Tommie Verouden
/
StateMachine
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Dependencies: biquadFilter FastPWM MODSERIAL QEI mbed
main.cpp@15:6566c5dedeeb, 2018-11-01 (annotated)
- Committer:
- tverouden
- Date:
- Thu Nov 01 10:12:16 2018 +0000
- Revision:
- 15:6566c5dedeeb
- Parent:
- 12:323ac4e27a0d
- Child:
- 16:c2986e890040
Implemented full state LED indication functionality
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| tverouden | 0:c0c35b95765f | 1 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ PREPARATION ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 0:c0c35b95765f | 2 | // Libraries |
| tverouden | 0:c0c35b95765f | 3 | #include "mbed.h" |
| tverouden | 2:d70795e4e0bf | 4 | #include "BiQuad.h" |
| tverouden | 0:c0c35b95765f | 5 | #include "FastPWM.h" |
| tverouden | 0:c0c35b95765f | 6 | #include "HIDScope.h" |
| tverouden | 0:c0c35b95765f | 7 | #include "MODSERIAL.h" |
| tverouden | 0:c0c35b95765f | 8 | |
| tverouden | 8:8cef1050ebd9 | 9 | // LEDs |
| tverouden | 8:8cef1050ebd9 | 10 | DigitalOut ledRed(LED_RED,1); // red LED K64F |
| tverouden | 8:8cef1050ebd9 | 11 | DigitalOut ledGreen(LED_GREEN,1); // green LED K64F |
| tverouden | 8:8cef1050ebd9 | 12 | DigitalOut ledBlue(LED_BLUE,1); // blue LED K64F |
| tverouden | 8:8cef1050ebd9 | 13 | // DigitalOut ledBio1(,1); // led 1 Biorobotics shield // LED pins |
| tverouden | 15:6566c5dedeeb | 14 | // DigitalOut ledBio2(,1); // led 2 Biorobotics shield |
| tverouden | 8:8cef1050ebd9 | 15 | |
| tverouden | 11:2d1dfebae948 | 16 | Ticker blinkTimer; // LED ticker |
| tverouden | 8:8cef1050ebd9 | 17 | |
| tverouden | 8:8cef1050ebd9 | 18 | // Buttons/inputs |
| tverouden | 4:5ce2c8864908 | 19 | InterruptIn buttonBio1(D0); // button 1 BioRobotics shield |
| tverouden | 4:5ce2c8864908 | 20 | InterruptIn buttonBio2(D1); // button 2 BioRobotics shield |
| tverouden | 0:c0c35b95765f | 21 | InterruptIn buttonK64F(SW3); // button on K64F |
| tverouden | 8:8cef1050ebd9 | 22 | InterruptIn buttonEmergency(SW2); // emergency button on K64F |
| tverouden | 0:c0c35b95765f | 23 | |
| tverouden | 8:8cef1050ebd9 | 24 | // Motor pins |
| tverouden | 8:8cef1050ebd9 | 25 | |
| tverouden | 8:8cef1050ebd9 | 26 | |
| tverouden | 8:8cef1050ebd9 | 27 | // PC communication |
| tverouden | 4:5ce2c8864908 | 28 | MODSERIAL pc(USBTX, USBRX); // communication with pc |
| tverouden | 4:5ce2c8864908 | 29 | |
| tverouden | 0:c0c35b95765f | 30 | // Define & initialise state machine |
| tverouden | 11:2d1dfebae948 | 31 | enum states { calibratingMotors, calibratingEMG, |
| tverouden | 7:ef5966469621 | 32 | homing, operating, reading, failing, demoing |
| tverouden | 2:d70795e4e0bf | 33 | }; |
| tverouden | 11:2d1dfebae948 | 34 | states currentState = calibratingMotors;// start in waiting mode |
| tverouden | 11:2d1dfebae948 | 35 | bool changeState = true; // initialise the first state |
| tverouden | 2:d70795e4e0bf | 36 | |
| tverouden | 3:9c63fc5f157e | 37 | |
| tverouden | 3:9c63fc5f157e | 38 | |
| tverouden | 4:5ce2c8864908 | 39 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ FUNCTIONS ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 6:f32352bc5078 | 40 | // ============================ GENERAL FUNCTIONS ============================= |
| tverouden | 6:f32352bc5078 | 41 | void stopProgram(void) |
| tverouden | 6:f32352bc5078 | 42 | { |
| tverouden | 6:f32352bc5078 | 43 | // Error message |
| tverouden | 6:f32352bc5078 | 44 | pc.printf("[ERROR] emergency button pressed\r\n"); |
| tverouden | 6:f32352bc5078 | 45 | currentState = failing; // change to state |
| tverouden | 6:f32352bc5078 | 46 | changeState = true; // next loop, switch states |
| tverouden | 6:f32352bc5078 | 47 | } |
| tverouden | 8:8cef1050ebd9 | 48 | |
| tverouden | 15:6566c5dedeeb | 49 | void blinkLedRed(void) |
| tverouden | 15:6566c5dedeeb | 50 | { |
| tverouden | 15:6566c5dedeeb | 51 | ledRed =! ledRed; // toggle LED |
| tverouden | 10:584b7d2c2d63 | 52 | } |
| tverouden | 15:6566c5dedeeb | 53 | void blinkLedGreen(void) |
| tverouden | 15:6566c5dedeeb | 54 | { |
| tverouden | 15:6566c5dedeeb | 55 | ledGreen =! ledGreen; // toggle LED |
| tverouden | 15:6566c5dedeeb | 56 | } |
| tverouden | 15:6566c5dedeeb | 57 | void blinkLedBlue(void) |
| tverouden | 15:6566c5dedeeb | 58 | { |
| tverouden | 15:6566c5dedeeb | 59 | ledBlue =! ledBlue; // toggle LED |
| tverouden | 15:6566c5dedeeb | 60 | } |
| tverouden | 15:6566c5dedeeb | 61 | |
| tverouden | 6:f32352bc5078 | 62 | // ============================ MOTOR FUNCTIONS ============================== |
| tverouden | 4:5ce2c8864908 | 63 | |
| tverouden | 4:5ce2c8864908 | 64 | |
| tverouden | 4:5ce2c8864908 | 65 | // ============================= EMG FUNCTIONS =============================== |
| tverouden | 4:5ce2c8864908 | 66 | |
| tverouden | 4:5ce2c8864908 | 67 | |
| tverouden | 12:323ac4e27a0d | 68 | // ========================= KINEMATICS FUNCTIONS ============================ |
| tverouden | 12:323ac4e27a0d | 69 | |
| tverouden | 12:323ac4e27a0d | 70 | |
| tverouden | 2:d70795e4e0bf | 71 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ STATE MACHINE ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 15:6566c5dedeeb | 72 | void stateMachine(void) |
| tverouden | 3:9c63fc5f157e | 73 | { |
| tverouden | 5:04b26b2f536a | 74 | switch (currentState) { // determine which state Odin is in // Van een aantal if statements moeten de conditions nog bepaald worden, niet vergeten |
| tverouden | 3:9c63fc5f157e | 75 | |
| tverouden | 4:5ce2c8864908 | 76 | // ========================= MOTOR CALIBRATION MODE ========================== |
| tverouden | 4:5ce2c8864908 | 77 | case calibratingMotors: |
| tverouden | 4:5ce2c8864908 | 78 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 79 | if (changeState) { // when entering the state |
| tverouden | 15:6566c5dedeeb | 80 | pc.printf("[MODE] calibrating motors...\r\n"); |
| tverouden | 5:04b26b2f536a | 81 | // print current state |
| tverouden | 4:5ce2c8864908 | 82 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 83 | |
| tverouden | 4:5ce2c8864908 | 84 | // Actions when entering state |
| tverouden | 15:6566c5dedeeb | 85 | ledRed = 1; // cyan-green blinking LED |
| tverouden | 15:6566c5dedeeb | 86 | ledGreen = 0; |
| tverouden | 15:6566c5dedeeb | 87 | ledBlue = 0; |
| tverouden | 15:6566c5dedeeb | 88 | blinkTimer.attach(&blinkLedBlue,0.5); |
| tverouden | 4:5ce2c8864908 | 89 | |
| tverouden | 4:5ce2c8864908 | 90 | } |
| tverouden | 4:5ce2c8864908 | 91 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 92 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 93 | /* */ |
| tverouden | 4:5ce2c8864908 | 94 | |
| tverouden | 4:5ce2c8864908 | 95 | // --------------------------- transition ---------------------------- |
| tverouden | 15:6566c5dedeeb | 96 | // Transition condition #1: when all motor errors smaller than 0.01, |
| tverouden | 15:6566c5dedeeb | 97 | // start calibrating EMG |
| tverouden | 15:6566c5dedeeb | 98 | // if (errorMotorL < 0.01 && errorMotorR < 0.01 |
| tverouden | 15:6566c5dedeeb | 99 | // && errorMotorF < 0.01) { |
| tverouden | 15:6566c5dedeeb | 100 | // // Actions when leaving state |
| tverouden | 15:6566c5dedeeb | 101 | // blinkTimer.detach(); |
| tverouden | 15:6566c5dedeeb | 102 | // |
| tverouden | 15:6566c5dedeeb | 103 | // currentState = calibratingEMG; // change to state |
| tverouden | 15:6566c5dedeeb | 104 | // changeState = true; // next loop, switch states |
| tverouden | 15:6566c5dedeeb | 105 | // } |
| tverouden | 5:04b26b2f536a | 106 | |
| tverouden | 4:5ce2c8864908 | 107 | break; // end case |
| tverouden | 4:5ce2c8864908 | 108 | |
| tverouden | 7:ef5966469621 | 109 | // =========================== EMG CALIBRATION MODE =========================== |
| tverouden | 7:ef5966469621 | 110 | case calibratingEMG: |
| tverouden | 4:5ce2c8864908 | 111 | // ------------------------- initialisation -------------------------- |
| tverouden | 3:9c63fc5f157e | 112 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 113 | pc.printf("[MODE] calibrating EMG 1 (x-direction)...\r\n"); |
| tverouden | 5:04b26b2f536a | 114 | // print current state |
| tverouden | 4:5ce2c8864908 | 115 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 116 | |
| tverouden | 4:5ce2c8864908 | 117 | // Actions when entering state |
| tverouden | 15:6566c5dedeeb | 118 | ledRed = 1; // cyan-blue blinking LED |
| tverouden | 15:6566c5dedeeb | 119 | ledGreen = 0; |
| tverouden | 15:6566c5dedeeb | 120 | ledBlue = 0; |
| tverouden | 15:6566c5dedeeb | 121 | blinkTimer.attach(&blinkLedGreen,0.5); |
| tverouden | 15:6566c5dedeeb | 122 | |
| tverouden | 4:5ce2c8864908 | 123 | |
| tverouden | 4:5ce2c8864908 | 124 | } |
| tverouden | 4:5ce2c8864908 | 125 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 126 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 127 | /* */ |
| tverouden | 4:5ce2c8864908 | 128 | |
| tverouden | 4:5ce2c8864908 | 129 | // --------------------------- transition ---------------------------- |
| tverouden | 7:ef5966469621 | 130 | // Transition condition #1: after 20 sec in state |
| tverouden | 7:ef5966469621 | 131 | if (1) { // CONDITION |
| tverouden | 4:5ce2c8864908 | 132 | // Actions when leaving state |
| tverouden | 15:6566c5dedeeb | 133 | blinkTimer.detach(); |
| tverouden | 5:04b26b2f536a | 134 | |
| tverouden | 4:5ce2c8864908 | 135 | currentState = homing; // change to state |
| tverouden | 4:5ce2c8864908 | 136 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 137 | } |
| tverouden | 5:04b26b2f536a | 138 | break; // end case |
| tverouden | 4:5ce2c8864908 | 139 | |
| tverouden | 4:5ce2c8864908 | 140 | // ============================== HOMING MODE ================================ |
| tverouden | 4:5ce2c8864908 | 141 | case homing: |
| tverouden | 7:ef5966469621 | 142 | // ------------------------- initialisation -------------------------- // Evt. ook checken op snelheid als mensen zo dom zijn om tijdens homing op random knopjes te drukken |
| tverouden | 4:5ce2c8864908 | 143 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 144 | pc.printf("[MODE] homing...\r\n"); |
| tverouden | 5:04b26b2f536a | 145 | // print current state |
| tverouden | 4:5ce2c8864908 | 146 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 147 | |
| tverouden | 4:5ce2c8864908 | 148 | |
| tverouden | 4:5ce2c8864908 | 149 | // Actions when entering state |
| tverouden | 15:6566c5dedeeb | 150 | ledRed = 1; // cyan LED on |
| tverouden | 15:6566c5dedeeb | 151 | ledGreen = 0; |
| tverouden | 15:6566c5dedeeb | 152 | ledBlue = 0; |
| tverouden | 4:5ce2c8864908 | 153 | |
| tverouden | 4:5ce2c8864908 | 154 | } |
| tverouden | 4:5ce2c8864908 | 155 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 156 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 157 | /* */ |
| tverouden | 4:5ce2c8864908 | 158 | |
| tverouden | 7:ef5966469621 | 159 | // --------------------------- transition ---------------------------- // Volgorde veranderen voor logica? |
| tverouden | 4:5ce2c8864908 | 160 | // Transition condition #1: with button press, enter demo mode |
| tverouden | 4:5ce2c8864908 | 161 | if (buttonBio1 == true) { // Het is niet nodig om hier ook nog "&& currentState == homing" toe te voegen, want hij bereikt dit stuk code alleen in homing mode |
| tverouden | 4:5ce2c8864908 | 162 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 163 | /* */ |
| tverouden | 5:04b26b2f536a | 164 | |
| tverouden | 4:5ce2c8864908 | 165 | currentState = demoing; // change to state |
| tverouden | 4:5ce2c8864908 | 166 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 167 | } |
| tverouden | 4:5ce2c8864908 | 168 | // Transition condition #2: with button press, enter operation mode |
| tverouden | 4:5ce2c8864908 | 169 | if (buttonBio2 == true) { |
| tverouden | 4:5ce2c8864908 | 170 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 171 | /* */ |
| tverouden | 5:04b26b2f536a | 172 | |
| tverouden | 4:5ce2c8864908 | 173 | currentState = operating; // change to state |
| tverouden | 4:5ce2c8864908 | 174 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 175 | } |
| tverouden | 4:5ce2c8864908 | 176 | break; // end case |
| tverouden | 4:5ce2c8864908 | 177 | |
| tverouden | 4:5ce2c8864908 | 178 | // ============================= OPERATING MODE ============================== |
| tverouden | 4:5ce2c8864908 | 179 | case operating: |
| tverouden | 4:5ce2c8864908 | 180 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 181 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 182 | pc.printf("[MODE] operating...\r\n"); |
| tverouden | 5:04b26b2f536a | 183 | // print current state |
| tverouden | 5:04b26b2f536a | 184 | changeState = false; // stay in this state |
| tverouden | 5:04b26b2f536a | 185 | |
| tverouden | 5:04b26b2f536a | 186 | // Actions when entering state |
| tverouden | 15:6566c5dedeeb | 187 | ledRed = 1; // blue fast blinking LED |
| tverouden | 15:6566c5dedeeb | 188 | ledGreen = 1; |
| tverouden | 15:6566c5dedeeb | 189 | ledBlue = 1; |
| tverouden | 15:6566c5dedeeb | 190 | blinkTimer.attach(&blinkLedBlue,0.25); |
| tverouden | 5:04b26b2f536a | 191 | |
| tverouden | 5:04b26b2f536a | 192 | } |
| tverouden | 5:04b26b2f536a | 193 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 194 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 195 | /* */ |
| tverouden | 5:04b26b2f536a | 196 | |
| tverouden | 5:04b26b2f536a | 197 | // --------------------------- transition ---------------------------- |
| tverouden | 7:ef5966469621 | 198 | // Transition condition #1: with button press, back to homing mode // Is het nodig om vanuit operating mode naar homing mode terug te kunnen gaan? -> ja, voor als je een demo wilt starten |
| tverouden | 5:04b26b2f536a | 199 | if (buttonBio2 == true) { |
| tverouden | 5:04b26b2f536a | 200 | // Actions when leaving state |
| tverouden | 15:6566c5dedeeb | 201 | blinkTimer.detach(); |
| tverouden | 5:04b26b2f536a | 202 | |
| tverouden | 5:04b26b2f536a | 203 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 204 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 205 | } |
| tverouden | 7:ef5966469621 | 206 | // Transition condition #2: motor angle error < certain value, |
| tverouden | 15:6566c5dedeeb | 207 | // start reading |
| tverouden | 7:ef5966469621 | 208 | if (1) { // CONDITION |
| tverouden | 5:04b26b2f536a | 209 | // Actions when leaving state |
| tverouden | 15:6566c5dedeeb | 210 | blinkTimer.detach(); |
| tverouden | 5:04b26b2f536a | 211 | |
| tverouden | 5:04b26b2f536a | 212 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 213 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 214 | } |
| tverouden | 5:04b26b2f536a | 215 | break; // end case |
| tverouden | 5:04b26b2f536a | 216 | |
| tverouden | 7:ef5966469621 | 217 | // ============================== READING MODE =============================== // Beweegt deze modus zowel heen als weer en zo ja, hoe bepaalt hij wat moet gebeuren? |
| tverouden | 7:ef5966469621 | 218 | case reading: |
| tverouden | 5:04b26b2f536a | 219 | // ------------------------- initialisation -------------------------- |
| tverouden | 5:04b26b2f536a | 220 | if (changeState) { // when entering the state |
| tverouden | 7:ef5966469621 | 221 | pc.printf("[MODE] reading...\r\n"); |
| tverouden | 5:04b26b2f536a | 222 | // print current state |
| tverouden | 5:04b26b2f536a | 223 | changeState = false; // stay in this state |
| tverouden | 5:04b26b2f536a | 224 | |
| tverouden | 5:04b26b2f536a | 225 | // Actions when entering state |
| tverouden | 15:6566c5dedeeb | 226 | ledRed = 1; // blue LED on |
| tverouden | 15:6566c5dedeeb | 227 | ledGreen = 1; |
| tverouden | 15:6566c5dedeeb | 228 | ledBlue = 0; |
| tverouden | 5:04b26b2f536a | 229 | |
| tverouden | 5:04b26b2f536a | 230 | } |
| tverouden | 5:04b26b2f536a | 231 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 232 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 233 | /* */ |
| tverouden | 5:04b26b2f536a | 234 | |
| tverouden | 5:04b26b2f536a | 235 | // --------------------------- transition ---------------------------- |
| tverouden | 7:ef5966469621 | 236 | // Transition condition #1: with button press, back to homing mode // Hier automatisch terug naar operating mode! |
| tverouden | 5:04b26b2f536a | 237 | if (1) { // En hij gaat nu terug naar homing mode, maar dan moet je dus elke keer weer kiezen voor demo of operation mode? |
| tverouden | 7:ef5966469621 | 238 | // Actions when leaving state // CONDITION |
| tverouden | 5:04b26b2f536a | 239 | /* */ |
| tverouden | 5:04b26b2f536a | 240 | |
| tverouden | 5:04b26b2f536a | 241 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 242 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 243 | } |
| tverouden | 5:04b26b2f536a | 244 | break; // end case |
| tverouden | 5:04b26b2f536a | 245 | |
| tverouden | 5:04b26b2f536a | 246 | // ============================== DEMOING MODE =============================== |
| tverouden | 5:04b26b2f536a | 247 | case demoing: |
| tverouden | 5:04b26b2f536a | 248 | // ------------------------- initialisation -------------------------- |
| tverouden | 5:04b26b2f536a | 249 | if (changeState) { // when entering the state |
| tverouden | 5:04b26b2f536a | 250 | pc.printf("[MODE] demoing...\r\n"); |
| tverouden | 5:04b26b2f536a | 251 | // print current state |
| tverouden | 5:04b26b2f536a | 252 | changeState = false; // stay in this state |
| tverouden | 5:04b26b2f536a | 253 | |
| tverouden | 5:04b26b2f536a | 254 | // Actions when entering state |
| tverouden | 15:6566c5dedeeb | 255 | ledRed = 0; // yellow LED on |
| tverouden | 15:6566c5dedeeb | 256 | ledGreen = 0; |
| tverouden | 15:6566c5dedeeb | 257 | ledBlue = 1; |
| tverouden | 5:04b26b2f536a | 258 | |
| tverouden | 5:04b26b2f536a | 259 | } |
| tverouden | 5:04b26b2f536a | 260 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 261 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 262 | /* */ |
| tverouden | 5:04b26b2f536a | 263 | |
| tverouden | 5:04b26b2f536a | 264 | // --------------------------- transition ---------------------------- |
| tverouden | 5:04b26b2f536a | 265 | // Transition condition #1: with button press, back to homing mode |
| tverouden | 5:04b26b2f536a | 266 | if (1) { |
| tverouden | 5:04b26b2f536a | 267 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 268 | /* */ |
| tverouden | 5:04b26b2f536a | 269 | |
| tverouden | 5:04b26b2f536a | 270 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 271 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 272 | } |
| tverouden | 15:6566c5dedeeb | 273 | // Transition condition #2: after 3 sec relaxation, start reading |
| tverouden | 5:04b26b2f536a | 274 | if (1) { |
| tverouden | 5:04b26b2f536a | 275 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 276 | /* */ |
| tverouden | 5:04b26b2f536a | 277 | |
| tverouden | 7:ef5966469621 | 278 | currentState = reading; // change to state |
| tverouden | 5:04b26b2f536a | 279 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 280 | } |
| tverouden | 5:04b26b2f536a | 281 | break; // end case |
| tverouden | 5:04b26b2f536a | 282 | |
| tverouden | 5:04b26b2f536a | 283 | // =============================== FAILING MODE ================================ |
| tverouden | 5:04b26b2f536a | 284 | case failing: |
| tverouden | 5:04b26b2f536a | 285 | // ------------------------- initialisation -------------------------- |
| tverouden | 5:04b26b2f536a | 286 | if (changeState) { // when entering the state |
| tverouden | 5:04b26b2f536a | 287 | pc.printf("[ERROR] entering failure mode\r\n"); |
| tverouden | 15:6566c5dedeeb | 288 | // print current state |
| tverouden | 3:9c63fc5f157e | 289 | changeState = false; // stay in this state |
| tverouden | 3:9c63fc5f157e | 290 | |
| tverouden | 3:9c63fc5f157e | 291 | // Actions when entering state |
| tverouden | 15:6566c5dedeeb | 292 | ledGreen = 1; // fast blinking red LED |
| tverouden | 6:f32352bc5078 | 293 | ledBlue = 1; |
| tverouden | 6:f32352bc5078 | 294 | ledRed = 0; |
| tverouden | 15:6566c5dedeeb | 295 | blinkTimer.attach(&blinkLedRed,0.25); |
| tverouden | 4:5ce2c8864908 | 296 | |
| tverouden | 6:f32352bc5078 | 297 | // pin3 = 0; // all motor forces to zero // Pins nog niet gedefiniëerd |
| tverouden | 6:f32352bc5078 | 298 | // pin5 = 0; |
| tverouden | 6:f32352bc5078 | 299 | // pin6 = 0; |
| tverouden | 6:f32352bc5078 | 300 | exit (0); // abort mission |
| tverouden | 4:5ce2c8864908 | 301 | } |
| tverouden | 4:5ce2c8864908 | 302 | break; // end case |
| tverouden | 4:5ce2c8864908 | 303 | |
| tverouden | 4:5ce2c8864908 | 304 | // ============================== DEFAULT MODE ================================= |
| tverouden | 3:9c63fc5f157e | 305 | default: |
| tverouden | 4:5ce2c8864908 | 306 | // ---------------------------- enter failing mode ----------------------------- |
| tverouden | 4:5ce2c8864908 | 307 | currentState = failing; // change to state |
| tverouden | 4:5ce2c8864908 | 308 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 309 | // print current state |
| tverouden | 4:5ce2c8864908 | 310 | pc.printf("[ERROR] unknown or unimplemented state reached\r\n"); |
| tverouden | 3:9c63fc5f157e | 311 | |
| tverouden | 4:5ce2c8864908 | 312 | } // end switch |
| tverouden | 4:5ce2c8864908 | 313 | } // end stateMachine |
| tverouden | 3:9c63fc5f157e | 314 | |
| tverouden | 3:9c63fc5f157e | 315 | |
| tverouden | 2:d70795e4e0bf | 316 | |
| tverouden | 2:d70795e4e0bf | 317 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ MAIN LOOP ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 2:d70795e4e0bf | 318 | |
| tverouden | 3:9c63fc5f157e | 319 | int main() |
| tverouden | 3:9c63fc5f157e | 320 | { |
| tverouden | 8:8cef1050ebd9 | 321 | // ================================ EMERGENCY ================================ |
| tverouden | 15:6566c5dedeeb | 322 | //If the emergency button is pressed, stop program via failing state |
| tverouden | 8:8cef1050ebd9 | 323 | buttonEmergency.rise(stopProgram); // Automatische triggers voor failure mode? |
| tverouden | 15:6566c5dedeeb | 324 | |
| tverouden | 15:6566c5dedeeb | 325 | // ================================ EMERGENCY ================================ |
| tverouden | 8:8cef1050ebd9 | 326 | pc.baud(115200); // communication with terminal // Baud rate |
| tverouden | 6:f32352bc5078 | 327 | |
| tverouden | 2:d70795e4e0bf | 328 | // ==================================== LOOP =================================== |
| tverouden | 2:d70795e4e0bf | 329 | while (true) { // loop forever |
| tverouden | 15:6566c5dedeeb | 330 | stateMachine(); |
| tverouden | 2:d70795e4e0bf | 331 | } |
| tverouden | 2:d70795e4e0bf | 332 | } |
