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Testing 1 blue pill
Dependencies: mbed mbed-rtos TextLCD
Interface/Interface.cpp@24:728de4bf961e, 2019-02-18 (annotated)
- Committer:
- thomasmorris
- Date:
- Mon Feb 18 12:02:34 2019 +0000
- Revision:
- 24:728de4bf961e
- Parent:
- 23:07a368f2cdb1
- Child:
- 25:9751619fa030
Working Code(start + stop)
Who changed what in which revision?
User | Revision | Line number | New 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 | 24:728de4bf961e | 13 | Led_Select_Left_mutex.lock(); |
thomasmorris | 24:728de4bf961e | 14 | Led_Select_Left = 0; |
thomasmorris | 24:728de4bf961e | 15 | Led_Select_Left_mutex.unlock(); |
thomasmorris | 24:728de4bf961e | 16 | |
thomasmorris | 24:728de4bf961e | 17 | Led_Select_Right_mutex.lock(); |
thomasmorris | 24:728de4bf961e | 18 | Led_Select_Right= 0; |
thomasmorris | 24:728de4bf961e | 19 | Led_Select_Right_mutex.unlock(); |
thomasmorris | 24:728de4bf961e | 20 | |
thomasmorris | 23:07a368f2cdb1 | 21 | _Function_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 22 | _Function =0; |
thomasmorris | 23:07a368f2cdb1 | 23 | _Function_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 24 | |
thomasmorris | 23:07a368f2cdb1 | 25 | _Twist_Go_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 26 | _Twist_Go =0; |
thomasmorris | 23:07a368f2cdb1 | 27 | _Twist_Go_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 28 | |
thomasmorris | 23:07a368f2cdb1 | 29 | _Anneal_Go_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 30 | _Anneal_Go =0; |
thomasmorris | 23:07a368f2cdb1 | 31 | _Anneal_Go_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 32 | |
thomasmorris | 23:07a368f2cdb1 | 33 | _Test_Go_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 34 | _Test_Go =0; |
thomasmorris | 23:07a368f2cdb1 | 35 | _Test_Go_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 36 | |
thomasmorris | 23:07a368f2cdb1 | 37 | _Select_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 38 | _Select =0; |
thomasmorris | 23:07a368f2cdb1 | 39 | _Select_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 40 | |
thomasmorris | 23:07a368f2cdb1 | 41 | _Turns_Done_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 42 | _Turns_Done =0; |
thomasmorris | 23:07a368f2cdb1 | 43 | _Turns_Done_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 44 | |
thomasmorris | 23:07a368f2cdb1 | 45 | _Turns_Todo_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 46 | _Turns_Todo =_Turns_Todo; |
thomasmorris | 23:07a368f2cdb1 | 47 | _Turns_Todo_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 48 | |
thomasmorris | 23:07a368f2cdb1 | 49 | _Loop_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 50 | _Loop =0; |
thomasmorris | 23:07a368f2cdb1 | 51 | _Loop_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 52 | |
thomasmorris | 23:07a368f2cdb1 | 53 | _Wait_Time_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 54 | _Wait_Time =0; |
thomasmorris | 23:07a368f2cdb1 | 55 | _Wait_Time_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 56 | |
thomasmorris | 23:07a368f2cdb1 | 57 | _Duty_Cycle_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 58 | _Duty_Cycle =0; |
thomasmorris | 23:07a368f2cdb1 | 59 | _Duty_Cycle_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 60 | |
thomasmorris | 23:07a368f2cdb1 | 61 | _Power_Time_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 62 | _Power_Time =0; |
thomasmorris | 23:07a368f2cdb1 | 63 | _Power_Time_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 64 | |
thomasmorris | 23:07a368f2cdb1 | 65 | Led_Select_Left_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 66 | Led_Select_Left = 0; |
thomasmorris | 23:07a368f2cdb1 | 67 | Led_Select_Left_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 68 | |
thomasmorris | 23:07a368f2cdb1 | 69 | Led_Select_Right_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 70 | Led_Select_Right= 0; |
thomasmorris | 23:07a368f2cdb1 | 71 | Led_Select_Right_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 72 | |
thomasmorris | 23:07a368f2cdb1 | 73 | Led_Power_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 74 | Led_Power =0; |
thomasmorris | 23:07a368f2cdb1 | 75 | Led_Power_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 76 | |
thomasmorris | 23:07a368f2cdb1 | 77 | _System_Running_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 78 | _System_Running =0; |
thomasmorris | 23:07a368f2cdb1 | 79 | _System_Running_mutex.unlock(); |
thomasmorris | 24:728de4bf961e | 80 | |
thomasmorris | 24:728de4bf961e | 81 | |
thomasmorris | 24:728de4bf961e | 82 | Led_Select_Left_mutex.lock(); |
thomasmorris | 24:728de4bf961e | 83 | Led_Select_Left = 0; |
thomasmorris | 24:728de4bf961e | 84 | Led_Select_Left_mutex.unlock(); |
thomasmorris | 24:728de4bf961e | 85 | |
thomasmorris | 24:728de4bf961e | 86 | Led_Select_Right_mutex.lock(); |
thomasmorris | 24:728de4bf961e | 87 | Led_Select_Right= 1; |
thomasmorris | 24:728de4bf961e | 88 | Led_Select_Right_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 89 | } |
thomasmorris | 17:68b3fdabe4c5 | 90 | void INTERFACE::Up()//Up Routine |
thomasmorris | 16:9f98ec0ededb | 91 | { |
thomasmorris | 17:68b3fdabe4c5 | 92 | if (_Function == 0)//Turns Function |
thomasmorris | 16:9f98ec0ededb | 93 | { |
thomasmorris | 23:07a368f2cdb1 | 94 | _Turns_Todo_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 95 | _Turns_Todo = _Turns_Todo +1;//Increases Turn number |
thomasmorris | 23:07a368f2cdb1 | 96 | _Turns_Todo_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 97 | } |
thomasmorris | 17:68b3fdabe4c5 | 98 | else if (_Function == 1)//Annealing Function |
thomasmorris | 16:9f98ec0ededb | 99 | { |
thomasmorris | 17:68b3fdabe4c5 | 100 | if (_Select == false)//Select = 0 |
thomasmorris | 23:07a368f2cdb1 | 101 | { |
thomasmorris | 23:07a368f2cdb1 | 102 | _Loop_mutex.lock(); |
thomasmorris | 16:9f98ec0ededb | 103 | _Loop = _Loop + 1; //Increases Repetitions in Annealing |
thomasmorris | 23:07a368f2cdb1 | 104 | _Loop_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 105 | } |
thomasmorris | 17:68b3fdabe4c5 | 106 | else if (_Select == true)//Select = 1 |
thomasmorris | 16:9f98ec0ededb | 107 | { |
thomasmorris | 23:07a368f2cdb1 | 108 | _Wait_Time_mutex.lock(); |
thomasmorris | 16:9f98ec0ededb | 109 | _Wait_Time = _Wait_Time + 1; //Increases Wait time |
thomasmorris | 23:07a368f2cdb1 | 110 | _Wait_Time_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 111 | } |
thomasmorris | 16:9f98ec0ededb | 112 | } |
thomasmorris | 17:68b3fdabe4c5 | 113 | else if (_Function == 2)//Test Function |
thomasmorris | 16:9f98ec0ededb | 114 | { |
thomasmorris | 17:68b3fdabe4c5 | 115 | if (_Select == false)//Select = 0 |
thomasmorris | 16:9f98ec0ededb | 116 | { |
thomasmorris | 16:9f98ec0ededb | 117 | if (_Duty_Cycle < 100) |
thomasmorris | 16:9f98ec0ededb | 118 | { |
thomasmorris | 23:07a368f2cdb1 | 119 | _Duty_Cycle_mutex.lock(); |
thomasmorris | 16:9f98ec0ededb | 120 | _Duty_Cycle = _Duty_Cycle + 10; //Increases Testing Duty Cycle |
thomasmorris | 23:07a368f2cdb1 | 121 | _Duty_Cycle_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 122 | } |
thomasmorris | 24:728de4bf961e | 123 | } |
thomasmorris | 24:728de4bf961e | 124 | else if (_Select == true)//Select = 1 |
thomasmorris | 24:728de4bf961e | 125 | { |
thomasmorris | 24:728de4bf961e | 126 | _Power_Time_mutex.lock(); |
thomasmorris | 24:728de4bf961e | 127 | _Power_Time = _Power_Time + 1; //Increases time on |
thomasmorris | 24:728de4bf961e | 128 | _Power_Time_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 129 | } |
thomasmorris | 16:9f98ec0ededb | 130 | } |
thomasmorris | 16:9f98ec0ededb | 131 | } |
thomasmorris | 17:68b3fdabe4c5 | 132 | void INTERFACE::Down()//Down Routine |
thomasmorris | 16:9f98ec0ededb | 133 | { |
thomasmorris | 17:68b3fdabe4c5 | 134 | if (_Function == 0)//Turn Function |
thomasmorris | 16:9f98ec0ededb | 135 | { |
thomasmorris | 23:07a368f2cdb1 | 136 | _Turns_Todo_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 137 | _Turns_Todo = _Turns_Todo -1;//Decrement Turn number |
thomasmorris | 23:07a368f2cdb1 | 138 | _Turns_Todo_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 139 | } |
thomasmorris | 17:68b3fdabe4c5 | 140 | else if (_Function == 1)//Anneal Function |
thomasmorris | 16:9f98ec0ededb | 141 | { |
thomasmorris | 17:68b3fdabe4c5 | 142 | if (_Select == false)//Select = 0 |
thomasmorris | 16:9f98ec0ededb | 143 | { |
thomasmorris | 21:6d9f6a986647 | 144 | |
thomasmorris | 16:9f98ec0ededb | 145 | if (_Loop > 0) |
thomasmorris | 16:9f98ec0ededb | 146 | { |
thomasmorris | 23:07a368f2cdb1 | 147 | _Loop_mutex.lock(); |
thomasmorris | 16:9f98ec0ededb | 148 | _Loop = _Loop - 1; |
thomasmorris | 23:07a368f2cdb1 | 149 | _Loop_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 150 | } |
thomasmorris | 24:728de4bf961e | 151 | } |
thomasmorris | 24:728de4bf961e | 152 | else if (_Select == true)//Select = 1 |
thomasmorris | 24:728de4bf961e | 153 | { |
thomasmorris | 24:728de4bf961e | 154 | if (_Wait_Time > 0) |
thomasmorris | 16:9f98ec0ededb | 155 | { |
thomasmorris | 24:728de4bf961e | 156 | _Wait_Time_mutex.lock(); |
thomasmorris | 24:728de4bf961e | 157 | _Wait_Time = _Wait_Time - 1; |
thomasmorris | 24:728de4bf961e | 158 | _Wait_Time_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 159 | } |
thomasmorris | 16:9f98ec0ededb | 160 | } |
thomasmorris | 16:9f98ec0ededb | 161 | } |
thomasmorris | 17:68b3fdabe4c5 | 162 | else if (_Function == 2)//Test Function |
thomasmorris | 16:9f98ec0ededb | 163 | { |
thomasmorris | 17:68b3fdabe4c5 | 164 | if (_Select == false)//Select = 0 |
thomasmorris | 16:9f98ec0ededb | 165 | { |
thomasmorris | 16:9f98ec0ededb | 166 | if (_Duty_Cycle > 0) |
thomasmorris | 16:9f98ec0ededb | 167 | { |
thomasmorris | 23:07a368f2cdb1 | 168 | _Duty_Cycle_mutex.lock(); |
thomasmorris | 16:9f98ec0ededb | 169 | _Duty_Cycle = _Duty_Cycle - 10; //Decreases duty |
thomasmorris | 23:07a368f2cdb1 | 170 | _Duty_Cycle_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 171 | } |
thomasmorris | 24:728de4bf961e | 172 | } |
thomasmorris | 24:728de4bf961e | 173 | else if (_Select == true)//Select = 1 |
thomasmorris | 24:728de4bf961e | 174 | { |
thomasmorris | 24:728de4bf961e | 175 | if (_Power_Time > 0) |
thomasmorris | 16:9f98ec0ededb | 176 | { |
thomasmorris | 24:728de4bf961e | 177 | _Power_Time_mutex.lock(); |
thomasmorris | 24:728de4bf961e | 178 | _Power_Time = _Power_Time - 1; //Decreases Time on |
thomasmorris | 24:728de4bf961e | 179 | _Power_Time_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 180 | } |
thomasmorris | 16:9f98ec0ededb | 181 | } |
thomasmorris | 24:728de4bf961e | 182 | |
thomasmorris | 16:9f98ec0ededb | 183 | } |
thomasmorris | 16:9f98ec0ededb | 184 | } |
thomasmorris | 17:68b3fdabe4c5 | 185 | void INTERFACE::Start_Stop()//Start / Stop Routine |
thomasmorris | 16:9f98ec0ededb | 186 | { |
thomasmorris | 24:728de4bf961e | 187 | |
thomasmorris | 24:728de4bf961e | 188 | if(_System_Running != 2) |
thomasmorris | 24:728de4bf961e | 189 | { |
thomasmorris | 24:728de4bf961e | 190 | _System_Running = !_System_Running; |
thomasmorris | 24:728de4bf961e | 191 | } |
thomasmorris | 23:07a368f2cdb1 | 192 | //System not running cases (START) |
thomasmorris | 24:728de4bf961e | 193 | printf("Function is: %d, System is: %d\n",_Function,_System_Running); |
thomasmorris | 24:728de4bf961e | 194 | |
thomasmorris | 24:728de4bf961e | 195 | //System Running cases (Unpause) |
thomasmorris | 24:728de4bf961e | 196 | if (_Function == 0 & _System_Running == 2)//Twist selected to be unpasued |
thomasmorris | 23:07a368f2cdb1 | 197 | { |
thomasmorris | 24:728de4bf961e | 198 | printf("Twisting Code unpaused\n"); |
thomasmorris | 24:728de4bf961e | 199 | _Twist_Stop_mutex.lock(); |
thomasmorris | 24:728de4bf961e | 200 | _Twist_Stop = false; |
thomasmorris | 24:728de4bf961e | 201 | _Twist_Stop_mutex.unlock(); |
thomasmorris | 24:728de4bf961e | 202 | |
thomasmorris | 23:07a368f2cdb1 | 203 | _Twist_Go_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 204 | _Twist_Go = true;//toggle used for coiling and twisting and Running the code |
thomasmorris | 23:07a368f2cdb1 | 205 | _Twist_Go_mutex.unlock(); |
thomasmorris | 24:728de4bf961e | 206 | |
thomasmorris | 24:728de4bf961e | 207 | STEPPER_MOTOR_1.Unpause_Code(); |
thomasmorris | 24:728de4bf961e | 208 | |
thomasmorris | 24:728de4bf961e | 209 | printf("Twisting Code unpaused\n"); |
thomasmorris | 24:728de4bf961e | 210 | _System_Running = 0; |
thomasmorris | 24:728de4bf961e | 211 | |
thomasmorris | 23:07a368f2cdb1 | 212 | } |
thomasmorris | 24:728de4bf961e | 213 | else if (_Function == 1 & _System_Running == 2) //Annealing selected to be unpaused |
thomasmorris | 23:07a368f2cdb1 | 214 | { |
thomasmorris | 24:728de4bf961e | 215 | _Anneal_Stop_mutex.lock(); |
thomasmorris | 24:728de4bf961e | 216 | _Anneal_Stop = false; |
thomasmorris | 24:728de4bf961e | 217 | _Anneal_Stop_mutex.unlock(); |
thomasmorris | 24:728de4bf961e | 218 | printf("Annealing Code unpaused\n"); |
thomasmorris | 24:728de4bf961e | 219 | |
thomasmorris | 23:07a368f2cdb1 | 220 | _Anneal_Go_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 221 | _Anneal_Go = true;//toggle and Run the code |
thomasmorris | 23:07a368f2cdb1 | 222 | _Anneal_Go_mutex.unlock(); |
thomasmorris | 24:728de4bf961e | 223 | _System_Running = 0; |
thomasmorris | 23:07a368f2cdb1 | 224 | } |
thomasmorris | 24:728de4bf961e | 225 | else if (_Function == 2 & _System_Running == 2) //Testing selected to be re run |
thomasmorris | 16:9f98ec0ededb | 226 | { |
thomasmorris | 24:728de4bf961e | 227 | _Test_Stop_mutex.lock(); |
thomasmorris | 24:728de4bf961e | 228 | _Test_Stop = false; |
thomasmorris | 24:728de4bf961e | 229 | _Test_Stop_mutex.unlock(); |
thomasmorris | 24:728de4bf961e | 230 | printf("Testing Code unpaused\n"); |
thomasmorris | 23:07a368f2cdb1 | 231 | _Test_Go_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 232 | _Test_Go = true;//toggle and run the code |
thomasmorris | 23:07a368f2cdb1 | 233 | _Test_Go_mutex.unlock(); |
thomasmorris | 24:728de4bf961e | 234 | _System_Running = 0; |
thomasmorris | 24:728de4bf961e | 235 | |
thomasmorris | 16:9f98ec0ededb | 236 | } |
thomasmorris | 23:07a368f2cdb1 | 237 | //System Running cases (STOP) |
thomasmorris | 23:07a368f2cdb1 | 238 | else if (_Function == 0 & _System_Running == 1)//Twist selected to be stopped |
thomasmorris | 23:07a368f2cdb1 | 239 | { |
thomasmorris | 23:07a368f2cdb1 | 240 | _Twist_Stop_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 241 | _Twist_Stop = true; |
thomasmorris | 23:07a368f2cdb1 | 242 | _Twist_Stop_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 243 | printf("Twisting Code Paused\n"); |
thomasmorris | 23:07a368f2cdb1 | 244 | _System_Running_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 245 | _System_Running = 2; |
thomasmorris | 23:07a368f2cdb1 | 246 | _System_Running_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 247 | STEPPER_MOTOR_1.Pause_Code(); |
thomasmorris | 23:07a368f2cdb1 | 248 | } |
thomasmorris | 23:07a368f2cdb1 | 249 | else if (_Function == 1 & _System_Running == 1) //Annealing selected to be stopped |
thomasmorris | 23:07a368f2cdb1 | 250 | { |
thomasmorris | 23:07a368f2cdb1 | 251 | _Anneal_Stop_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 252 | _Anneal_Stop = true; |
thomasmorris | 23:07a368f2cdb1 | 253 | _Anneal_Stop_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 254 | printf("Annealing Code Paused\n"); |
thomasmorris | 23:07a368f2cdb1 | 255 | _System_Running_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 256 | _System_Running = 2; |
thomasmorris | 23:07a368f2cdb1 | 257 | _System_Running_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 258 | } |
thomasmorris | 23:07a368f2cdb1 | 259 | else if (_Function == 2 & _System_Running == 1) //Testing selected to be stopped |
thomasmorris | 16:9f98ec0ededb | 260 | { |
thomasmorris | 23:07a368f2cdb1 | 261 | _Test_Stop_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 262 | _Test_Stop = true; |
thomasmorris | 23:07a368f2cdb1 | 263 | _Test_Stop_mutex.unlock(); |
thomasmorris | 24:728de4bf961e | 264 | |
thomasmorris | 23:07a368f2cdb1 | 265 | printf("Testing Code Paused\n"); |
thomasmorris | 24:728de4bf961e | 266 | |
thomasmorris | 23:07a368f2cdb1 | 267 | _Tendon_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 268 | Tendon_Power=0; |
thomasmorris | 23:07a368f2cdb1 | 269 | _Tendon_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 270 | |
thomasmorris | 23:07a368f2cdb1 | 271 | _System_Running_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 272 | _System_Running = 2; |
thomasmorris | 23:07a368f2cdb1 | 273 | _System_Running_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 274 | } |
thomasmorris | 24:728de4bf961e | 275 | //Start Cases |
thomasmorris | 24:728de4bf961e | 276 | else if (_Function == 0 & _System_Running == 0)//Twist selected |
thomasmorris | 23:07a368f2cdb1 | 277 | { |
thomasmorris | 23:07a368f2cdb1 | 278 | _Twist_Go_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 279 | _Twist_Go = true;//toggle used for coiling and twisting and Running the code |
thomasmorris | 23:07a368f2cdb1 | 280 | _Twist_Go_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 281 | } |
thomasmorris | 24:728de4bf961e | 282 | else if (_Function == 1 & _System_Running == 0) //Annealing selected |
thomasmorris | 16:9f98ec0ededb | 283 | { |
thomasmorris | 23:07a368f2cdb1 | 284 | _Anneal_Go_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 285 | _Anneal_Go = true;//toggle and Run the code |
thomasmorris | 23:07a368f2cdb1 | 286 | _Anneal_Go_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 287 | } |
thomasmorris | 24:728de4bf961e | 288 | else if (_Function == 2 & _System_Running == 0) //Testing selected |
thomasmorris | 23:07a368f2cdb1 | 289 | { |
thomasmorris | 23:07a368f2cdb1 | 290 | _Test_Go_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 291 | _Test_Go = true;//toggle and run the code |
thomasmorris | 23:07a368f2cdb1 | 292 | _Test_Go_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 293 | } |
thomasmorris | 16:9f98ec0ededb | 294 | } |
thomasmorris | 17:68b3fdabe4c5 | 295 | void INTERFACE::Function()//Function Routine used to increment through the three functions |
thomasmorris | 16:9f98ec0ededb | 296 | { |
thomasmorris | 17:68b3fdabe4c5 | 297 | /* |
thomasmorris | 17:68b3fdabe4c5 | 298 | Function 0 = Turn |
thomasmorris | 17:68b3fdabe4c5 | 299 | Function 1 = Anneal |
thomasmorris | 17:68b3fdabe4c5 | 300 | Function 2 = Test |
thomasmorris | 17:68b3fdabe4c5 | 301 | */ |
thomasmorris | 16:9f98ec0ededb | 302 | if (_Function < 2){ |
thomasmorris | 23:07a368f2cdb1 | 303 | _Function_mutex.lock(); |
thomasmorris | 16:9f98ec0ededb | 304 | _Function = _Function + 1; |
thomasmorris | 23:07a368f2cdb1 | 305 | _Function_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 306 | } |
thomasmorris | 16:9f98ec0ededb | 307 | else |
thomasmorris | 16:9f98ec0ededb | 308 | { |
thomasmorris | 23:07a368f2cdb1 | 309 | _Function_mutex.lock(); |
thomasmorris | 16:9f98ec0ededb | 310 | _Function = 0; |
thomasmorris | 23:07a368f2cdb1 | 311 | _Function_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 312 | } |
thomasmorris | 16:9f98ec0ededb | 313 | } |
thomasmorris | 17:68b3fdabe4c5 | 314 | void INTERFACE::Select()//Select Routine |
thomasmorris | 16:9f98ec0ededb | 315 | { |
thomasmorris | 23:07a368f2cdb1 | 316 | _Select_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 317 | _Select = !_Select;//Toggle select to choose between two options e.g. Duty cycle and loops as only two options are avalible |
thomasmorris | 23:07a368f2cdb1 | 318 | _Select_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 319 | if(_Function == 0) |
thomasmorris | 21:6d9f6a986647 | 320 | { |
thomasmorris | 23:07a368f2cdb1 | 321 | Led_Select_Left_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 322 | Led_Select_Right = 1; |
thomasmorris | 23:07a368f2cdb1 | 323 | Led_Select_Left_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 324 | } |
thomasmorris | 23:07a368f2cdb1 | 325 | else if(_Select == false) |
thomasmorris | 23:07a368f2cdb1 | 326 | { |
thomasmorris | 23:07a368f2cdb1 | 327 | Led_Select_Left_mutex.lock(); |
thomasmorris | 21:6d9f6a986647 | 328 | Led_Select_Left = 1; |
thomasmorris | 23:07a368f2cdb1 | 329 | Led_Select_Left_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 330 | |
thomasmorris | 23:07a368f2cdb1 | 331 | Led_Select_Right_mutex.lock(); |
thomasmorris | 21:6d9f6a986647 | 332 | Led_Select_Right= 0; |
thomasmorris | 23:07a368f2cdb1 | 333 | Led_Select_Right_mutex.unlock(); |
thomasmorris | 21:6d9f6a986647 | 334 | } |
thomasmorris | 21:6d9f6a986647 | 335 | else |
thomasmorris | 21:6d9f6a986647 | 336 | { |
thomasmorris | 23:07a368f2cdb1 | 337 | Led_Select_Left_mutex.lock(); |
thomasmorris | 21:6d9f6a986647 | 338 | Led_Select_Left = 0; |
thomasmorris | 23:07a368f2cdb1 | 339 | Led_Select_Left_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 340 | |
thomasmorris | 23:07a368f2cdb1 | 341 | Led_Select_Right_mutex.lock(); |
thomasmorris | 21:6d9f6a986647 | 342 | Led_Select_Right= 1; |
thomasmorris | 23:07a368f2cdb1 | 343 | Led_Select_Right_mutex.unlock(); |
thomasmorris | 21:6d9f6a986647 | 344 | } |
thomasmorris | 17:68b3fdabe4c5 | 345 | //Output to leds here dependant upon the select value e.g. 0 is left led and 1 is right led |
thomasmorris | 16:9f98ec0ededb | 346 | } |
thomasmorris | 17:68b3fdabe4c5 | 347 | void INTERFACE::Interface_main()//Main Routine to execute commands when the start button has been pressed |
thomasmorris | 16:9f98ec0ededb | 348 | { |
thomasmorris | 16:9f98ec0ededb | 349 | if (_Function == 0) //Turning Code |
thomasmorris | 16:9f98ec0ededb | 350 | { |
thomasmorris | 16:9f98ec0ededb | 351 | if (_Twist_Go == true) |
thomasmorris | 16:9f98ec0ededb | 352 | { |
thomasmorris | 23:07a368f2cdb1 | 353 | Led_Power_mutex.lock(); |
thomasmorris | 21:6d9f6a986647 | 354 | Led_Power = 1; |
thomasmorris | 23:07a368f2cdb1 | 355 | Led_Power_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 356 | |
thomasmorris | 23:07a368f2cdb1 | 357 | _System_Running_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 358 | _System_Running = 1; |
thomasmorris | 23:07a368f2cdb1 | 359 | _System_Running_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 360 | |
thomasmorris | 17:68b3fdabe4c5 | 361 | STEPPER_MOTOR_1.Rotate_Steps(_Turns_Todo);//Rotates for the specified number of steps given |
thomasmorris | 23:07a368f2cdb1 | 362 | |
thomasmorris | 23:07a368f2cdb1 | 363 | _System_Running_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 364 | _System_Running = 0; |
thomasmorris | 23:07a368f2cdb1 | 365 | _System_Running_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 366 | |
thomasmorris | 23:07a368f2cdb1 | 367 | |
thomasmorris | 23:07a368f2cdb1 | 368 | _Twist_Go_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 369 | _Twist_Go = false; |
thomasmorris | 23:07a368f2cdb1 | 370 | _Twist_Go_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 371 | |
thomasmorris | 23:07a368f2cdb1 | 372 | Led_Power_mutex.lock(); |
thomasmorris | 21:6d9f6a986647 | 373 | Led_Power = 0; |
thomasmorris | 23:07a368f2cdb1 | 374 | Led_Power_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 375 | } |
thomasmorris | 16:9f98ec0ededb | 376 | } |
thomasmorris | 16:9f98ec0ededb | 377 | else if (_Function == 1) //Annealing Code |
thomasmorris | 16:9f98ec0ededb | 378 | { |
thomasmorris | 16:9f98ec0ededb | 379 | if (_Anneal_Go == true) |
thomasmorris | 16:9f98ec0ededb | 380 | { |
thomasmorris | 23:07a368f2cdb1 | 381 | Led_Power_mutex.lock(); |
thomasmorris | 21:6d9f6a986647 | 382 | Led_Power = 1; |
thomasmorris | 23:07a368f2cdb1 | 383 | Led_Power_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 384 | |
thomasmorris | 23:07a368f2cdb1 | 385 | _System_Running_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 386 | _System_Running = 1; |
thomasmorris | 23:07a368f2cdb1 | 387 | _System_Running_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 388 | |
thomasmorris | 16:9f98ec0ededb | 389 | for ( int counter = 0; counter < _Loop; counter++) //Loop value, check if works |
thomasmorris | 16:9f98ec0ededb | 390 | { |
thomasmorris | 23:07a368f2cdb1 | 391 | if(_System_Running == 1) |
thomasmorris | 23:07a368f2cdb1 | 392 | { |
thomasmorris | 23:07a368f2cdb1 | 393 | _Tendon_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 394 | Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare |
thomasmorris | 23:07a368f2cdb1 | 395 | Tendon_Power=1; // set duty cycle to 100% |
thomasmorris | 23:07a368f2cdb1 | 396 | wait(_Wait_Time);//Variable |
thomasmorris | 23:07a368f2cdb1 | 397 | Tendon_Power=0; // set duty cycle to 0% |
thomasmorris | 23:07a368f2cdb1 | 398 | wait(6);//Fixed off time |
thomasmorris | 23:07a368f2cdb1 | 399 | _Tendon_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 400 | } |
thomasmorris | 23:07a368f2cdb1 | 401 | while(_System_Running == 2)//Stops the system and just spins in this while loop until system running is not paused |
thomasmorris | 23:07a368f2cdb1 | 402 | { |
thomasmorris | 23:07a368f2cdb1 | 403 | _Tendon_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 404 | Tendon_Power =0; |
thomasmorris | 23:07a368f2cdb1 | 405 | _Tendon_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 406 | } |
thomasmorris | 16:9f98ec0ededb | 407 | } |
thomasmorris | 23:07a368f2cdb1 | 408 | |
thomasmorris | 23:07a368f2cdb1 | 409 | _System_Running_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 410 | _System_Running = 0; |
thomasmorris | 23:07a368f2cdb1 | 411 | _System_Running_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 412 | |
thomasmorris | 23:07a368f2cdb1 | 413 | _Anneal_Go_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 414 | _Anneal_Go = false; |
thomasmorris | 23:07a368f2cdb1 | 415 | _Anneal_Go_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 416 | |
thomasmorris | 23:07a368f2cdb1 | 417 | Led_Power_mutex.lock(); |
thomasmorris | 21:6d9f6a986647 | 418 | Led_Power = 0; |
thomasmorris | 23:07a368f2cdb1 | 419 | Led_Power_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 420 | } |
thomasmorris | 16:9f98ec0ededb | 421 | } |
thomasmorris | 23:07a368f2cdb1 | 422 | 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 | 423 | { |
thomasmorris | 16:9f98ec0ededb | 424 | if (_Test_Go == true) |
thomasmorris | 16:9f98ec0ededb | 425 | { |
thomasmorris | 23:07a368f2cdb1 | 426 | Led_Power_mutex.lock(); |
thomasmorris | 21:6d9f6a986647 | 427 | Led_Power = 1; |
thomasmorris | 23:07a368f2cdb1 | 428 | Led_Power_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 429 | |
thomasmorris | 23:07a368f2cdb1 | 430 | _System_Running_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 431 | _System_Running = 1; |
thomasmorris | 23:07a368f2cdb1 | 432 | _System_Running_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 433 | |
thomasmorris | 23:07a368f2cdb1 | 434 | _Tendon_mutex.lock(); |
thomasmorris | 16:9f98ec0ededb | 435 | Tendon_Power.period(0.01); // set PWM period to 10 ms don't use pwm have this just to declare |
thomasmorris | 16:9f98ec0ededb | 436 | 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 | 437 | wait(_Power_Time);//Variable on time for power on |
thomasmorris | 16:9f98ec0ededb | 438 | Tendon_Power=0; // set duty cycle to 0% and power off |
thomasmorris | 23:07a368f2cdb1 | 439 | _Tendon_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 440 | |
thomasmorris | 23:07a368f2cdb1 | 441 | _System_Running_mutex.lock(); |
thomasmorris | 23:07a368f2cdb1 | 442 | _System_Running = 0; |
thomasmorris | 23:07a368f2cdb1 | 443 | _System_Running_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 444 | |
thomasmorris | 23:07a368f2cdb1 | 445 | _Test_Go_mutex.lock(); |
thomasmorris | 17:68b3fdabe4c5 | 446 | _Test_Go = false; |
thomasmorris | 23:07a368f2cdb1 | 447 | _Test_Go_mutex.unlock(); |
thomasmorris | 23:07a368f2cdb1 | 448 | |
thomasmorris | 23:07a368f2cdb1 | 449 | Led_Power_mutex.lock(); |
thomasmorris | 21:6d9f6a986647 | 450 | Led_Power = 0; |
thomasmorris | 23:07a368f2cdb1 | 451 | Led_Power_mutex.unlock(); |
thomasmorris | 16:9f98ec0ededb | 452 | } |
thomasmorris | 16:9f98ec0ededb | 453 | } |
thomasmorris | 16:9f98ec0ededb | 454 | } |
thomasmorris | 17:68b3fdabe4c5 | 455 | //Setter functions |
thomasmorris | 23:07a368f2cdb1 | 456 | void INTERFACE::Set_System_Running(int System_Running){_System_Running_mutex.lock(); _System_Running = System_Running; _System_Running_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 457 | void INTERFACE::Set_Function(int Function){_Function_mutex.lock();_Function = Function;_Function_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 458 | void INTERFACE::Set_Twist_Go(bool Twist_Go){_Twist_Go_mutex.lock();_Twist_Go = Twist_Go;_Twist_Go_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 459 | void INTERFACE::Set_Anneal_Go(bool Anneal_Go){_Anneal_Go_mutex.lock();_Anneal_Go = Anneal_Go;_Anneal_Go_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 460 | void INTERFACE::Set_Test_Go(bool Test_Go){_Test_Go_mutex.lock();_Test_Go = Test_Go;_Test_Go_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 461 | void INTERFACE::Set_Twist_Stop(bool Twist_Stop){_Twist_Stop_mutex.lock();_Twist_Stop = Twist_Stop;_Twist_Stop_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 462 | void INTERFACE::Set_Anneal_Stop(bool Anneal_Stop){_Anneal_Stop_mutex.lock();_Anneal_Stop = Anneal_Stop;_Anneal_Stop_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 463 | void INTERFACE::Set_Test_Stop(bool Test_Stop){_Test_Stop_mutex.lock();_Test_Go = Test_Stop;_Test_Stop_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 464 | void INTERFACE::Set_Select(bool Select){_Select_mutex.lock();_Select = Select;_Select_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 465 | void INTERFACE::Set_Turns_Done(int Turns_Done){_Turns_Done_mutex.lock();_Turns_Done = Turns_Done;_Turns_Done_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 466 | void INTERFACE::Set_Turns_To_Do(int Turns_Todo){_Turns_Todo_mutex.lock();_Turns_Todo = Turns_Todo;_Turns_Todo_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 467 | void INTERFACE::Set_Loop(int Loop){_Loop_mutex.lock();Loop = Loop;_Loop_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 468 | void INTERFACE::Set_Wait_Time(int Wait_Time){_Wait_Time_mutex.lock();_Wait_Time = Wait_Time;_Wait_Time_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 469 | void INTERFACE::Set_Duty_Cycle(int Duty_Cycle){_Duty_Cycle_mutex.lock();_Duty_Cycle = Duty_Cycle;_Duty_Cycle_mutex.unlock();} |
thomasmorris | 23:07a368f2cdb1 | 470 | void INTERFACE::Set_Power_Time(float Power_Time){_Power_Time_mutex.lock();_Power_Time = Power_Time;_Power_Time_mutex.unlock();} |
thomasmorris | 17:68b3fdabe4c5 | 471 | //Getter functions |
thomasmorris | 23:07a368f2cdb1 | 472 | int INTERFACE::Get_System_Running(){return _System_Running;} |
thomasmorris | 23:07a368f2cdb1 | 473 | int INTERFACE::Get_Function(){return _Function;} |
thomasmorris | 16:9f98ec0ededb | 474 | bool INTERFACE::Get_Twist_Go(){return _Twist_Go;} |
thomasmorris | 16:9f98ec0ededb | 475 | bool INTERFACE::Get_Anneal_Go(){return _Anneal_Go;} |
thomasmorris | 16:9f98ec0ededb | 476 | bool INTERFACE::Get_Test_Go(){return _Test_Go;} |
thomasmorris | 23:07a368f2cdb1 | 477 | bool INTERFACE::Get_Twist_Stop(){return _Twist_Stop;} |
thomasmorris | 23:07a368f2cdb1 | 478 | bool INTERFACE::Get_Anneal_Stop(){return _Anneal_Stop;} |
thomasmorris | 23:07a368f2cdb1 | 479 | bool INTERFACE::Get_Test_Stop(){return _Test_Stop;} |
thomasmorris | 16:9f98ec0ededb | 480 | bool INTERFACE::Get_Select(){return _Select;} |
thomasmorris | 18:3523660f3930 | 481 | int INTERFACE::Get_Turns_Done(){_Turns_Done = STEPPER_MOTOR_1.Get_Turns(); return _Turns_Done;} |
thomasmorris | 16:9f98ec0ededb | 482 | int INTERFACE::Get_Turns_To_Do(){return _Turns_Todo;} |
thomasmorris | 16:9f98ec0ededb | 483 | int INTERFACE::Get_Loop(){return _Loop;} |
thomasmorris | 16:9f98ec0ededb | 484 | int INTERFACE::Get_Wait_Time(){return _Wait_Time;} |
thomasmorris | 16:9f98ec0ededb | 485 | int INTERFACE::Get_Duty_Cycle(){return _Duty_Cycle;} |
thomasmorris | 23:07a368f2cdb1 | 486 | int INTERFACE::Get_Power_Time(){return _Power_Time;} |