Lab 3: Debouncing

/* 

 * File:   DebouncingCodeMain.c

 * Author: Ryan Vegetable/ Jerry Xu

 *

 * Created on July 23, 2018, 2:55 PM

 */

#include <stdio.h>

#include <stdlib.h>

#include "roach.h"

#include "timers.h"

#include "BOARD.h"

#include "serial.h"

/*#define NO_CHANGE 0

#define BUMPER_PUSHED_DOWN 1

#define BUMPER_RELEASED 2*/

#define BUTTON_UNPRESSED 0

#define BUTTON_PRESSED 1

#define TIMER_FL 0

#define TIMER_FR 1

#define TIMER_RL 2

#define TIMER_RR 3

#define DEBOUNCE_TIME 10

enum debounce {

    NO_CHANGE, BUMPER_PUSHED_DOWN, BUMPER_RELEASED

};

enum debounce DebounceFL(void) {

    static char prevFLbutton = BUTTON_UNPRESSED;

    static char buttonStatus = 0x00;

    if (TIMERS_IsTimerExpired(TIMER_FL)) {

            TIMERS_InitTimer(TIMER_FL, DEBOUNCE_TIME);

            buttonStatus <<= 1;

            buttonStatus |= Roach_ReadFrontLeftBumper();

            buttonStatus &= 0b00000111;

            if ((prevFLbutton == 0) && (buttonStatus == 0b0000111)) {

                    prevFLbutton = BUTTON_PRESSED;

                    return BUMPER_PUSHED_DOWN;

                }

            if ((prevFLbutton == 1) && (buttonStatus == 0)) {

                    prevFLbutton = BUTTON_UNPRESSED;

                    return BUMPER_RELEASED;

                }

        }

    return NO_CHANGE;

}

enum debounce DebounceFR(void) {

    static char prevFRbutton = BUTTON_UNPRESSED;

    static char buttonStatus = 0x00;

    if (TIMERS_IsTimerExpired(TIMER_FR)) {

            TIMERS_InitTimer(TIMER_FR, DEBOUNCE_TIME);

            buttonStatus <<= 1;

            buttonStatus |= Roach_ReadFrontRightBumper();

            buttonStatus &= 0b00000111;

            if ((prevFRbutton == 0) && (buttonStatus == 0b0000111)) {

                    prevFRbutton = BUTTON_PRESSED;

                    return BUMPER_PUSHED_DOWN;

                }

            if ((prevFRbutton == 1) && (buttonStatus == 0)) {

                    prevFRbutton = BUTTON_UNPRESSED;

                    return BUMPER_RELEASED;

                }

        }

    return NO_CHANGE;

}

enum debounce DebounceRL(void) {

    static char prevRLbutton = BUTTON_UNPRESSED;

    static char buttonStatus = 0x00;

    if (TIMERS_IsTimerExpired(TIMER_RL)) {

            TIMERS_InitTimer(TIMER_RL, DEBOUNCE_TIME);

            buttonStatus <<= 1;

            buttonStatus |= Roach_ReadRearLeftBumper();

            buttonStatus &= 0b00000111;

            if ((prevRLbutton == 0) && (buttonStatus == 0b0000111)) {

                    prevRLbutton = BUTTON_PRESSED;

                    return BUMPER_PUSHED_DOWN;

                }

            if ((prevRLbutton == 1) && (buttonStatus == 0)) {

                    prevRLbutton = BUTTON_UNPRESSED;

                    return BUMPER_RELEASED;

                }

        }

    return NO_CHANGE;

}

enum debounce DebounceRR(void) {

    static char prevRRbutton = BUTTON_UNPRESSED;

    static char buttonStatus = 0x00;

    if (TIMERS_IsTimerExpired(TIMER_RR)) {

            TIMERS_InitTimer(TIMER_RR, DEBOUNCE_TIME);

            buttonStatus <<= 1;

            buttonStatus |= Roach_ReadRearRightBumper();

            buttonStatus &= 0b00000111;

            if ((prevRRbutton == 0) && (buttonStatus == 0b0000111)) {

                    prevRRbutton = BUTTON_PRESSED;

                    return BUMPER_PUSHED_DOWN;

                }

            if ((prevRRbutton == 1) && (buttonStatus == 0)) {

                    prevRRbutton = BUTTON_UNPRESSED;

                    return BUMPER_RELEASED;

                }

        }

    return NO_CHANGE;

}

int main(int argc, char** argv) {

    SERIAL_Init();

            BOARD_Init();

            Roach_Init();

            TIMERS_Init();

            TIMERS_InitTimer(TIMER_FL, DEBOUNCE_TIME);

            TIMERS_InitTimer(TIMER_FR, DEBOUNCE_TIME);

            TIMERS_InitTimer(TIMER_RL, DEBOUNCE_TIME);

            TIMERS_InitTimer(TIMER_RR, DEBOUNCE_TIME);

    while (1) {

        int FLbump = DebounceFL();

        if (FLbump == BUMPER_PUSHED_DOWN) {

            Roach_LeftMtrSpeed(-100);

            Roach_RightMtrSpeed(-100);

        }

        int FRbump = DebounceFR();

        if (FRbump == BUMPER_PUSHED_DOWN) {

            Roach_LeftMtrSpeed(-100);

            Roach_RightMtrSpeed(-100);

        }

        int RLbump = DebounceRL();

        if (RLbump == BUMPER_PUSHED_DOWN) {

            Roach_LeftMtrSpeed(100);

            Roach_RightMtrSpeed(100);

        }

        int RRbump = DebounceRR();

        if (RRbump == BUMPER_PUSHED_DOWN) {

            Roach_LeftMtrSpeed(100);

            Roach_RightMtrSpeed(100);

        }

    }

    return (EXIT_SUCCESS);

}