W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\WireSensingService.

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/****************************************************************************
Module
WireSensingService.c
Revision
1.0

Description
Notes
Author
Anne Alter, Derrick Contreras
Date
2/14/16

****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
//headers for framework
#include "ES_Configure.h"
#include "ES_Framework.h"
#include "TemplateService.h"
#include "termio.h"
//headers to access the pwm and nvic libraries
#include "inc/hw_timer.h"
#include "inc/hw_nvic.h"
#include "inc/hw_pwm.h"
//headers to access the GPIO subsystem
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "inc/hw_sysctl.h"
#include "inc/hw_ssi.h"

//headers to access the TivaWare Library

#include "driverlib/sysctl.h"
#include "driverlib/pin_map.h"
#include "driverlib/gpio.h"
#include "driverlib/timer.h"
#include "driverlib/interrupt.h"

//headers for other modules in the program

#include "DriveAlongTrailSM.h"
#include "MasterSM.h"
#include "DriveService.h"
#include "PoundDefines.h"
#include "PWMService.h"
#include "ADMulti.h"
/*----------------------------- Module Defines ----------------------------*/
/*---------------------------- Module Functions ---------------------------*/
float AverageDifference(void);
void RotateLeft(void);
void RotateRight(void);
/*---------------------------- Module Variables ---------------------------*/
static uint8_t MyPriority;
static uint32_t results[HOW_MANY];
static float WireSubtract;
static
static
static
static
static

uint32_t
uint32_t
uint32_t
uint32_t
uint32_t

FirstLeftValue = 0;
SecondLeftValue = 0;
ThirdLeftValue = 0;
FourthLeftValue = 0;
FifthLeftValue = 0;

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static
static
static
static
static

uint32_t
uint32_t
uint32_t
uint32_t
uint32_t

FirstRightValue = 0;
SecondRightValue = 0;
ThirdRightValue = 0;
FourthRightValue = 0;
FifthRightValue = 0;

static uint8_t TimesDetected = 0;

static uint8_t FirstWheelDetected;
//static uint8_t LostTrailCount = 0;

/*------------------------------ Module Code ------------------------------*/

/****************************************************************************
Function
InitWireSensingService
Parameters
uint8_t : the priorty of this service

Returns
bool, false if error in initialization, true otherwise
Description
Saves away the priority, and does any
other required initialization for this service
Notes

Author
Anne Alter, 01/07/16
****************************************************************************/
bool InitWireSensingService(uint8_t Priority)
{
ES_Event ThisEvent;
//set priority
MyPriority = Priority;

//initialize one analog port line

ADC_MultiInit(HOW_MANY);

//read results from analog port line

ADC_MultiRead(results);

//start AD_TIMER
ES_Timer_InitTimer(AD_TIMER, AD_TIMER_LENGTH);

//post the initial transition event

ThisEvent.EventType = ES_INIT;
if (ES_PostToService(MyPriority, ThisEvent) == true)
{
return true;
}else
{
return false;
}

/****************************************************************************
Function
PostWireSensingService
Parameters
EF_Event ThisEvent ,the event to post to the queue

Returns
bool false if the Enqueue operation failed, true otherwise
Description
Posts an event to this state machine's queue

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\WireSensingService.c
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Notes

Author
Anne Alter, Derrick Contreras
****************************************************************************/
bool PostWireSensingService(ES_Event ThisEvent)
{
return ES_PostToService(MyPriority, ThisEvent);
}
/****************************************************************************
Function
RunWireSensingService
Parameters
ES_Event : the event to process

Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise
Description
Runs the analog/digital converting code
Notes

Author
Anne Alter, Derrick Contreras
****************************************************************************/
ES_Event RunWireSensingService(ES_Event ThisEvent)
{
ES_Event ReturnEvent;
ReturnEvent.EventType = ES_NO_EVENT; // assume no errors
//If (ThisEvent is ADTimer timeout event)
if(ThisEvent.EventType == ES_TIMEOUT && ThisEvent.EventParam == AD_TIMER)
{
//read results from analog port line
ADC_MultiRead(results);
SecondLeftValue = FirstLeftValue;
ThirdLeftValue = SecondLeftValue;
FourthLeftValue = ThirdLeftValue;
FifthLeftValue = FourthLeftValue;

SecondRightValue = FirstRightValue;
ThirdRightValue = SecondRightValue;
FourthRightValue = ThirdRightValue;
FifthRightValue = FourthRightValue;

//set first left and right wheel analog values

FirstLeftValue = results[PE0];
FirstRightValue = results[PE1];
WireSubtract = AverageDifference();
}

//restart AD timer
ES_Timer_InitTimer(AD_TIMER, AD_TIMER_LENGTH);
//printf("Difference: %d\n\r", FirstLeftValue - FirstRightValue + 20);
if ((TimesDetected == 0) && (FirstLeftValue > 3800)) {
TimesDetected++;
FirstWheelDetected = LEFT_WHEEL;
Stop();
RotateRight();
} else if ((TimesDetected == 0) && (FirstRightValue > 3800)) {
TimesDetected++;
FirstWheelDetected = RIGHT_WHEEL;
Stop();
RotateLeft();

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\WireSensingService.c
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} else if((ThisEvent.EventType == ES_TIMEOUT) && (ThisEvent.EventParam == ORIENT_TIMER))

{
TimesDetected++;
DriveForward();
} else if ((TimesDetected == 2) && (FirstRightValue > 3800))
{
TimesDetected++;
FirstWheelDetected = RIGHT_WHEEL;

} else if ((TimesDetected == 2) && (FirstLeftValue > 3800))

{
TimesDetected++;
FirstWheelDetected = LEFT_WHEEL;
} else if ((TimesDetected == 3) && (FirstWheelDetected == RIGHT_WHEEL) && (FirstRightValue < 3200))
{
ES_Event ThisEvent;
ThisEvent.EventType = WIRE_DETECTED;
PostMasterSM(ThisEvent);
} else if ((TimesDetected == 3) && (FirstWheelDetected == LEFT_WHEEL) && (FirstLeftValue < 3200))
{
ES_Event ThisEvent;
ThisEvent.EventType = WIRE_DETECTED;
PostMasterSM(ThisEvent);
} else if ((TimesDetected == 3) && (FirstLeftValue < 3200) && (FirstRightValue < 3200))
{
TimesDetected = 0;
//disable wire sensing interrupt
HWREG(NVIC_EN3) &= ~BIT0HI;
Stop();
ThisEvent.EventType = LOST_TRAIL;
printf("POST LOST TRAIL EVENT");
PostMasterSM(ThisEvent);
}

return ReturnEvent;

/****************************************************************************
Function
QueryWireSubtract
Parameters
None
Returns

Description
Notes

Author
Anne Alter, Derrick Contreras
****************************************************************************/
float QueryWireSubtract(void)
{
//printf("Wire Subtract %f\n\r", WireSubtract);
return (WireSubtract + 25); //call this offset
}
/***************************************************************************
private functions
***************************************************************************/
/****************************************************************************
Function
AverageDifference
Parameters
None
Returns

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\WireSensingService.c
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Description
Notes

Author
Anne Alter, Derrick Contreras
****************************************************************************/
float AverageDifference(void)
{
float LeftWire;
float RightWire;
float Difference;

LeftWire = (FirstLeftValue + SecondLeftValue + ThirdLeftValue + FourthLeftValue + FifthLeftValue);

RightWire = (FirstRightValue + SecondRightValue + ThirdRightValue + FourthRightValue +
FifthRightValue);

Difference = (float)(LeftWire - RightWire)/5;

//printf("Left %f, Right %f, Difference %f\n\r", LeftWire, RightWire, Difference);
return Difference;

/****************************************************************************
Function
RotateLeft
Parameters
None
Returns

Description
Notes

Author
Anne Alter, Derrick Contreras
****************************************************************************/
void RotateRight(void)
{
SetDirection(RIGHT_WHEEL, BACKWARD);
SetDuty(RIGHT_WHEEL, 75);
ES_Timer_InitTimer(ORIENT_TIMER, ORIENT_TIME);
}
/****************************************************************************
Function
RotateLeft
Parameters
None
Returns

Description
Notes

Author
Anne Alter, Derrick Contreras
****************************************************************************/
void RotateLeft(void)
{
SetDirection(LEFT_WHEEL, BACKWARD);
SetDuty(LEFT_WHEEL, 75);

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ES_Timer_InitTimer(ORIENT_TIMER, ORIENT_TIME);