remove things that aren't mechatronics lab1

2023-10-15 15:29:46 +01:00
parent 015b5d6a08
commit fe80d4c70e
203 changed files with 7 additions and 5392 deletions
--- a/skeleton_programs/TestEncoder.ino
+++ b/skeleton_programs/TestEncoder.ino
@@ -0,0 +1,116 @@
+/* Test program for incremental encoder state machine code */
+/* Serial input aspects are based closely upon: 
+   http://forum.arduino.cc/index.php?topic=396450
+   Example 4 - Receive a number as text and convert it to an int
+   Modified to read a float */
+
+long int count = 0;
+long int error = 0;
+enum states{state1=1, state2, state3, state4};
+bool channelAState;
+bool channelBState;
+
+int state;
+const byte numChars = 32;
+char receivedChars[numChars];   // an array to store the received data
+
+boolean newData = false;
+
+void setup() {
+    Serial.begin(9600);
+    Serial.println("Enter initial state as a 2-digit number e.g. 01 then hit return");
+    do {
+      recvWithEndMarker();
+    } while (!newData);
+    channelAState = receivedChars[0]!='0';
+    channelBState = receivedChars[1]!='0';
+    
+    initialiseEncoderStateMachine();  
+    Serial.print(state);
+    Serial.print('\n');
+
+    Serial.println("Now keep entering state as a 2-digit number e.g. 01 then hit return.");
+    newData = false;
+}
+
+void loop() {
+    recvWithEndMarker();
+    if (newData)
+    {
+        channelAState = receivedChars[0]!='0';
+        channelBState = receivedChars[1]!='0';
+        updateEncoderStateMachine();
+        Serial.print("State: ");
+        Serial.print((int)state);
+        Serial.print(" Count: ");
+        Serial.print(count);
+        Serial.print(" Error: ");
+        Serial.print(error);
+        Serial.write('\n');
+        newData = false;
+    }
+    
+}
+
+void recvWithEndMarker() {
+    static byte ndx = 0;
+    char endMarker = '\n';
+    char rc;
+    
+    while (Serial.available() > 0 && newData == false) {
+        rc = Serial.read();
+
+        if (rc != endMarker) {
+            receivedChars[ndx] = rc;
+            ndx++;
+            if (ndx >= numChars) {
+                ndx = numChars - 1;
+            }
+        }
+        else {
+            receivedChars[ndx] = '\0'; // terminate the string
+            ndx = 0;
+            newData = true;
+        }
+    }
+}
+
+void initialiseEncoderStateMachine()
+{
+  /* If initially A is 0 and B is 0, system starts in State 1
+     If initially A is 1 and B is 0, system starts in State 2
+     If initially A is 1 and B is 1, system starts in State 3
+     If initially A is 0 and B is 1, system starts in State 4 */
+
+  if (channelAState)
+  {
+      if(channelBState)
+      {
+        state = state3;
+      }
+      /* else ....  lots of code goes here */
+  }
+}
+
+void updateEncoderStateMachine()
+{
+  switch (state)
+  {
+     case state1:
+     /* If A is 0 and B is 0, do nothing and stay in State 1
+        If A is 1 and B is 0, add 1 to main counter and go to State 2
+        If A is 0 and B is 1, subtract 1 to main counter and go to State 4
+        If A is 1 and B is 1, do nothing to main counter but add 1 to error counter and go to state 3 */
+
+     if (channelAState && !channelBState)
+     {
+        count++;
+        state = state2;
+     }
+     /* else ....  lots of code goes here */
+     break; /* don't forget break at the end of each case! */
+     /* other cases follow */
+  }
+}
+
+