Diff: FPGAcomms.h

Revision:

23:f9e7e64784be

Parent:

22:8f11d1c178ab

Child:

24:8868101d01d0

--- a/FPGAcomms.h	Tue Nov 25 22:32:26 2014 +0000
+++ b/FPGAcomms.h	Sat Nov 29 16:32:57 2014 +0000
@@ -1,7 +1,7 @@
 #include "mbed.h"
 //#include "Colour.h"
 #include "colourProcessing.h"
-int recycleAmount = 0;
+
 //Setup pins to FPGA
 DigitalOut startSort(p5);       //A positive edge tells the FPGA to start sorting.
 DigitalIn sortComplete(p16);
@@ -53,9 +53,9 @@
 void waitForMaintenanceComplete()
 {
     while(!sortComplete) {
-        printLCD("Waiting for REC");
-        wait(0.1);
+       
     }
+   
 }
 
 void setDispenseSelect(bool dBit1, bool dBit2)
@@ -117,42 +117,35 @@
             break;
         case maintenanceEND:
             setMaintenanceSelect(false,true,false,false,true,false);
-            break;    
+            break;
         default:
-            log("Incorrect maintenance command recieved");
-            printLCD("Incorrect maintenance command recieved");
             break;
     }
-    setMaintenanceStart(true);//Bit 7
+    setMaintenanceStart(true);
     waitForMaintenanceComplete();
-    
     setMaintenanceStart(false);
+    setMaintenanceSelect(true,false,true,true,true,false);
 }
 
 void waitForDispenseComplete()
 {
-    //wait(1); //temporary delay
-    while(!dispenseComplete) {        
-        log("Waiting for dispense complete");
-        printLCD("Waiting for dispense complete");
+    while(!dispenseComplete) {
+        
     }
-    //wait(0.6);
-    log("Complete");
+    
 }
 
 void dispense(Colour colour)
 {
-
+    startDispense = false;    
     bool validDispense = false;
-    select = 0; //Setting to operation mode just in case it has not been set.
+    select = 0;
     setDispenseSelect(true,true);
-    /* A dispense operation can only take place if there are more than zero chips
-    */
+    // A dispense operation can only take place if there are chips
+   
     switch(colour) {
         case RED:
             if(redAmount > 0 || operationMode == false) {
-                log("RED");
-                log("Setting dispense bits to 00");
                 setDispenseSelect(false,false);
                 redAmount--;
                 validDispense = true;
@@ -160,8 +153,6 @@
             break;
         case GREEN:
             if(greenAmount > 0 || operationMode == false) {
-                log("GREEN");
-                log("Setting dispense bits to 10");
                 setDispenseSelect(true,false);
                 greenAmount--;
                 validDispense = true;
@@ -169,58 +160,41 @@
             break;
         case BLUE:
             if(blueAmount > 0 || operationMode == false) {
-                log("BLUE");
-                log("Setting dispense bits to 01");
                 setDispenseSelect(false,true);
                 blueAmount--;
                 validDispense = true;
             }
             break;
-
     }
-    writeFile(redAmount,greenAmount,blueAmount);
-
+    
+    writeFile(redAmount,greenAmount,blueAmount,recycleAmount);
     if(validDispense || operationMode == false) {
-        log("Setting start dispense to true");
         startDispense = true; //set the startDispense line high.
-
         waitForDispenseComplete();
         
-        log("Setting start dispense to false");
         startDispense = false;
-        
-        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--) {
+//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);
     }
-    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 = b; i > 0; i--) {
         dispense(BLUE);
     }
+    operationMode = true;
 }
 
 void waitForSortComplete()
 {
-    while(!sortComplete) {
-        
-        log("Waiting for sort complete");
-        printLCD("Waiting for sort complete");
-    }
-    log("sortComplete signal recieved from FPGA");
-    
-
+    while(!sortComplete) {}
 }
 
 void lift()
@@ -228,55 +202,30 @@
     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.
+    waitForSortComplete();
+    startSort = false;
+    setSortSelect(true,true,true);    
+}
 
 
-    //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");
-    recycleAmount = 0;
-}
-
-void checkRecycleTube(){
-    if(recycleAmount >= 5){
-        //lift();
-        recycleAmount = 0;
-        }
-    }
 
 void recycle()
 {
-
     select = 0; //Setting to operation mode just in case it has not been set.
     setSortSelect(true,true,true);
-
-    log("Sort BLUE");
-    log("Setting sort bits to 100");
     setSortSelect(false,false,true);
     recycleAmount++;
-    
-
-    log("Setting start sort to true");
     startSort = true; //set the startDispense line high.
-
-
     waitForSortComplete();
-    
-    log("Setting start sort to false");
     startSort = false;
-
-    log("Resetting dispense bits to 11");
     setSortSelect(true,true,true);
-    printLCD("SORT COMPLETE");
-    
-    checkRecycleTube();
+    if(recycleAmount >= 5) {
+        wait(1);
+        lift();
+        wait(1);
+        recycleAmount = 0;
+    }
 }
 
 
@@ -286,7 +235,7 @@
     if(colour == NONE) {
         return;
     } else {
-
+        startSort = false;
         select = 0; //Setting to operation mode just in case it has not been set.
         setSortSelect(true,true,true);
         switch(colour) {
@@ -295,8 +244,6 @@
                     recycle();
                     return;
                 }
-                log("Sort RED");
-                log("Setting sort bits to 000");
                 setSortSelect(false,false,false);
                 redAmount++;
                 break;
@@ -305,8 +252,6 @@
                     recycle();
                     return;
                 }
-                log("Sort GREEN");
-                log("Setting sort bits to 001");
                 setSortSelect(true,false,false);
                 greenAmount++;
                 break;
@@ -315,32 +260,19 @@
                     recycle();
                     return;
                 }
-                log("Sort BLUE");
-                log("Setting sort bits to 010");
                 setSortSelect(false,true,false);
                 blueAmount++;
                 break;
             case BIN:
-                log("Sort BIN");
-                log("Setting sort bits to 011");
                 setSortSelect(true,true,false);
                 break;
         }
-
-
-        log("Setting start sort to true");
-        startSort = true; //set the startDispense line high.
-
-
+        startSort = true;
         waitForSortComplete();
-        
-        log("Setting start sort to false");
         startSort = false;
-
-        log("Resetting dispense bits to 11");
         setSortSelect(true,true,true);
-        printLCD("SORT COMPLETE");
-        writeFile(redAmount,greenAmount,blueAmount);
+        writeFile(redAmount,greenAmount,blueAmount,recycleAmount);
+        wait(0.3);
     }
 }
 
@@ -348,25 +280,7 @@
 
 void dispenseAll()
 {
-    int red = redAmount;
-    int green = greenAmount;
-    int blue = blueAmount;
-    for(int r = 0; r < red; r++) {
-        dispense(RED);
-        
-    }
-    redAmount = 0;
-
-    for(int g = 0; g < green; g++) {
-        dispense(GREEN);
-        
-    }
-    greenAmount = 0;
-
-    for(int b = 0; b < blue; b++) {
-        dispense(BLUE);
-       
-    }
-    blueAmount = 0;
-    writeFile(redAmount,greenAmount,blueAmount);
+    dispenseOrder(redAmount,greenAmount,blueAmount);
+    redAmount=0; blueAmount=0; greenAmount=0;
+    writeFile(redAmount,greenAmount,blueAmount,recycleAmount);
 }
\ No newline at end of file