File content as of revision 17:6a0bb0ad5bb4:

bool operationMode      = true; //the MBED starts in operation mode.
#include "mbed.h"
#include "Language.h"
DigitalIn languageButton(p30);
Language currentLanguage = ENGLISH;
#include <sstream>
#include <string>


#include "mbedStorage.h"
#include "rgbLED.h"
#include "mbedLCD.h"
#include "stateMachine.h"
#include "FPGAcomms.h"
#ifndef serialComm
#define serialComm

#include "serialCommunication.h"
#endif
#include "testFunctions.h"




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;

bool colourDataAcquired = false;
bool chipDetected       = false;


int mode = 3;
int maintenanceModePointer = 0;
Colour lastColour = NONE;
Colour colourStore = NONE;

void checkSortDispenseButtons(){
        
        if(par_port->read_bit(11)){
            mode++;
            if(mode >= 7) mode = 0;
        }
        
        
        if(mode == 0){                                     //Dispense Mode
            printLCD("Dispense Mode");
            if(par_port->read_bit(8)){
                log("Red Button pressed");
                stateMachine = DISPENSE_RED;
                processState(stateMachine);
            }else if(par_port->read_bit(9)){
                log("Green Button pressed");
                stateMachine = DISPENSE_GREEN;
                processState(stateMachine);
            }else if(par_port->read_bit(10)){
                log("Blue Button pressed");
                stateMachine = DISPENSE_BLUE;
                processState(stateMachine);
            }
        }else if(mode == 1){                                //Sort Mode
            printLCD("Sort Mode");
            if(par_port->read_bit(8)){
                log("Red Button pressed");
                stateMachine = SORT_RED;
                processState(stateMachine);
            }else if(par_port->read_bit(9)){
                log("Green Button pressed");   
                stateMachine = SORT_GREEN;
                processState(stateMachine);
            }else if(par_port->read_bit(10)){
                log("Blue Button pressed");
                stateMachine = SORT_BLUE;
                processState(stateMachine);
            }
            
        }else if(mode == 2){                                //Bin/Recycle Mode
            printLCD("Bin/Recycle Mode");
            if(par_port->read_bit(8)){
                log("Bin button pressed");
                stateMachine = SORT_BIN;
                processState(stateMachine);
            }else if(par_port->read_bit(9)){
                log("Recycle Button");
                stateMachine = SORT_RECYCLE;
                processState(stateMachine);
            }
        }else if(mode == 3){  
        printLCD("Colour Sensor Mode");                              //Colour Sensing Mode
            if(colourSensor){
                
                   
                Colour colour = readColourSensor();  
                lastColour = colourStore;
                colourStore = colour;  
                /* Tries to prevent a colour mis-read. When a chip is read as BIN or NONE,
                the chip may be falling down the tube as the reading was taken. The chip may
                also be out of position on the slider. Ignoring the next reading is trying to
                prevent a mis-read being valid.
                */
                if(lastColour == NONE){ 
                    
                    return;
                }
                
                if(sorter) sort(colour);  
                            //Put (sorter && colour != BIN) in if statement.
            }
            //if
        }else if(mode == 4){                                //Card Reader Mode
            if(cardReader && cardDetect){
                cardAcquisition();
                
            }
        }else if(mode == 5){                                //Storage Mode
            stringstream ss;
            ss << "Stored Values   " << "R:" << redAmount << "G:" << greenAmount << "B:" << blueAmount;
            string tmp = ss.str();
            printLCD(tmp.c_str());
            wait(0.1);
            if(par_port->read_bit(8)){
                log("Dispense all button pressed");
                stateMachine = DISPENSE_ALL;
                processState(stateMachine);
            }else if(par_port->read_bit(9)){
                log("Clear stored numbers button pressed");
                writeFile(0,0,0);
                redAmount = 0;greenAmount = 0;blueAmount = 0;
                printLCD("Cleared values");
                
            }else if(par_port->read_bit(10)){
                log("Increment all stored values by 2.");
                redAmount += 2;greenAmount += 2;blueAmount += 2;
                writeFile(redAmount,greenAmount,blueAmount);
                
                printLCD("set values to 2");
                
            }
        }else if(mode == 6){ 
        printLCD("Main. Mode: " + maintenanceModeSelect);   
        wait(0.1);                           //Maintenance Mode
        //printLCD("Maintenance Mode");
            if(par_port->read_bit(8)){                      //Next maintenance function
            maintenanceModePointer++;
            if(maintenanceModePointer > 12) maintenanceModePointer = 0;    
            }else if(par_port->read_bit(9)){                //Previous maintenance function
            maintenanceModePointer--;
            if(maintenanceModePointer < 0) maintenanceModePointer = 12;    
            }else if(par_port->read_bit(10)){               //Process Instruction
                switch(maintenanceModePointer){
                    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;
                    
                    
                
            }  printLCD("Ready for next command");
                wait(1);
                }
            }
        }
    
void changeLanguage(){
    currentLanguage = nextLanguage(currentLanguage);        //Change the language on teh MBED.
    sendLanguageCharacter();                                //Tell PC to change language
    ////Change Language                                   //Tell Arduino to change language.
    printLCD("setting language to english");
    wait(1);
      }   
      
int main() { 
    
    stateMachine = INITIALISING;
    processState(stateMachine);
    readChipNumbers();
    printStoredChipValues();
    //displayOperationMode();
    while(true){
        if(serialComms){
            checkSerial();
        }if(testFunctions) checkSortDispenseButtons();
        //if(languageButton) changeLanguage();
         
         
         
         
         wait(0.05);
         
    }
        /*char c;
        if(c = readCharacter()){
            processMessage(c);
        }*/
        
       
}