Diff: FPGAcomms.h

Revision:

25:7f5d764d8e34

Parent:

24:8868101d01d0

Child:

26:23ee3ea4ac7c

--- a/FPGAcomms.h	Wed Dec 03 17:49:41 2014 +0000
+++ b/FPGAcomms.h	Thu Dec 04 11:12:29 2014 +0000
@@ -152,8 +152,7 @@
 void waitForDispenseComplete()
 {
     while(!dispenseComplete) {
-    }
-    
+    }  
 }
 
 /*  dispense(Colour colour)
@@ -205,13 +204,12 @@
     }
 }
 
-/*  
- *  
+/*  dispenseOrder(int r, int g, int b)
+ *  Dispenses a certain amount of each coloured chip,
+ *  depending on the three input values (one input for each colour).
  */ 
 void dispenseOrder(int r, int g, int b)
 {
-//TODO: Check if there are enough chips of each colour to dispense the order.
-    //operationMode = false;
     for(int i = r; i > 0; i--) {        
         dispense(RED);
         wait(0.2);
@@ -223,42 +221,45 @@
     for(int i = b; i > 0; i--) {
         dispense(BLUE);
     }
-    //operationMode = true;
 }
-
+//Wait for the FPGA to complete a sort operation and send a complete signal.
 void waitForSortComplete()
 {
     while(!sortComplete) {}
 }
-
+/*  lift()
+ *  Communicate with the FPGA to carry out a lift operation.
+ */
 void lift()
 {
     select = 0; //Setting to operation mode just in case it has not been set.
-    setSortSelect(true,true,true);
-    setSortSelect(true,false,true);
-    startSort = true; //set the startDispense line high.
-    waitForSortComplete();
-    startSort = false;
-    setSortSelect(true,true,true);    
+    setSortSelect(true,true,true);  //Setting sort select to 'no nothing' state.
+    setSortSelect(true,false,true); //Setting sort select to 'lift' state.
+    startSort = true;               //Tell the FPGA to start the lift operation
+    waitForSortComplete();          //Wait for the FPGA to complete the lift operation
+    startSort = false;              //Turn off startSort
+    setSortSelect(true,true,true);  //Return sort select to 'no nothing' state.  
 }
 
 
-
+/*  recycle()
+ *  Communicate with the FPGA to carry out a recycle operation.
+ */
 void recycle()
 {
     if(redAmount >= tubeSize && greenAmount >= tubeSize && blueAmount >= tubeSize && operationMode){
         return;
         }
     select = 0; //Setting to operation mode just in case it has not been set.
-    setSortSelect(true,true,true);
-    setSortSelect(false,false,true);
-    if(operationMode)recycleAmount++;
-    startSort = true; //set the startDispense line high.
-    waitForSortComplete();
-    startSort = false;
-    setSortSelect(true,true,true);
-    if(recycleAmount >= 5) {
-        Thread::wait(1000);
+    setSortSelect(true,true,true);      //Setting sort select to 'no nothing' state.
+    setSortSelect(false,false,true);    //Setting sort select to 'recycle' state.
+    if(operationMode)recycleAmount++;   //Increment the amount of chips in the lift, if we are in operation mode.
+    startSort = true;                   //Tell the FPGA to start the recycle operation.
+    waitForSortComplete();              //Wait for the FPGA to complete the recycle operation
+    startSort = false;                  //Turn off startSort
+    setSortSelect(true,true,true);      //Return sort select to 'no nothing' state.  
+    if(recycleAmount >= 5) {            //Check whether the lift is full.
+        Thread::wait(1000);             
         lift();
         Thread::wait(1000);
         recycleAmount = 0;