Diff: FPGAcomms.h

Revision:

19:78d4b78fa736

Parent:

17:6a0bb0ad5bb4

Child:

20:6de191ac7ff3

--- a/FPGAcomms.h	Mon Nov 24 16:09:52 2014 +0000
+++ b/FPGAcomms.h	Tue Nov 25 12:06:26 2014 +0000
@@ -35,283 +35,313 @@
 DigitalOut select(p15); //0 for control, 1 for maintenance.
 
 
-void setMaintenanceSelect(bool bit6, bool bit5, bool bit4, bool bit3, bool bit2, bool bit1){
+void setMaintenanceSelect(bool bit6, bool bit5, bool bit4, bool bit3, bool bit2, bool bit1)
+{
     startSort = bit1;
     colourBit1 = bit2;
     colourBit2 = bit3;
     colourBit3 = bit4;
     startDispense = bit5;
     dispenseBit1 = bit6;
-    }
-    
-void setMaintenanceStart(bool value){
+}
+
+void setMaintenanceStart(bool value)
+{
     dispenseBit2 = value;
-    }
-void waitForMaintenanceComplete(){
-    while(!sortComplete){
+}
+void waitForMaintenanceComplete()
+{
+    while(!sortComplete) {
         printLCD("Waiting for REC");
         wait(0.1);
-        }
+    }
+}
+
+void setDispenseSelect(bool dBit1, bool dBit2)
+{
+    dispenseBit1 = dBit1;
+    dispenseBit2 = dBit2;
 }
-void maintain(StateMachine maintainState){
+
+void setSortSelect(bool sBit1, bool sBit2, bool sBit3)
+{
+    colourBit1 = sBit1;
+    colourBit2 = sBit2;
+    colourBit3 = sBit3;
+}
+
+void maintain(StateMachine maintainState)
+{
     select = 1; //setting FPGA to maintenance mode.
-    setMaintenanceSelect(true,true,true,true,true,true);          
-    switch(maintainState){
+    setMaintenanceSelect(true,true,true,true,true,true);
+    switch(maintainState) {
         case RB_LEFT:
             setMaintenanceSelect(false,false,false,true,false,true);
-        break;
+            break;
         case RB_CENTRE:
             setMaintenanceSelect(false,false,false,true,true,false);
-        break;
+            break;
         case RB_RIGHT:
             setMaintenanceSelect(false,false,false,true,true,true);
-        break;
+            break;
         case GO_UP:
             setMaintenanceSelect(false,false,true,false,false,false);
-        break;
+            break;
         case GO_CENTRE:
             setMaintenanceSelect(false,false,true,false,false,true);
-        break;
+            break;
         case GO_DOWN:
             setMaintenanceSelect(false,false,true,false,true,false);
-        break;
+            break;
         case BR_LEFT:
             setMaintenanceSelect(false,false,true,false,true,true);
-        break;
+            break;
         case BR_RIGHT:
             setMaintenanceSelect(false,false,true,true,false,false);
-        break;
+            break;
         case R_PUSH:
             setMaintenanceSelect(false,false,true,true,false,true);
-        break;
+            break;
         default:
             log("Incorrect maintenance command recieved");
             printLCD("Incorrect maintenance command recieved");
-        break;
-    }    
+            break;
+    }
     setMaintenanceStart(true);//Bit 7
     waitForMaintenanceComplete();
     wait(0.5);
     setMaintenanceStart(false);
+}
+
+void waitForDispenseComplete()
+{
+    //wait(1); //temporary delay
+    while(!dispenseComplete) {
+        wait(0.2);
+        log("Waiting for dispense complete");
+        printLCD("Waiting for dispense complete");
     }
-    
+    wait(0.6);
+    log("Complete");
+}
+
+void dispense(Colour colour)
+{
 
-void dispense(Colour colour){
-        
-        bool validDispense = false;
-        select = 0; //Setting to operation mode just in case it has not been set.
-        dispenseBit1 = true;
-        dispenseBit2 = true;
-        /* A dispense operation can only take place if there are more than zero chips
-        */
-        switch(colour){
-            case RED:
-            if(redAmount > 0 || operationMode == false){    
-                    log("RED");
-                    log("Setting dispense bits to 00");
-                    dispenseBit1 = false;
-                    dispenseBit2 = false;               
-                    redAmount--;
-                    validDispense = true;
-                }
+    bool validDispense = false;
+    select = 0; //Setting to operation mode just in case it has not been set.
+    setDispenseSelect(true,true);
+    /* A dispense operation can only take place if there are more than zero chips
+    */
+    switch(colour) {
+        case RED:
+            if(redAmount > 0 || operationMode == false) {
+                log("RED");
+                log("Setting dispense bits to 00");
+                setDispenseSelect(false,false);
+                redAmount--;
+                validDispense = true;
+            }
             break;
-            case GREEN:
-            if(greenAmount > 0 || operationMode == false){
-                    log("GREEN");
-                    log("Setting dispense bits to 10");
-                    dispenseBit1 = true;
-                    dispenseBit2 = false;
-                    greenAmount--;
-                    validDispense = true;
-                }
+        case GREEN:
+            if(greenAmount > 0 || operationMode == false) {
+                log("GREEN");
+                log("Setting dispense bits to 10");
+                setDispenseSelect(true,false);
+                greenAmount--;
+                validDispense = true;
+            }
             break;
-            case BLUE:
-            if(blueAmount > 0 || operationMode == false){
+        case BLUE:
+            if(blueAmount > 0 || operationMode == false) {
                 log("BLUE");
                 log("Setting dispense bits to 01");
-                dispenseBit1 = false;
-                dispenseBit2 = true;
+                setDispenseSelect(false,true);
                 blueAmount--;
                 validDispense = true;
-                }
+            }
             break;
-            
-        }writeFile(redAmount,greenAmount,blueAmount);
-        
-     if(validDispense || operationMode == false){
+
+    }
+    writeFile(redAmount,greenAmount,blueAmount);
+
+    if(validDispense || operationMode == false) {
         log("Setting start dispense to true");
         startDispense = true; //set the startDispense line high.
-       
-        
-        //wait(1); //temporary delay
-        while(!dispenseComplete){
-            wait(0.2);
-            log("Waiting for dispense complete");
-            printLCD("Waiting for dispense complete");           
-        }
-        
-        wait(0.6);
-        log("Complete");
+
+        waitForDispenseComplete();
+
         log("Setting start dispense to false");
         startDispense = false;
-        
-        log("Resetting dispense bits to 11");       
-        dispenseBit1 = true;    //reset the dispense select to do nothing
-        dispenseBit2 = true;    //reset the dispense select to do nothing
-        
-      
-       
+
+        log("Resetting dispense bits to 11");
+        setDispenseSelect(true,true);
+
+
+
         printLCD("DISPENSE COMPLETE");
-        
-        }
+
     }
-void dispenseOrder(int r, int g, int b){
-    for(int i = r; r >= 0;i--){
+}
+void dispenseOrder(int r, int g, int b)
+{
+    for(int i = r; r >= 0; i--) {
         dispense(RED);
-        }
-    for(int i = g; i >= 0;i--){
+    }
+    for(int i = g; i >= 0; i--) {
         dispense(GREEN);
-        }
-    for(int i = g; i >= 0;i--){
+    }
+    for(int i = g; i >= 0; i--) {
         dispense(BLUE);
-        }
     }
-    
-void recycle(){
-       
-       select = 0; //Setting to operation mode just in case it has not been set.
-        colourBit1 = true;
-        colourBit2 = true;
-        colourBit3 = true;
-       
-        log("Recycle");
-        log("Setting sort bits to 100");
-        colourBit1 = false;
-        colourBit2 = false;
-        colourBit3 = true;
-        
-        log("Setting start sort to true");
-        startSort = true; //set the startDispense line high.
-        
-        //wait(1); //temporary delay
-        while(!sortComplete){
-            wait(0.5);
-            log("Waiting for sort complete");
-            printLCD("Waiting for sort complete");            
-        }
-        
-        
-        log("Complete");
+}
+
+void recycle()
+{
+
+    select = 0; //Setting to operation mode just in case it has not been set.
+    setSortSelect(true,true,true);
+
+    log("Recycle");
+    log("Setting sort bits to 100");
+    setSortSelect(false,false,true);
+
+    log("Setting start sort to true");
+    startSort = true; //set the startDispense line high.
+
+    //wait(1); //temporary delay
+    while(!sortComplete) {
         wait(0.5);
-        log("Setting start sort to false");
-        startSort = false;     
-        
-        log("Resetting dispense bits to 11");       
-        colourBit1 = true;    //reset the dispense select to do nothing
-        colourBit2 = true;    //reset the dispense select to do nothing
-        colourBit3 = true;
-        printLCD("RECYCLE COMPLETE");
-           
-    }     
-void sort(Colour colour){
-        if(colour == NONE){
-            return;
-        }else{
-            
+        log("Waiting for sort complete");
+        printLCD("Waiting for sort complete");
+    }
+
+
+    log("Complete");
+    wait(0.5);
+    log("Setting start sort to false");
+    startSort = false;
+
+    log("Resetting dispense bits to 11");
+    setSortSelect(true,true,true);
+    printLCD("RECYCLE COMPLETE");
+
+}
+
+void waitForSortComplete()
+{
+    while(!sortComplete) {
+        wait(0.5);
+        log("Waiting for sort complete");
+        printLCD("Waiting for sort complete");
+    }
+    log("sortComplete signal recieved from FPGA");
+    wait(0.6);
+
+}
+
+void sort(Colour colour)
+{
+    if(colour == NONE) {
+        return;
+    } else {
+
         select = 0; //Setting to operation mode just in case it has not been set.
-        colourBit1 = true;
-        colourBit2 = true;
-        colourBit3 = true;
-        switch(colour){
+        setSortSelect(true,true,true);
+        switch(colour) {
             case RED:
-                if(redAmount >= tubeSize){
+                if(redAmount >= tubeSize) {
                     recycle();
                     return;
-                    }
+                }
                 log("Sort RED");
                 log("Setting sort bits to 000");
-                colourBit1 = false;
-                colourBit2 = false;
-                colourBit3 = false;              
+                setSortSelect(false,false,false);
                 redAmount++;
-            break;
+                break;
             case GREEN:
-                if(greenAmount >= tubeSize){
+                if(greenAmount >= tubeSize) {
                     recycle();
                     return;
-                    }
+                }
                 log("Sort GREEN");
                 log("Setting sort bits to 001");
-                colourBit1 = true;
-                colourBit2 = false;
-                colourBit3 = false;
+                setSortSelect(true,false,false);
                 greenAmount++;
-            break;
+                break;
             case BLUE:
-                if(blueAmount >= tubeSize){
+                if(blueAmount >= tubeSize) {
                     recycle();
                     return;
-                    }
+                }
                 log("Sort BLUE");
                 log("Setting sort bits to 010");
-                colourBit1 = false;
-                colourBit2 = true;
-                colourBit3 = false;
+                setSortSelect(false,true,false);
                 blueAmount++;
-            break;
+                break;
             case BIN:
                 log("Sort BIN");
                 log("Setting sort bits to 011");
-                colourBit1 = true;
-                colourBit2 = true;
-                colourBit3 = false;
-            break;
+                setSortSelect(true,true,false);
+                break;
         }
-        
-     
+
+
         log("Setting start sort to true");
         startSort = true; //set the startDispense line high.
-       
-        
-        //wait(1); //temporary delay
-        while(!sortComplete){
-            wait(0.5);
-            log("Waiting for sort complete");
-            printLCD("Waiting for sort complete");            
-        }
-        
-        
-        log("Complete");
-        wait(0.6);
+
+
+        waitForSortComplete();
         log("Setting start sort to false");
-        startSort = false;     
-        
-        log("Resetting dispense bits to 11");       
-        colourBit1 = true;    //reset the dispense select to do nothing
-        colourBit2 = true;    //reset the dispense select to do nothing
-        colourBit3 = true;
+        startSort = false;
+
+        log("Resetting dispense bits to 11");
+        setSortSelect(true,true,true);
         printLCD("SORT COMPLETE");
         writeFile(redAmount,greenAmount,blueAmount);
-        }
+    }
 }
 
-void dispenseAll(){
+void lift()
+{
+    select = 0; //Setting to operation mode just in case it has not been set.
+    setSortSelect(true,true,true);
+    setSortSelect(true,false,true);
+    log("Setting start sort to true, FPGA should begin sorting now");
+    startSort = true; //set the startDispense line high.
+
+
+    //wait(1); //temporary delay
+    waitForSortComplete();
+    log("Setting start sort to false");
+    startSort = false;
+
+    log("Resetting sort bits to 111");
+    setSortSelect(true,true,true);
+    printLCD("LIFT COMPLETE");
+}
+
+void dispenseAll()
+{
     int red = redAmount;
     int green = greenAmount;
     int blue = blueAmount;
-    for(int r = 0;r < red;r++){
+    for(int r = 0; r < red; r++) {
         dispense(RED);
         wait(0.5);
-    }redAmount = 0;
-    
-    for(int g = 0;g < green;g++){
+    }
+    redAmount = 0;
+
+    for(int g = 0; g < green; g++) {
         dispense(GREEN);
         wait(0.5);
-    }greenAmount = 0;
-    
-    for(int b = 0;b < blue;b++){
+    }
+    greenAmount = 0;
+
+    for(int b = 0; b < blue; b++) {
         dispense(BLUE);
         wait(0.5);
-    }blueAmount = 0;
+    }
+    blueAmount = 0;
     writeFile(redAmount,greenAmount,blueAmount);
-    }
\ No newline at end of file
+}
\ No newline at end of file