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StateMachine.ino
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StateMachine.ino
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//DOME CALIBRATION- State Machine
# define BUFFER_SIZE 8
enum States
{
IDLE_STATE,
CALIBRATION_STATE,
END_CALIBRATION_STATE,
MOTOR_TURNING_STATE,
END_MOTOR_TURNING_STATE
};
typedef struct
{
int ldrPin;
int count;
bool lastState;
char counterName;
}SensorInfo;
typedef struct
{
float startingRelativePosition;
float targetRelativePosition;
int motorTurningDirection;
int gearCountsToTarget;
}MotorMovementInfo;
typedef struct
{
char bufferData[BUFFER_SIZE];
int index;
bool hasData;
}CommandInfo;
typedef struct
{
float realativePosition; // how many degrees to move from current position
float absolutePosition; //between 0-359 degrees
float gearCountPerDomeDegree;
}DomeInfo;
SensorInfo counterGear;
SensorInfo counterDome;
CommandInfo commandInfo;
DomeInfo domeInfo;
MotorMovementInfo motorMovementInfo;
bool calculateCurrentState(int ldrStatus);
void updateCounter(SensorInfo* counter);
States currentState;
void readCommands();
bool updateMovement();
bool updateDeceleration();
void clearCommands();
void handleCalibrateCommand();
void handleMovementCommand();
void handleGetPositionCommand();
void handleParkCommand();
const int SENSITIVITY_THRESHOLD_MIN = 550; // The value that we'll consider to be high or low for the photoresistor
const int SENSITIVITY_THRESHOLD_MAX = 900; //Dead zone is between threshold MIN and MAX
int gearPerDomeDegree;
float countsToTurn;
bool motorDirection;
void setup()
{
Serial.begin(9600); //speed in bits per second, talking to USB cable
counterGear.ldrPin = A0;
counterGear.count = 0;
counterGear.counterName = 'G'; //G for Gear
counterDome.ldrPin = A1;
counterDome.count = 0;
counterDome.counterName = 'D'; //D for Dome
pinMode(counterGear.ldrPin, INPUT); //initialize photoresistor on gear
pinMode(counterDome.ldrPin, INPUT); //initialize photoresistor on dome
counterGear.lastState = calculateCurrentState(analogRead(counterGear.ldrPin));
counterDome.lastState = calculateCurrentState(analogRead(counterDome.ldrPin));
currentState = IDLE_STATE;
}
void loop()
{
switch(currentState)
{
case IDLE_STATE:
{
serialEvent();
if(commandInfo.hasData == true)
{
clearCommands();
Serial.println("I made it here 2!");
}
break;
}
case CALIBRATION_STATE:
{
updateCounter(&counterDome);
if(counterDome.count > 1)
{
currentState = END_CALIBRATION_STATE;
}
if(counterDome.count == 1)
{
updateCounter(&counterGear);
}
break;
}
case END_CALIBRATION_STATE:
{
gearPerDomeDegree = float(counterGear.count)/360.0f; //number of 1/3 turns per one degree of dome turning
Serial.print("Gear 1/3 Rotations per One Degree of Dome Rotation: ");
Serial.println(gearPerDomeDegree);
currentState = IDLE_STATE;
break;
}
case MOTOR_TURNING_STATE:
{
break;
}
}
}
bool calculateCurrentState(int ldrStatus)
{
return (ldrStatus < SENSITIVITY_THRESHOLD_MIN);
}
void updateCounter(SensorInfo* counter)
{
int ldrStatus = analogRead(counter->ldrPin); //reads status of LDR value
Serial.print(counter->counterName);
Serial.print(" LDR Status: ");
Serial.println(ldrStatus);
if(ldrStatus < SENSITIVITY_THRESHOLD_MIN || ldrStatus > SENSITIVITY_THRESHOLD_MAX)
{
// True if photoresister has been covered (according to the average reading during our sample size)
bool currentState = calculateCurrentState(ldrStatus);
Serial.print(counter->counterName);
Serial.print(" CurrentState: ");
Serial.println(currentState);
if(currentState == true && counter->lastState == false)
{
Serial.print(counter->counterName);
Serial.println(" currentState == true && lastState == false. Incrementing Counter");
counter->lastState = true;
counter->count++;
Serial.print(counter->counterName);
Serial.print(" Number of turns: ");
Serial.println(counter->count);
}
else if(currentState == false && counter->lastState == true)
{
Serial.print(counter->counterName);
Serial.println(" currentState == false && lastState == true");
counter->lastState = false;
}
}
}
void serialEvent() //reads data from the serial connection when data sent
{
commandInfo.index = 0;
while(Serial.available())
{
char currentChar = (char)Serial.read();
commandInfo.bufferData[commandInfo.index] = currentChar;
if(currentChar == ';')
{
commandInfo.hasData = true;
}
commandInfo.index++;
}
readCommands();
for(int i=0; i<BUFFER_SIZE ; i++)
{
Serial.print(commandInfo.bufferData[i]);
}
currentState = IDLE_STATE;
}
void readCommands()
{
if(commandInfo.index >= 3 && commandInfo.bufferData[0] == '+')
{
switch(commandInfo.bufferData[1])
{
case 'C':
{
handleCalibrateCommand();
break;
}
case 'M':
{
handleMovementCommand(commandInfo.bufferData); // do I need to pass any specific values or the whole array??
break;
}
case 'G':
{
handleGetPositionCommand();
break;
}
case 'P':
{
handleParkCommand();
break;
}
}
}
}
void clearCommands()
{
commandInfo.hasData = false;
memset(commandInfo.bufferData,0,BUFFER_SIZE); //sets buffer array to zero
commandInfo.index = 0;
Serial.println();
}
bool updateMovement()
{
return false;
}
bool updateDeceleration()
{
return false;
}
void handleCalibrateCommand()
{
}
void handleMovementCommand(char* commandBuffer)
{
bool isRelativeMovement = false;
int moveDegrees;
switch(commandBuffer[2])
{
case 'A':
{
isRelativeMovement = false;
Serial.println("I am in case A mudafucka");
break;
}
case 'R':
{
isRelativeMovement = true;
Serial.println("I am in case R");
break;
}
}
moveDegrees = atoi(&commandInfo.bufferData[3]);
Serial.print("Degrees needed to move: ");
Serial.println(moveDegrees);
}
void handleGetPositionCommand()
{
}
void handleParkCommand()
{
}