Creating Limit Switch Class (#330)

* Added LimitSwitch header and cpp files

* Modified LimitSwitch header and CMakeLists

* Modified Class member variables and functions

* Removed some of the comments

* Added check for NC pin

* Created Limit Switch test app

* Created CMakeLists file for test app

* Modified limit switch class and test app, changed CMakeLists name

* Changed class and test app

* Minor changes to class and test app

* A little modification to test app

* Adjustment made to clang-format settings

* Adjustment made to LimitSwitch.h formatting

* Made changes based on more feedback

* Clang check fix

* Fix submodules

* More changes

* More fixes

Author: GbekeAdesiyun

CMakeLists.txt

@@ -105,6 +105,7 @@ add_app_subdirectory(${TEST_APPS_DIR}/test-blockingneo)
 add_app_subdirectory(${TEST_APPS_DIR}/test-can)
 add_app_subdirectory(${TEST_APPS_DIR}/test-mae3)
 add_app_subdirectory(${TEST_APPS_DIR}/test-led-matrix)
+add_app_subdirectory(${TEST_APPS_DIR}/test-limit-switch)
 add_app_subdirectory(${TEST_APPS_DIR}/test-logger)
 add_app_subdirectory(${TEST_APPS_DIR}/test-lookup-table)
 add_app_subdirectory(${TEST_APPS_DIR}/test-pid)

libs/gpio/CMakeLists.txt

@@ -16,3 +16,12 @@ target_link_libraries(QEI
         PRIVATE
         mbed-os
         )
+
+
+add_library(LimitSwitch STATIC)
+target_sources(LimitSwitch PRIVATE src/LimitSwitch.cpp)
+target_include_directories(LimitSwitch PUBLIC include)
+target_link_libraries(LimitSwitch
+        PRIVATE
+        mbed-os
+        )

libs/gpio/include/LimitSwitch.h

@@ -0,0 +1,22 @@
+#pragma once
+#include "mbed.h"
+namespace GPIO {
+
+class LimitSwitch {
+ public:
+  LimitSwitch(DigitalIn limitPin, bool ActiveHigh = 1);
+  // Tells you whether the Limit Switch has been pressed or not
+  bool isPressed();
+
+  // Overloaded bool operator
+  operator bool();
+
+  bool isConnected();
+
+ private:
+  // Active High is 1 and Active Low is 0
+  bool m_ActiveHigh;
+  DigitalIn m_limitPin;
+};
+
+}  // namespace GPIO

libs/gpio/src/LimitSwitch.cpp

@@ -0,0 +1,20 @@
+#include "LimitSwitch.h"
+
+using namespace GPIO;
+
+LimitSwitch::LimitSwitch(DigitalIn limitPin, bool ActiveHigh) : m_limitPin(limitPin), m_ActiveHigh(ActiveHigh) {}
+
+bool LimitSwitch::isPressed() {
+  if (m_limitPin.is_connected()) {
+    return !m_ActiveHigh ? !m_limitPin.read() : m_limitPin.read();
+  }
+  return false;
+}
+
+LimitSwitch::operator bool() {
+  return isPressed();
+}
+
+bool LimitSwitch::isConnected() {
+  return m_limitPin.is_connected();
+}

supported_build_configurations.yaml

@@ -54,7 +54,10 @@ test-mae3:
 
 test-led-matrix:
   - UWRT_NUCLEO
-  
+
+test-limit-switch:
+  - UWRT_NUCLEO
+
 test-logger:
   - GIMBAL_REV2
   - PDB_REV2
@@ -103,4 +106,4 @@ test-stress-can:
   - GIMBAL_REV2
   - PDB_REV2
   - SCIENCE_REV2
-  - UWRT_NUCLEO
+  - UWRT_NUCLEO

test-apps/test-limit-switch/CMakeLists.txt

@@ -0,0 +1,4 @@
+add_executable(test-limit-switch)
+target_sources(test-limit-switch PRIVATE src/main.cpp)
+target_link_libraries(test-limit-switch PRIVATE LimitSwitch Logger)
+mbed_set_post_build(test-limit-switch)

test-apps/test-limit-switch/src/main.cpp

@@ -0,0 +1,25 @@
+#include "LimitSwitch.h"
+#include "PinNames.h"
+#include "mbed.h"
+
+GPIO::LimitSwitch hSwitch(PA_0);
+GPIO::LimitSwitch lSwitch(PA_0, 0);
+GPIO::LimitSwitch ncSwitch(NC);
+
+int main() {
+  // Check to see if limit switch is pressed
+  while (true) {
+    // check for active high and active low case
+    if (hSwitch.isPressed()) {
+      printf("Active high limit switch is pressed \n");
+    }
+
+    if (lSwitch.isPressed()) {
+      printf("Active low limit switch is pressed \n");
+    }
+    // test for NC limit switch
+    if (!ncSwitch.isConnected()) {
+      printf("Pin is not connected \n");
+    }
+  }
+}