns_Done){_Turns_Done_mutex.lock();_Turns_Done = Turns_Done;_Turns_Done_mutex.unlock();}
void INTERFACE::Set_Turns_To_Do(int Turns_Todo){_Turns_Todo_mutex.lock();_Turns_Todo = Turns_Todo;_Turns_Todo_mutex.unlock();}
void INTERFACE::Set_Loop(int Loop){_Loop_mutex.lock();Loop = Loop;_Loop_mutex.unlock();}
-void INTERFACE::Set_Wait_Time(int Wait_Time){_Wait_Time_mutex.lock();_Wait_Time = Wait_Time;_Wait_Time_mutex.unlock();}
+void INTERFACE::Set_On_Time(int On_Time){_On_Time_mutex.lock();_On_Time = On_Time;_On_Time_mutex.unlock();}
+void INTERFACE::Set_Off_Time(int Off_Time){_Off_Time_mutex.lock();_Off_Time = Off_Time;_Off_Time_mutex.unlock();}
void INTERFACE::Set_Duty_Cycle(int Duty_Cycle){_Duty_Cycle_mutex.lock();_Duty_Cycle = Duty_Cycle;_Duty_Cycle_mutex.unlock();}
void INTERFACE::Set_Power_Time(float Power_Time){_Power_Time_mutex.lock();_Power_Time = Power_Time;_Power_Time_mutex.unlock();}
//Getter functions
@@ -477,10 +581,11 @@
bool INTERFACE::Get_Twist_Stop(){return _Twist_Stop;}
bool INTERFACE::Get_Anneal_Stop(){return _Anneal_Stop;}
bool INTERFACE::Get_Test_Stop(){return _Test_Stop;}
-bool INTERFACE::Get_Select(){return _Select;}
+int INTERFACE::Get_Select(){return _Select;}
int INTERFACE::Get_Turns_Done(){_Turns_Done = STEPPER_MOTOR_1.Get_Turns(); return _Turns_Done;}
int INTERFACE::Get_Turns_To_Do(){return _Turns_Todo;}
int INTERFACE::Get_Loop(){return _Loop;}
-int INTERFACE::Get_Wait_Time(){return _Wait_Time;}
+int INTERFACE::Get_On_Time(){return _On_Time;}
+int INTERFACE::Get_Off_Time(){return _Off_Time;}
int INTERFACE::Get_Duty_Cycle(){return _Duty_Cycle;}
int INTERFACE::Get_Power_Time(){return _Power_Time;}
\ No newline at end of file