File content as of revision 4:f3be545b3826:

#include "mbed.h"
#include "MCP23017.h"
#include "WattBob_TextLCD.h"
#include "TCS3472_I2C.h"
#include <string>
#include "Colour.h"

//Setup test LEDs
DigitalOut testLED1(LED1);
DigitalOut testLED2(LED2);
DigitalOut testLED3(LED3);
DigitalOut testLED4(LED4);

//Setup Buttons
DigitalIn testButton1(P1_8);

//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);
//Stuff that saves stuff to the MBED.
LocalFileSystem local("local");



void writeFile(int colourQueue[]){
    FILE* File1 = fopen("/local/datafile.txt","w"); // open file
    fputc(colourQueue[0], File1); // put char (data value) into file
    fputc(colourQueue[1], File1); // put char (data value) into file
    fputc(colourQueue[2], File1); // put char (data value) into file
    fclose(File1); // close file 
    }
    
int readFile(){
    FILE* File2 = fopen ("/local/datafile.txt","r"); // open file for reading
    int read_var = fgetc(File2); // read first data value
    fclose(File2); // close file
    return read_var;   
    }
int colourQueue = {readFile(),readFile(),readFile()};

//Setup colour sensor variables
int rgb_readings[4];
double rMax = 9244;
double gMax = 3194;
double bMax = 3590;
TCS3472_I2C rgb_sensor(p28,p27); //p28 =sda, p27=scl
//thresholds are in the RGB format.
int redLT [3] = {79,23,41};
int redUT [3]= {92,28,49};
int greenLT [3] = {46,81,61};
int greenUT [3]= {60,107,81};
int blueLT [3]= {25,47,47};
int blueUT [3]= {28,52,52};

int redQueue = 0;
int greenQueue = 0;
int blueQueue = 0;

//setup Card Reader pins
DigitalIn cardBit1(p21);
DigitalIn cardBit2(p22);
DigitalIn cardBit3(p23);
DigitalIn cardBit4(p24);
DigitalIn cardBit5(p25);
DigitalIn cardBit6(p26);
DigitalIn cardDetect(p29);
bool cardDataAcquired = false;
bool colourDataAcquired = false;
bool chipDetected = false;

//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);

DigitalOut servoTest(p21); //for basic servo test fro deadline day 31/10/14

//Global card bits
int cardValue1 = 0;
int cardValue2 = 0;
int cardValue3 = 0;
int cardValue4 = 0;
int cardValue5 = 0;
int cardValue6 = 0;

//Functions go here
void sendCharacter(char ch){
        pc.putc(ch);
        }
        
        
void setLEDs(){
    testLED1 = cardDetect;
    testLED4 = true;
}        

/*  A simple print function for use on the MBED LCD Screen.
 *  Will format a char array into two lines and display the char array on the LCD.
 */      
void printLCD(const char * text){
        std::string txt_str = std::string(text); //Convert ther character array to a std::string, 
                                                 //to use in the string manipulation functions.
        lcd->reset();
        if(txt_str.length() > 32){
            int length = txt_str.length();
            txt_str = txt_str.erase(32,length-32);
            lcd->locate(0,0);   //Going to new line
            text = txt_str.c_str(); 
        }
            if(txt_str.length() > 16){
            string line1 = txt_str.substr(0,16);
            string line2 = txt_str.substr(16,16);
            lcd->locate(0,0);   //Going to new line
            lcd->printf(line1.c_str());
            lcd->locate(1,0);   //Going to new line
            lcd->printf(line2.c_str());
            lcd->locate(0,0);   //Going to new line
            }
      
}


void readButtons(){
    chipDetected = par_port->read_bit(8); 
    testLED1 = par_port->read_bit(8); 
    
    }
/* Reads all 6 bits from the card IO pins and prints them to the MBED LCD.
 * Stores the values read to the global variables cardValue1 to cardValue6.
*/
void cardAcquisition(){
        lcd->reset();
        lcd->locate(0,0);   //Going to new line
        if(cardBit1) lcd->printf("p1=1,");
        else lcd->printf("p1=0,");
        cardValue1 = cardBit1;
        
        if(cardBit2) lcd->printf("p2=1,");
        else lcd->printf("p2=0,");
        cardValue2 = cardBit2;
        
        if(cardBit3) lcd->printf("p3=1");
        else lcd->printf("p3=0");
        cardValue3 = cardBit3;
        
        lcd->locate(1,0);   //Going to new line
        
        if(cardBit4) lcd->printf("p4=1");
        else lcd->printf("p4=0,");
        cardValue4 = cardBit4;
        
        
        if(cardBit5) lcd->printf("p5=1,");
        else lcd->printf("p5=0,");
        cardValue5 = cardBit5;
        
        if(cardBit6) lcd->printf("p6=1");
        else lcd->printf("p6=0");
        cardValue6 = cardBit6;
        
        cardDataAcquired = true;
        
    }
/*  valueToChar(int value):
    Expects an int value what it 0 or 1.
    Returns the int value as a char.
    0 will return '0'
    1 will return '1'
    Used to read the bits in the card reader.
*/
char valueToChar(int value){
        if(value == 0){
            return '0';
        }else if(value == 1){
            return '1';
        }else{
            return NULL;    
            }
       }
/*  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);
    }
/*  processMessage(char c):
    Runs when the MBED recieves a character from the PC.
    Carries out tasks based on the char value.
    An acknowledge signal is always send back to the PC so that it knows the MBED 
    has recieved the command.
    Has two case statements: one for maintenance mode and one for operation mode.
*/
   
void processMessage(char c){
     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 done");
            break;
            case 'X':
                sendCharacter('X'); //Notify the PC that this is an MBED
                printLCD("Connected to PC");
            break;
            case 'd':   //Dispense a chip
                sendCharacter('D');
                printLCD("Dispensing chip");
              
                //read from color sensor
                //convert readings to colour
                //convert colour to 3-bit colour code
                //set the FPGA colour inputs to the colour code
                startSort = true; 
            break;
            case 't'://Test 180 servo
            sendCharacter('T');
            printLCD("Servo signal on");
            servoTest = true;
            break;
            case 'w'://Test 180 servo
            sendCharacter('W');
            printLCD("Servo signal off");
            servoTest = false;
            break;
        
        
   /*     else if (operationMode){
            switch(c){
                case 'n':// Start sorting
                    sendCharacter('N'); //Confirm to PC that we are processing the instruction.
                    startSort = true; //Pulse the startSort control line to FPGA
                    wait(0.1);
                    startSort = false;
                break;
                case 'o':   //Start dispensing
                    sendCharacter('O');
                    startDispense = true; //Pulse the startDispense control line to FPGA
                    wait(0.1);
                    startDispense = false;
                break;
                case 'p':   //
                    sendCharacter('P');
                break;
                }
          */  }
}
        
Colour readColourSensor(){
        rgb_sensor.getAllColors(rgb_readings);
        Colour colour;
        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;  
        colourDataAcquired = true;
        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");
        }  */
        bool redWithinThreshold[3];
        bool greenWithinThreshold[3];
        bool blueWithinThreshold[3];
        //Set red Thresholds
        redWithinThreshold[0] = (red >= redLT[0]) && (red <= redUT[0]);
        greenWithinThreshold[0] = (green >= redLT[1]) && (green <= redUT[1]);
        blueWithinThreshold[0] = (blue >= redLT[2]) && (blue <= redUT[2]);
        //Set green Thresholds
        redWithinThreshold[1] = (red >= greenLT[0]) && (red <= greenUT[0]);
        greenWithinThreshold[1] = (green >= greenLT[1]) && (green <= greenUT[1]);
        blueWithinThreshold[1] = (blue >= greenLT[2]) && (blue <= greenUT[2]);
        //Set blue Thresholds
        redWithinThreshold[2] = (red >= blueLT[0]) && (red <= blueUT[0]);
        greenWithinThreshold[2] = (green >= blueLT[1]) && (green <= blueUT[1]);
        blueWithinThreshold[2] = blue >= blueLT[2] && blue <= blueUT[2];
        
        if(redWithinThreshold[0] && greenWithinThreshold[0] && blueWithinThreshold[0]){
            lcd->printf("RED");
            colour = RED;
            }
        else if(redWithinThreshold[1] && greenWithinThreshold[1] && blueWithinThreshold[1]){
            lcd->printf("GREEN");
            colour = GREEN;
            }
        else if(redWithinThreshold[2] && greenWithinThreshold[2] && blueWithinThreshold[2]){
            lcd->printf("BLUE");
            colour = BLUE;
            }
        else{
            lcd->printf("BIN");
            colour = OTHER;
            }    
        return colour;
}

void sendColourSignal(Colour colour){
    switch(colour){
        case RED: 
        
        break;
        case GREEN:
        break;
        case BLUE:
        break;
        case OTHER:
        break;
        }
    }

void resetForNextCustomer(){
        colourDataAcquired = false;
        cardDataAcquired = false;
        printLCD("Ready for next customer");
        }
        
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");
  

  
    printLCD("Welcome to the  Chipin Sorter");
    wait(1);
    lcd->reset();       //Clear LCD

    while(1){
       if(par_port->read_bit(11)) resetForNextCustomer();
       // char c = pc.getc(); //wait for a serial character to be recieved.
       // processMessage(c);  //Do something, based on the character recieved.
        if(cardDetect & !cardDataAcquired) cardAcquisition();
        setLEDs();
        readButtons();
        
        if(chipDetected & !colourDataAcquired){
            Colour colour = readColourSensor();
            sendColourSignal(colour);
        }
        
        writeFile();
        readFile();
        wait(2);
        
        }
      
        

    }