Team Design Project 3 / Mbed 2 deprecated TDP3_Robot_Control

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Dependencies:   mbed

main.cpp@0:da3669e7df20, 2019-01-14 (annotated)

Committer:
mtag
Date:
Mon Jan 14 22:37:46 2019 +0000
Revision:
0:da3669e7df20
Child:
1:c5b58b10970d
This program compiles but it hasn't been tested on the robot at all yet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mtag 0:da3669e7df20 1 #include "mbed.h"
mtag 0:da3669e7df20 2
mtag 0:da3669e7df20 3 //For the solenoid
mtag 0:da3669e7df20 4 #define OFF 0
mtag 0:da3669e7df20 5 #define ON 1
mtag 0:da3669e7df20 6
mtag 0:da3669e7df20 7
mtag 0:da3669e7df20 8 //For motor control
mtag 0:da3669e7df20 9 #define PWM_PERIOD_US 1000 //For setting PWM periods to 1 milliseconds. I made this number up
mtag 0:da3669e7df20 10 #define STOP 0
mtag 0:da3669e7df20 11 #define FORWARD 1
mtag 0:da3669e7df20 12 #define BACKWARD 2
mtag 0:da3669e7df20 13 //For line following, use the previous defines and the follwoing
mtag 0:da3669e7df20 14 #define LEFT 3
mtag 0:da3669e7df20 15 #define RIGHT 4
mtag 0:da3669e7df20 16
mtag 0:da3669e7df20 17 //For coloiur detection
mtag 0:da3669e7df20 18 #define COLOUR_THRESHOLD 150 //Will have to tune this value
mtag 0:da3669e7df20 19
mtag 0:da3669e7df20 20 //For line following
mtag 0:da3669e7df20 21
mtag 0:da3669e7df20 22 DigitalOut myled(LED1); // Debug led
mtag 0:da3669e7df20 23
mtag 0:da3669e7df20 24 //For the colour sensor
mtag 0:da3669e7df20 25 I2C i2c(I2C_SDA, I2C_SCL); //pins for I2C communication (SDA, SCL)
mtag 0:da3669e7df20 26
mtag 0:da3669e7df20 27 int sensor_addr = 41 << 1;
mtag 0:da3669e7df20 28
mtag 0:da3669e7df20 29 //Set PWMs for controlling the H-bridge for the motor speed
mtag 0:da3669e7df20 30 PwmOut PWMmotorLeft(PTA4); //Connect to EN1 of L298N
mtag 0:da3669e7df20 31 PwmOut PWMmotorRight(PTA5); //Connect to EN1 of L298N
mtag 0:da3669e7df20 32
mtag 0:da3669e7df20 33 BusOut leftMotorMode(PTC17,PTC16); //Connect D4 to IN1, D5 to IN2 of L298N
mtag 0:da3669e7df20 34 BusOut rightMotorMode(PTC13,PTC12); //Connect D6 to IN3, D7 to IN4 of L298N
mtag 0:da3669e7df20 35
mtag 0:da3669e7df20 36 DigitalOut solenoid(PTA3); //Switch for the solenoid
mtag 0:da3669e7df20 37
mtag 0:da3669e7df20 38 //For black line detection
mtag 0:da3669e7df20 39 DigitalIn lineSensor1(PTA6);
mtag 0:da3669e7df20 40 DigitalIn lineSensor2(PTA7);
mtag 0:da3669e7df20 41 DigitalIn lineSensor3(PTA8);
mtag 0:da3669e7df20 42
mtag 0:da3669e7df20 43 bool red_path = false;
mtag 0:da3669e7df20 44 bool blue_path = false;
mtag 0:da3669e7df20 45
mtag 0:da3669e7df20 46 class SolenoidController {
mtag 0:da3669e7df20 47 public:
mtag 0:da3669e7df20 48 bool state;
mtag 0:da3669e7df20 49
mtag 0:da3669e7df20 50 void off();
mtag 0:da3669e7df20 51 void on();
mtag 0:da3669e7df20 52 };
mtag 0:da3669e7df20 53
mtag 0:da3669e7df20 54 void SolenoidController::off() {
mtag 0:da3669e7df20 55 state = OFF;
mtag 0:da3669e7df20 56 solenoid = OFF;
mtag 0:da3669e7df20 57 }
mtag 0:da3669e7df20 58
mtag 0:da3669e7df20 59 void SolenoidController::on() {
mtag 0:da3669e7df20 60 state = ON;
mtag 0:da3669e7df20 61 solenoid = ON;
mtag 0:da3669e7df20 62 }
mtag 0:da3669e7df20 63
mtag 0:da3669e7df20 64
mtag 0:da3669e7df20 65 class MotorController {
mtag 0:da3669e7df20 66 public:
mtag 0:da3669e7df20 67 int state;
mtag 0:da3669e7df20 68 int speed;
mtag 0:da3669e7df20 69
mtag 0:da3669e7df20 70
mtag 0:da3669e7df20 71 void initialize();
mtag 0:da3669e7df20 72 void setSpeed(int pulsewidth_us);
mtag 0:da3669e7df20 73 void setLeftMotorSpeed(int pulsewidth_us);
mtag 0:da3669e7df20 74 void setRightMotorSpeed(int pulsewidth_us);
mtag 0:da3669e7df20 75 void setLeftMotorMode(int mode);
mtag 0:da3669e7df20 76 void setRightMotorMode(int mode);
mtag 0:da3669e7df20 77 void stopMotors();
mtag 0:da3669e7df20 78 void goForward();
mtag 0:da3669e7df20 79 void goBackward();
mtag 0:da3669e7df20 80 void turnLeft();
mtag 0:da3669e7df20 81 void turnRight();
mtag 0:da3669e7df20 82 void changeDirection(int direction);
mtag 0:da3669e7df20 83 };
mtag 0:da3669e7df20 84
mtag 0:da3669e7df20 85 void MotorController::initialize()
mtag 0:da3669e7df20 86 {
mtag 0:da3669e7df20 87 state = STOP;
mtag 0:da3669e7df20 88 speed = 0;
mtag 0:da3669e7df20 89 PWMmotorLeft.period_us(PWM_PERIOD_US);
mtag 0:da3669e7df20 90 PWMmotorRight.period_us(PWM_PERIOD_US);
mtag 0:da3669e7df20 91
mtag 0:da3669e7df20 92 }
mtag 0:da3669e7df20 93
mtag 0:da3669e7df20 94
mtag 0:da3669e7df20 95 void MotorController::setLeftMotorSpeed(int pulsewidth_us)
mtag 0:da3669e7df20 96 {
mtag 0:da3669e7df20 97 PWMmotorLeft.pulsewidth_us(pulsewidth_us);
mtag 0:da3669e7df20 98 }
mtag 0:da3669e7df20 99
mtag 0:da3669e7df20 100
mtag 0:da3669e7df20 101 void MotorController::setRightMotorSpeed(int pulsewidth_us)
mtag 0:da3669e7df20 102 {
mtag 0:da3669e7df20 103 PWMmotorRight.pulsewidth_us(pulsewidth_us);
mtag 0:da3669e7df20 104 }
mtag 0:da3669e7df20 105
mtag 0:da3669e7df20 106
mtag 0:da3669e7df20 107 void MotorController::setLeftMotorMode(int mode)
mtag 0:da3669e7df20 108 {
mtag 0:da3669e7df20 109 leftMotorMode = mode;
mtag 0:da3669e7df20 110 }
mtag 0:da3669e7df20 111
mtag 0:da3669e7df20 112 void MotorController::setRightMotorMode(int mode)
mtag 0:da3669e7df20 113 {
mtag 0:da3669e7df20 114 rightMotorMode = mode;
mtag 0:da3669e7df20 115 }
mtag 0:da3669e7df20 116
mtag 0:da3669e7df20 117
mtag 0:da3669e7df20 118 void MotorController::stopMotors()
mtag 0:da3669e7df20 119 {
mtag 0:da3669e7df20 120 setLeftMotorMode(STOP);
mtag 0:da3669e7df20 121 setRightMotorMode(STOP);
mtag 0:da3669e7df20 122 }
mtag 0:da3669e7df20 123
mtag 0:da3669e7df20 124 void MotorController::goForward()
mtag 0:da3669e7df20 125 {
mtag 0:da3669e7df20 126 state = FORWARD;
mtag 0:da3669e7df20 127
mtag 0:da3669e7df20 128 setLeftMotorMode(FORWARD);
mtag 0:da3669e7df20 129 setRightMotorMode(FORWARD);
mtag 0:da3669e7df20 130
mtag 0:da3669e7df20 131 setLeftMotorSpeed(speed);
mtag 0:da3669e7df20 132 setRightMotorSpeed(speed);
mtag 0:da3669e7df20 133
mtag 0:da3669e7df20 134 }
mtag 0:da3669e7df20 135
mtag 0:da3669e7df20 136 void MotorController::goBackward()
mtag 0:da3669e7df20 137 {
mtag 0:da3669e7df20 138 state = BACKWARD;
mtag 0:da3669e7df20 139
mtag 0:da3669e7df20 140 setLeftMotorMode(BACKWARD);
mtag 0:da3669e7df20 141 setRightMotorMode(BACKWARD);
mtag 0:da3669e7df20 142
mtag 0:da3669e7df20 143 setLeftMotorSpeed(speed);
mtag 0:da3669e7df20 144 setRightMotorSpeed(speed);
mtag 0:da3669e7df20 145
mtag 0:da3669e7df20 146 }
mtag 0:da3669e7df20 147
mtag 0:da3669e7df20 148 void MotorController::turnLeft()
mtag 0:da3669e7df20 149 {
mtag 0:da3669e7df20 150 state = LEFT;
mtag 0:da3669e7df20 151
mtag 0:da3669e7df20 152 setLeftMotorMode(BACKWARD);
mtag 0:da3669e7df20 153 setRightMotorMode(FORWARD);
mtag 0:da3669e7df20 154
mtag 0:da3669e7df20 155 setLeftMotorSpeed(speed);
mtag 0:da3669e7df20 156 setRightMotorSpeed(speed);
mtag 0:da3669e7df20 157
mtag 0:da3669e7df20 158 }
mtag 0:da3669e7df20 159
mtag 0:da3669e7df20 160
mtag 0:da3669e7df20 161 void MotorController::turnRight()
mtag 0:da3669e7df20 162 {
mtag 0:da3669e7df20 163 state = RIGHT;
mtag 0:da3669e7df20 164
mtag 0:da3669e7df20 165 setLeftMotorMode(FORWARD);
mtag 0:da3669e7df20 166 setRightMotorMode(BACKWARD);
mtag 0:da3669e7df20 167
mtag 0:da3669e7df20 168 setLeftMotorSpeed(speed);
mtag 0:da3669e7df20 169 setRightMotorSpeed(speed);
mtag 0:da3669e7df20 170 }
mtag 0:da3669e7df20 171
mtag 0:da3669e7df20 172 void MotorController::changeDirection(int direction) {
mtag 0:da3669e7df20 173
mtag 0:da3669e7df20 174 switch(direction) {
mtag 0:da3669e7df20 175
mtag 0:da3669e7df20 176 case STOP:
mtag 0:da3669e7df20 177 stopMotors();
mtag 0:da3669e7df20 178 break;
mtag 0:da3669e7df20 179
mtag 0:da3669e7df20 180 case FORWARD:
mtag 0:da3669e7df20 181 goForward();
mtag 0:da3669e7df20 182 break;
mtag 0:da3669e7df20 183
mtag 0:da3669e7df20 184 case BACKWARD:
mtag 0:da3669e7df20 185 goBackward();
mtag 0:da3669e7df20 186 break;
mtag 0:da3669e7df20 187
mtag 0:da3669e7df20 188 case LEFT:
mtag 0:da3669e7df20 189 turnLeft();
mtag 0:da3669e7df20 190 break;
mtag 0:da3669e7df20 191
mtag 0:da3669e7df20 192 case RIGHT:
mtag 0:da3669e7df20 193 turnRight();
mtag 0:da3669e7df20 194 break;
mtag 0:da3669e7df20 195
mtag 0:da3669e7df20 196 default:
mtag 0:da3669e7df20 197 stopMotors();
mtag 0:da3669e7df20 198 break;
mtag 0:da3669e7df20 199
mtag 0:da3669e7df20 200 }
mtag 0:da3669e7df20 201 }
mtag 0:da3669e7df20 202
mtag 0:da3669e7df20 203 void MotorController::setSpeed(int pulsewidth_us) {
mtag 0:da3669e7df20 204 speed = pulsewidth_us;
mtag 0:da3669e7df20 205 }
mtag 0:da3669e7df20 206
mtag 0:da3669e7df20 207 class ColourSensor {
mtag 0:da3669e7df20 208 public:
mtag 0:da3669e7df20 209 bool blue_detected;
mtag 0:da3669e7df20 210 bool red_detected;
mtag 0:da3669e7df20 211
mtag 0:da3669e7df20 212 void initialize();
mtag 0:da3669e7df20 213 void read();
mtag 0:da3669e7df20 214 };
mtag 0:da3669e7df20 215
mtag 0:da3669e7df20 216
mtag 0:da3669e7df20 217 void ColourSensor::initialize() {
mtag 0:da3669e7df20 218
mtag 0:da3669e7df20 219 i2c.frequency(200000);
mtag 0:da3669e7df20 220
mtag 0:da3669e7df20 221 blue_detected = false;
mtag 0:da3669e7df20 222 red_detected = false;
mtag 0:da3669e7df20 223
mtag 0:da3669e7df20 224 char id_regval[1] = {146};
mtag 0:da3669e7df20 225 char data[1] = {0};
mtag 0:da3669e7df20 226 i2c.write(sensor_addr,id_regval,1, true);
mtag 0:da3669e7df20 227 i2c.read(sensor_addr,data,1,false);
mtag 0:da3669e7df20 228
mtag 0:da3669e7df20 229 if (data[0]==68) {
mtag 0:da3669e7df20 230 myled = 0;
mtag 0:da3669e7df20 231 wait (2);
mtag 0:da3669e7df20 232 myled = 1;
mtag 0:da3669e7df20 233 } else {
mtag 0:da3669e7df20 234 myled = 1;
mtag 0:da3669e7df20 235 }
mtag 0:da3669e7df20 236
mtag 0:da3669e7df20 237 char timing_register[2] = {129,0};
mtag 0:da3669e7df20 238 i2c.write(sensor_addr,timing_register,2,false);
mtag 0:da3669e7df20 239
mtag 0:da3669e7df20 240 char control_register[2] = {143,0};
mtag 0:da3669e7df20 241 i2c.write(sensor_addr,control_register,2,false);
mtag 0:da3669e7df20 242
mtag 0:da3669e7df20 243 char enable_register[2] = {128,3};
mtag 0:da3669e7df20 244 i2c.write(sensor_addr,enable_register,2,false);
mtag 0:da3669e7df20 245 }
mtag 0:da3669e7df20 246
mtag 0:da3669e7df20 247 void ColourSensor::read() {
mtag 0:da3669e7df20 248
mtag 0:da3669e7df20 249 char clear_reg[1] = {148};
mtag 0:da3669e7df20 250 char clear_data[2] = {0,0};
mtag 0:da3669e7df20 251 i2c.write(sensor_addr,clear_reg,1, true);
mtag 0:da3669e7df20 252 i2c.read(sensor_addr,clear_data,2, false);
mtag 0:da3669e7df20 253
mtag 0:da3669e7df20 254 int clear_value = ((int)clear_data[1] << 8) | clear_data[0];
mtag 0:da3669e7df20 255
mtag 0:da3669e7df20 256 char red_reg[1] = {150};
mtag 0:da3669e7df20 257 char red_data[2] = {0,0};
mtag 0:da3669e7df20 258 i2c.write(sensor_addr,red_reg,1, true);
mtag 0:da3669e7df20 259 i2c.read(sensor_addr,red_data,2, false);
mtag 0:da3669e7df20 260
mtag 0:da3669e7df20 261 int red_value = ((int)red_data[1] << 8) | red_data[0];
mtag 0:da3669e7df20 262
mtag 0:da3669e7df20 263 char green_reg[1] = {152};
mtag 0:da3669e7df20 264 char green_data[2] = {0,0};
mtag 0:da3669e7df20 265 i2c.write(sensor_addr,green_reg,1, true);
mtag 0:da3669e7df20 266 i2c.read(sensor_addr,green_data,2, false);
mtag 0:da3669e7df20 267
mtag 0:da3669e7df20 268 int green_value = ((int)green_data[1] << 8) | green_data[0];
mtag 0:da3669e7df20 269
mtag 0:da3669e7df20 270 char blue_reg[1] = {154};
mtag 0:da3669e7df20 271 char blue_data[2] = {0,0};
mtag 0:da3669e7df20 272 i2c.write(sensor_addr,blue_reg,1, true);
mtag 0:da3669e7df20 273 i2c.read(sensor_addr,blue_data,2, false);
mtag 0:da3669e7df20 274
mtag 0:da3669e7df20 275 int blue_value = ((int)blue_data[1] << 8) | blue_data[0];
mtag 0:da3669e7df20 276
mtag 0:da3669e7df20 277
mtag 0:da3669e7df20 278 //Detect the colour of the paper
mtag 0:da3669e7df20 279
mtag 0:da3669e7df20 280 if(red_value >= COLOUR_THRESHOLD) {
mtag 0:da3669e7df20 281 red_detected = true;
mtag 0:da3669e7df20 282 }
mtag 0:da3669e7df20 283
mtag 0:da3669e7df20 284 else {
mtag 0:da3669e7df20 285 red_detected = false;
mtag 0:da3669e7df20 286 }
mtag 0:da3669e7df20 287
mtag 0:da3669e7df20 288 if(blue_value >= COLOUR_THRESHOLD) {
mtag 0:da3669e7df20 289 blue_detected = true;
mtag 0:da3669e7df20 290 }
mtag 0:da3669e7df20 291
mtag 0:da3669e7df20 292 else {
mtag 0:da3669e7df20 293 blue_detected = false;
mtag 0:da3669e7df20 294 }
mtag 0:da3669e7df20 295
mtag 0:da3669e7df20 296
mtag 0:da3669e7df20 297 }
mtag 0:da3669e7df20 298
mtag 0:da3669e7df20 299 class LineFollower {
mtag 0:da3669e7df20 300 public:
mtag 0:da3669e7df20 301 bool lineDetected1;
mtag 0:da3669e7df20 302 bool lineDetected2;
mtag 0:da3669e7df20 303 bool lineDetected3;
mtag 0:da3669e7df20 304 int direction;
mtag 0:da3669e7df20 305
mtag 0:da3669e7df20 306 void initialize();
mtag 0:da3669e7df20 307
mtag 0:da3669e7df20 308 void readSensor1();
mtag 0:da3669e7df20 309 void readSensor2();
mtag 0:da3669e7df20 310 void readSensor3();
mtag 0:da3669e7df20 311 void readSensors();
mtag 0:da3669e7df20 312
mtag 0:da3669e7df20 313 int chooseDirection();
mtag 0:da3669e7df20 314
mtag 0:da3669e7df20 315 };
mtag 0:da3669e7df20 316
mtag 0:da3669e7df20 317 void LineFollower::initialize() {
mtag 0:da3669e7df20 318 lineDetected1 = false;
mtag 0:da3669e7df20 319 lineDetected2 = false;
mtag 0:da3669e7df20 320 lineDetected3 = false;
mtag 0:da3669e7df20 321 direction = STOP;
mtag 0:da3669e7df20 322 }
mtag 0:da3669e7df20 323
mtag 0:da3669e7df20 324 void LineFollower::readSensor1() {
mtag 0:da3669e7df20 325 lineDetected1 = lineSensor1;
mtag 0:da3669e7df20 326 }
mtag 0:da3669e7df20 327
mtag 0:da3669e7df20 328 void LineFollower::readSensor2() {
mtag 0:da3669e7df20 329 lineDetected2 = lineSensor2;
mtag 0:da3669e7df20 330 }
mtag 0:da3669e7df20 331
mtag 0:da3669e7df20 332 void LineFollower::readSensor3() {
mtag 0:da3669e7df20 333 lineDetected3 = lineSensor3;
mtag 0:da3669e7df20 334 }
mtag 0:da3669e7df20 335
mtag 0:da3669e7df20 336 void LineFollower::readSensors() {
mtag 0:da3669e7df20 337 readSensor1();
mtag 0:da3669e7df20 338 readSensor2();
mtag 0:da3669e7df20 339 readSensor3();
mtag 0:da3669e7df20 340 }
mtag 0:da3669e7df20 341
mtag 0:da3669e7df20 342 int LineFollower::chooseDirection() {
mtag 0:da3669e7df20 343
mtag 0:da3669e7df20 344 int sensorData = 0000 & ((lineDetected1 << 02) + (lineDetected2 << 01) + (lineDetected3));
mtag 0:da3669e7df20 345
mtag 0:da3669e7df20 346 switch(sensorData) {
mtag 0:da3669e7df20 347
mtag 0:da3669e7df20 348 case 0000:
mtag 0:da3669e7df20 349 direction = STOP;
mtag 0:da3669e7df20 350 break;
mtag 0:da3669e7df20 351
mtag 0:da3669e7df20 352 case 0001:
mtag 0:da3669e7df20 353 direction = RIGHT;
mtag 0:da3669e7df20 354 break;
mtag 0:da3669e7df20 355
mtag 0:da3669e7df20 356 case 0010:
mtag 0:da3669e7df20 357 direction = FORWARD;
mtag 0:da3669e7df20 358 break;
mtag 0:da3669e7df20 359
mtag 0:da3669e7df20 360 case 0011:
mtag 0:da3669e7df20 361 direction = RIGHT;
mtag 0:da3669e7df20 362 break;
mtag 0:da3669e7df20 363
mtag 0:da3669e7df20 364 case 0100:
mtag 0:da3669e7df20 365 direction = LEFT;
mtag 0:da3669e7df20 366 break;
mtag 0:da3669e7df20 367
mtag 0:da3669e7df20 368 case 0101:
mtag 0:da3669e7df20 369 if(red_path) {
mtag 0:da3669e7df20 370 direction = LEFT;
mtag 0:da3669e7df20 371 }
mtag 0:da3669e7df20 372
mtag 0:da3669e7df20 373 if(blue_path) {
mtag 0:da3669e7df20 374 direction = RIGHT;
mtag 0:da3669e7df20 375 }
mtag 0:da3669e7df20 376
mtag 0:da3669e7df20 377 break;
mtag 0:da3669e7df20 378
mtag 0:da3669e7df20 379 case 0111:
mtag 0:da3669e7df20 380 direction = FORWARD;
mtag 0:da3669e7df20 381 break;
mtag 0:da3669e7df20 382
mtag 0:da3669e7df20 383 default:
mtag 0:da3669e7df20 384 direction = FORWARD;
mtag 0:da3669e7df20 385 break;
mtag 0:da3669e7df20 386 }
mtag 0:da3669e7df20 387 return direction;
mtag 0:da3669e7df20 388 }
mtag 0:da3669e7df20 389
mtag 0:da3669e7df20 390 int main() {
mtag 0:da3669e7df20 391
mtag 0:da3669e7df20 392 //Blink LED to let you know it's on
mtag 0:da3669e7df20 393 myled = 0;
mtag 0:da3669e7df20 394 wait(0.5);
mtag 0:da3669e7df20 395 myled = 1;
mtag 0:da3669e7df20 396 wait(0.5);
mtag 0:da3669e7df20 397 myled = 0;
mtag 0:da3669e7df20 398
mtag 0:da3669e7df20 399 bool paper_detected = false;
mtag 0:da3669e7df20 400
mtag 0:da3669e7df20 401 MotorController motorController;
mtag 0:da3669e7df20 402 SolenoidController solenoidController;
mtag 0:da3669e7df20 403 LineFollower lineFollower;
mtag 0:da3669e7df20 404 ColourSensor colourSensor;
mtag 0:da3669e7df20 405
mtag 0:da3669e7df20 406 motorController.initialize();
mtag 0:da3669e7df20 407 lineFollower.initialize();
mtag 0:da3669e7df20 408 colourSensor.initialize();
mtag 0:da3669e7df20 409 solenoidController.off();
mtag 0:da3669e7df20 410
mtag 0:da3669e7df20 411 motorController.setSpeed(200);
mtag 0:da3669e7df20 412 motorController.goForward();
mtag 0:da3669e7df20 413
mtag 0:da3669e7df20 414
mtag 0:da3669e7df20 415 while(true) {
mtag 0:da3669e7df20 416
mtag 0:da3669e7df20 417 lineFollower.readSensors();
mtag 0:da3669e7df20 418 motorController.changeDirection(lineFollower.chooseDirection());
mtag 0:da3669e7df20 419
mtag 0:da3669e7df20 420 colourSensor.read();
mtag 0:da3669e7df20 421
mtag 0:da3669e7df20 422 //Logic for the solenoid based on colour detected
mtag 0:da3669e7df20 423
mtag 0:da3669e7df20 424 //Detect the first sheet of paper if blue and pick up the disc
mtag 0:da3669e7df20 425 if(colourSensor.blue_detected && !paper_detected && !solenoidController.state) {
mtag 0:da3669e7df20 426 paper_detected = true;
mtag 0:da3669e7df20 427 blue_path = true;
mtag 0:da3669e7df20 428 solenoidController.on();
mtag 0:da3669e7df20 429 }
mtag 0:da3669e7df20 430
mtag 0:da3669e7df20 431 //Detect the first sheet of paper if red and pick up the disc
mtag 0:da3669e7df20 432 if(colourSensor.red_detected && !paper_detected && !solenoidController.state) {
mtag 0:da3669e7df20 433 paper_detected = true;
mtag 0:da3669e7df20 434 red_path = true;
mtag 0:da3669e7df20 435 solenoidController.on();
mtag 0:da3669e7df20 436 }
mtag 0:da3669e7df20 437
mtag 0:da3669e7df20 438 //Detect the end of the first sheet of paper
mtag 0:da3669e7df20 439 if(!colourSensor.blue_detected && !colourSensor.red_detected && paper_detected) {
mtag 0:da3669e7df20 440 paper_detected = false;
mtag 0:da3669e7df20 441 }
mtag 0:da3669e7df20 442
mtag 0:da3669e7df20 443 //Drop the disc once the second paper is detected
mtag 0:da3669e7df20 444 if(colourSensor.blue_detected && blue_path && !paper_detected && solenoidController.state) {
mtag 0:da3669e7df20 445 paper_detected = true;
mtag 0:da3669e7df20 446 solenoidController.off();
mtag 0:da3669e7df20 447 }
mtag 0:da3669e7df20 448
mtag 0:da3669e7df20 449 //Drop the disc once the second paper is detected
mtag 0:da3669e7df20 450 if(colourSensor.red_detected && red_path && !paper_detected && solenoidController.state) {
mtag 0:da3669e7df20 451 paper_detected = true;
mtag 0:da3669e7df20 452 solenoidController.off();
mtag 0:da3669e7df20 453 }
mtag 0:da3669e7df20 454
mtag 0:da3669e7df20 455 }
mtag 0:da3669e7df20 456
mtag 0:da3669e7df20 457 }