Carter Montgomery / Mbed 2 deprecated VoodooBoi9000

ECE3872 HW/SW Project Code

Dependencies:   mbed Servo mbed-rtos 4DGL-uLCD-SE PinDetect X_NUCLEO_53L0A1

main.cpp@21:a279bb16a37b, 2020-04-08 (annotated)

Committer:
trmontgomery
Date:
Wed Apr 08 21:28:53 2020 +0000
Revision:
21:a279bb16a37b
Parent:
20:8c3644bf5d28
Child:
22:fd48dd707e4f
stuff

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nnguyen99 3:7486869c8027 1 #include "mbed.h"
trmontgomery 20:8c3644bf5d28 2 #include <iostream>
trmontgomery 4:1790aa9234a3 3 #include "audio_out.h"
trmontgomery 20:8c3644bf5d28 4 #include "PinDetect.h"
trmontgomery 20:8c3644bf5d28 5 #include "uLCD_4DGL.h"
trmontgomery 21:a279bb16a37b 6 #include "motor_ctl.h"
trmontgomery 20:8c3644bf5d28 7 DigitalOut myled1(LED1);
trmontgomery 20:8c3644bf5d28 8 DigitalOut myled2(LED2);
trmontgomery 20:8c3644bf5d28 9 DigitalOut myled3(LED3);
trmontgomery 20:8c3644bf5d28 10 DigitalOut myled4(LED4);
trmontgomery 21:a279bb16a37b 11
trmontgomery 20:8c3644bf5d28 12 // Push buttons init
trmontgomery 20:8c3644bf5d28 13 PinDetect pb1(p16);
trmontgomery 20:8c3644bf5d28 14 PinDetect pb2(p17);
trmontgomery 20:8c3644bf5d28 15 PinDetect pb3(p18);
trmontgomery 20:8c3644bf5d28 16 PinDetect pb4(p19);
nnguyen99 3:7486869c8027 17 // States
trmontgomery 20:8c3644bf5d28 18
nnguyen99 3:7486869c8027 19 // State Machine control global variables
nnguyen99 3:7486869c8027 20 bool X; //reset
nnguyen99 3:7486869c8027 21 bool P; //play
nnguyen99 3:7486869c8027 22 bool S; //stop
nnguyen99 3:7486869c8027 23 bool R; //record
nnguyen99 3:7486869c8027 24 bool E; //erase
nnguyen99 3:7486869c8027 25
trmontgomery 20:8c3644bf5d28 26 enum sm_state {sRESET, sSTOP, sRECORD, sPLAY, sERASE};
nnguyen99 3:7486869c8027 27
nnguyen99 3:7486869c8027 28
nnguyen99 3:7486869c8027 29 void reset(){
nnguyen99 3:7486869c8027 30 /* reset state:
nnguyen99 3:7486869c8027 31 Initial state upon powering up the device
nnguyen99 3:7486869c8027 32 1. Cease all motion
nnguyen99 3:7486869c8027 33 2. Reset all motors to initial position
nnguyen99 3:7486869c8027 34 3. Mutes all audio
nnguyen99 3:7486869c8027 35 4. Goes to erase state if reset button is held down for at least 3 seconds
nnguyen99 3:7486869c8027 36 5. Goes to stop state according to rotary switch input
nnguyen99 3:7486869c8027 37 6. LED goes from green to red
nnguyen99 3:7486869c8027 38 NOTE: ONLY exits to stop or erase state
nnguyen99 3:7486869c8027 39 */
nnguyen99 3:7486869c8027 40 }
nnguyen99 3:7486869c8027 41 void stop(){
nnguyen99 3:7486869c8027 42 /* stop state:
nnguyen99 3:7486869c8027 43 Initiated by rotary switch
nnguyen99 3:7486869c8027 44 1. Cease all motion
nnguyen99 3:7486869c8027 45 2. Stop recording
nnguyen99 3:7486869c8027 46 3. Mute all audio
nnguyen99 3:7486869c8027 47 */
nnguyen99 3:7486869c8027 48 }
nnguyen99 3:7486869c8027 49 void record(){
nnguyen99 3:7486869c8027 50 /* record state:
nnguyen99 3:7486869c8027 51 Initiated by rotary switch
nnguyen99 3:7486869c8027 52 1. Cease all motion
nnguyen99 3:7486869c8027 53 2. Begin recording ToF inputs (distance and time)
nnguyen99 3:7486869c8027 54 3. Convert distances to corresponding audio frequencies
nnguyen99 3:7486869c8027 55 4. Append to list of frequencies
nnguyen99 3:7486869c8027 56 5.
nnguyen99 3:7486869c8027 57 */
nnguyen99 3:7486869c8027 58 }
nnguyen99 3:7486869c8027 59 void play(){
nnguyen99 3:7486869c8027 60 /* play state:
nnguyen99 3:7486869c8027 61 Initiated by rotary switch
nnguyen99 3:7486869c8027 62 1. wait a few seconds
nnguyen99 3:7486869c8027 63 2. begin reading list of frequencies while concurrently:
nnguyen99 3:7486869c8027 64 - moving servo motors accordingly
nnguyen99 3:7486869c8027 65 - playing corresponding sounds
nnguyen99 3:7486869c8027 66 */
nnguyen99 3:7486869c8027 67 }
nnguyen99 3:7486869c8027 68 void erase(){
nnguyen99 3:7486869c8027 69 /* erase state:
nnguyen99 3:7486869c8027 70 erases entire audio recording
nnguyen99 3:7486869c8027 71 */
nnguyen99 3:7486869c8027 72 }
nnguyen99 3:7486869c8027 73
trmontgomery 20:8c3644bf5d28 74
trmontgomery 20:8c3644bf5d28 75
trmontgomery 20:8c3644bf5d28 76 void pb1_hit_callback (void)
trmontgomery 20:8c3644bf5d28 77 {
trmontgomery 20:8c3644bf5d28 78 myled1 = !myled1;
trmontgomery 21:a279bb16a37b 79 //guLCD.printf("REEST");
trmontgomery 20:8c3644bf5d28 80 }
trmontgomery 20:8c3644bf5d28 81
trmontgomery 20:8c3644bf5d28 82 void pb2_hit_callback (void)
trmontgomery 20:8c3644bf5d28 83 {
trmontgomery 20:8c3644bf5d28 84 myled2 = !myled2;
trmontgomery 21:a279bb16a37b 85 //guLCD.printf("STOP");
trmontgomery 20:8c3644bf5d28 86 }
trmontgomery 20:8c3644bf5d28 87
trmontgomery 20:8c3644bf5d28 88 void pb3_hit_callback (void)
trmontgomery 20:8c3644bf5d28 89 {
trmontgomery 20:8c3644bf5d28 90 myled3 = !myled3;
trmontgomery 21:a279bb16a37b 91 //guLCD.printf("RECORD");
trmontgomery 20:8c3644bf5d28 92 }
trmontgomery 20:8c3644bf5d28 93
trmontgomery 20:8c3644bf5d28 94 void pb4_hit_callback (void)
trmontgomery 20:8c3644bf5d28 95 {
trmontgomery 20:8c3644bf5d28 96 myled4 = !myled4;
trmontgomery 21:a279bb16a37b 97 //guLCD.printf("PLAY");
trmontgomery 20:8c3644bf5d28 98 }
trmontgomery 20:8c3644bf5d28 99 void hardware_init(){
trmontgomery 20:8c3644bf5d28 100 // Push buttons init
trmontgomery 20:8c3644bf5d28 101 pb1.mode(PullUp);
trmontgomery 20:8c3644bf5d28 102 pb2.mode(PullUp);
trmontgomery 20:8c3644bf5d28 103 pb3.mode(PullUp);
trmontgomery 20:8c3644bf5d28 104 pb4.mode(PullUp);
trmontgomery 20:8c3644bf5d28 105 pb1.attach_deasserted(&pb1_hit_callback);
trmontgomery 20:8c3644bf5d28 106 pb2.attach_deasserted(&pb2_hit_callback);
trmontgomery 20:8c3644bf5d28 107 pb3.attach_deasserted(&pb3_hit_callback);
trmontgomery 20:8c3644bf5d28 108 pb4.attach_deasserted(&pb4_hit_callback);
trmontgomery 20:8c3644bf5d28 109 pb1.setSampleFrequency();
trmontgomery 20:8c3644bf5d28 110 pb2.setSampleFrequency();
trmontgomery 20:8c3644bf5d28 111 pb3.setSampleFrequency();
trmontgomery 20:8c3644bf5d28 112 pb4.setSampleFrequency();
trmontgomery 20:8c3644bf5d28 113 }
trmontgomery 20:8c3644bf5d28 114
trmontgomery 4:1790aa9234a3 115 void state_machine_mgr(){
nnguyen99 3:7486869c8027 116 sm_state curr_state = sRESET;
nnguyen99 3:7486869c8027 117 while(1) {
nnguyen99 3:7486869c8027 118 switch(curr_state){
nnguyen99 3:7486869c8027 119 case sRESET:
nnguyen99 3:7486869c8027 120 if(S) curr_state = sSTOP;
nnguyen99 3:7486869c8027 121 break;
nnguyen99 3:7486869c8027 122 case sSTOP:
nnguyen99 3:7486869c8027 123 if(X){
nnguyen99 3:7486869c8027 124 curr_state = sRESET;
nnguyen99 3:7486869c8027 125 }else if(S&R){
nnguyen99 3:7486869c8027 126 curr_state = sRECORD;
nnguyen99 3:7486869c8027 127 }else if(S&P){
nnguyen99 3:7486869c8027 128 curr_state = sPLAY;
nnguyen99 3:7486869c8027 129 }
nnguyen99 3:7486869c8027 130 break;
nnguyen99 3:7486869c8027 131 case sRECORD:
nnguyen99 3:7486869c8027 132 if(X){
nnguyen99 3:7486869c8027 133 curr_state = sRESET;
nnguyen99 3:7486869c8027 134 }else if(R&S){
nnguyen99 3:7486869c8027 135 curr_state = sSTOP;
nnguyen99 3:7486869c8027 136 }else if(R&P){
nnguyen99 3:7486869c8027 137 curr_state = sPLAY;
nnguyen99 3:7486869c8027 138 }
nnguyen99 3:7486869c8027 139 break;
nnguyen99 3:7486869c8027 140 case sPLAY:
nnguyen99 3:7486869c8027 141 if(X){
nnguyen99 3:7486869c8027 142 curr_state = sRESET;
nnguyen99 3:7486869c8027 143 }else if(P&S){
nnguyen99 3:7486869c8027 144 curr_state = sSTOP;
nnguyen99 3:7486869c8027 145 }else if(P&R){
nnguyen99 3:7486869c8027 146 curr_state = sPLAY;
nnguyen99 3:7486869c8027 147 }
nnguyen99 3:7486869c8027 148 break;
nnguyen99 3:7486869c8027 149 case sERASE:
nnguyen99 3:7486869c8027 150 if(X){
nnguyen99 3:7486869c8027 151 curr_state = sRESET;
nnguyen99 3:7486869c8027 152 }
nnguyen99 3:7486869c8027 153 }
nnguyen99 3:7486869c8027 154 }
nnguyen99 3:7486869c8027 155 }
trmontgomery 4:1790aa9234a3 156
trmontgomery 21:a279bb16a37b 157
trmontgomery 4:1790aa9234a3 158 int main() {
trmontgomery 21:a279bb16a37b 159 myled1 = 1;
trmontgomery 21:a279bb16a37b 160 //hardware_init();
trmontgomery 21:a279bb16a37b 161 //state_machine_mgr();
trmontgomery 21:a279bb16a37b 162 move_motors();
trmontgomery 4:1790aa9234a3 163 }