Tommie Verouden
/
StateMachine
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Dependencies: biquadFilter FastPWM MODSERIAL QEI mbed
main.cpp@8:8cef1050ebd9, 2018-10-31 (annotated)
- Committer:
- tverouden
- Date:
- Wed Oct 31 21:23:23 2018 +0000
- Revision:
- 8:8cef1050ebd9
- Parent:
- 7:ef5966469621
- Child:
- 9:8a162a3505ed
Layed the basis for LED state indication
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 | 8:8cef1050ebd9 | 14 | // DigitalOut ledBio2(,1); // led 2 Biorobotics shield |
| tverouden | 8:8cef1050ebd9 | 15 | |
| tverouden | 8:8cef1050ebd9 | 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 | 8:8cef1050ebd9 | 31 | enum states { calibratingMotors, calibratingEMG, |
| tverouden | 7:ef5966469621 | 32 | homing, operating, reading, failing, demoing |
| tverouden | 2:d70795e4e0bf | 33 | }; |
| tverouden | 0:c0c35b95765f | 34 | states currentState = waiting; // start in waiting mode |
| tverouden | 2:d70795e4e0bf | 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 | 8:8cef1050ebd9 | 49 | void blinkLED(DigitalOut led) // blinkTimer.attach(&blinkLED,0.5) aanroepen bij initialisation, bij verlaten state: |
| tverouden | 8:8cef1050ebd9 | 50 | { // blinkTimer.detach |
| tverouden | 8:8cef1050ebd9 | 51 | led =! led; // toggle LED |
| tverouden | 8:8cef1050ebd9 | 52 | |
| tverouden | 6:f32352bc5078 | 53 | // ============================ MOTOR FUNCTIONS ============================== |
| tverouden | 4:5ce2c8864908 | 54 | |
| tverouden | 4:5ce2c8864908 | 55 | |
| tverouden | 4:5ce2c8864908 | 56 | // ============================= EMG FUNCTIONS =============================== |
| tverouden | 4:5ce2c8864908 | 57 | |
| tverouden | 4:5ce2c8864908 | 58 | |
| tverouden | 2:d70795e4e0bf | 59 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ STATE MACHINE ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 7:ef5966469621 | 60 | void stateMachine(void) |
| tverouden | 3:9c63fc5f157e | 61 | { |
| tverouden | 5:04b26b2f536a | 62 | switch (currentState) { // determine which state Odin is in // Van een aantal if statements moeten de conditions nog bepaald worden, niet vergeten |
| tverouden | 3:9c63fc5f157e | 63 | |
| tverouden | 4:5ce2c8864908 | 64 | // ============================== WAITING MODE =============================== |
| tverouden | 3:9c63fc5f157e | 65 | case waiting: |
| tverouden | 4:5ce2c8864908 | 66 | // ------------------------ initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 67 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 68 | pc.printf("[MODE] waiting...\r\n"); |
| tverouden | 5:04b26b2f536a | 69 | // print current state |
| tverouden | 4:5ce2c8864908 | 70 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 71 | |
| tverouden | 4:5ce2c8864908 | 72 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 73 | /* */ |
| tverouden | 4:5ce2c8864908 | 74 | |
| tverouden | 4:5ce2c8864908 | 75 | } |
| tverouden | 4:5ce2c8864908 | 76 | // ----------------------------- action ------------------------------ |
| tverouden | 4:5ce2c8864908 | 77 | // Actions for each loop iteration |
| tverouden | 4:5ce2c8864908 | 78 | /* */ |
| tverouden | 4:5ce2c8864908 | 79 | |
| tverouden | 4:5ce2c8864908 | 80 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 81 | // Transition condition #1: with a button press, enter motor |
| tverouden | 4:5ce2c8864908 | 82 | // calibration mode |
| tverouden | 8:8cef1050ebd9 | 83 | if (buttonEmergency == true) { // Waarom drukken we op de noodknop om te beginnen? Lijkt me raar |
| tverouden | 6:f32352bc5078 | 84 | // Actions when leaving state // Is hier niet de resetknop voor bedoeld? |
| tverouden | 4:5ce2c8864908 | 85 | /* */ |
| tverouden | 5:04b26b2f536a | 86 | |
| tverouden | 4:5ce2c8864908 | 87 | currentState = calibratingMotors; // change to state |
| tverouden | 4:5ce2c8864908 | 88 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 89 | } |
| tverouden | 4:5ce2c8864908 | 90 | break; // end case |
| tverouden | 4:5ce2c8864908 | 91 | |
| tverouden | 4:5ce2c8864908 | 92 | // ========================= MOTOR CALIBRATION MODE ========================== |
| tverouden | 4:5ce2c8864908 | 93 | case calibratingMotors: |
| tverouden | 4:5ce2c8864908 | 94 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 95 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 96 | pc.printf("[MODE] calibrating motors...r\n"); |
| tverouden | 5:04b26b2f536a | 97 | // print current state |
| tverouden | 4:5ce2c8864908 | 98 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 99 | |
| tverouden | 4:5ce2c8864908 | 100 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 101 | /* */ |
| tverouden | 4:5ce2c8864908 | 102 | |
| tverouden | 4:5ce2c8864908 | 103 | } |
| tverouden | 4:5ce2c8864908 | 104 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 105 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 106 | /* */ |
| tverouden | 4:5ce2c8864908 | 107 | |
| tverouden | 4:5ce2c8864908 | 108 | // --------------------------- transition ---------------------------- |
| tverouden | 4:5ce2c8864908 | 109 | // Transition condition #1: after 3 sec in state && all motor // Als vóór het einde van de 3 seconden alle motoren al snelheid 0 hebben, zitten ze zo dus door te draaien terwijl dat niet kan |
| tverouden | 4:5ce2c8864908 | 110 | // velocities zero, start calibrating EMG-x // dat lijkt me niet de bedoeling |
| tverouden | 7:ef5966469621 | 111 | if (1) { // CONDITION |
| tverouden | 5:04b26b2f536a | 112 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 113 | /* */ |
| tverouden | 5:04b26b2f536a | 114 | |
| tverouden | 7:ef5966469621 | 115 | currentState = calibratingEMGx; // change to state |
| tverouden | 4:5ce2c8864908 | 116 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 117 | } |
| tverouden | 4:5ce2c8864908 | 118 | break; // end case |
| tverouden | 4:5ce2c8864908 | 119 | |
| tverouden | 7:ef5966469621 | 120 | // =========================== EMG CALIBRATION MODE =========================== |
| tverouden | 7:ef5966469621 | 121 | case calibratingEMG: |
| tverouden | 4:5ce2c8864908 | 122 | // ------------------------- initialisation -------------------------- |
| tverouden | 3:9c63fc5f157e | 123 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 124 | pc.printf("[MODE] calibrating EMG 1 (x-direction)...\r\n"); |
| tverouden | 5:04b26b2f536a | 125 | // print current state |
| tverouden | 4:5ce2c8864908 | 126 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 127 | |
| tverouden | 4:5ce2c8864908 | 128 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 129 | /* */ |
| tverouden | 4:5ce2c8864908 | 130 | |
| tverouden | 4:5ce2c8864908 | 131 | } |
| tverouden | 4:5ce2c8864908 | 132 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 133 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 134 | /* */ |
| tverouden | 4:5ce2c8864908 | 135 | |
| tverouden | 4:5ce2c8864908 | 136 | // --------------------------- transition ---------------------------- |
| tverouden | 7:ef5966469621 | 137 | // Transition condition #1: after 20 sec in state |
| tverouden | 7:ef5966469621 | 138 | if (1) { // CONDITION |
| tverouden | 4:5ce2c8864908 | 139 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 140 | /* */ |
| tverouden | 5:04b26b2f536a | 141 | |
| tverouden | 4:5ce2c8864908 | 142 | currentState = homing; // change to state |
| tverouden | 4:5ce2c8864908 | 143 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 144 | } |
| tverouden | 5:04b26b2f536a | 145 | break; // end case |
| tverouden | 4:5ce2c8864908 | 146 | |
| tverouden | 4:5ce2c8864908 | 147 | // ============================== HOMING MODE ================================ |
| tverouden | 4:5ce2c8864908 | 148 | case homing: |
| tverouden | 7:ef5966469621 | 149 | // ------------------------- initialisation -------------------------- // Evt. ook checken op snelheid als mensen zo dom zijn om tijdens homing op random knopjes te drukken |
| tverouden | 4:5ce2c8864908 | 150 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 151 | pc.printf("[MODE] homing...\r\n"); |
| tverouden | 5:04b26b2f536a | 152 | // print current state |
| tverouden | 4:5ce2c8864908 | 153 | changeState = false; // stay in this state |
| tverouden | 4:5ce2c8864908 | 154 | |
| tverouden | 4:5ce2c8864908 | 155 | |
| tverouden | 4:5ce2c8864908 | 156 | // Actions when entering state |
| tverouden | 4:5ce2c8864908 | 157 | /* */ |
| tverouden | 4:5ce2c8864908 | 158 | |
| tverouden | 4:5ce2c8864908 | 159 | } |
| tverouden | 4:5ce2c8864908 | 160 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 161 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 162 | /* */ |
| tverouden | 4:5ce2c8864908 | 163 | |
| tverouden | 7:ef5966469621 | 164 | // --------------------------- transition ---------------------------- // Volgorde veranderen voor logica? |
| tverouden | 4:5ce2c8864908 | 165 | // Transition condition #1: with button press, enter demo mode |
| tverouden | 4:5ce2c8864908 | 166 | 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 | 167 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 168 | /* */ |
| tverouden | 5:04b26b2f536a | 169 | |
| tverouden | 4:5ce2c8864908 | 170 | currentState = demoing; // change to state |
| tverouden | 4:5ce2c8864908 | 171 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 172 | } |
| tverouden | 4:5ce2c8864908 | 173 | // Transition condition #2: with button press, enter operation mode |
| tverouden | 4:5ce2c8864908 | 174 | if (buttonBio2 == true) { |
| tverouden | 4:5ce2c8864908 | 175 | // Actions when leaving state |
| tverouden | 4:5ce2c8864908 | 176 | /* */ |
| tverouden | 5:04b26b2f536a | 177 | |
| tverouden | 4:5ce2c8864908 | 178 | currentState = operating; // change to state |
| tverouden | 4:5ce2c8864908 | 179 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 180 | } |
| tverouden | 4:5ce2c8864908 | 181 | break; // end case |
| tverouden | 4:5ce2c8864908 | 182 | |
| tverouden | 4:5ce2c8864908 | 183 | // ============================= OPERATING MODE ============================== |
| tverouden | 4:5ce2c8864908 | 184 | case operating: |
| tverouden | 4:5ce2c8864908 | 185 | // ------------------------- initialisation -------------------------- |
| tverouden | 4:5ce2c8864908 | 186 | if (changeState) { // when entering the state |
| tverouden | 4:5ce2c8864908 | 187 | pc.printf("[MODE] operating...\r\n"); |
| tverouden | 5:04b26b2f536a | 188 | // print current state |
| tverouden | 5:04b26b2f536a | 189 | changeState = false; // stay in this state |
| tverouden | 5:04b26b2f536a | 190 | |
| tverouden | 5:04b26b2f536a | 191 | // Actions when entering state |
| tverouden | 5:04b26b2f536a | 192 | /* */ |
| tverouden | 5:04b26b2f536a | 193 | |
| tverouden | 5:04b26b2f536a | 194 | } |
| tverouden | 5:04b26b2f536a | 195 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 196 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 197 | /* */ |
| tverouden | 5:04b26b2f536a | 198 | |
| tverouden | 5:04b26b2f536a | 199 | // --------------------------- transition ---------------------------- |
| tverouden | 7:ef5966469621 | 200 | // 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 | 201 | if (buttonBio2 == true) { |
| tverouden | 5:04b26b2f536a | 202 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 203 | /* */ |
| tverouden | 5:04b26b2f536a | 204 | |
| tverouden | 5:04b26b2f536a | 205 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 206 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 207 | } |
| tverouden | 7:ef5966469621 | 208 | // Transition condition #2: motor angle error < certain value, |
| tverouden | 7:ef5966469621 | 209 | // start reading |
| tverouden | 7:ef5966469621 | 210 | if (1) { // CONDITION |
| tverouden | 5:04b26b2f536a | 211 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 212 | /* */ |
| tverouden | 5:04b26b2f536a | 213 | |
| tverouden | 5:04b26b2f536a | 214 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 215 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 216 | } |
| tverouden | 5:04b26b2f536a | 217 | break; // end case |
| tverouden | 5:04b26b2f536a | 218 | |
| tverouden | 7:ef5966469621 | 219 | // ============================== READING MODE =============================== // Beweegt deze modus zowel heen als weer en zo ja, hoe bepaalt hij wat moet gebeuren? |
| tverouden | 7:ef5966469621 | 220 | case reading: |
| tverouden | 5:04b26b2f536a | 221 | // ------------------------- initialisation -------------------------- |
| tverouden | 5:04b26b2f536a | 222 | if (changeState) { // when entering the state |
| tverouden | 7:ef5966469621 | 223 | pc.printf("[MODE] reading...\r\n"); |
| tverouden | 5:04b26b2f536a | 224 | // print current state |
| tverouden | 5:04b26b2f536a | 225 | changeState = false; // stay in this state |
| tverouden | 5:04b26b2f536a | 226 | |
| tverouden | 5:04b26b2f536a | 227 | // Actions when entering state |
| tverouden | 5:04b26b2f536a | 228 | /* */ |
| 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 | 5:04b26b2f536a | 255 | /* */ |
| tverouden | 5:04b26b2f536a | 256 | |
| tverouden | 5:04b26b2f536a | 257 | } |
| tverouden | 5:04b26b2f536a | 258 | // ----------------------------- action ------------------------------ |
| tverouden | 5:04b26b2f536a | 259 | // Actions for each loop iteration |
| tverouden | 5:04b26b2f536a | 260 | /* */ |
| tverouden | 5:04b26b2f536a | 261 | |
| tverouden | 5:04b26b2f536a | 262 | // --------------------------- transition ---------------------------- |
| tverouden | 5:04b26b2f536a | 263 | // Transition condition #1: with button press, back to homing mode |
| tverouden | 5:04b26b2f536a | 264 | if (1) { |
| tverouden | 5:04b26b2f536a | 265 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 266 | /* */ |
| tverouden | 5:04b26b2f536a | 267 | |
| tverouden | 5:04b26b2f536a | 268 | currentState = homing; // change to state |
| tverouden | 5:04b26b2f536a | 269 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 270 | } |
| tverouden | 7:ef5966469621 | 271 | // Transition condition #2: after 3 sec relaxation, start reading // In 3 seconden zijn de bladzijden uit zichzelf alweer helemaal teruggegaan. Misschien dit gewoon doen na het voorgedefinieerde pad |
| tverouden | 5:04b26b2f536a | 272 | if (1) { |
| tverouden | 5:04b26b2f536a | 273 | // Actions when leaving state |
| tverouden | 5:04b26b2f536a | 274 | /* */ |
| tverouden | 5:04b26b2f536a | 275 | |
| tverouden | 7:ef5966469621 | 276 | currentState = reading; // change to state |
| tverouden | 5:04b26b2f536a | 277 | changeState = true; // next loop, switch states |
| tverouden | 5:04b26b2f536a | 278 | } |
| tverouden | 5:04b26b2f536a | 279 | break; // end case |
| tverouden | 5:04b26b2f536a | 280 | |
| tverouden | 5:04b26b2f536a | 281 | // =============================== FAILING MODE ================================ |
| tverouden | 5:04b26b2f536a | 282 | case failing: |
| tverouden | 5:04b26b2f536a | 283 | // ------------------------- initialisation -------------------------- |
| tverouden | 5:04b26b2f536a | 284 | if (changeState) { // when entering the state |
| tverouden | 5:04b26b2f536a | 285 | pc.printf("[ERROR] entering failure mode\r\n"); |
| tverouden | 7:ef5966469621 | 286 | // print current state |
| tverouden | 3:9c63fc5f157e | 287 | changeState = false; // stay in this state |
| tverouden | 3:9c63fc5f157e | 288 | |
| tverouden | 3:9c63fc5f157e | 289 | // Actions when entering state |
| tverouden | 7:ef5966469621 | 290 | ledGreen = 1; // red LED on // Blijft dit aan? |
| tverouden | 6:f32352bc5078 | 291 | ledBlue = 1; |
| tverouden | 6:f32352bc5078 | 292 | ledRed = 0; |
| tverouden | 4:5ce2c8864908 | 293 | |
| tverouden | 6:f32352bc5078 | 294 | // pin3 = 0; // all motor forces to zero // Pins nog niet gedefiniëerd |
| tverouden | 6:f32352bc5078 | 295 | // pin5 = 0; |
| tverouden | 6:f32352bc5078 | 296 | // pin6 = 0; |
| tverouden | 6:f32352bc5078 | 297 | exit (0); // abort mission |
| tverouden | 4:5ce2c8864908 | 298 | } |
| tverouden | 4:5ce2c8864908 | 299 | break; // end case |
| tverouden | 4:5ce2c8864908 | 300 | |
| tverouden | 4:5ce2c8864908 | 301 | // ============================== DEFAULT MODE ================================= |
| tverouden | 3:9c63fc5f157e | 302 | default: |
| tverouden | 4:5ce2c8864908 | 303 | // ---------------------------- enter failing mode ----------------------------- |
| tverouden | 4:5ce2c8864908 | 304 | currentState = failing; // change to state |
| tverouden | 4:5ce2c8864908 | 305 | changeState = true; // next loop, switch states |
| tverouden | 4:5ce2c8864908 | 306 | // print current state |
| tverouden | 4:5ce2c8864908 | 307 | pc.printf("[ERROR] unknown or unimplemented state reached\r\n"); |
| tverouden | 3:9c63fc5f157e | 308 | |
| tverouden | 4:5ce2c8864908 | 309 | } // end switch |
| tverouden | 4:5ce2c8864908 | 310 | } // end stateMachine |
| tverouden | 3:9c63fc5f157e | 311 | |
| tverouden | 3:9c63fc5f157e | 312 | |
| tverouden | 2:d70795e4e0bf | 313 | |
| tverouden | 2:d70795e4e0bf | 314 | // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ MAIN LOOP ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ |
| tverouden | 2:d70795e4e0bf | 315 | |
| tverouden | 3:9c63fc5f157e | 316 | int main() |
| tverouden | 3:9c63fc5f157e | 317 | { |
| tverouden | 8:8cef1050ebd9 | 318 | // ================================ EMERGENCY ================================ |
| tverouden | 7:ef5966469621 | 319 | //If the emergency button is pressed, stop program via failing state |
| tverouden | 8:8cef1050ebd9 | 320 | buttonEmergency.rise(stopProgram); // Automatische triggers voor failure mode? |
| tverouden | 8:8cef1050ebd9 | 321 | |
| tverouden | 8:8cef1050ebd9 | 322 | // ================================ EMERGENCY ================================ |
| tverouden | 8:8cef1050ebd9 | 323 | pc.baud(115200); // communication with terminal // Baud rate |
| tverouden | 6:f32352bc5078 | 324 | |
| tverouden | 2:d70795e4e0bf | 325 | // ==================================== LOOP =================================== |
| tverouden | 2:d70795e4e0bf | 326 | while (true) { // loop forever |
| tverouden | 2:d70795e4e0bf | 327 | |
| tverouden | 2:d70795e4e0bf | 328 | } |
| tverouden | 2:d70795e4e0bf | 329 | } |
