End of day 07 Mar. commit
CLI is now back to normal, updated DataSaving to be better. Logging now stores camera names.
This commit is contained in:
parent
7708d1359a
commit
3167df3192
4 changed files with 200 additions and 184 deletions
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@ -83,99 +83,73 @@ public class Cli
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try{
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inputScanner = new Scanner(System.in);
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//ConfigFacade.init();
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ConfigFacade.init();
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int userInput = 0;
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MovementFacade.resetArm();
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MovementFacade.goDown();
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MovementFacade.goUp();
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ErrorLogging.logError("Calibrating motor movement. This may take several minutes...");
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MovementFacade.calibrate();
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prompt("Did the motor move successfully? (Y/n): ");
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String successfulMovement = inputScanner.next().trim().toLowerCase();
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ErrorLogging.logError("DEBUG: user report of motor movement = " + successfulMovement);
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if(successfulMovement == "" || successfulMovement.charAt(0) != 'y')
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do
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{
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ErrorLogging.logError("DEBUG: User reported failed movement of the motor! Allowing reset of frequency...");
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print("As the default frequency did not work successfully, a new frequency value is required.");
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print("Higher frequency: Faster motor movement, not guaranteed to work, may cause damage to motor.");
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print(" Lower frequency: Slower motor movement, safer, but longer iteration time.");
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boolean frequencyReset = false;
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while(true)
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printMainMenu();
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userInput = (int)inputFiltering(inputScanner.nextLine());
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switch (userInput)
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{
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prompt("Please enter a new frequency value (Default: 50kHz): ");
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userInput = (int)inputFiltering(inputScanner.next());
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frequencyReset = MovementFacade.setFrequency(userInput);
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if(!frequencyReset) continue;
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MovementFacade.resetArm();
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MovementFacade.goDown();
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MovementFacade.goUp();
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prompt("Did the motor move successfully? (Y/n): ");
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successfulMovement = inputScanner.next();
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if(successfulMovement != "" || successfulMovement.toLowerCase().charAt(0) != 'n') break;
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case 1:
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println("Setting up cameras...");
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println("This may take a moment...");
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configureCameras();
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camerasConfigured = true;
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break;
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case 2:
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setDUTSerials();
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break;
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case 3:
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setIterationCount();
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break;
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case 4:
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setActiveCameras();
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break;
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case 5:
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if(!camerasConfigured)
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{
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prompt("You have not configured the cameras yet! Are you sure you would like to continue? (y/N): ");
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String input = inputScanner.nextLine().toLowerCase().trim();
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if( input.isBlank() || input.charAt(0) != 'y' ) break;
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else
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ErrorLogging.logError("DEBUG: Potential for error: Un-initialised cameras.");
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}
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serialsSet = true;
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for(String cameraName : OpenCVFacade.getCameraNames())
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{
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if(ConfigFacade.getValue(cameraName,ConfigProperties.ACTIVE) != 0 &&
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ConfigFacade.getSerial(cameraName) == null )
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serialsSet = false;
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}
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if(!serialsSet)
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{
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prompt("You have not set the serial numbers for your DUTs yet! Are you sure you would like to continue? (y/N): ");
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String input = inputScanner.nextLine().toLowerCase().trim();
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if( input.isBlank() || input.charAt(0) != 'y' ) break;
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else
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ErrorLogging.logError("DEBUG: Potential for error: Un-initialised DUT Serial numbers.");
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}
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runTests();
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break;
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case 6:
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printHelp();
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break;
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case 8:
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break;
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default:
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//Input handling already done by inputFiltering()
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}
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}
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//do
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//{
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// printMainMenu();
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// userInput = (int)inputFiltering(inputScanner.nextLine());
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// switch (userInput)
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// {
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// case 1:
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// println("Setting up cameras...");
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// println("This may take a moment...");
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// configureCameras();
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// camerasConfigured = true;
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// break;
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// case 2:
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// setDUTSerials();
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// break;
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// case 3:
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// setIterationCount();
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// break;
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// case 4:
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// setActiveCameras();
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// break;
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// case 5:
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// if(!camerasConfigured)
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// {
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// prompt("You have not configured the cameras yet! Are you sure you would like to continue? (y/N): ");
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// String input = inputScanner.nextLine().toLowerCase().trim();
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// if( input.isBlank() || input.charAt(0) != 'y' ) break;
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// else
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// ErrorLogging.logError("DEBUG: Potential for error: Un-initialised cameras.");
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// }
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// serialsSet = true;
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// for(String cameraName : OpenCVFacade.getCameraNames())
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// {
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// if(ConfigFacade.getValue(cameraName,ConfigProperties.ACTIVE) != 0 &&
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// ConfigFacade.getSerial(cameraName) == null )
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// serialsSet = false;
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// }
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// if(!serialsSet)
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// {
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// prompt("You have not set the serial numbers for your DUTs yet! Are you sure you would like to continue? (y/N): ");
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// String input = inputScanner.nextLine().toLowerCase().trim();
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// if( input.isBlank() || input.charAt(0) != 'y' ) break;
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// else
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// ErrorLogging.logError("DEBUG: Potential for error: Un-initialised DUT Serial numbers.");
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// }
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// runTests();
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// break;
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// case 6:
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// printHelp();
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// break;
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// case 8:
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// break;
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// default:
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// //Input handling already done by inputFiltering()
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// }
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//} while (userInput != mainMenuOptionCount);
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} while (userInput != mainMenuOptionCount);
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}
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//If anything ever goes wrong, catch the error and exit
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@ -693,8 +667,6 @@ public class Cli
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//DO NOT CLEAR camera to file Map. This will change the order of the objects within it
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resultMap.clear();
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}
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//Close the Excel workbook
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DataSaving.closeWorkbook(cameraList.size());
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//Alert the user to testing being complete
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println("=======================================");
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println("Testing complete!");
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@ -32,7 +32,7 @@ import static org.apache.poi.hssf.util.HSSFColor.HSSFColorPredefined;
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* Facade for saving data out to a file.
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*
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* @author Blizzard Finnegan
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* @version 4.1.0, 24 Feb. 2023
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* @version 5.0.0, 07 Mar. 2023
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*/
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public class DataSaving
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{
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@ -148,6 +148,10 @@ public class DataSaving
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cell = row.createCell(cellnum++);
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cell.setCellValue("");
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}
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HSSFCell serialTitleCell = row.createCell(cellnum++);
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serialTitleCell.setCellValue("Serial");
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HSSFCell passPercentCell = row.createCell(cellnum++);
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passPercentCell.setCellValue("Pass %");
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//Save to file
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try (FileOutputStream outputStream = new FileOutputStream(outputFile))
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@ -163,44 +167,44 @@ public class DataSaving
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*
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* @param cameraCount The number of cameras that were used.
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*/
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public static void closeWorkbook(int cameraCount)
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private static void updateFormulas(int cameraCount)
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{
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int rowIndex = 0;
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FormulaEvaluator formulaEvaluator = outputWorkbook.getCreationHelper().createFormulaEvaluator();
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int lastColumnOfData = outputSheet.getRow(rowIndex).getLastCellNum();
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int serialColumn = lastColumnOfData + 1;
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int percentColumn = lastColumnOfData + 2;
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//Get the last row, add another row below it, and name the first cell "Totals:"
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int lastRowOfData = outputSheet.getLastRowNum();
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HSSFRow finalRow = outputSheet.createRow(++lastRowOfData);
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HSSFCell titleCell = finalRow.createCell(0);
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titleCell.setCellValue("Totals:");
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//ErrorLogging.logError("DEBUG: 3 ?= " + (cameraCount*3));
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//For each camera, create a unique total line
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for(int column = 3; column <= (cameraCount*3); column+=3)
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{
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//Create a cell in the right column
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HSSFCell cell = finalRow.createCell(column);
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FormulaEvaluator formulaEvaluator = outputWorkbook.getCreationHelper().createFormulaEvaluator();
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String columnName = CellReference.convertNumToColString(column);
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HSSFRow row = outputSheet.getRow(++rowIndex);
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HSSFCell serialCell = row.createCell(serialColumn);
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String formula = "$" + columnName + "$" + rowIndex;
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serialCell.setCellFormula(formula);
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formulaEvaluator.evaluate(serialCell);
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//Intermediate variable to store the array of possible values
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//Dollar signs in use here indicate that if the cell is copied and pasted,
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//the same cells will be referenced
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HSSFCell percentCell = row.createCell(percentColumn);
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String verticalArray = String.format("$%s$2:$%s$%s",columnName,columnName,lastRowOfData);
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ErrorLogging.logError("DEBUG: Vertical Array: " + verticalArray);
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//Create the error formula, then set it as the cell's formula.
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String formula = String.format(
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"(COUNT(%s)-COUNTIF(%s,{\"<%s\",\">%s\"}))/(COUNT(%s))",
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formula = String.format(
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"(COUNT(%s)-(COUNTIF(%s,\"<%s\")+COUNTIF(%s,\">%s\",))/(COUNT(%s))",
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verticalArray,
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verticalArray, (targetTemp - failRange), (targetTemp + failRange),
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verticalArray, (targetTemp - failRange),
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verticalArray, (targetTemp + failRange),
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verticalArray);
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cell.setCellFormula(formula);
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percentCell.setCellFormula(formula);
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//Make the percentage human-readable
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cell.setCellStyle(finalValuesStyle);
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percentCell.setCellStyle(finalValuesStyle);
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//To make the cell be a readable value, you need to
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//evaluate the formula within the cell.
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formulaEvaluator.evaluate(cell);
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//To make the percentCell be a readable value, you need to
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//evaluate the formula within the percentCell.
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formulaEvaluator.evaluate(percentCell);
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ErrorLogging.logError("DEBUG: Formula: " + formula);
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}
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@ -282,44 +286,8 @@ public class DataSaving
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//Create a blank cell as a spacer
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row.createCell(cellnum++);
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//ErrorLogging.logError("DEBUG: " + cameraName);
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//objectArray.add(serialNumber);
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//objectArray.add(file.getPath());
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//objectArray.add(inputMap.get(file));
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//objectArray.add(" ");
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}
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//for(Object cellObject : objectArray)
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//{
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// HSSFCell cell = row.createCell(cellnum++);
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// if(cellObject instanceof Double)
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// {
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// Double cellValue = (Double)cellObject;
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// ErrorLogging.logError("DEBUG: " + cellValue + " ?= " + targetTemp + " +- " + failRange);
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// if(cellValue.equals(Double.NEGATIVE_INFINITY))
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// {
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// cell.setCellValue("ERROR!");
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// cell.setCellStyle(errorStyle);
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// }
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// else
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// {
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// cell.setCellValue(cellValue);
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// if( cellValue.doubleValue() > (targetTemp + failRange) ||
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// cellValue.doubleValue() < (targetTemp - failRange) )
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// {
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// ErrorLogging.logError("DEBUG: Cell value " + cellValue.doubleValue() + " is outside the allowed range! (" + (targetTemp -failRange) + "-" + (targetTemp + failRange) + "). Setting cell to fail colouring.");
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// cell.setCellStyle(failStyle);
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// }
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// }
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// }
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// else if(cellObject instanceof String) cell.setCellValue((String) cellObject);
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// else
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// {
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// ErrorLogging.logError("XLSX Write Error!!! - Invalid input.");
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// ErrorLogging.logError("\t" + cellObject.toString());
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// }
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//}
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updateFormulas(cameraNames.size());
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try (FileOutputStream outputStream = new FileOutputStream(outputFile))
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{ outputWorkbook.write(outputStream); output = true; }
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catch(Exception e) {ErrorLogging.logError(e);}
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@ -52,35 +52,44 @@ public class MovementFacade
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* Max allowed speed by current fixture design.
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* Motor appears to start acting erratically over 192kHz.
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*/
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private static final double MAX_FREQUENCY = 192000;
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private static final int MAX_FREQUENCY = 192000;
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/**
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* Amount of buffer between the found absolute speed, and used speed.
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*/
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private static final int SPEED_BUFFER = 4000;
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/**
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* Minimum allowed speed of the fixture arm; also used for reset travels.
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*/
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private static final double MIN_FREQUENCY = 20000;
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private static final int MIN_FREQUENCY = 10000;
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/**
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* Distance in cm the fixture needs to travel.
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*
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* Distance between limit switches: ~80cm.
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* Thickness of fixture arm: ~50cm.
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* *** ABOVE MATH IS WRONG ***
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* I don't know what I did wrong, but this value doesn't work
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* properly if straight calculated.
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* I will look into this more at some point.
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*/
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private static final int TRAVEL_DIST = 10;
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private static final int TRAVEL_DIST = 12;
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/**
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* What percentage of the travel to slow down the motor.
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*/
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private static final double STEP_1 = 1.0 / 2.0;
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private static final double STEP_1 = 2.0/3.0;
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/**
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* What percentage of the travel to slow down the motor farther.
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*/
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private static final double STEP_2 = 3.0 / 4.0;
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private static final double STEP_2 = 5.0/6.0;
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/**
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* Default frequency fed to the PWM pin, which the motor controller converts into movement speed.
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* Frequency fed to the PWM pin, which the motor controller converts into movement speed.
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*/
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private static int FREQUENCY = 70000;
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private static int FREQUENCY = MIN_FREQUENCY;
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/**
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* PWM Duty Cycle.
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@ -341,9 +350,10 @@ public class MovementFacade
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*/
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public static int resetArm()
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{
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ErrorLogging.logError("DEBUG: --------------------------------------");
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int counter = 0;
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ErrorLogging.logError("DEBUG: Setting minimum frequency of PWM...");
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pwm.on(DUTY_CYCLE, (int)MIN_FREQUENCY);
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pwm.on(DUTY_CYCLE, MIN_FREQUENCY);
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if(upperLimit.isHigh())
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{
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ErrorLogging.logError("DEBUG: Motor at highest point! Lowering to reset.");
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@ -370,21 +380,94 @@ public class MovementFacade
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}
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motorEnable.off();
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ErrorLogging.logError("DEBUG: Motor returned after " + counter + " polls.");
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ErrorLogging.logError("DEBUG: --------------------------------------");
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return counter;
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}
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/**
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* Used to set the motor's max speed.
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*/
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public static void calibrate()
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{
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ErrorLogging.logError("Initial Calibration reset.");
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resetArm();
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ErrorLogging.logError("Coarse calibrating...");
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FREQUENCY = calib(MIN_FREQUENCY, MAX_FREQUENCY, 10000);
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ErrorLogging.logError("Fine calibrating...");
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FREQUENCY = calib(FREQUENCY,(FREQUENCY+10000),1000);
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ErrorLogging.logError("Calibration complete!");
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ErrorLogging.logError("DEBUG: Speed set to " + (FREQUENCY - SPEED_BUFFER));
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setFrequency(FREQUENCY - SPEED_BUFFER);
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}
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/**
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* Find the max speed of the fixure between two points.
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*
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* @param start Lowest speed to check
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* @param max Highest speed to check
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* @param iterate How much to iterate by
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*
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* @return The largest safe value between start and max.
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*/
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private static int calib(int start, int max, int iterate)
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{
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//start -= iterate;
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for(int i = start; i < max; i+=iterate)
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{
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if(!setFrequency(i))
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{
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ErrorLogging.logError("DEBUG: Speed set unsuccessfully! returning " + MIN_FREQUENCY + "...");
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return MIN_FREQUENCY;
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}
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ErrorLogging.logError("DEBUG: Motor travelling down.");
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motorDirection.low();
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ErrorLogging.logError("DEBUG: Motor Frequency: " + FREQUENCY);
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ErrorLogging.logError("DEBUG: Motor calibrate on.");
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motorEnable.on();
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for(int j = 0; j < 20; j++)
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{
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try{ Thread.sleep(100); }
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catch (Exception e){ ErrorLogging.logError(e); }
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if(lowerLimit.isHigh())
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{
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ErrorLogging.logError("DEBUG: Breaking loop early!");
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break;
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}
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}
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motorEnable.off();
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ErrorLogging.logError("DEBUG: Motor calibrate off.");
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if(upperLimit.isHigh())
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{
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ErrorLogging.logError("DEBUG: Upper limit is high = " + upperLimit.isHigh());
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ErrorLogging.logError("DEBUG: Motor failed to move! Returning " + (i - iterate));
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return i-iterate;
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}
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else
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{
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ErrorLogging.logError("DEBUG: Motor moved at speed " + i + ". Checking for errors.");
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if(resetArm() < 10 && i > 3.0)
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{
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ErrorLogging.logError("DEBUG: Motor failed to move! Returning " + (i - iterate));
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return i - iterate;
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}
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}
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}
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return max-iterate;
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}
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/**
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* Safely set the speed of the motor and fixture.
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*
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* @return true if set successfully, else false
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*/
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public static boolean setFrequency(int newFrequency)
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private static boolean setFrequency(int newFrequency)
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{
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boolean output;
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if(newFrequency < MIN_FREQUENCY || newFrequency > MAX_FREQUENCY)
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{
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ErrorLogging.logError("Movement control error!!! - Invalid frequency input.");
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FREQUENCY = (int)MIN_FREQUENCY;
|
||||
ErrorLogging.logError("DEBUG: Invalid MovementFacade.setFrequency() value, setting to minfrequency!");
|
||||
FREQUENCY = MIN_FREQUENCY;
|
||||
output = false;
|
||||
}
|
||||
else
|
||||
|
|
@ -414,13 +497,13 @@ public class MovementFacade
|
|||
{
|
||||
motorDirection.high();
|
||||
limitSense = upperLimit;
|
||||
ErrorLogging.logError("DEBUG: Sending fixture up...");
|
||||
ErrorLogging.logError("Sending fixture up...");
|
||||
}
|
||||
else
|
||||
{
|
||||
motorDirection.low();
|
||||
limitSense = lowerLimit;
|
||||
ErrorLogging.logError("DEBUG: Sending fixture down...");
|
||||
ErrorLogging.logError("Sending fixture down...");
|
||||
}
|
||||
|
||||
if(limitSense.isHigh()) return FinalState.SAFE;
|
||||
|
|
@ -431,57 +514,49 @@ public class MovementFacade
|
|||
int VEL_STEP_1 = (int)(STEP_1 * POLL_COUNT);
|
||||
int VEL_STEP_2 = (int)(STEP_2 * POLL_COUNT);
|
||||
|
||||
ErrorLogging.logError("DEBUG: ========================================");
|
||||
ErrorLogging.logError("DEBUG: =================================");
|
||||
ErrorLogging.logError("DEBUG: Total Poll count: " + POLL_COUNT);
|
||||
ErrorLogging.logError("DEBUG: Transition 1: " + VEL_STEP_1);
|
||||
ErrorLogging.logError("DEBUG: Transition 2: " + VEL_STEP_2);
|
||||
ErrorLogging.logError("DEBUG: Travel time: " + TRAVEL_TIME);
|
||||
ErrorLogging.logError("DEBUG: Travel speed: " + (FREQUENCY/PWM_FREQ_CONVERT));
|
||||
ErrorLogging.logError("DEBUG: ========================================");
|
||||
|
||||
ErrorLogging.logError("DEBUG: Motor on.");
|
||||
ErrorLogging.logError("DEBUG: STEP_1: " + STEP_1);
|
||||
ErrorLogging.logError("DEBUG: STEP_2: " + STEP_2);
|
||||
ErrorLogging.logError("DEBUG: =================================");
|
||||
motorEnable.on();
|
||||
boolean slow = false;
|
||||
boolean slower = false;
|
||||
for(int i = 0; i < (POLL_COUNT);i++)
|
||||
{
|
||||
try{ Thread.sleep(POLL_WAIT); } catch(Exception e){ ErrorLogging.logError(e); }
|
||||
if(limitSense.isOn())
|
||||
{
|
||||
ErrorLogging.logError("DEBUG: Exiting early due to limit switch activation!");
|
||||
ErrorLogging.logError("DEBUG: Exiting on poll " + i);
|
||||
break;
|
||||
}
|
||||
if(i >= VEL_STEP_1 && i < VEL_STEP_2)
|
||||
{
|
||||
output = FinalState.UNSAFE;
|
||||
if(slow)
|
||||
if(output != FinalState.UNSAFE)
|
||||
{
|
||||
output = FinalState.UNSAFE;
|
||||
ErrorLogging.logError("DEBUG: Slowing down.");
|
||||
slow = true;
|
||||
pwm.on(DUTY_CYCLE, (int)(FREQUENCY / 1.25));
|
||||
}
|
||||
pwm.on(DUTY_CYCLE, (int)(FREQUENCY / 1.25));
|
||||
}
|
||||
else if(i >= VEL_STEP_2)
|
||||
{
|
||||
output = FinalState.SAFE;
|
||||
if(slower)
|
||||
if(output != FinalState.SAFE)
|
||||
{
|
||||
ErrorLogging.logError("DEBUG: Slowing down more.");
|
||||
slower = true;
|
||||
pwm.on(DUTY_CYCLE, FREQUENCY / 2);
|
||||
output = FinalState.SAFE;
|
||||
}
|
||||
pwm.on(DUTY_CYCLE, FREQUENCY / 2);
|
||||
}
|
||||
}
|
||||
motorEnable.off();
|
||||
ErrorLogging.logError("DEBUG: Motor off.");
|
||||
|
||||
if(output == FinalState.FAILED)
|
||||
ErrorLogging.logError("DEBUG: Motor movement exited early.");
|
||||
ErrorLogging.logError("Motor moved too fast!");
|
||||
else if(output == FinalState.UNSAFE)
|
||||
ErrorLogging.logError("DEBUG: Motor movement slowed down, but not fully.");
|
||||
ErrorLogging.logError("DEBUG: Motor only slowed down partially.");
|
||||
else if(output == FinalState.SAFE)
|
||||
ErrorLogging.logError("DEBUG: Motor movement successfully slowed fully.");
|
||||
{
|
||||
if(limitSense.isOn()) ErrorLogging.logError("DEBUG: Motor slowed down successfully.");
|
||||
else ErrorLogging.logError("DEBUG: Motor did not reach limit switch successfully.");
|
||||
}
|
||||
pwm.on(DUTY_CYCLE, FREQUENCY);
|
||||
return output;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -84,6 +84,7 @@ public class OpenCVFacade
|
|||
{
|
||||
String cameraName = cameraFile.getName().
|
||||
substring(CAMERA_FILE_PREFIX.length());
|
||||
ErrorLogging.logError("DEBUG: Camera name: " + cameraName);
|
||||
newCamera(cameraName, cameraFile.getAbsolutePath());
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue