Revision 5:b30229c6f32b, committed 2013-11-03

Comitter:

Reiko

Date:

Sun Nov 03 11:46:19 2013 +0000

Parent:

4:c5cf0676baca

Child:

6:5619aff36840

Commit message:

Added go command, changed code to use new HumanInterface

Changed in this revision

--- a/ExternalIn.lib	Mon Sep 23 14:05:38 2013 +0000
+++ b/ExternalIn.lib	Sun Nov 03 11:46:19 2013 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/Reiko/code/ExternalIn/#feaee10590b7
+http://mbed.org/users/Reiko/code/ExternalIn/#6c525c701aad

--- a/HumanInterface.lib	Mon Sep 23 14:05:38 2013 +0000
+++ b/HumanInterface.lib	Sun Nov 03 11:46:19 2013 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/Reiko/code/HumanInterface/#ccf47494061b
+http://mbed.org/users/Reiko/code/HumanInterface/#9b2455659c7d

--- a/Motor2.lib	Mon Sep 23 14:05:38 2013 +0000
+++ b/Motor2.lib	Sun Nov 03 11:46:19 2013 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/Reiko/code/Motor2/#bec5a728405f
+http://mbed.org/users/Reiko/code/Motor2/#b0e6051a6109

--- a/PCA9555.lib	Mon Sep 23 14:05:38 2013 +0000
+++ b/PCA9555.lib	Sun Nov 03 11:46:19 2013 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/Reiko/code/PCA9555/#3b54389686ca
+http://mbed.org/users/Reiko/code/PCA9555/#8f59b7233e6c

--- a/main.cpp	Mon Sep 23 14:05:38 2013 +0000
+++ b/main.cpp	Sun Nov 03 11:46:19 2013 +0000
@@ -17,6 +17,8 @@
 Ticker sensorUpdate;
 
 DigitalOut led1(LED1);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
 
 Serial pc(USBTX, USBRX); // tx, rx
 //ADXL345_I2C accelerometer(p9, p10);
@@ -29,11 +31,11 @@
 //int gyroData[3] = {0, 0, 0};
 //int16_t compassData[3] = {0, 0, 0};
 
-//DigitalOut led3(LED3);
 
 volatile int update = 0;
 volatile int extInChanged = 0;
 volatile int ballChanged = 0;
+volatile int ballState = 0;
 volatile int goalButtonReleased = 0;
 volatile int startButtonReleased = 0;
 volatile int stallChanged = 0;
@@ -43,8 +45,7 @@
 int failSafeLimit = 60;
 
 
-void executeCommand(short *cmd);
-void executeCommandOld(char *buffer);
+void executeCommand(char *buffer);
 
 /*
 void updateSensors() {
@@ -70,15 +71,9 @@
 Motor motor1(p22, &ioExt, 6, 7, p14, p15); //FL - M4
 Motor motor3(p21, &ioExt, 9, 8, p16, p17); //RL - M5
 
-//LedOut redLed(&ioExt, 13);
-//LedOut blueLed(&ioExt, 12);
-//LedOut yellowLed(&ioExt, 11);
+Coilgun coilgun(p20, p19, p18);
 
-Coilgun coilgun(p20, p19, p18);
-//CoilGun coilgun(LED3, LED4, p18);
-//Timeout kickFinish;
-
-HumanInterface humanInterface(&pc, &ioExt, 11, 12, 13, 14, 15, 10); 
+HumanInterface humanInterface(&ioExt, 15, 14, 13, 12, 11, p29, p30, p26); 
 
 void updateTick() { 
     //led3 = 1;   
@@ -95,8 +90,14 @@
     extInChanged = 1;
 }
 
-void ballChangedCallback() {
+void ballRiseCallback() {
     ballChanged = 1;
+    ballState = 1;
+}
+
+void ballFallCallback() {
+    ballChanged = 1;
+    ballState = 0;
 }
 
 void goalRiseCallback() {
@@ -121,8 +122,6 @@
 char sendBuffer[256];
 int charCounter = 0;
 
-DigitalOut led2(LED2);
-
 //void readSerial() {
     
     //int n = pc.readable();
@@ -133,7 +132,6 @@
         //pc.scanf("%s", &buffer);
         //pc.printf("%c\n", pc.getc());
         //buffer[charCounter] = pc.getc();
-        //led2 = !led2;
         /*printf("%c\n", buffer[charCounter]);
         //pc.printf("%s\n", buffer);
         if (buffer[charCounter] == '\n') {
@@ -209,21 +207,24 @@
     
     //int ioExtBefore = ioExt.read();
     //pc.printf("ioExt: %s\n", byte_to_binary(ioExt.read()));
-    pc.printf("ioExt: %x\n", ioExt.read());
-    ioExt.setDirection(0xC400);
+    //pc.printf("ioExt: %x\n", ioExt.read());
+    ioExt.setDirection(0x0400);
     ioExt.write(0x0155);
     //int ioExtAfter = ioExt.read();
-    pc.printf("ioExt: %x\n", ioExt.read());
+    //pc.printf("ioExt: %x\n", ioExt.read());
     //pc.printf("ioExt: %s\n", byte_to_binary(ioExt.read()));
     
     //ballSens.change(&extChangedCallback);
     //button1.change(&extChangedCallback);
     //button2.change(&extChangedCallback);
-    //humanInterface.change(&extChangedCallback);
-    humanInterface.ballChange(&ballChangedCallback);
+    
+    humanInterface.ballRise(&ballRiseCallback);
+    humanInterface.ballFall(&ballFallCallback);
     humanInterface.goalRise(&goalRiseCallback);
     humanInterface.startRise(&startRiseCallback);
     
+    //humanInterface.change(&extChangedCallback);
+    
     motor1.stallChange(&stallChangedCallback);
     motor2.stallChange(&stallChangedCallback);
     motor3.stallChange(&stallChangedCallback);
@@ -287,40 +288,33 @@
             //server.sendTo(client, sendBuffer, charCount); 
             //pc.printf("<speeds:%d:%d:%d:%d:%d>\n", motor1.getSpeed(), motor2.getSpeed(), motor3.getSpeed(), motor4.getSpeed(), motor5.getSpeed()); 
             //redLed.toggle();
+            
+            ioExt.setDirection(0x0400);
+            
             led1 = !led1;
         }
         
         if (stallChanged) {
             stallChanged = 0;
-            int charCount = sprintf(sendBuffer, "<stall:%d:%d:%d:%d:%d>\n",
+            int charCount = sprintf(sendBuffer, "<stall:%d:%d:%d:%d:%d>",
                 motor1.getStallLevel(),
                 motor2.getStallLevel(),
                 motor3.getStallLevel(),
                 motor4.getStallLevel(),
                 motor5.getStallLevel());
             server.sendTo(client, sendBuffer, charCount);
-        }
+        }     
         
-        /*if (extInChanged) {
-            extInChanged = 0;     
-            pc.printf("extChanged\n");   
-            //bool ballState = ballSens.read();
-            //bool button1State = button1.read();
-            //bool button2State = button2.read();
-            if (button1State) {
-                led1 = 1;
-            } else {
-                led1 = 0;
-            }
-            pc.printf("<ball:%d>\n", ballState ? 1 : 0);
-            pc.printf("<btn1:%d>\n", button1State ? 1 : 0);
-            pc.printf("<btn2:%d>\n", button2State ? 1 : 0);          
-        }*/
         
         if (ballChanged) {
             ballChanged = 0;
-            int charCount = sprintf(sendBuffer, "<ball:%d>", humanInterface.getBallState());
+            int charCount = sprintf(sendBuffer, "<ball:%d>", ballState);
             server.sendTo(client, sendBuffer, charCount); 
+            if (ballState) {
+                led4 = 1;
+            } else {
+                led4 = 0;
+            }
         }
         
         if (goalButtonReleased) {
@@ -332,6 +326,13 @@
             startButtonReleased = 0;
             server.sendTo(client, "<toggle-go>", 11);
         }
+        
+        /*if (extInChanged) {
+            extInChanged = 0;     
+            bool ballState = humanInterface.getBallState();
+            int charCount = sprintf(sendBuffer, "<ioExt:%x>", ioExt.getLastRead());
+            server.sendTo(client, sendBuffer, charCount);        
+        }*/
     
         //printf("\nWait for packet...\n");
 
@@ -342,7 +343,7 @@
             //pc.printf("n: %d\n", n);
             buffer[n] = '\0';
             //server.sendTo(client, buffer, n); 
-            executeCommandOld(buffer);
+            executeCommand(buffer);
             //coilgun.kick(1000);
             //executeCommand((short*)buffer);
         }
@@ -370,33 +371,7 @@
     }
 }
 
-void executeCommand(short *cmd) {   
-    if (cmd[0] == 1) {
-        motor1.setSpeed(cmd[1]);
-        motor2.setSpeed(cmd[2]);
-        motor3.setSpeed(cmd[3]);
-        motor4.setSpeed(cmd[4]);
-        motor5.setSpeed(cmd[5]);
-    } else if (cmd[0] == 2) {
-        int charCount = sprintf(sendBuffer, "<speeds:%d:%d:%d:%d:%d>", motor1.getSpeed(), motor2.getSpeed(), motor3.getSpeed(), motor4.getSpeed(), motor5.getSpeed());
-        //pc.printf("%d\n", sizeof(sendBuffer));
-        //pc.printf("sendTo %s\n", client.get_address());
-        server.sendTo(client, sendBuffer, charCount);
-        led2 = !led2;
-    } else if (cmd[0] == 3) {
-        pc.printf("kick\n");
-        coilgun.kick(cmd[1]);
-    } else if (cmd[0] == 4) {
-        pc.printf("charge\n");
-        if (cmd[1] == 1) {
-            coilgun.charge();
-        } else {
-            coilgun.chargeEnd();
-        }
-    }
-}
-
-void executeCommandOld(char *buffer) {
+void executeCommand(char *buffer) {
     failSafeCount = 0;
 
     pc.printf("%s\n", buffer);    
@@ -418,7 +393,6 @@
         int charCount = sprintf(sendBuffer, "<speeds:%d:%d:%d:%d:%d>",
             motor1.getSpeed(), motor2.getSpeed(), motor3.getSpeed(), motor4.getSpeed(), motor5.getSpeed());
         server.sendTo(client, sendBuffer, charCount);
-        led2 = !led2;
     } else if (strncmp(cmd, "kick", 4) == 0) {
         pc.printf("kick\n");
         coilgun.kick(atoi(strtok(NULL, ":")));
@@ -450,6 +424,7 @@
         motor5.setSpeed(0);
         humanInterface.setGoal(HumanInterface::UNSET);
         humanInterface.setError(false);
+        humanInterface.setGo(false);
     } else if (strncmp(cmd, "fs", 2) == 0) {
         failSafeEnabled = (bool)atoi(strtok(NULL, ":"));
     } else if (strncmp(cmd, "target", 6) == 0) {
@@ -463,5 +438,7 @@
         }
     } else if (strncmp(cmd, "error", 5) == 0) {
         humanInterface.setError(atoi(strtok(NULL, ":")));
+    }  else if (strncmp(cmd, "go", 2) == 0) {
+        humanInterface.setGo(atoi(strtok(NULL, ":")));
     }
 }
\ No newline at end of file

--- a/mbed.bld	Mon Sep 23 14:05:38 2013 +0000
+++ b/mbed.bld	Sun Nov 03 11:46:19 2013 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/e3affc9e7238
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/f37f3b9c9f0b
\ No newline at end of file