Diff: main.cpp

Revision:

0:15e49f97cb3d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 12 17:49:16 2012 +0000
@@ -0,0 +1,151 @@
+#include "mbed.h"
+#include "func.h"
+#include "define.h"
+#include "globlvar.h"
+
+
+int main()
+{
+    int myButton;
+    //For developer use
+    //GetIRCodes();
+    //GetForces();
+    format = RemoteIR::SONY;
+    while(1) {
+        //The state machine switch statement
+        switch( state) {
+            //The initialization state
+            case BOOT:
+                pc.printf("BOOTING UP\n\r");
+                forceThresh = DEFAULT_FORCE;
+                pushSpeed = DEFAULT_SPEED;
+                state = LISTEN;
+                newState = true;
+                held = false;
+                lcd.cls();
+                lcd.printf("RON SWANSON \nDOOR SLAMMER!");
+                break;
+            //Listen for IR signal             
+            case LISTEN:
+                if(newState)
+                    pc.printf("LISTENING FOR IR\n\r");
+                newState = false;
+                myButton = IRListen();
+
+                switch(myButton) {
+                    case NONE:
+                        break;
+                    case RUN:
+                        pc.printf("OK Button\n\r");
+                        state = CLOSE_DOOR;
+                        newState = true;
+                        held = true;
+                        break;
+                    case SPD_UP:
+                        if(pushSpeed+SPEED_INC<=1)
+                            pushSpeed += SPEED_INC;
+                        else
+                            pushSpeed = 1;
+                        speedPercent = (int)(pushSpeed*100.0f);
+                        lcd.cls();
+                        lcd.printf("Speed:\n%3d%%\n\r", speedPercent);
+                        pc.printf("Speed:\n%3d%%\n\r", speedPercent);
+                        break;
+                    case SPD_DN:
+                        if(pushSpeed-SPEED_INC>=SPEED_MIN)
+                            pushSpeed -= SPEED_INC;
+                        else
+                            pushSpeed = SPEED_MIN;
+                        speedPercent = (int)(pushSpeed*100.0f);
+                        lcd.cls();
+                        lcd.printf("Speed:\n%3d%%\n\r", speedPercent);
+                        pc.printf("Speed:\n%3d%%\n\r", speedPercent);
+                        break;
+                    case RST:
+                        pc.printf("Exit Button\n\r");
+                        state = BOOT;
+                        break;
+                    case FRC_UP:
+
+                        if(forceThresh+FORCE_INC<=1)
+                            forceThresh+=FORCE_INC;
+                        lcd.cls();
+                        lcd.printf("Force threshold:\n%f pounds\n", (forceThresh*200.0f)/4.44822162f);
+                        pc.printf("Force threshold:\n\r%f pounds\n\r", (forceThresh*200.0f)/4.44822162f);
+                        break;
+                    case FRC_DN:
+                        if(forceThresh-FORCE_INC>0)
+                            forceThresh-=FORCE_INC;
+                        lcd.cls();
+                        lcd.printf("Force threshold:\n%f pounds\n", (forceThresh*200.0f)/4.44822162f);
+                        pc.printf("Force threshold:\n\r%f pounds\n\r", (forceThresh*200.0f)/4.44822162f);
+                        break;
+                    default:
+                        pc.printf("Unknown Button: %d\n\r", myButton);
+                        break;
+                }
+                break;
+            case CLOSE_DOOR:
+                lcd.cls();
+                lcd.printf("GET OUT\n");
+                pc.printf("CLOSING DOOR\n\r");
+                state = CHECK_IR;
+                break;
+            case CHECK_IR:
+                pc.printf("CHECKING FOR CANCEL SIGNAL\n\r");
+                if(IRListen()==-1)
+                    held = false;
+                else if(!held) {
+                    pc.printf("CANCEL SIGNAL RECEIVED\n\r");
+                    state = RESET;
+                    break;
+                }
+                state = CHECK_FORCE;
+                break;
+            case CHECK_FORCE:
+                force = doorForce;
+                pc.printf("CHECKING FORCE: %f\n\r", force);
+                if(force<FORCE_MIN)
+                    speed = COAST_SPEED;
+                else if(force<forceThresh)
+                    speed = pushSpeed;
+                else {
+                    wait(PUSH_TIME);
+                    state = RESET;
+                    break;
+                }
+                state = RUN_MOTOR;
+                pc.printf("\tNEW SPEED: %f\n\r", speed);
+                break;
+            case RUN_MOTOR:
+                myMotor.speed(DIRECTION*speed);
+
+                state = CHECK_IR;
+                break;
+            case RESET:
+                pc.printf("RETURNING TO IDLE\n\r");
+                myMotor.speed(0);
+                myMotor.speed(DIRECTION*REVERSE_SPEED);
+                state = CHECK_WALL;
+                break;
+            case CHECK_WALL:
+                wall = wallForce;
+                if(wall>=WALL_THRESH||IRListen()>=0) {
+                    myMotor.speed(0);
+                    state = LISTEN;
+                    lcd.printf("AND STAY OUT!");
+                    pc.printf("WALL DETECTED, ENTERING IDLE STATE\n\r");
+
+                    break;
+                }
+                pc.printf("CHECKING WALL: %f\n\r", wall);
+
+                break;
+            default:
+                break;
+        }
+
+
+    }
+}
+