Diff: main.cpp

Revision:

0:8d54ffcf256e

Child:

1:a8a01df48d1a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 29 09:20:19 2014 +0000
@@ -0,0 +1,237 @@
+#include "mbed.h"
+#include "MCP23017.h"
+#include "WattBob_TextLCD.h"
+#include "TCS3472_I2C.h"
+
+//This LED is on when the servo is rotating clockwise.
+DigitalOut clockwiseLED(LED1);
+//This LED is on when the servo is rotating anti-clockwise.
+DigitalOut anticlockwiseLED(LED2);
+//This is the control line that tells the FPGA to move the servo clockwise.
+DigitalOut clockwise(p22);
+//This is the control line that tells the FPGA to move the servo anti-clockwise.
+DigitalOut anticlockwise(p21);
+
+//Boolean values to easily enable and disable certain features for individual testing
+bool colourSensor =  true;
+bool cardReader =    true;
+bool sorter =        true;
+bool dispensor =     true;
+
+/*
+There are two high level states representing the two main
+functionalities of the MBED: Maintenance mode and Operation mode.
+
+When operationMode is true, the MBED is in operation mode.
+When operationMode is false, the MBED is in maintenance mode.
+*/
+
+bool operationMode = true; //the MBED starts in operation mode.
+
+#define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(1,BL_BIT)
+#define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(0,BL_BIT)
+
+//Creating all the global variables.
+MCP23017 *par_port;
+WattBob_TextLCD *lcd;
+
+Serial pc(USBTX, USBRX);
+
+//Setup colour sensor variables
+int rgb_readings[4];
+double rMax = 9244;
+double gMax = 3194;
+double bMax = 3590;
+TCS3472_I2C rgb_sensor(p28, p27);
+
+//setup Card Reader stuff
+DigitalIn cardBit1(p21);
+DigitalIn cardBit2(p22);
+DigitalIn cardBit3(p23);
+DigitalIn cardBit4(p24);
+DigitalIn cardBit5(p25);
+DigitalIn cardBit6(p26);
+
+//Setup pins to FPGA
+DigitalOut startSort(p5);       //A positive edge tells the FPGA to start sorting.
+/*  The command codes for the three sort select bits(ColourBit1 - ColourBit2)
+    000     Sort red chip
+    001     Sort green chip
+    010     Sort blue chip
+    011     Bin the chip
+    100     Recycle the chip
+    101     Nothing
+    110     Nothing
+    111     Nothing
+*/
+DigitalOut ColourBit1(p6);      //The 3 bits below are select bits for the sorter.
+DigitalOut ColourBit2(p7);
+DigitalOut ColourBit3(p8);
+DigitalOut startDispense(p9);   //A positive edge tells the FPGA to start dispensing.
+/*
+    00      Dispense red chip
+    01      Dispense green chip
+    10      Dispense blue chip
+    11      Nothing
+*/
+DigitalOut DispenseBit1(p10);  //The 2 bits below are select bits for the dispenser.
+DigitalOut DispenseBit2(p11);
+
+
+//Functions go here
+void sendCharacter(char ch){
+        pc.putc(ch);
+        }
+        
+void printLCD(char * text){
+        lcd->reset();
+        lcd->printf(text);
+}
+
+char valueToChar(int value){
+        if(!value)
+            return '0';
+        else return '1';
+       }
+/*  readBit(int bitNumber):
+    Takes a bit number between 1 and 6 inclusive.
+    Returns the value of the cardBit associated with the bit number as a char.
+*/
+char readBit(int bitNumber){
+        int value = 0;
+        switch(bitNumber){
+            case 1:
+                value = cardBit1;
+            break;
+            case 2:
+                value = cardBit2;
+            break;
+            case 3:
+                 value = cardBit3;
+            break;
+            case 4:
+                value = cardBit4;
+            break;
+            case 5:
+                value = cardBit5;
+            break;
+            case 6:
+                value = cardBit6;
+            break;
+            }
+            return valueToChar(value);
+    }
+/*
+    The processMessage function has two case statements: one for maintenance mode and one for operation mode.
+*/
+   
+void processMessage(char c){
+       if(!operation){ switch(c){
+            case 'a' : //servo 1 clockwise
+                sendCharacter('a'); //bounce back for acknowledgement
+                printLCD("S1 clockwise");
+            break;
+            case 'b' :  //servo 1 anticlockwise
+                sendCharacter('b');  //bounce back for acknowledgement
+                printLCD("S1 anticlockwise");
+            break;
+            case 'c':
+                sendCharacter('c'); //bounce back for acknowledgement
+                printLCD("S1 stop");
+            break;
+            case 'C':// Read card command
+                sendCharacter('R'); //Notify PC that command has been recieved
+                printLCD("Reading Card");
+                //read card here
+                char value = ' ';
+                for(int num = 1;num <= 6;num++){
+                    value = readBit(num);
+                   // sendCharacter('R');
+                    sendCharacter(value);
+                    printLCD("Bit read");
+                    //wait(0.1);
+                }
+                sendCharacter('C'); //Tells PC that the card has been read
+                printLCD("Card read success");
+            break;
+            case 'X':
+                sendCharacter('X'); //Notify the PC that this is an MBED
+                printLCD("Connected to PC");
+            break;
+        }
+        }
+        else if (operation){
+            switch(c){
+                case 'a':// Start sorting
+                sendCharacter('A'); //Confirm to PC that we are processing the instruction.
+                startSort = true;
+                wait(0.1);
+                startSort = false;
+                break;
+                }
+            }
+}
+        
+void colourSensorTick(){
+        rgb_sensor.getAllColors(rgb_readings);
+        
+        double redd = (rgb_readings[1] /gMax) * 255;
+        double greend = (rgb_readings[2] /bMax) * 255;
+        double blued = (rgb_readings[0] /rMax) * 255;
+        
+        int red = redd;
+        int green = greend;
+        int blue = blued;  
+        
+        lcd->cls(); // clear display 
+        lcd->locate(0,0); 
+        lcd->printf("R:%d G:%d B:%d",red,green,blue);
+        
+        lcd->locate(1,0); 
+        if(red > 55){
+            lcd->printf("RED");
+        }
+        if(green > 55){
+            lcd->printf("GREEN");
+        } 
+        if(red < 30 && green > 30 && blue > 30){
+            lcd->printf("BLUE");
+        }  
+}
+        
+int main() {
+    //Setting up all the global variables
+    par_port = new MCP23017(p9, p10, 0x40);
+    par_port->config(0x0F00, 0x0F00, 0x0F00); // configure MCP23017 chip on WattBob
+    BACK_LIGHT_ON(par_port);
+    lcd = new WattBob_TextLCD(par_port);
+    rgb_sensor.enablePowerAndRGBC();
+    rgb_sensor.setIntegrationTime(100);
+    //Writing initial text on LCD
+    lcd->printf("Welcome to the");
+    lcd->locate(1,0);   //Going to new line
+    lcd->printf("Chipin Sorter");
+    wait(1);            //Wait 1 second
+    lcd->reset();       //Clear LCD
+
+    while(1){
+        char c = pc.getc();
+        processMessage(c);
+        }
+      
+        
+            /*
+            if(par_port->read_bit(8)){
+                lcd->printf("ON");
+                pc.printf("btn1");
+                wait(0.5);
+                lcd->reset();
+                }else{
+                lcd->printf("OFF");
+                pc.printf("btn0");
+                wait(0.5);
+                lcd->reset();
+                    }
+        
+        */
+    }