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The MBED firmware used on the Chipin sorter, developed over 12 weeks for a 3rd year university systems project. Chipin is a token sorter, it sorts tokens by colours and dispenses them to order through an online booking system and card reader. This program interfaces with an FPGA, PC and LCD screen to control the sorter. The sorter has an operation mode where it can process orders when a card is entered into the machine. There is also a maintenance mode where the device responds to maintenance instructions such as 'dispense all'. More information at http://www.ionsystems.uk/
Dependencies: MCP23017 TCS3472_I2C WattBob_TextLCD mbed-rtos mbed
main.cpp
- Committer:
- IonSystems
- Date:
- 2014-12-04
- Revision:
- 27:47a7bc902587
- Parent:
- 24:8868101d01d0
- Child:
- 28:bdf2bf56f97b
File content as of revision 27:47a7bc902587:
bool operationMode = true; //the MBED starts in operation mode. #include "mbed.h" Serial pc(USBTX, USBRX); Serial glcd(p13, p14); #include "rtos.h" #include "Language.h" DigitalIn languageButton(p30); Language currentLanguage = ENGLISH; #include <sstream> #include <string> #include "mbedStorage.h" #include "mbedLCD.h" #include "stateMachine.h" #include "FPGAcomms.h" #ifndef serialComm #define serialComm #include "serialCommunication.h" #endif DigitalOut led1(LED1); DigitalOut led2(LED2); DigitalOut led3(LED3); DigitalOut led4(LED4); StateMachine stateMachine; //Boolean values to easily enable and disable certain features for individual testing bool colourSensor = true; bool cardReader = true; bool sorter = true; bool dispensor = true; bool testFunctions = true; bool serialComms = true; int mode = 0; int maintenanceModeSelect = 0; bool buttonPressed(int buttonNumber) { if(buttonNumber > -1 && buttonNumber < 4) { return par_port->read_bit(buttonNumber + 8); } return false; } void checkSortDispenseButtons() { if(buttonPressed(3)) { mode = !mode; } /* NOTICE: Enable the modes below for more maintenace functions, good for debugging. */ /* if(mode == 0) { //Dispense Mode printLCD("Dispense Mode"); operationMode=false; if(buttonPressed(0)) { printLCD("Red Button pressed"); dispense(RED); } else if(buttonPressed(1)) { printLCD("Green Button pressed"); dispense(GREEN); } else if(buttonPressed(2)) { printLCD("Blue Button pressed"); dispense(BLUE); } } *//*else if(mode == 1) { //Sort Mode printLCD("Sort Mode"); operationMode=false; if(buttonPressed(0)) { log("Red Button pressed"); sort(RED); } else if(buttonPressed(1)) { log("Green Button pressed"); sort(GREEN); } else if(buttonPressed(2)) { log("Blue Button pressed"); sort(BLUE); } }*//* 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"); recycle(); } } */ /*else if(mode == 4) { //Card Reader Mode operationMode= true; if(cardReader && cardDetect) { cardAcquisition(); }*/ if(mode == 0) { //Storage Mode operationMode=true; stringstream ss; ss << "Operation: " << "R:" << redAmount << "G:" << greenAmount << "B:" << blueAmount << "RE:" << recycleAmount; string tmp = ss.str(); printLCD(tmp.c_str()); wait(0.1); if(buttonPressed(0)) { //log("Dispense all button pressed"); dispenseAll(); } else if(buttonPressed(1)) { //log("Clear stored numbers button pressed"); writeFile(0,0,0,recycleAmount); redAmount = 0; greenAmount = 0; blueAmount = 0; printLCD("Cleared values"); } else if(buttonPressed(2)) { //log("Increment all stored values by 2."); redAmount += 2; greenAmount += 2; blueAmount += 2; writeFile(redAmount,greenAmount,blueAmount,recycleAmount); printLCD("set values to 2"); } } else if(mode == 1) { operationMode = false; stringstream ss; ss << maintenanceModeSelect; string mainModeSelect = ss.str(); printLCD("Maintenance: " + mainModeSelect); wait(0.1); //Maintenance Mode //printLCD("Maintenance Mode"); if(buttonPressed(0)) { //Next maintenance function maintenanceModeSelect++; if(maintenanceModeSelect > 13) maintenanceModeSelect = 0; } else if(buttonPressed(1)) { //Previous maintenance function maintenanceModeSelect--; if(maintenanceModeSelect < 0) maintenanceModeSelect = 13; } else if(buttonPressed(2)) { //Process Instruction switch(maintenanceModeSelect) { case 0://RB_LEFT: printLCD("Moving Red/Blue Slider left."); maintain(RB_LEFT); break; case 1://RB_CENTRE: printLCD("Centering Red/Blue Slider."); maintain(RB_CENTRE); break; case 2://RB_RIGHT: printLCD("Moving Red/Blue Slider right."); maintain(RB_RIGHT); break; case 3://GO_UP: printLCD("Moving Green Slider up."); maintain(GO_UP); break; case 4://GO_CENTRE: printLCD("Centering Green Slider."); maintain(GO_CENTRE); break; case 5://GO_DOWN: printLCD("Moving Green Slider down."); maintain(GO_DOWN); break; case 6://BR_LEFT: printLCD("Moving Bin Slider left."); maintain(BR_LEFT); break; case 7://BR_RIGHT: printLCD("Moving Bin Slider right."); maintain(BR_RIGHT); break; case 8://R_PUSH: printLCD("Pushing red dispensor"); maintain(R_PUSH); break; case 9://R_HOME: printLCD("Homing red dispensor"); maintain(R_HOME); break; case 10://GB_LEFT: printLCD("Pushing green dispensor"); maintain(GB_LEFT); break; case 11://GB_CENTRE: printLCD("Centre green/blue dispensor"); maintain(GB_CENTRE); break; case 12://GB_RIGHT: printLCD("Pushing blue dispensor"); maintain(GB_RIGHT ); break; case 13: //MaintenanceEND printLCD("Ending Maintenance Mode"); maintain(maintenanceEND); break; } printLCD("Ready for next command"); wait(1); } } } //Coordinate changing language on PC and Arduino. void changeLanguage() { currentLanguage = nextLanguage(currentLanguage); //Change the language on teh MBED. sendLanguageCharacter(); //Tell PC & Arduino to change language. wait(1); } /* void sortFunction() * Read sensor and sort according to the colour. */ void sortFunction() { //Read the colour twice and make sure both are the same. If not then return and try again. Thread::wait(100); Colour colour = readColourSensor(); Thread::wait(100); Colour colour2 = readColourSensor(); if(colour != colour2) { return; } //Ensure a bin read is valid by ensuring it is the same as earlier. Prevents a bin read being valid if the chip is out of place on the sensor. if(colour == BIN) { Thread::wait(100); Colour binCheck = readColourSensor(); if(binCheck != colour) { return; } } //log("Sorting colour"); sort(colour); } void sortMode(void const* args) { while(colourSensor && sorter) { if(operationMode) { led2 = 1; sortFunction(); led2 = 0; Thread::wait(50); } } } bool pcReady = false; void dispenseFunction() { if(!pcReady) { if(pc.getc() == '*') { pcReady = true; } } else { //Check language button if(languageButton) { changeLanguage(); } if(cardReader && cardDetect) { //Read card int cardNumber = cardAcquisition(); //Send message to pc pc.putc('*'); wait(0.5); //Send card number to pc pc.printf("%i\n",cardNumber); int red = 0; int green = 0; int blue = 0; //Get order from pc red = (int) pc.getc() - '0'; green = (int) pc.getc() - '0'; blue = (int) pc.getc() - '0'; //Check if there are enough chips to dispense order Thread::wait(100); if(red > redAmount || green > greenAmount || blue > blueAmount) { //If not then do not dispense pc.putc('<'); pcReady = false; } else if(red ==0 && green == 0 && blue ==0) { pc.putc('@'); pcReady = false; } else { //Otherwise there are enough tokens so dispense the order pc.putc('>'); //Display order on LCD glcd.putc(27); glcd.putc(18); glcd.putc(red + '0'); glcd.putc(green + '0'); glcd.putc(blue + '0'); glcd.putc(255); //Dispense Order dispenseOrder(red,green,blue); //Display finished dispensing on lcd glcd.putc(27); glcd.putc(19); glcd.putc(255); //Reset pc ready pcReady = false; wait(1); pc.putc('('); } } } } void dispenseMode(void const* args) { while(true) { if(operationMode) { led3 = 1; dispenseFunction(); led3 =0; Thread::wait(50); } } } int main() { led1 = 0; setupLCD(); printLCD("Welcome to the Chipin Sorter"); Thread::wait(1000); readChipNumbers(); printStoredChipValues(); printLCD("Resetting all sliders"); maintain(maintenanceEND); printLCD(""); Thread::wait(1000); sendLanguageCharacter(); Thread sortThread(sortMode); if(!languageButton) { operationMode = true; mode = 0; } else { operationMode = false; mode = 1; } Thread dispenseThread(dispenseMode); while(true) { led1 = 1; led4 = cardDetect; if(!operationMode) { checkSerial(); } if(testFunctions) checkSortDispenseButtons(); Thread::wait(100); led1=0; Thread::wait(100); } }