File content as of revision 0:8d54ffcf256e:

#include "mbed.h"
#include "MCP23017.h"
#include "WattBob_TextLCD.h"
#include "TCS3472_I2C.h"

//This LED is on when the servo is rotating clockwise.
DigitalOut clockwiseLED(LED1);
//This LED is on when the servo is rotating anti-clockwise.
DigitalOut anticlockwiseLED(LED2);
//This is the control line that tells the FPGA to move the servo clockwise.
DigitalOut clockwise(p22);
//This is the control line that tells the FPGA to move the servo anti-clockwise.
DigitalOut anticlockwise(p21);

//Boolean values to easily enable and disable certain features for individual testing
bool colourSensor =  true;
bool cardReader =    true;
bool sorter =        true;
bool dispensor =     true;

/*
There are two high level states representing the two main
functionalities of the MBED: Maintenance mode and Operation mode.

When operationMode is true, the MBED is in operation mode.
When operationMode is false, the MBED is in maintenance mode.
*/

bool operationMode = true; //the MBED starts in operation mode.

#define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(1,BL_BIT)
#define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(0,BL_BIT)

//Creating all the global variables.
MCP23017 *par_port;
WattBob_TextLCD *lcd;

Serial pc(USBTX, USBRX);

//Setup colour sensor variables
int rgb_readings[4];
double rMax = 9244;
double gMax = 3194;
double bMax = 3590;
TCS3472_I2C rgb_sensor(p28, p27);

//setup Card Reader stuff
DigitalIn cardBit1(p21);
DigitalIn cardBit2(p22);
DigitalIn cardBit3(p23);
DigitalIn cardBit4(p24);
DigitalIn cardBit5(p25);
DigitalIn cardBit6(p26);

//Setup pins to FPGA
DigitalOut startSort(p5);       //A positive edge tells the FPGA to start sorting.
/*  The command codes for the three sort select bits(ColourBit1 - ColourBit2)
    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(p9);   //A positive edge tells the FPGA to start dispensing.
/*
    00      Dispense red chip
    01      Dispense green chip
    10      Dispense blue chip
    11      Nothing
*/
DigitalOut DispenseBit1(p10);  //The 2 bits below are select bits for the dispenser.
DigitalOut DispenseBit2(p11);


//Functions go here
void sendCharacter(char ch){
        pc.putc(ch);
        }
        
void printLCD(char * text){
        lcd->reset();
        lcd->printf(text);
}

char valueToChar(int value){
        if(!value)
            return '0';
        else return '1';
       }
/*  readBit(int bitNumber):
    Takes a bit number between 1 and 6 inclusive.
    Returns the value of the cardBit associated with the bit number as a char.
*/
char readBit(int bitNumber){
        int value = 0;
        switch(bitNumber){
            case 1:
                value = cardBit1;
            break;
            case 2:
                value = cardBit2;
            break;
            case 3:
                 value = cardBit3;
            break;
            case 4:
                value = cardBit4;
            break;
            case 5:
                value = cardBit5;
            break;
            case 6:
                value = cardBit6;
            break;
            }
            return valueToChar(value);
    }
/*
    The processMessage function has two case statements: one for maintenance mode and one for operation mode.
*/
   
void processMessage(char c){
       if(!operation){ switch(c){
            case 'a' : //servo 1 clockwise
                sendCharacter('a'); //bounce back for acknowledgement
                printLCD("S1 clockwise");
            break;
            case 'b' :  //servo 1 anticlockwise
                sendCharacter('b');  //bounce back for acknowledgement
                printLCD("S1 anticlockwise");
            break;
            case 'c':
                sendCharacter('c'); //bounce back for acknowledgement
                printLCD("S1 stop");
            break;
            case 'C':// Read card command
                sendCharacter('R'); //Notify PC that command has been recieved
                printLCD("Reading Card");
                //read card here
                char value = ' ';
                for(int num = 1;num <= 6;num++){
                    value = readBit(num);
                   // sendCharacter('R');
                    sendCharacter(value);
                    printLCD("Bit read");
                    //wait(0.1);
                }
                sendCharacter('C'); //Tells PC that the card has been read
                printLCD("Card read success");
            break;
            case 'X':
                sendCharacter('X'); //Notify the PC that this is an MBED
                printLCD("Connected to PC");
            break;
        }
        }
        else if (operation){
            switch(c){
                case 'a':// Start sorting
                sendCharacter('A'); //Confirm to PC that we are processing the instruction.
                startSort = true;
                wait(0.1);
                startSort = false;
                break;
                }
            }
}
        
void colourSensorTick(){
        rgb_sensor.getAllColors(rgb_readings);
        
        double redd = (rgb_readings[1] /gMax) * 255;
        double greend = (rgb_readings[2] /bMax) * 255;
        double blued = (rgb_readings[0] /rMax) * 255;
        
        int red = redd;
        int green = greend;
        int blue = blued;  
        
        lcd->cls(); // clear display 
        lcd->locate(0,0); 
        lcd->printf("R:%d G:%d B:%d",red,green,blue);
        
        lcd->locate(1,0); 
        if(red > 55){
            lcd->printf("RED");
        }
        if(green > 55){
            lcd->printf("GREEN");
        } 
        if(red < 30 && green > 30 && blue > 30){
            lcd->printf("BLUE");
        }  
}
        
int main() {
    //Setting up all the global variables
    par_port = new MCP23017(p9, p10, 0x40);
    par_port->config(0x0F00, 0x0F00, 0x0F00); // configure MCP23017 chip on WattBob
    BACK_LIGHT_ON(par_port);
    lcd = new WattBob_TextLCD(par_port);
    rgb_sensor.enablePowerAndRGBC();
    rgb_sensor.setIntegrationTime(100);
    //Writing initial text on LCD
    lcd->printf("Welcome to the");
    lcd->locate(1,0);   //Going to new line
    lcd->printf("Chipin Sorter");
    wait(1);            //Wait 1 second
    lcd->reset();       //Clear LCD

    while(1){
        char c = pc.getc();
        processMessage(c);
        }
      
        
            /*
            if(par_port->read_bit(8)){
                lcd->printf("ON");
                pc.printf("btn1");
                wait(0.5);
                lcd->reset();
                }else{
                lcd->printf("OFF");
                pc.printf("btn0");
                wait(0.5);
                lcd->reset();
                    }
        
        */
    }