File content as of revision 19:78d4b78fa736:

#include "mbed.h"
//#include "Colour.h"
#include "colourProcessing.h"
//Setup pins to FPGA
DigitalOut startSort(p5);       //A positive edge tells the FPGA to start sorting.
DigitalIn sortComplete(p16);
/*
  The command codes for the three sort select bits(ColourBit1 - ColourBit2)
  See datasheet for furter information
    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(p18);   //A positive edge tells the FPGA to start dispensing. p9
/*
    00      Dispense red chip
    01      Dispense green chip
    10      Dispense blue chip
    11      Nothing
*/

DigitalOut dispenseBit1(p19);  //The 2 bits below are select bits for the dispenser.p10
DigitalOut dispenseBit2(p20); //p11

DigitalIn dispenseComplete(p11);    //FPGA sets to 1 once complete until another signal is recieved.
DigitalOut select(p15); //0 for control, 1 for maintenance.


void setMaintenanceSelect(bool bit6, bool bit5, bool bit4, bool bit3, bool bit2, bool bit1)
{
    startSort = bit1;
    colourBit1 = bit2;
    colourBit2 = bit3;
    colourBit3 = bit4;
    startDispense = bit5;
    dispenseBit1 = bit6;
}

void setMaintenanceStart(bool value)
{
    dispenseBit2 = value;
}
void waitForMaintenanceComplete()
{
    while(!sortComplete) {
        printLCD("Waiting for REC");
        wait(0.1);
    }
}

void setDispenseSelect(bool dBit1, bool dBit2)
{
    dispenseBit1 = dBit1;
    dispenseBit2 = dBit2;
}

void setSortSelect(bool sBit1, bool sBit2, bool sBit3)
{
    colourBit1 = sBit1;
    colourBit2 = sBit2;
    colourBit3 = sBit3;
}

void maintain(StateMachine maintainState)
{
    select = 1; //setting FPGA to maintenance mode.
    setMaintenanceSelect(true,true,true,true,true,true);
    switch(maintainState) {
        case RB_LEFT:
            setMaintenanceSelect(false,false,false,true,false,true);
            break;
        case RB_CENTRE:
            setMaintenanceSelect(false,false,false,true,true,false);
            break;
        case RB_RIGHT:
            setMaintenanceSelect(false,false,false,true,true,true);
            break;
        case GO_UP:
            setMaintenanceSelect(false,false,true,false,false,false);
            break;
        case GO_CENTRE:
            setMaintenanceSelect(false,false,true,false,false,true);
            break;
        case GO_DOWN:
            setMaintenanceSelect(false,false,true,false,true,false);
            break;
        case BR_LEFT:
            setMaintenanceSelect(false,false,true,false,true,true);
            break;
        case BR_RIGHT:
            setMaintenanceSelect(false,false,true,true,false,false);
            break;
        case R_PUSH:
            setMaintenanceSelect(false,false,true,true,false,true);
            break;
        default:
            log("Incorrect maintenance command recieved");
            printLCD("Incorrect maintenance command recieved");
            break;
    }
    setMaintenanceStart(true);//Bit 7
    waitForMaintenanceComplete();
    wait(0.5);
    setMaintenanceStart(false);
}

void waitForDispenseComplete()
{
    //wait(1); //temporary delay
    while(!dispenseComplete) {
        wait(0.2);
        log("Waiting for dispense complete");
        printLCD("Waiting for dispense complete");
    }
    wait(0.6);
    log("Complete");
}

void dispense(Colour colour)
{

    bool validDispense = false;
    select = 0; //Setting to operation mode just in case it has not been set.
    setDispenseSelect(true,true);
    /* A dispense operation can only take place if there are more than zero chips
    */
    switch(colour) {
        case RED:
            if(redAmount > 0 || operationMode == false) {
                log("RED");
                log("Setting dispense bits to 00");
                setDispenseSelect(false,false);
                redAmount--;
                validDispense = true;
            }
            break;
        case GREEN:
            if(greenAmount > 0 || operationMode == false) {
                log("GREEN");
                log("Setting dispense bits to 10");
                setDispenseSelect(true,false);
                greenAmount--;
                validDispense = true;
            }
            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);

    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--) {
        dispense(RED);
    }
    for(int i = g; i >= 0; i--) {
        dispense(GREEN);
    }
    for(int i = g; i >= 0; i--) {
        dispense(BLUE);
    }
}

void recycle()
{

    select = 0; //Setting to operation mode just in case it has not been set.
    setSortSelect(true,true,true);

    log("Recycle");
    log("Setting sort bits to 100");
    setSortSelect(false,false,true);

    log("Setting start sort to true");
    startSort = true; //set the startDispense line high.

    //wait(1); //temporary delay
    while(!sortComplete) {
        wait(0.5);
        log("Waiting for sort complete");
        printLCD("Waiting for sort complete");
    }


    log("Complete");
    wait(0.5);
    log("Setting start sort to false");
    startSort = false;

    log("Resetting dispense bits to 11");
    setSortSelect(true,true,true);
    printLCD("RECYCLE COMPLETE");

}

void waitForSortComplete()
{
    while(!sortComplete) {
        wait(0.5);
        log("Waiting for sort complete");
        printLCD("Waiting for sort complete");
    }
    log("sortComplete signal recieved from FPGA");
    wait(0.6);

}

void sort(Colour colour)
{
    if(colour == NONE) {
        return;
    } else {

        select = 0; //Setting to operation mode just in case it has not been set.
        setSortSelect(true,true,true);
        switch(colour) {
            case RED:
                if(redAmount >= tubeSize) {
                    recycle();
                    return;
                }
                log("Sort RED");
                log("Setting sort bits to 000");
                setSortSelect(false,false,false);
                redAmount++;
                break;
            case GREEN:
                if(greenAmount >= tubeSize) {
                    recycle();
                    return;
                }
                log("Sort GREEN");
                log("Setting sort bits to 001");
                setSortSelect(true,false,false);
                greenAmount++;
                break;
            case BLUE:
                if(blueAmount >= tubeSize) {
                    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.


        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);
    }
}

void lift()
{
    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.


    //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");
}

void dispenseAll()
{
    int red = redAmount;
    int green = greenAmount;
    int blue = blueAmount;
    for(int r = 0; r < red; r++) {
        dispense(RED);
        wait(0.5);
    }
    redAmount = 0;

    for(int g = 0; g < green; g++) {
        dispense(GREEN);
        wait(0.5);
    }
    greenAmount = 0;

    for(int b = 0; b < blue; b++) {
        dispense(BLUE);
        wait(0.5);
    }
    blueAmount = 0;
    writeFile(redAmount,greenAmount,blueAmount);
}