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‎src/04_Machine_Basic_Operations/04_Machine_Basic_Operations.ino‎

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/*
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EMBRYO Control system v2.0
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Machine control using an event driven approach and designing
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a state machine around the different inputs and outputs
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Test 04: Machine Basic Operations
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This example runs a simple state machine looking at the
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functionality of some of the inputs and prints out the
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current mode of operation
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Notes: revised names for END_STOPs, now there are called
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PIN_END_STOP_TOP, and PIN_END_STOP_BOTTOM, making it
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easier to follow the code. Moved printInputs to
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serialPrintInputs
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The state machine responds to the following diagram:
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+---------+
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| |
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+------> RESET |
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| | | +------------+
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| +----+----+ AUTO | |
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| | +-----------------+ END LOOP |
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| | | | |
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| -INIT- | | +------^-----+
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| BUTTON | | |
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| | | | END STOP
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| | | | SWITCHES
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| | | |
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| +----v--v-+ +------+------+
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| | | L+R BUTTONS | |
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| | INIT +---------------> OPERATION |
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| | | | |
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| +---------+ +------+------+
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| |
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+---+---------+ |
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|+-----------+| |
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|| EMERGENCY || |
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|| STOP || EMERGENCY STOP BUTTON |
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|| |<-----------------------------+
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|+-----------+|
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+-------------+
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This code is in the public domain
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2021 D. Cuartielles
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*/
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// Include the machine's architecture
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#include "architecture.h"
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#include "states.h"
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// Include the sensor / actuator handling library
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#include <EduIntro.h>
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// Shall we debug the code?
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const int DEBUG = true;
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// Array to store input values
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int inputValuesOld[NUM_PINS_DIGITAL + NUM_PINS_ANALOG];
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int inputValues[NUM_PINS_DIGITAL + NUM_PINS_ANALOG];
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// Array to store the output values
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int outputValues[NUM_PINS_OUTPUT];
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// Array for all of the buttons
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// unfortunately this cannot be declared automatically
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// like with
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// for (int i = 0; i < NUM_PINS_DIGITAL; i++)
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// inputButtons[i] = new Button(INPUTS_DIGITAL[i]);
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// and therefore cannot be automated :-(
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Button inputButtons[] {
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Button(INPUTS_DIGITAL[0], PULL_DOWN),
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Button(INPUTS_DIGITAL[1], PULL_DOWN),
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Button(INPUTS_DIGITAL[2], PULL_DOWN),
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Button(INPUTS_DIGITAL[3], PULL_DOWN),
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Button(INPUTS_DIGITAL[4], PULL_DOWN),
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Button(INPUTS_DIGITAL[5], PULL_DOWN),
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Button(INPUTS_DIGITAL[6], PULL_DOWN),
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Button(INPUTS_DIGITAL[7], PULL_UP),
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};
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// State machine variables
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int currentState = RESET;
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int currentOperationState = STOP;
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int currentOperationMode = MANUAL;
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// used in automatic mode to detect whether the cycle is done
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// 1 - done
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// 0 - not done
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// -1 - forced init cycle (in the unlikely case the machine stopped half way)
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int firstCycle = 1;
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// Machine movement variables
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long speed = 0; // XXX not used
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void setup() {
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// Initialise serial communication
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Serial.begin(115200);
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// Do not start until computer is connected
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while (!Serial) {};
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// Status prints
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if (DEBUG) {
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serialSystemVars();
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}
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// Declare outputs as such
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for (int i = 0; i < NUM_PINS_OUTPUT; i++)
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pinMode(OUTPUTS[i], OUTPUT);
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}
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void loop() {
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// Check the inputs
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readInputs();
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// Serial terminal
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serialCheck();
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// There is an event, process the state machine
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if (inputEvent()) {
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// Print out the inputs if there is an event
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if (DEBUG) serialPrintInputs();
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// for the handling of inputs, remember that the
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// array of inputValues goes as follows:
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// 0 1 2 3 4 5 6 7 8
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// {LEFT, RIGHT, UP, DOWN, BOTTOM, TOP, INIT, EMERGENCY, AUTO/MANUAL}
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switch ( currentState ) {
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case RESET:
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// if the init button is pressed enter init state
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if (inputValues[6] == PRESSED) currentState = INIT;
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break;
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case INIT:
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// set operation mode
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currentOperationMode = inputValues[8];
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// in this state the system waits until L + R are HELD to
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// continue to the OPERATION state
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if (inputValues[0] == HELD && inputValues[1] == HELD) {
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firstCycle = -1; // configure a possible AUTOMATIC cycle reboot
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currentOperationState = STOP;
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currentState = OPERATION;
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}
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break;
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case OPERATION:
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// jump to the operation sub-state machine
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processOperation();
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break;
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case END_LOOP:
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break;
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case EMERGENCY_STOP:
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break;
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default:
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break;
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}
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}
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// Copy arrays of inputs to check state changes
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copyInputs();
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}
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/* Process operation
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First check whether we operate automatic or manual mode, distinguish
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between two different sub-state-machines for the operation state:
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automatic or manual (see diagrams in the code)
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For the handling of inputs, remember that the
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array of inputValues goes as follows:
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0 1 2 3 4 5 6 7 8
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{LEFT, RIGHT, UP, DOWN, BOTTOM, TOP, INIT, EMERGENCY, AUTO/MANUAL}
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*/
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void processOperation() {
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if (currentOperationMode == AUTOMATIC) {
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processAutomaticOperation();
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} else {
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processManualOperation();
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}
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}
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void processAutomaticOperation() {
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/** AUTOMATIC MODE OF OPERATION **
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+-----+
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| |!ENDSTOP
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+------------+ L + R +---------+--+ | BOTTOM
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| +------------> |<-+
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| STOP | | A_DOWN |
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| <------------+ |
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+------^-----+ !L + !R +---------+--+
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| |
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| |ENDSTOP
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| |BOTTOM
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| |
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| +---------v--+
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| | |
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+------------------+ A_UP |
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!L + !R + | |<-+
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ENDSTOP TOP +---------+--+ |!ENDSTOP
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| | TOP
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+-----+
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*/
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switch (currentOperationState) {
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case STOP:
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// will operate only if there have been no automatic cycles
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// done, otherwise, the user will have to release the buttons
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if (firstCycle != 0) {
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// Move down if LEFT, RIGHT and TOP are HELD
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if (inputValues[0] == HELD && inputValues[1] == HELD &&
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inputValues[5] == HELD) {
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currentOperationState = AUTO_DOWN;
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}
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// Move up if LEFT, and RIGHT are HELD and TOP and BOTTOM are RELEASED
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if (inputValues[0] == HELD && inputValues[1] == HELD &&
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inputValues[4] == RELEASED && inputValues[5] == RELEASED) {
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currentOperationState = AUTO_UP;
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firstCycle = -1; // mark this as a configuration cycle
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}
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}
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break;
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case AUTO_UP:
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// move up for as long as LEFT, and RIGHT are HELD and TOP is not pressed
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if (inputValues[0] == HELD && inputValues[1] == HELD &&
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inputValues[5] == RELEASED) {
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if (DEBUG) Serial.println(F("** MOVING UP **"));
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} else {
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currentOperationState = STOP;
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if (DEBUG) Serial.println(F("** STOP **"));
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if (inputValues[5] == PRESSED || inputValues[5] == HELD) {
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if (DEBUG) Serial.println(F("** REASON: reached top **"));
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// if it was a config cycle then consider it the first cycle
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// otherwise consider the job done
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if (firstCycle == -1) {
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firstCycle = 1;
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} else {
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firstCycle = 0;
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}
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} else {
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if (DEBUG) Serial.println(F("** REASON: buttons released **"));
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// here we should leave the operation mode and go back to init mode
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currentState = INIT;
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}
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}
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break;
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case AUTO_DOWN:
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// move down for as long as LEFT, and RIGHT are HELD and BOTTOM is not pressed
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if (inputValues[0] == HELD && inputValues[1] == HELD &&
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inputValues[4] == RELEASED) {
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if (DEBUG) Serial.println(F("** MOVING DOWN **"));
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} else {
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currentOperationState = AUTO_UP;
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if (DEBUG) Serial.println(F("** STOP - and UP**"));
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if (inputValues[4] == PRESSED || inputValues[4] == HELD) {
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if (DEBUG) Serial.println(F("** REASON: reached bottom **"));
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} else {
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if (DEBUG) Serial.println(F("** REASON: buttons released **"));
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// here we should leave the operation mode and go back to init mode
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currentState = INIT;
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}
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}
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break;
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}
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}
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void processManualOperation() {
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/** MANUAL MODE OF OPERATION **
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+------------+ L + R + UP +------------+
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| +----------------> |
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| STOP | | M_UP |
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| <----------------+ |<-+
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+--^------+--+ !L + !R + +---------+--+ |!ENDSTOP
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| | !UP + | | TOP
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| | ENDSTOP TOP +-----+
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!L + !R +| |
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!DOWN + | |
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ENDSTOP | |L + R +
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BOTTOM | |DOWN
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| |
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| |
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+--+------v--+
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| |
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| M_DOWN |
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| |<-+
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+---------+--+ |!ENDSTOP
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| | BOTTOM
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+-----+
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*/
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switch (currentOperationState) {
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case STOP:
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// Move up if L + R + UP are HELD and TOP is RELEASED
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if (inputValues[0] == HELD && inputValues[1] == HELD &&
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inputValues[2] == HELD && inputValues[5] == RELEASED) {
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currentOperationMode = MAN_UP;
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}
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// Move down if L + R + DOWN are HELD and BOTTOM is RELEASED
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if (inputValues[0] == HELD && inputValues[1] == HELD &&
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inputValues[3] == HELD && inputValues[4] == RELEASED) {
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currentOperationMode = MAN_DOWN;
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}
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break;
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case MAN_UP:
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// move up for as long as LEFT, RIGHT, and UP are HELD and TOP is not pressed
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if (inputValues[0] == HELD && inputValues[1] == HELD &&
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inputValues[2] == HELD && inputValues[5] == RELEASED) {
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if (DEBUG) Serial.println(F("** MOVING UP **"));
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} else {
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currentOperationMode = STOP;
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if (DEBUG) Serial.println(F("** STOP **"));
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if (inputValues[5] == PRESSED || inputValues[5] == HELD) {
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if (DEBUG) Serial.println(F("** REASON: reached top **"));
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} else {
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if (DEBUG) Serial.println(F("** REASON: buttons released **"));
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if (inputValues[0] == RELEASED || inputValues[1] == RELEASED) {
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// here we should leave the operation mode and go back to init mode
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currentState = INIT;
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}
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}
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}
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break;
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case MAN_DOWN:
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// move down for as long as LEFT, RIGHT, and DOWN are HELD and BOTTOM is not pressed
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if (inputValues[0] == HELD && inputValues[1] == HELD &&
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inputValues[3] == HELD && inputValues[4] == RELEASED) {
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if (DEBUG) Serial.println(F("** MOVING DOWN **"));
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} else {
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currentOperationMode = STOP;
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if (DEBUG) Serial.println(F("** STOP **"));
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if (inputValues[5] == PRESSED || inputValues[4] == HELD) {
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if (DEBUG) Serial.println(F("** REASON: reached bottom **"));
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} else {
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if (DEBUG) Serial.println(F("** REASON: buttons released **"));
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if (inputValues[0] == RELEASED || inputValues[1] == RELEASED) {
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// here we should leave the operation mode and go back to init mode
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currentState = INIT;
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}
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}
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}
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break;
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}
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}

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