大季 矢花
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MB2019_main_11_13swich
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System/Process/Process.cpp
- Committer:
- M_souta
- Date:
- 2019-10-18
- Revision:
- 29:44d5454ce8fa
- Parent:
- 28:479631c2de29
- Child:
- 30:8f092276b2ba
File content as of revision 29:44d5454ce8fa:
#include "mbed.h"
#include "Process.h"
#include "Pulse.h"
#include <stdlib.h>
#include "../../CommonLibraries/PID/PID.h"
#include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
#include "../../Communication/RS485/LineHub/LineHub.h"
#include "../../Communication/Controller/Controller.h"
#include "../../Input/Switch/Switch.h"
#include "../../LED/LED.h"
#include "../../Safty/Safty.h"
#include "../Using.h"
using namespace SWITCH;
using namespace PID_SPACE;
using namespace LINEHUB;
static CONTROLLER::ControllerData *controller;
ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;
static bool lock;
static bool processChangeComp;
static int current;
static void AllActuatorReset();
#ifdef USE_SUBPROCESS
static void (*Process[USE_PROCESS_NUM])(void);
#endif
#pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE
/*Replace here with the definition code of your variables.*/
Serial pc(USBTX, USBRX);
//**************Buzzer****************
//DigitalOut buzzer(BUZZER_PIN);
void BuzzerTimer_func();
Ticker BuzzerTimer;
bool EMGflag = false;
PwmOut buzzer(BUZZER_PIN);
//**************Buzzer****************
//************TapeLed*****************
void TapeLedEms_func();
TapeLedData tapeLED;
TapeLedData sendLedData;
TapeLED_Mode ledMode = Normal;
Ticker tapeLedTimer;
//************TapaLed*****************
const int omni[15][15] = {
{ 0, 5, 21, 47, 83, 130, 187, 255, 255, 255, 255, 255, 255, 255, 255 },
{ -5, 0, 5, 21, 47, 83, 130, 187, 193, 208, 234, 255, 255, 255, 255 },
{ -21, -5, 0, 5, 21, 47, 83, 130, 135, 151, 177, 213, 255, 255, 255 },
{ -47, -21, 5, 0, 5, 21, 47, 83, 88, 104, 130, 167, 213, 255, 255 },
{ -83, -47, -21, 5, 0, 5, 21, 47, 52, 68, 94, 130, 177, 234, 255 },
{ -130, -83, -47, -21, 5, 0, 5, 21, 26, 42, 68, 104, 151, 208, 255 },
{ -187, -130, -83, -47, -21, -5, 0, 5, 10, 26, 52, 88, 135, 193, 255 },
{ -255, -187, -130, -83, -47, -21, -5, 0, 5, 21, 47, 83, 130, 187, 255 },
{ -255, -193, -135, -88, -52, -26, -10, -5, 0, 5, 21, 47, 83, 130, 187 },
{ -255, -208, -151, -104, -68, -42, -26, -21, -5, 0, 5, 21, 47, 83, 130 },
{ -255, -234, -177, -130, -94, -68, -52, -47, -21, -7, 0, 7, 21, 47, 83 },
{ -255, -255, -213, -167, -130, -104, -88, -83, -47, -21, -5, 0, 5, 21, 47 },
{ -255, -255, -255, -213, -177, -151, -135, -130, -83, -47, -21, -5, 0, 5, 21 },
{ -255, -255, -255, -255, -234, -208, -193, -187, -130, -83, -47, -21, -5, 0, 5 },
{ -255, -255, -255, -255, -255, -255, -255, -255, -187, -130, -83, -47, -21, -5, 0 }
};
const int curve[15] = { -204, -150, -104, -66, -38, -17, -4, 0, 4, 17, 38, 66, 104, 150, 204 };
uint8_t SetStatus(int);
uint8_t SetPWM(int);
#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
#ifdef USE_SUBPROCESS
#if USE_PROCESS_NUM>0
static void Process0(void);
#endif
#if USE_PROCESS_NUM>1
static void Process1(void);
#endif
#if USE_PROCESS_NUM>2
static void Process2(void);
#endif
#if USE_PROCESS_NUM>3
static void Process3(void);
#endif
#if USE_PROCESS_NUM>4
static void Process4(void);
#endif
#if USE_PROCESS_NUM>5
static void Process5(void);
#endif
#if USE_PROCESS_NUM>6
static void Process6(void);
#endif
#if USE_PROCESS_NUM>7
static void Process7(void);
#endif
#if USE_PROCESS_NUM>8
static void Process8(void);
#endif
#if USE_PROCESS_NUM>9
static void Process9(void);
#endif
#endif
void SystemProcessInitialize()
{
#pragma region USER-DEFINED_VARIABLE_INIT
/*Replace here with the initialization code of your variables.*/
#pragma endregion USER-DEFINED_VARIABLE_INIT
lock = true;
processChangeComp = true;
current = DEFAULT_PROCESS;
#ifdef USE_SUBPROCESS
#if USE_PROCESS_NUM>0
Process[0] = Process0;
#endif
#if USE_PROCESS_NUM>1
Process[1] = Process1;
#endif
#if USE_PROCESS_NUM>2
Process[2] = Process2;
#endif
#if USE_PROCESS_NUM>3
Process[3] = Process3;
#endif
#if USE_PROCESS_NUM>4
Process[4] = Process4;
#endif
#if USE_PROCESS_NUM>5
Process[5] = Process5;
#endif
#if USE_PROCESS_NUM>6
Process[6] = Process6;
#endif
#if USE_PROCESS_NUM>7
Process[7] = Process7;
#endif
#if USE_PROCESS_NUM>8
Process[8] = Process8;
#endif
#if USE_PROCESS_NUM>9
Process[9] = Process9;
#endif
#endif
}
static void SystemProcessUpdate()
{
#ifdef USE_SUBPROCESS
if(controller->Button.HOME) lock = false;
if(controller->Button.START && processChangeComp) {
current++;
if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
processChangeComp = false;
} else if(controller->Button.SELECT && processChangeComp) {
current--;
if (current < 0) current = 0;
processChangeComp = false;
} else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
#endif
#ifdef USE_MOTOR
ACTUATORHUB::MOTOR::Motor::Update(motor);
#endif
#ifdef USE_SOLENOID
ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
#endif
#ifdef USE_RS485
ACTUATORHUB::ActuatorHub::Update();
//LINEHUB::LineHub::Update();
#endif
}
void SystemProcess()
{
SystemProcessInitialize();
while(1) {
buzzer.period(1.0/800);
#ifdef USE_MU
controller = CONTROLLER::Controller::GetData();
#endif
#ifdef USE_ERRORCHECK
if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost) {
CONTROLLER::Controller::DataReset();
AllActuatorReset();
lock = true;
} else
#endif
{
#ifdef USE_SUBPROCESS
if(!lock) {
Process[current]();
} else
#endif
{
//ロック時の処理
}
}
//Emergency!
/*
if(!EMG_0 && !EMG_1 && !EMGflag){
buzzer = 0;
BuzzerTimer.attach(BuzzerTimer_func, 1);
EMGflag = true;
LED_DEBUG0 = 1;
}
if(EMG_0 && EMG_1 && EMGflag){
buzzer = 1;
BuzzerTimer.detach();
EMGflag = false;
}
*/
SystemProcessUpdate();
}
}
#pragma region PROCESS
#ifdef USE_SUBPROCESS
#if USE_PROCESS_NUM>0
static void Process0()
{
AllActuatorReset();
}
#endif
#if USE_PROCESS_NUM>1
static void Process1()
{
}
#endif
#if USE_PROCESS_NUM>2
static void Process2()
{
}
#endif
#if USE_PROCESS_NUM>3
static void Process3()
{
}
#endif
#if USE_PROCESS_NUM>4
static void Process4()
{
}
#endif
#if USE_PROCESS_NUM>5
static void Process5()
{
}
#endif
#if USE_PROCESS_NUM>6
static void Process6()
{
}
#endif
#if USE_PROCESS_NUM>7
static void Process7()
{
}
#endif
#if USE_PROCESS_NUM>8
static void Process8()
{
}
#endif
#if USE_PROCESS_NUM>9
static void Process9()
{
}
#endif
#endif
#pragma endregion PROCESS
static void AllActuatorReset()
{
#ifdef USE_SOLENOID
solenoid.all = ALL_SOLENOID_OFF;
#endif
#ifdef USE_MOTOR
for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
motor[i].dir = FREE;
motor[i].pwm = 0;
}
#endif
}
void BuzzerTimer_func()
{
buzzer = !buzzer;
//LED_DEBUG0 = !LED_DEBUG0;
}
void TapeLedEms_func()
{
sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red;
}
#pragma region USER-DEFINED-FUNCTIONS
uint8_t SetStatus(int pwmVal)
{
if (pwmVal < 0) return BACK;
else if (pwmVal > 0) return FOR;
else if (pwmVal == 0) return BRAKE;
else return BRAKE;
}
uint8_t SetPWM(int pwmVal)
{
if (pwmVal == 0 || pwmVal > 255 || pwmVal < -255) return 255;
else return abs(pwmVal);
}
#pragma endregion