Diff: serialCommunication.h

Revision:

10:8c0696b99692

Parent:

7:6ba00694f9cd

Child:

12:814a8fdbb6f7

--- a/serialCommunication.h	Mon Nov 10 19:01:43 2014 +0000
+++ b/serialCommunication.h	Wed Nov 12 20:14:45 2014 +0000
@@ -1,3 +1,34 @@
+#include "cardReader.h"
+
+
+
+Serial pc(USBTX, USBRX);
+/*  valueToChar(int value):
+    Expects an int value what it 0 or 1.
+    Returns the int value as a char.
+    0 will return '0'
+    1 will return '1'
+    Used to read the bits in the card reader.
+*/
+char valueToChar(int value){
+        if(value == 0){
+            return '0';
+        }else if(value == 1){
+            return '1';
+        }else{
+            return NULL;    
+            }
+}
+
+void sendCharacter(char ch){
+        pc.putc(ch);
+}
+
+void sendString(char* ch){
+        pc.puts(ch);
+}
+
+       
 char readBit(int bitNumber){
         int value = 0;
         switch(bitNumber){
@@ -21,21 +52,67 @@
             break;
             }
             return valueToChar(value);
+}
+void processState(StateMachine stateMachine){
+   switch(stateMachine){    
+      case INITIALISING:
+        setupLCD();
+        printLCD("Welcome to the  Chipin Sorter");
+        wait(1);
+      break;
+      case READING_RGB_VALUES:
+        readChipNumbers();
+      break;
+      case DISPENSE_RED:
+        dispense(RED);
+      break;
+      case DISPENSE_GREEN:
+        dispense(GREEN);
+      break;
+      case DISPENSE_BLUE:
+        dispense(BLUE);
+      break;
+      case SORT_RED:
+        sort(RED);
+      break;
+      case SORT_GREEN:
+        sort(GREEN);
+      break;
+      case SORT_BLUE:
+        sort(BLUE);
+      break;
+      case SORT_BIN:
+        sort(BIN);
+      break;
+      case SORT_RECYCLE:
+        sort(RECYCLE);
+      break;
+     /* case WAITING_FOR_ACK:
+         checkSerial();
+      break;
+      case WAITING_FOR_CHAR:
+        log("About to check serial");
+        printLCD("WAITING_FOR_CHAR");
+        checkSerial();
+      break;*/
+      
     }
+}
     
-    void processMessage(char c){
+
+void processMessage(char c){
      switch(c){
-            case 'a' : //servo 1 clockwise
-                sendCharacter('a'); //bounce back for acknowledgement
-                printLCD("S1 clockwise");
+            case 'a' : //Dispense red
+                dispense(RED);
+                sendCharacter('A');
             break;
-            case 'b' :  //servo 1 anticlockwise
-                sendCharacter('b');  //bounce back for acknowledgement
-                printLCD("S1 anticlockwise");
+            case 'b' :  //dispense green
+                dispense(GREEN);
+                sendCharacter('B');
             break;
-            case 'c':
-                sendCharacter('c'); //bounce back for acknowledgement
-                printLCD("S1 stop");
+            case 'c':   //dispense blue
+                dispense(BLUE);
+                sendCharacter('C');
             break;
             case 'C':// Read card command
                 sendCharacter('R'); //Notify PC that command has been recieved
@@ -66,7 +143,58 @@
                 //set the FPGA colour inputs to the colour code
                 startSort = true; 
             break;
-            case 't'://Test 180 servo
+            
+            case 'o':
+            
+            break;
+            
+            case 'p':
+            break;
+            
+            case 'q':
+            break;
+            
+            case 's':
+            break;
+            
+            case 't':
+            break;
+            
+            case 'u':
+            break;
+            
+            
+            
+            case 'v':
+            break;
+            
+            case 'w':
+            break;
+            case 'j':
+                sort(RED);
+                sendCharacter('J');
+            break; 
+            case 'k':
+                sort(GREEN);
+                sendCharacter('K');
+            break;
+            case 'l':
+                sort(BLUE);
+                sendCharacter('L');
+            break;
+            
+            
+            
+            
+            
+            
+            
+            
+            
+            
+            
+            
+            /*case 't'://Test 180 servo
             sendCharacter('T');
             printLCD("Servo signal on");
             servoTest = true;
@@ -75,10 +203,11 @@
             sendCharacter('W');
             printLCD("Servo signal off");
             servoTest = false;
-            break;
+            break;*/
+        }
+        }
         
-        
-        else if (operationMode){
+        /*else if (operationMode){
             switch(c){
                 case 'n':// Start sorting
                     sendCharacter('N'); //Confirm to PC that we are processing the instruction.
@@ -97,16 +226,24 @@
                 break;
                 }
            }
+}*/
+bool checkSerial(){
+    log("Checking serial");
+    printLCD("");
+    if(pc.readable()){
+        log("serial port is readable, reading char and processing");
+        char c = pc.getc();
+        processMessage(c);
+        return true;
+    }else{
+        log("serial port not readable, doing nothing");
+        return false;
+    }
 }
-
-void sendCharacter(char ch){
-        pc.putc(ch);
+bool readCharacter(){
+    char c = pc.getc(); //wait for a serial character to be recieved.
+    processMessage(c);  //Do something, based on the character recieved.
+    return true;
 }
 
-void sendString(char* ch){
-        pc.puts(ch);
-}
-void readCharacter(){
-    char c = pc.getc(); //wait for a serial character to be recieved.
-    processMessage(c);  //Do something, based on the character recieved.
-}
\ No newline at end of file
+