update for 2019

Sketch/DirectionControl.cpp

@@ -2,7 +2,7 @@
 #include "Arduino.h"
 
 
-
+//The following function needs modifications
 DirectionControl::DirectionControl(int servoPinIn, directionParameterSet directionParameters, pidParameterSet pidParameters) : controller(pidParameters){
 
 }
@@ -13,19 +13,46 @@ void DirectionControl::setup(){
   DirectionControl::directionServo.attach(DirectionControl::servoPin); // initialize servodirectionServo.attach(pin_servo); // initialize
 }
 
-
+//The following function needs modifications
 void DirectionControl::updateController(double is) {
 
 }
 
+double DirectionControl::getControllerP(){
+  return controller.getP();
+}
+
+double DirectionControl::getControllerI(){
+  return controller.getI();
+}
+
+double DirectionControl::getControllerD(){
+  return controller.getD();
+}
+
+void DirectionControl::setControllerP(double parameterP){
+  controller.setP(parameterP);
+}
+
+void DirectionControl::setControllerI(double parameterI){
+  controller.setI(parameterI);
+}
+
+void DirectionControl::setControllerD(double parameterD){
+  controller.setD(parameterD);
+}
+
+//The following function needs modifications
 int DirectionControl::getDirection() {
 
 }
 
+//The following function needs modifications
 void DirectionControl::updateDirection(){
 
 }
 
+//The following function needs modifications
 void DirectionControl::testServo() {
 
 }

Sketch/DirectionControl.h

+/////////////////////////////////////////////////////////
+///// This file does not need any modification, /////////
+///// if needed it can be extended //////////////////////
+///////////////////////////////////////////////////////// 
 #pragma once
 
 #include "PID.h"
@@ -13,12 +17,19 @@ class DirectionControl{
     ~DirectionControl();
 
     int getDirection();
-
+    
     void updateDirection();
     void updateController(double);
+    double getControllerP();
+    double getControllerI();
+    double getControllerD();
+    void setControllerP(double parameterP);
+    void setControllerI(double parameterI);
+    void setControllerD(double parameterD);
+    
     void testServo();
     void setup();
-Servo directionServo;
+    Servo directionServo;
   private:
     PID controller;
     

Sketch/PID.cpp

@@ -13,6 +13,7 @@ PID::PID(pidParameterSet parameterIn) {
 
 PID::~PID() {}
 
+//The following function needs modifications
 double PID::calcOutput(double input) {
 
   return out;
@@ -22,6 +23,35 @@ double PID::getBase() {
   return base;
 }
 
+double PID::getP(){
+  return p;  
+}
+
+double PID::getI(){
+  return i;
+}
+
+double PID::getD(){
+  return d;
+}
+
+void PID::setP(double parameterP){
+  p = parameterP;
+  return;
+}
+
+void PID::setI(double parameterI){
+  i = parameterI;
+  resetIntegrator();
+  return;
+}
+
+void PID::setD(double parameterD){
+  d = parameterD;
+  return;
+}
+
+
 void PID::resetIntegrator() {
   integral = 0;
 }

Sketch/PID.h

+/////////////////////////////////////////////////////////
+///// This file does not need any modification, /////////
+///// if needed it can be extended //////////////////////
+///////////////////////////////////////////////////////// 
 #pragma once
 
 struct pidParameterSet{
@@ -14,6 +18,13 @@ class PID {
     void resetIntegrator();
     double calcOutput(double input);
     double getBase();
+    double getP();
+    double getI();
+    double getD();
+    void setP(double parameterP);
+    void setI(double parameterI);
+    void setD(double parameterD);
+    
         
   private:   
     double lastError, integral;

Sketch/README.md

@@ -2,4 +2,13 @@
 https://www.arduino.cc/en/Main/Software
 
 ### Documentation ###
-https://www.arduino.cc/en/Reference/HomePage
\ No newline at end of file
+https://www.arduino.cc/en/Reference/HomePage
+
+If files are marked in the head with the following disclaimer they don't need modification:
+
+<pre>This file does not need any modification</pre>
+
+If the following comment is before a function there are some changes needed:
+
+<pre>The following function needs modifications</pre>
+

Sketch/Sketch.ino

-#include <string.h>
 #include <math.h>
 #include "DirectionControl.h"
 #include "SpeedSensor.h"
 #include "motorControl.h"
+#include "uart.h"
+
 
 // pin declaration
 // do NOT use DigitalOut 0 & 1 (reserved for Serial)
@@ -13,46 +14,42 @@ const int pin_spuleLeft = 0;//Left resonant circuit
 const int pin_spuleRight = 0;//Right resonant circuit
 const int pin_speedSensor = 0;//Input signal for speed sensor signal
 
-
 //init global variables and objects
-const int directionServoCenter = 0;//Center level for directionServo
+const int directionServoCenter =0;//Center level for directionServo
 const int directionMaxValue = 0;
 const int directionMinValue = 0;
 const int ofTrackDetectionLevel = 0; // minValue for off-track detection
 DirectionControl directionControl = DirectionControl(pin_servo,{directionMaxValue,directionMinValue,directionServoCenter},{0, 0, 0, 0, directionServoCenter, 0, directionMinValue, directionMaxValue});
 
-
 const double idleSpeed = 0;//Speed setpoint for idle
-MotorControl motorControl(pin_deadManSwitch,pin_motor,{0,0,0,0,0,0,0,0});
-
+MotorControl motorControl(pin_deadManSwitch,pin_motor,{0, 0, 0, 0, 0, 0, 0, 0});
 
 SpeedSensor speedSens(pin_speedSensor);
 
-
+//The following function needs modifications
 void setup() {
   staticInitCode();//this function call must not be removed
-  
-  //debugging
-  Serial.begin(9600); // for serial logging
+
   pinMode(LED_BUILTIN, OUTPUT);  // declare onboard-led (indicates "on track")
 
   directionControl.testServo();
+
+  initUart(&directionControl,&motorControl);
 }
 
-/**
- * Main loop
- */
+//The following function needs modifications
 void loop() {
 
-
-   
+  
+  handleSerialInput();
 }
 
+//The following function needs modifications
 void speedInterrupt() {
 
 }
 
-
+//The following function needs modifications
 int getAverage(int pin) {
 
 }

Sketch/SpeedSensor.cpp

@@ -2,7 +2,7 @@
 #include "Arduino.h"
 
 SpeedSensor::SpeedSensor(int speedSendPinIn){
-
+  SpeedSensor::speedSendPin=speedSendPinIn;
 }
 
 SpeedSensor::~SpeedSensor() {
@@ -10,18 +10,21 @@ SpeedSensor::~SpeedSensor() {
 
 void SpeedSensor::setup(){
   pinMode(SpeedSensor::speedSendPin, INPUT);
-  attachInterrupt(digitalPinToInterrupt(SpeedSensor::speedSendPin), , );  
+  attachInterrupt(digitalPinToInterrupt(SpeedSensor::speedSendPin), speedInterrupt, CHANGE);  
 }
 
+//The following function needs modifications
 void SpeedSensor::interrupt(unsigned long now) {
 
 }
 
+//The following function needs modifications
 bool SpeedSensor::getState() {  
 
 }
 
+//The following function needs modifications
 double SpeedSensor::getSpeed() {  
-
+  
 }
 

Sketch/SpeedSensor.h

+/////////////////////////////////////////////////////////
+///// This file does not need any modification, /////////
+///// if needed it can be extended //////////////////////
+///////////////////////////////////////////////////////// 
 #pragma once
 
 extern void speedInterrupt();

Sketch/motorControl.cpp

@@ -2,28 +2,27 @@
 #include "Arduino.h"
 
 MotorControl::MotorControl(unsigned int deadManSwitchPinIn,unsigned int motorPinIn, pidParameterSet pidParameters) : controller(pidParameters) {
-
+  MotorControl::motorDuty = 0; 
+  MotorControl::motorPin = motorPinIn;
+  MotorControl::deadManSwitchPin = deadManSwitchPinIn;
 }
 
-/**
- * This function must not be changed
- */
 void MotorControl::setup(){
   pinMode(MotorControl::motorPin, OUTPUT);
   MotorControl::setState(MOTOR_STATES::STOP);
 }
 
+//The following function needs modifications
 void MotorControl::setSpeed(double speedSetpoint){
-
+  
 }
 
+//The following function needs modifications
 void MotorControl::updateController(double currentSpeed){
-
+  
 }
 
-/**
- * This function must not be changed
- */
+
 void MotorControl::updateMotor(void){
   if(MotorControl::motorState==MOTOR_STATES::RUN && !digitalRead(MotorControl::deadManSwitchPin)){
     analogWrite(MotorControl::motorPin, MotorControl::motorDuty);
@@ -32,9 +31,6 @@ void MotorControl::updateMotor(void){
   }
 }
 
-/**
- * This function must not be changed
- */
 void MotorControl::setState(MOTOR_STATES stateIn){
   if(MotorControl::motorState != stateIn){
     MotorControl::motorState = stateIn;
@@ -45,3 +41,27 @@ void MotorControl::setState(MOTOR_STATES stateIn){
   }
 }
 
+double MotorControl::getControllerP(){
+  return controller.getP();
+}
+
+double MotorControl::getControllerI(){
+  return controller.getI();
+}
+
+double MotorControl::getControllerD(){
+  return controller.getD();
+}
+
+void MotorControl::setControllerP(double parameterP){
+  controller.setP(parameterP);
+}
+
+void MotorControl::setControllerI(double parameterI){
+  controller.setI(parameterI);
+}
+
+void MotorControl::setControllerD(double parameterD){
+  controller.setD(parameterD);
+}
+

Sketch/motorControl.h

+/////////////////////////////////////////////////////////
+///// This file does not need any modification, /////////
+///// if needed it can be extended //////////////////////
+///////////////////////////////////////////////////////// 
 #pragma once
 
 #include "PID.h"
@@ -14,6 +18,12 @@ class MotorControl {
     void setState(MOTOR_STATES);
     void updateController(double);
     void setup();
+    double getControllerP();
+    double getControllerI();
+    double getControllerD();
+    void setControllerP(double parameterP);
+    void setControllerI(double parameterI);
+    void setControllerD(double parameterD);
     
   private:
     unsigned int motorPin;

Sketch/uart.cpp

+/////////////////////////////////////////////////////////
+///// This file does not need any modification, /////////
+///// if needed it can be extended with more handlers ///
+///////////////////////////////////////////////////////// 
+
+#include "uart.h"
+
+void getMotorP(double inputNumber){
+  Serial.print("motorControl P = ");
+  Serial.println(uartControl.motorControl->getControllerP());
+  Serial.flush();//wait for outgoing serial transmission to end
+}
+void getMotorI(double inputNumber){
+  Serial.print("motorControl I = ");
+  Serial.println(uartControl.motorControl->getControllerI());
+  Serial.flush();//wait for outgoing serial transmission to end
+}
+void getMotorD(double inputNumber){
+  Serial.print("motorControl D = ");
+  Serial.println(uartControl.motorControl->getControllerD());
+  Serial.flush();//wait for outgoing serial transmission to end
+}
+void setMotorP(double inputNumber){
+  uartControl.motorControl->setControllerP(inputNumber);
+  getMotorP(inputNumber);
+}
+void setMotorI(double inputNumber){
+  uartControl.motorControl->setControllerI(inputNumber);
+  getMotorI(inputNumber);
+}
+void setMotorD(double inputNumber){
+  uartControl.motorControl->setControllerD(inputNumber);
+  getMotorD(inputNumber);
+}
+
+
+void getDirP(double inputNumber){
+  Serial.print("directionControl P = ");
+  Serial.println(uartControl.directionControl->getControllerP());
+  Serial.flush();//wait for outgoing serial transmission to end
+}
+void getDirI(double inputNumber){
+  Serial.print("directionControl I = ");
+  Serial.println(uartControl.directionControl->getControllerI());
+  Serial.flush();//wait for outgoing serial transmission to end
+}
+void getDirD(double inputNumber){
+  Serial.print("directionControl D = ");
+  Serial.println(uartControl.directionControl->getControllerD());
+  Serial.flush();//wait for outgoing serial transmission to end
+}
+void setDirP(double inputNumber){
+  uartControl.directionControl->setControllerP(inputNumber);
+  getDirP(inputNumber);
+}
+void setDirI(double inputNumber){
+  uartControl.directionControl->setControllerI(inputNumber);
+  getDirI(inputNumber);
+}
+void setDirD(double inputNumber){
+  uartControl.directionControl->setControllerD(inputNumber);
+  getDirD(inputNumber);
+}
+
+void help(double inputNumber){
+  Serial.println("BEGIN OF HELP");
+  Serial.println("");
+  Serial.println("Commands must be terminated with ;!");
+  Serial.println("With set command the value comes immidiately after command!");
+  Serial.println("Example: setDirP12.5;");
+  Serial.println("");
+  Serial.println("Available commands:");
+  Serial.println("getMotorP: get P of motor control");
+  Serial.println("getMotorI: get I of motor control");
+  Serial.println("getMotorD: get D of motor control");
+  Serial.println("setMotorP: set P of motor control");
+  Serial.println("setMotorI: set I of motor control");
+  Serial.println("setMotorD: set D of motor control");
+  Serial.println("getDirP: get P of direction control");
+  Serial.println("getDirI: get I of direction control");
+  Serial.println("getDirD: get D of direction control");
+  Serial.println("setDirP: set P of direction control");
+  Serial.println("setDirI: set I of direction control");
+  Serial.println("setDirD: set D of direction control");
+  Serial.println("help: show help");
+  Serial.println("");
+  Serial.println("END OF HELP");
+  Serial.flush();//wait for outgoing serial transmission to end
+}
+
+//the following two arrays have to have the SAME number of elements each command corrosbinding to one function pointer
+//list of commands
+const char *callbackName[] = {"getDirP","getDirI","getDirD","setDirP","setDirI","setDirD","getMotorP","getMotorI","getMotorD","setMotorP","setMotorI","setMotorD","help"};
+//list of function pointer from above
+void (*callbackFunc[])(double inputNumber) = {getDirP,getDirI,getDirD,setDirP,setDirI,setDirD,getMotorP,getMotorI,getMotorD,setMotorP,setMotorI,setMotorD,help};
+
+
+
+//////////////////////////////////////////////////////
+//////////before this only handler functions /////////
+//////////////////////////////////////////////////////
+
+
+void initUart(DirectionControl* directionControlIn, MotorControl* motorControlIn){
+  uartControl.directionControl = directionControlIn;
+  uartControl.motorControl = motorControlIn;
+
+  
+  Serial.begin(9600); // for serial communication
+  while (!Serial){;}//wait for serial to be available
+
+  Serial.println("Beginning Serial Transmission");
+  Serial.flush();//wait for outgoing serial transmission to end
+  
+}
+
+void handleSerialInput(){
+  uartControl.intCallbackCount = sizeof(callbackFunc)/sizeof(callbackFunc[0]);
+
+    
+    if(Serial.available()>0){
+      char c = Serial.read();
+      if (c != CMD_END && uartControl.bufferPos < BUFFER_SIZE) {
+        uartControl.inputBuffer[uartControl.bufferPos++] = c;
+      } else {
+          //Serial.println(byteBuffer);
+          for (int i = 0; i < uartControl.intCallbackCount; i++) {
+
+            if (strncmp(callbackName[i], uartControl.inputBuffer, strlen(callbackName[i])) == 0) {
+              double num = atof(uartControl.inputBuffer+strlen(callbackName[i]));
+              callbackFunc[i](num);
+              break;
+            }
+          }
+          memset(uartControl.inputBuffer,0,BUFFER_SIZE);
+          uartControl.bufferPos = 0;
+      
+      }
+    }
+
+}

Sketch/uart.h

+/////////////////////////////////////////////////////////
+///// This file does not need any modification, /////////
+///// if needed it can be extended //////////////////////
+///////////////////////////////////////////////////////// 
+#pragma once
+#include "Arduino.h"
+#include "DirectionControl.h"
+#include "motorControl.h"
+
+
+#define BUFFER_SIZE 50
+#define CMD_END ';'
+
+struct{
+  char inputBuffer[BUFFER_SIZE];
+  uint8_t bufferPos;
+  uint8_t voidCallbackCount;//number of callback function (will be auto initiated)
+  uint8_t intCallbackCount;//number of callback function (will be auto initiated)
+  DirectionControl* directionControl;
+  MotorControl* motorControl;
+}uartControl = {{0},0,0};
+
+
+void initUart(DirectionControl*, MotorControl*);
+void handleSerialInput(void);