added state machine behaviour with switch/case

.vscode/c_cpp_properties.json

@@ -8,8 +8,8 @@
         {
             "name": "PlatformIO",
             "includePath": [
-                "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/include",
+                "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/include",
-                "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/src",
+                "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/src",
                 "C:/Users/helgi/.platformio/packages/framework-arduino-avr/cores/arduino",
                 "C:/Users/helgi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
                 "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",
@@ -22,8 +22,8 @@
             "browse": {
                 "limitSymbolsToIncludedHeaders": true,
                 "path": [
-                    "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/include",
+                    "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/include",
-                    "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/src",
+                    "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/src",
                     "C:/Users/helgi/.platformio/packages/framework-arduino-avr/cores/arduino",
                     "C:/Users/helgi/.platformio/packages/framework-arduino-avr/variants/eightanaloginputs",
                     "C:/Users/helgi/.platformio/packages/framework-arduino-avr/libraries/EEPROM/src",

.vscode/launch.json

@@ -12,7 +12,7 @@
             "type": "platformio-debug",
             "request": "launch",
             "name": "PIO Debug",
-            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
+            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
             "projectEnvName": "nanoatmega328new",
             "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
             "internalConsoleOptions": "openOnSessionStart",
@@ -25,7 +25,7 @@
             "type": "platformio-debug",
             "request": "launch",
             "name": "PIO Debug (skip Pre-Debug)",
-            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
+            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
             "projectEnvName": "nanoatmega328new",
             "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
             "internalConsoleOptions": "openOnSessionStart"
@@ -34,7 +34,7 @@
             "type": "platformio-debug",
             "request": "launch",
             "name": "PIO Debug (without uploading)",
-            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project2_H26/.pio/build/nanoatmega328new/firmware.elf",
+            "executable": "C:/Users/helgi/H26/ESP/Projects/ESP_Project3_H26/.pio/build/nanoatmega328new/firmware.elf",
             "projectEnvName": "nanoatmega328new",
             "toolchainBinDir": "C:/Users/helgi/.platformio/packages/toolchain-atmelavr/bin",
             "internalConsoleOptions": "openOnSessionStart",

src/main.cpp

@@ -1,87 +1,166 @@
 #include <avr/io.h>
 #include <util/delay.h>
 #include <Arduino.h>
+#include <avr/interrupt.h>
 
 #include "rotary_encoder_driver.h"
 #include "motor_driver.h"
 #include "p_controller.h"
 
-RotaryEncoderDriver encoder;
+// RotaryEncoderDriver encoder;
-MotorDriver motor;
+// MotorDriver motor;
 
-P_controller controller(12.5);
+// P_controller controller(12.5);
 
-const double REF_RPM1 = 30.0;
+// const double REF_RPM1 = 30.0;
-const double REF_RPM2 = 50.0;
+// const double REF_RPM2 = 50.0;
 
-const uint16_t STEP1_AT_SAMPLE = 50; 
+// const uint16_t STEP1_AT_SAMPLE = 50; 
-const uint16_t STEP2_AT_SAMPLE = 500;
+// const uint16_t STEP2_AT_SAMPLE = 500;
 
-const uint16_t STOP_AT_SAMPLE = 1000;  
+// const uint16_t STOP_AT_SAMPLE = 1000;  
+
+unsigned long state_entry_time;
+
+unsigned long time_in_state()
+{
+  return millis() - state_entry_time;
+}
 
 int main() {
     init();
     Serial.begin(115200);
-
+    // Serial.begin(9600);
-    cli();
-    encoder.begin();
-    motor.begin();
     sei();
 
+    enum State
+        {
+        Initialization,
+        Operational,
+        Pre_Operational,
+        Stopped
+        };
+
+    State state = State::Initialization; // Define state variable and set the initial state
+
+    // cli();
+    // encoder.begin();
+    // motor.begin();
+    // sei();
+
     // Mótor stopp og smá bið svo kerfið sé í kyrrstöðu áður en mælingin hefst
-    motor.stop();
+    // motor.stop();
-    _delay_ms(2000);
+    // _delay_ms(2000);
 
-    Serial.println("time_ms,ref_rpm,actual_rpm,pwm_requested,pwm_actual");
+    // Serial.println("time_ms,ref_rpm,actual_rpm,pwm_requested,pwm_actual");
-    Serial.println("0.0,0.0,0.0,0.0,0.0");
+    // Serial.println("0.0,0.0,0.0,0.0,0.0");
 
-    encoder.reset_speed_measurement();
+    // encoder.reset_speed_measurement();
 
-    uint16_t sample = 0;
+    // uint16_t sample = 0;
-    double ref = 0.0;
+    // double ref = 0.0;
 
-    while (true) {
+    while (1) {
-        if (encoder.new_speed_available()) {
+        int c = 0; // for incoming serial data
-            sample++;
 
-            float time_ms = sample * 4.0f;
+        if (Serial.available() > 0)
+        {
+        c = Serial.read();
+        Serial.print("I received: ");
+        Serial.println(c, DEC);
+        }
 
-            // Step-inntak: viðmiðið hoppar úr 0 í REF_RPM á STEP_AT_SAMPLE
+        switch (state)
-            if (sample == STEP1_AT_SAMPLE) {
+        {
-                ref = REF_RPM1;
+        case State::Initialization:
+            if (c == 'p')
+            {
+            state_entry_time = millis();
+            // State::Idle exit action
+            // event1 transition action
+            Serial.println("Initialization finished");
+            // set new target state
+            state = State::Pre_Operational;
+            // target state entry action
+            Serial.println("Going into Pre Operation");
+            }
+            if (c == 'o')
+            {
+            state_entry_time = millis();
+            // State::Idle exit action
+            // event2 transition action
+            Serial.println("Initialization finished");
+            // set new target state
+            state = State::Operational;
+            // target state entry action
+            Serial.println("Going straight to Operation");
+            }
+            break;
+
+        case State::Operational:
+            if (c == 'i')
+            {
+            state_entry_time = millis();
+            // State::Cooling exit action
+            Serial.println("Operation over");
+            // event3 transition action
+            // set new target state
+            state = State::Initialization;
+            // target state entry action
+            Serial.println("Initialization state");
+            }
+            if (c == 's')
+            {
+            state_entry_time = millis();
+            // State::Cooling exit action
+            Serial.println("Operation over");
+            // event4 transition action
+            // set new target state
+            state = State::Stopped;
+            // target state entry action
+            Serial.println("Stopping");
+            }
+            break;
+
+        case State::Pre_Operational:
+            if (c == 'o')
+            {
+            state_entry_time = millis();
+            // State::Heating exit action
+            Serial.println("Pre Operation over");
+            // event3 transition action
+            // set new target state
+            state = State::Operational;
+            // target state entry action
+            Serial.println("Going to Operation");
+            }
+            if (c == 's')
+            {
+            state_entry_time = millis();
+            // State::Heating exit action
+            Serial.println("Pre Operation over");
+            // event4 transition action
+            // set new target state
+            state = State::Stopped;
+            // target state entry action
+            Serial.println("Stopping");
+            }
+            break;
+
+            case State::Stopped:
+            if (c == 'i')
+            {
+            state_entry_time = millis();
+            // State::Failure exit action
+            Serial.println("Stop over");
+            // event3 transition action
+            // set new target state
+            state = State::Initialization;
+            // target state entry action
+            Serial.println("Initialization state");
             }
 
-            if (sample == STEP2_AT_SAMPLE) {
-                ref = REF_RPM2;
-            }
-
-            double actual = encoder.rpm();
-
-            double pwm_percent   = controller.update(ref, actual);  
-            double pwm_requested = pwm_percent * 2.55;               
-
-            double pwm_actual = pwm_requested;                       
-            if (pwm_actual > 255.0)  pwm_actual = 255.0;
-            if (pwm_actual < -255.0) pwm_actual = -255.0;
-
-            motor.set(pwm_actual);
-
-            Serial.print(time_ms, 1);
-            Serial.print(",");
-            Serial.print(ref, 1);
-            Serial.print(",");
-            Serial.print(actual, 2);
-            Serial.print(",");
-            Serial.print(pwm_requested, 1);
-            Serial.print(",");
-            Serial.println(pwm_actual, 1);
-
-            if (sample >= STOP_AT_SAMPLE) {
-                motor.stop();
-                while (true) {
-                }
             }
         }
-    }
     return 0;
 }