Diff: main.cpp

Revision:

22:8f11d1c178ab

Parent:

19:78d4b78fa736

Child:

23:f9e7e64784be

--- a/main.cpp	Tue Nov 25 13:48:23 2014 +0000
+++ b/main.cpp	Tue Nov 25 22:32:26 2014 +0000
@@ -49,6 +49,7 @@
         
         if(mode == 0){                                     //Dispense Mode
             printLCD("Dispense Mode");
+            operationMode=false;
             if(buttonPressed(0)){
                 printLCD("Red Button pressed");
                 dispense(RED);
@@ -61,6 +62,7 @@
             }
         }else if(mode == 1){                                //Sort Mode
             printLCD("Sort Mode");
+            operationMode=false;
             if(buttonPressed(0)){
                 log("Red Button pressed");
                 sort(RED);
@@ -74,19 +76,32 @@
             
         }else if(mode == 2){                                //Bin/Recycle Mode
             printLCD("Bin/Recycle Mode");
+            operationMode=false;
             if(buttonPressed(0)){
                 log("Bin button pressed");
                 sort(BIN);
             }else if(buttonPressed(1)){
                 log("Recycle Button");
-                sort(RECYCLE);
+                recycle();
             }
         }else if(mode == 3){  
         printLCD("Colour Sensor Mode");                              //Colour Sensing Mode
             if(colourSensor){
-                
-                   
+                operationMode=true;
+                wait(0.2);   
                 Colour colour = readColourSensor();  
+                Colour colour2 = readColourSensor();
+                if(colour != colour2){
+                    return;
+                }
+                if(colour == BIN){ //Make tripley sure that it is actuall a bin chip
+                    printLCD("BIN CHECK");
+                    wait(0.2);
+                    Colour binCheck = readColourSensor();
+                    if(binCheck != colour){
+                        return;
+                    }
+                }
                 lastColour = colourStore;
                 colourStore = colour;  
                 /* Tries to prevent a colour mis-read. When a chip is read as NONE,
@@ -98,17 +113,19 @@
                     
                     return;
                 }
-                
+                //wait(5);
                 if(sorter) sort(colour);  
                             //Put (sorter && colour != BIN) in if statement.
             }
             //if
         }else if(mode == 4){                                //Card Reader Mode
+            operationMode= true;
             if(cardReader && cardDetect){
                 cardAcquisition();
                 
             }
         }else if(mode == 5){                                //Storage Mode
+            operationMode=true;
             stringstream ss;
             ss << "Stored Values   " << "R:" << redAmount << "G:" << greenAmount << "B:" << blueAmount;
             string tmp = ss.str();
@@ -132,18 +149,19 @@
                 
             }
         }else if(mode == 6){ 
+        operationMode = false;
         stringstream ss;
         ss << maintenanceModeSelect;
         string mainModeSelect = ss.str();
-        printLCD("Main. Mode: " + mainModeSelect);   
+        printLCD("Maintenance: " + mainModeSelect);   
         wait(0.1);                           //Maintenance Mode
         //printLCD("Maintenance Mode");
             if(buttonPressed(0)){                      //Next maintenance function
             maintenanceModeSelect++;
-            if(maintenanceModeSelect > 12) maintenanceModeSelect = 0;    
+            if(maintenanceModeSelect > 13) maintenanceModeSelect = 0;    
             }else if(buttonPressed(1)){                //Previous maintenance function
             maintenanceModeSelect--;
-            if(maintenanceModeSelect < 0) maintenanceModeSelect = 12;    
+            if(maintenanceModeSelect < 0) maintenanceModeSelect = 13;    
             }else if(buttonPressed(2)){               //Process Instruction
                 switch(maintenanceModeSelect){
                     case 0://RB_LEFT:
@@ -211,6 +229,10 @@
                         maintain(GB_RIGHT );
                     break;
                     
+                    case 13: //MaintenanceEND
+                        printLCD("Ending Maintenance Mode");
+                        maintain(maintenanceEND);
+                    break;
                     
                 
             }  printLCD("Ready for next command");