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@28:bdf2bf56f97b, 2014-12-05 (annotated)
- Committer:
- IonSystems
- Date:
- Fri Dec 05 09:53:04 2014 +0000
- Revision:
- 28:bdf2bf56f97b
- Parent:
- 27:47a7bc902587
Commened main
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
IonSystems | 12:814a8fdbb6f7 | 1 | bool operationMode = true; //the MBED starts in operation mode. |
IonSystems | 23:f9e7e64784be | 2 | |
IonSystems | 0:8d54ffcf256e | 3 | #include "mbed.h" |
IonSystems | 23:f9e7e64784be | 4 | Serial pc(USBTX, USBRX); |
IonSystems | 24:8868101d01d0 | 5 | Serial glcd(p13, p14); |
IonSystems | 23:f9e7e64784be | 6 | #include "rtos.h" |
IonSystems | 15:0c5f20e15b6a | 7 | #include "Language.h" |
IonSystems | 15:0c5f20e15b6a | 8 | DigitalIn languageButton(p30); |
IonSystems | 15:0c5f20e15b6a | 9 | Language currentLanguage = ENGLISH; |
IonSystems | 6:e64796f1f384 | 10 | #include <sstream> |
IonSystems | 12:814a8fdbb6f7 | 11 | #include <string> |
IonSystems | 6:e64796f1f384 | 12 | #include "mbedStorage.h" |
IonSystems | 6:e64796f1f384 | 13 | #include "mbedLCD.h" |
IonSystems | 7:6ba00694f9cd | 14 | #include "stateMachine.h" |
IonSystems | 8:b7771391adc9 | 15 | #include "FPGAcomms.h" |
IonSystems | 10:8c0696b99692 | 16 | #ifndef serialComm |
IonSystems | 10:8c0696b99692 | 17 | #define serialComm |
IonSystems | 10:8c0696b99692 | 18 | #include "serialCommunication.h" |
IonSystems | 10:8c0696b99692 | 19 | #endif |
IonSystems | 23:f9e7e64784be | 20 | |
IonSystems | 23:f9e7e64784be | 21 | |
IonSystems | 23:f9e7e64784be | 22 | DigitalOut led1(LED1); |
IonSystems | 23:f9e7e64784be | 23 | DigitalOut led2(LED2); |
IonSystems | 23:f9e7e64784be | 24 | DigitalOut led3(LED3); |
IonSystems | 23:f9e7e64784be | 25 | DigitalOut led4(LED4); |
IonSystems | 5:644bca33c1ca | 26 | |
IonSystems | 7:6ba00694f9cd | 27 | StateMachine stateMachine; |
IonSystems | 7:6ba00694f9cd | 28 | |
IonSystems | 6:e64796f1f384 | 29 | //Boolean values to easily enable and disable certain features for individual testing |
IonSystems | 6:e64796f1f384 | 30 | bool colourSensor = true; |
IonSystems | 6:e64796f1f384 | 31 | bool cardReader = true; |
IonSystems | 6:e64796f1f384 | 32 | bool sorter = true; |
IonSystems | 6:e64796f1f384 | 33 | bool dispensor = true; |
IonSystems | 10:8c0696b99692 | 34 | bool testFunctions = true; |
IonSystems | 10:8c0696b99692 | 35 | bool serialComms = true; |
IonSystems | 6:e64796f1f384 | 36 | |
IonSystems | 28:bdf2bf56f97b | 37 | int mode = 0; //mode select |
IonSystems | 18:12e2c82a5a6c | 38 | int maintenanceModeSelect = 0; |
IonSystems | 12:814a8fdbb6f7 | 39 | |
IonSystems | 28:bdf2bf56f97b | 40 | //Call to check if an MBED button is pressed |
IonSystems | 23:f9e7e64784be | 41 | bool buttonPressed(int buttonNumber) |
IonSystems | 23:f9e7e64784be | 42 | { |
IonSystems | 23:f9e7e64784be | 43 | if(buttonNumber > -1 && buttonNumber < 4) { |
IonSystems | 18:12e2c82a5a6c | 44 | return par_port->read_bit(buttonNumber + 8); |
IonSystems | 18:12e2c82a5a6c | 45 | } |
IonSystems | 18:12e2c82a5a6c | 46 | return false; |
IonSystems | 18:12e2c82a5a6c | 47 | } |
IonSystems | 28:bdf2bf56f97b | 48 | //Run a mode, defined by 'mode'. |
IonSystems | 23:f9e7e64784be | 49 | void checkSortDispenseButtons() |
IonSystems | 23:f9e7e64784be | 50 | { |
IonSystems | 23:f9e7e64784be | 51 | |
IonSystems | 23:f9e7e64784be | 52 | if(buttonPressed(3)) { |
IonSystems | 24:8868101d01d0 | 53 | mode = !mode; |
IonSystems | 23:f9e7e64784be | 54 | } |
IonSystems | 27:47a7bc902587 | 55 | /* NOTICE: Enable the modes below for more maintenace functions, good for debugging. |
IonSystems | 27:47a7bc902587 | 56 | */ |
IonSystems | 27:47a7bc902587 | 57 | |
IonSystems | 23:f9e7e64784be | 58 | |
IonSystems | 23:f9e7e64784be | 59 | /* |
IonSystems | 23:f9e7e64784be | 60 | if(mode == 0) { //Dispense Mode |
IonSystems | 11:06f6e82b40a8 | 61 | printLCD("Dispense Mode"); |
IonSystems | 22:8f11d1c178ab | 62 | operationMode=false; |
IonSystems | 23:f9e7e64784be | 63 | if(buttonPressed(0)) { |
IonSystems | 19:78d4b78fa736 | 64 | printLCD("Red Button pressed"); |
IonSystems | 18:12e2c82a5a6c | 65 | dispense(RED); |
IonSystems | 23:f9e7e64784be | 66 | } else if(buttonPressed(1)) { |
IonSystems | 19:78d4b78fa736 | 67 | printLCD("Green Button pressed"); |
IonSystems | 18:12e2c82a5a6c | 68 | dispense(GREEN); |
IonSystems | 23:f9e7e64784be | 69 | } else if(buttonPressed(2)) { |
IonSystems | 19:78d4b78fa736 | 70 | printLCD("Blue Button pressed"); |
IonSystems | 18:12e2c82a5a6c | 71 | dispense(BLUE); |
IonSystems | 10:8c0696b99692 | 72 | } |
IonSystems | 23:f9e7e64784be | 73 | |
IonSystems | 23:f9e7e64784be | 74 | } *//*else if(mode == 1) { //Sort Mode |
IonSystems | 24:8868101d01d0 | 75 | printLCD("Sort Mode"); |
IonSystems | 24:8868101d01d0 | 76 | operationMode=false; |
IonSystems | 24:8868101d01d0 | 77 | if(buttonPressed(0)) { |
IonSystems | 24:8868101d01d0 | 78 | log("Red Button pressed"); |
IonSystems | 24:8868101d01d0 | 79 | sort(RED); |
IonSystems | 24:8868101d01d0 | 80 | } else if(buttonPressed(1)) { |
IonSystems | 24:8868101d01d0 | 81 | log("Green Button pressed"); |
IonSystems | 24:8868101d01d0 | 82 | sort(GREEN); |
IonSystems | 24:8868101d01d0 | 83 | } else if(buttonPressed(2)) { |
IonSystems | 24:8868101d01d0 | 84 | log("Blue Button pressed"); |
IonSystems | 24:8868101d01d0 | 85 | sort(BLUE); |
IonSystems | 24:8868101d01d0 | 86 | } |
IonSystems | 23:f9e7e64784be | 87 | |
IonSystems | 24:8868101d01d0 | 88 | }*//* else if(mode == 2) { //Bin/Recycle Mode |
IonSystems | 24:8868101d01d0 | 89 | printLCD("Bin/Recycle Mode"); |
IonSystems | 24:8868101d01d0 | 90 | operationMode=false; |
IonSystems | 24:8868101d01d0 | 91 | if(buttonPressed(0)) { |
IonSystems | 24:8868101d01d0 | 92 | log("Bin button pressed"); |
IonSystems | 24:8868101d01d0 | 93 | sort(BIN); |
IonSystems | 24:8868101d01d0 | 94 | } else if(buttonPressed(1)) { |
IonSystems | 24:8868101d01d0 | 95 | log("Recycle Button"); |
IonSystems | 24:8868101d01d0 | 96 | recycle(); |
IonSystems | 24:8868101d01d0 | 97 | } |
IonSystems | 24:8868101d01d0 | 98 | } */ |
IonSystems | 23:f9e7e64784be | 99 | /*else if(mode == 4) { //Card Reader Mode |
IonSystems | 23:f9e7e64784be | 100 | operationMode= true; |
IonSystems | 23:f9e7e64784be | 101 | if(cardReader && cardDetect) { |
IonSystems | 23:f9e7e64784be | 102 | cardAcquisition(); |
IonSystems | 23:f9e7e64784be | 103 | |
IonSystems | 23:f9e7e64784be | 104 | }*/ |
IonSystems | 24:8868101d01d0 | 105 | if(mode == 0) { //Storage Mode |
IonSystems | 23:f9e7e64784be | 106 | operationMode=true; |
IonSystems | 23:f9e7e64784be | 107 | stringstream ss; |
IonSystems | 24:8868101d01d0 | 108 | ss << "Operation: " << "R:" << redAmount << "G:" << greenAmount << "B:" << blueAmount << "RE:" << recycleAmount; |
IonSystems | 23:f9e7e64784be | 109 | string tmp = ss.str(); |
IonSystems | 23:f9e7e64784be | 110 | printLCD(tmp.c_str()); |
IonSystems | 23:f9e7e64784be | 111 | wait(0.1); |
IonSystems | 23:f9e7e64784be | 112 | if(buttonPressed(0)) { |
IonSystems | 24:8868101d01d0 | 113 | //log("Dispense all button pressed"); |
IonSystems | 23:f9e7e64784be | 114 | dispenseAll(); |
IonSystems | 23:f9e7e64784be | 115 | } else if(buttonPressed(1)) { |
IonSystems | 24:8868101d01d0 | 116 | //log("Clear stored numbers button pressed"); |
IonSystems | 23:f9e7e64784be | 117 | writeFile(0,0,0,recycleAmount); |
IonSystems | 23:f9e7e64784be | 118 | redAmount = 0; |
IonSystems | 23:f9e7e64784be | 119 | greenAmount = 0; |
IonSystems | 23:f9e7e64784be | 120 | blueAmount = 0; |
IonSystems | 23:f9e7e64784be | 121 | printLCD("Cleared values"); |
IonSystems | 23:f9e7e64784be | 122 | |
IonSystems | 23:f9e7e64784be | 123 | } else if(buttonPressed(2)) { |
IonSystems | 24:8868101d01d0 | 124 | //log("Increment all stored values by 2."); |
IonSystems | 23:f9e7e64784be | 125 | redAmount += 2; |
IonSystems | 23:f9e7e64784be | 126 | greenAmount += 2; |
IonSystems | 23:f9e7e64784be | 127 | blueAmount += 2; |
IonSystems | 23:f9e7e64784be | 128 | writeFile(redAmount,greenAmount,blueAmount,recycleAmount); |
IonSystems | 23:f9e7e64784be | 129 | |
IonSystems | 23:f9e7e64784be | 130 | printLCD("set values to 2"); |
IonSystems | 23:f9e7e64784be | 131 | |
IonSystems | 23:f9e7e64784be | 132 | } |
IonSystems | 24:8868101d01d0 | 133 | } else if(mode == 1) { |
IonSystems | 22:8f11d1c178ab | 134 | operationMode = false; |
IonSystems | 18:12e2c82a5a6c | 135 | stringstream ss; |
IonSystems | 18:12e2c82a5a6c | 136 | ss << maintenanceModeSelect; |
IonSystems | 18:12e2c82a5a6c | 137 | string mainModeSelect = ss.str(); |
IonSystems | 23:f9e7e64784be | 138 | printLCD("Maintenance: " + mainModeSelect); |
IonSystems | 17:6a0bb0ad5bb4 | 139 | wait(0.1); //Maintenance Mode |
IonSystems | 28:bdf2bf56f97b | 140 | |
IonSystems | 23:f9e7e64784be | 141 | if(buttonPressed(0)) { //Next maintenance function |
IonSystems | 18:12e2c82a5a6c | 142 | maintenanceModeSelect++; |
IonSystems | 23:f9e7e64784be | 143 | if(maintenanceModeSelect > 13) maintenanceModeSelect = 0; |
IonSystems | 23:f9e7e64784be | 144 | } else if(buttonPressed(1)) { //Previous maintenance function |
IonSystems | 18:12e2c82a5a6c | 145 | maintenanceModeSelect--; |
IonSystems | 23:f9e7e64784be | 146 | if(maintenanceModeSelect < 0) maintenanceModeSelect = 13; |
IonSystems | 23:f9e7e64784be | 147 | } else if(buttonPressed(2)) { //Process Instruction |
IonSystems | 23:f9e7e64784be | 148 | switch(maintenanceModeSelect) { |
IonSystems | 23:f9e7e64784be | 149 | case 0://RB_LEFT: |
IonSystems | 23:f9e7e64784be | 150 | printLCD("Moving Red/Blue Slider left."); |
IonSystems | 23:f9e7e64784be | 151 | maintain(RB_LEFT); |
IonSystems | 13:0661d658d9d1 | 152 | break; |
IonSystems | 23:f9e7e64784be | 153 | |
IonSystems | 23:f9e7e64784be | 154 | case 1://RB_CENTRE: |
IonSystems | 23:f9e7e64784be | 155 | printLCD("Centering Red/Blue Slider."); |
IonSystems | 23:f9e7e64784be | 156 | maintain(RB_CENTRE); |
IonSystems | 13:0661d658d9d1 | 157 | break; |
IonSystems | 23:f9e7e64784be | 158 | |
IonSystems | 23:f9e7e64784be | 159 | case 2://RB_RIGHT: |
IonSystems | 23:f9e7e64784be | 160 | printLCD("Moving Red/Blue Slider right."); |
IonSystems | 23:f9e7e64784be | 161 | maintain(RB_RIGHT); |
IonSystems | 13:0661d658d9d1 | 162 | break; |
IonSystems | 23:f9e7e64784be | 163 | |
IonSystems | 23:f9e7e64784be | 164 | case 3://GO_UP: |
IonSystems | 23:f9e7e64784be | 165 | printLCD("Moving Green Slider up."); |
IonSystems | 23:f9e7e64784be | 166 | maintain(GO_UP); |
IonSystems | 13:0661d658d9d1 | 167 | break; |
IonSystems | 23:f9e7e64784be | 168 | |
IonSystems | 23:f9e7e64784be | 169 | case 4://GO_CENTRE: |
IonSystems | 23:f9e7e64784be | 170 | printLCD("Centering Green Slider."); |
IonSystems | 23:f9e7e64784be | 171 | maintain(GO_CENTRE); |
IonSystems | 13:0661d658d9d1 | 172 | break; |
IonSystems | 23:f9e7e64784be | 173 | |
IonSystems | 23:f9e7e64784be | 174 | case 5://GO_DOWN: |
IonSystems | 23:f9e7e64784be | 175 | printLCD("Moving Green Slider down."); |
IonSystems | 23:f9e7e64784be | 176 | maintain(GO_DOWN); |
IonSystems | 13:0661d658d9d1 | 177 | break; |
IonSystems | 23:f9e7e64784be | 178 | |
IonSystems | 23:f9e7e64784be | 179 | case 6://BR_LEFT: |
IonSystems | 23:f9e7e64784be | 180 | printLCD("Moving Bin Slider left."); |
IonSystems | 23:f9e7e64784be | 181 | maintain(BR_LEFT); |
IonSystems | 13:0661d658d9d1 | 182 | break; |
IonSystems | 23:f9e7e64784be | 183 | |
IonSystems | 23:f9e7e64784be | 184 | case 7://BR_RIGHT: |
IonSystems | 23:f9e7e64784be | 185 | printLCD("Moving Bin Slider right."); |
IonSystems | 23:f9e7e64784be | 186 | maintain(BR_RIGHT); |
IonSystems | 13:0661d658d9d1 | 187 | break; |
IonSystems | 23:f9e7e64784be | 188 | |
IonSystems | 23:f9e7e64784be | 189 | case 8://R_PUSH: |
IonSystems | 23:f9e7e64784be | 190 | printLCD("Pushing red dispensor"); |
IonSystems | 23:f9e7e64784be | 191 | maintain(R_PUSH); |
IonSystems | 13:0661d658d9d1 | 192 | break; |
IonSystems | 23:f9e7e64784be | 193 | |
IonSystems | 23:f9e7e64784be | 194 | case 9://R_HOME: |
IonSystems | 23:f9e7e64784be | 195 | printLCD("Homing red dispensor"); |
IonSystems | 23:f9e7e64784be | 196 | maintain(R_HOME); |
IonSystems | 13:0661d658d9d1 | 197 | break; |
IonSystems | 23:f9e7e64784be | 198 | |
IonSystems | 23:f9e7e64784be | 199 | case 10://GB_LEFT: |
IonSystems | 23:f9e7e64784be | 200 | printLCD("Pushing green dispensor"); |
IonSystems | 23:f9e7e64784be | 201 | maintain(GB_LEFT); |
IonSystems | 13:0661d658d9d1 | 202 | break; |
IonSystems | 23:f9e7e64784be | 203 | |
IonSystems | 23:f9e7e64784be | 204 | case 11://GB_CENTRE: |
IonSystems | 23:f9e7e64784be | 205 | printLCD("Centre green/blue dispensor"); |
IonSystems | 23:f9e7e64784be | 206 | maintain(GB_CENTRE); |
IonSystems | 13:0661d658d9d1 | 207 | break; |
IonSystems | 23:f9e7e64784be | 208 | |
IonSystems | 23:f9e7e64784be | 209 | case 12://GB_RIGHT: |
IonSystems | 23:f9e7e64784be | 210 | printLCD("Pushing blue dispensor"); |
IonSystems | 23:f9e7e64784be | 211 | maintain(GB_RIGHT ); |
IonSystems | 13:0661d658d9d1 | 212 | break; |
IonSystems | 23:f9e7e64784be | 213 | |
IonSystems | 23:f9e7e64784be | 214 | case 13: //MaintenanceEND |
IonSystems | 23:f9e7e64784be | 215 | printLCD("Ending Maintenance Mode"); |
IonSystems | 23:f9e7e64784be | 216 | maintain(maintenanceEND); |
IonSystems | 22:8f11d1c178ab | 217 | break; |
IonSystems | 12:814a8fdbb6f7 | 218 | } |
IonSystems | 23:f9e7e64784be | 219 | printLCD("Ready for next command"); |
IonSystems | 23:f9e7e64784be | 220 | wait(1); |
IonSystems | 9:8d78eb55ad5e | 221 | } |
IonSystems | 23:f9e7e64784be | 222 | } |
IonSystems | 23:f9e7e64784be | 223 | } |
IonSystems | 27:47a7bc902587 | 224 | //Coordinate changing language on PC and Arduino. |
IonSystems | 23:f9e7e64784be | 225 | void changeLanguage() |
IonSystems | 23:f9e7e64784be | 226 | { |
IonSystems | 17:6a0bb0ad5bb4 | 227 | currentLanguage = nextLanguage(currentLanguage); //Change the language on teh MBED. |
IonSystems | 27:47a7bc902587 | 228 | sendLanguageCharacter(); //Tell PC & Arduino to change language. |
IonSystems | 17:6a0bb0ad5bb4 | 229 | wait(1); |
IonSystems | 23:f9e7e64784be | 230 | } |
IonSystems | 23:f9e7e64784be | 231 | |
IonSystems | 27:47a7bc902587 | 232 | /* void sortFunction() |
IonSystems | 27:47a7bc902587 | 233 | * Read sensor and sort according to the colour. |
IonSystems | 27:47a7bc902587 | 234 | */ |
IonSystems | 23:f9e7e64784be | 235 | void sortFunction() |
IonSystems | 23:f9e7e64784be | 236 | { |
IonSystems | 27:47a7bc902587 | 237 | //Read the colour twice and make sure both are the same. If not then return and try again. |
IonSystems | 24:8868101d01d0 | 238 | Thread::wait(100); |
IonSystems | 24:8868101d01d0 | 239 | Colour colour = readColourSensor(); |
IonSystems | 24:8868101d01d0 | 240 | Thread::wait(100); |
IonSystems | 23:f9e7e64784be | 241 | Colour colour2 = readColourSensor(); |
IonSystems | 23:f9e7e64784be | 242 | if(colour != colour2) { |
IonSystems | 23:f9e7e64784be | 243 | return; |
IonSystems | 23:f9e7e64784be | 244 | } |
IonSystems | 27:47a7bc902587 | 245 | //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. |
IonSystems | 24:8868101d01d0 | 246 | if(colour == BIN) { |
IonSystems | 24:8868101d01d0 | 247 | Thread::wait(100); |
IonSystems | 23:f9e7e64784be | 248 | Colour binCheck = readColourSensor(); |
IonSystems | 23:f9e7e64784be | 249 | if(binCheck != colour) { |
IonSystems | 23:f9e7e64784be | 250 | return; |
IonSystems | 23:f9e7e64784be | 251 | } |
IonSystems | 23:f9e7e64784be | 252 | } |
IonSystems | 23:f9e7e64784be | 253 | |
IonSystems | 24:8868101d01d0 | 254 | //log("Sorting colour"); |
IonSystems | 24:8868101d01d0 | 255 | sort(colour); |
IonSystems | 23:f9e7e64784be | 256 | } |
IonSystems | 23:f9e7e64784be | 257 | |
IonSystems | 28:bdf2bf56f97b | 258 | //Run sortFunction with a small delay between iterations, pulses LED. |
IonSystems | 23:f9e7e64784be | 259 | void sortMode(void const* args) |
IonSystems | 23:f9e7e64784be | 260 | { |
IonSystems | 24:8868101d01d0 | 261 | while(colourSensor && sorter) { |
IonSystems | 24:8868101d01d0 | 262 | if(operationMode) { |
IonSystems | 23:f9e7e64784be | 263 | led2 = 1; |
IonSystems | 23:f9e7e64784be | 264 | sortFunction(); |
IonSystems | 23:f9e7e64784be | 265 | led2 = 0; |
IonSystems | 23:f9e7e64784be | 266 | Thread::wait(50); |
IonSystems | 23:f9e7e64784be | 267 | } |
IonSystems | 23:f9e7e64784be | 268 | } |
IonSystems | 23:f9e7e64784be | 269 | } |
IonSystems | 28:bdf2bf56f97b | 270 | |
IonSystems | 28:bdf2bf56f97b | 271 | bool pcReady = false; //Defines whether the PC is ready to accept characters on the COM port. |
IonSystems | 28:bdf2bf56f97b | 272 | //handles dispensing from a card, changing language |
IonSystems | 23:f9e7e64784be | 273 | void dispenseFunction() |
IonSystems | 23:f9e7e64784be | 274 | { |
IonSystems | 23:f9e7e64784be | 275 | if(!pcReady) { |
IonSystems | 23:f9e7e64784be | 276 | if(pc.getc() == '*') { |
IonSystems | 23:f9e7e64784be | 277 | pcReady = true; |
IonSystems | 23:f9e7e64784be | 278 | } |
IonSystems | 23:f9e7e64784be | 279 | } else { |
IonSystems | 24:8868101d01d0 | 280 | //Check language button |
IonSystems | 24:8868101d01d0 | 281 | if(languageButton) { |
IonSystems | 24:8868101d01d0 | 282 | changeLanguage(); |
IonSystems | 24:8868101d01d0 | 283 | } |
IonSystems | 23:f9e7e64784be | 284 | if(cardReader && cardDetect) { |
IonSystems | 23:f9e7e64784be | 285 | //Read card |
IonSystems | 23:f9e7e64784be | 286 | int cardNumber = cardAcquisition(); |
IonSystems | 23:f9e7e64784be | 287 | |
IonSystems | 23:f9e7e64784be | 288 | //Send message to pc |
IonSystems | 23:f9e7e64784be | 289 | pc.putc('*'); |
IonSystems | 23:f9e7e64784be | 290 | wait(0.5); |
IonSystems | 24:8868101d01d0 | 291 | |
IonSystems | 24:8868101d01d0 | 292 | //Send card number to pc |
IonSystems | 23:f9e7e64784be | 293 | pc.printf("%i\n",cardNumber); |
IonSystems | 24:8868101d01d0 | 294 | |
IonSystems | 23:f9e7e64784be | 295 | int red = 0; |
IonSystems | 23:f9e7e64784be | 296 | int green = 0; |
IonSystems | 23:f9e7e64784be | 297 | int blue = 0; |
IonSystems | 24:8868101d01d0 | 298 | |
IonSystems | 28:bdf2bf56f97b | 299 | //Get order from pc, convert characters to integers. |
IonSystems | 23:f9e7e64784be | 300 | red = (int) pc.getc() - '0'; |
IonSystems | 23:f9e7e64784be | 301 | green = (int) pc.getc() - '0'; |
IonSystems | 23:f9e7e64784be | 302 | blue = (int) pc.getc() - '0'; |
IonSystems | 24:8868101d01d0 | 303 | |
IonSystems | 24:8868101d01d0 | 304 | //Check if there are enough chips to dispense order |
IonSystems | 24:8868101d01d0 | 305 | Thread::wait(100); |
IonSystems | 24:8868101d01d0 | 306 | if(red > redAmount || green > greenAmount || blue > blueAmount) { |
IonSystems | 24:8868101d01d0 | 307 | //If not then do not dispense |
IonSystems | 24:8868101d01d0 | 308 | pc.putc('<'); |
IonSystems | 24:8868101d01d0 | 309 | pcReady = false; |
IonSystems | 27:47a7bc902587 | 310 | } else if(red ==0 && green == 0 && blue ==0) { |
IonSystems | 24:8868101d01d0 | 311 | pc.putc('@'); |
IonSystems | 24:8868101d01d0 | 312 | pcReady = false; |
IonSystems | 27:47a7bc902587 | 313 | } else { |
IonSystems | 24:8868101d01d0 | 314 | //Otherwise there are enough tokens so dispense the order |
IonSystems | 24:8868101d01d0 | 315 | pc.putc('>'); |
IonSystems | 24:8868101d01d0 | 316 | |
IonSystems | 24:8868101d01d0 | 317 | //Display order on LCD |
IonSystems | 24:8868101d01d0 | 318 | glcd.putc(27); |
IonSystems | 24:8868101d01d0 | 319 | glcd.putc(18); |
IonSystems | 28:bdf2bf56f97b | 320 | glcd.putc(red + '0'); //Convert int to char |
IonSystems | 28:bdf2bf56f97b | 321 | glcd.putc(green + '0');//Convert int to char |
IonSystems | 28:bdf2bf56f97b | 322 | glcd.putc(blue + '0');//Convert int to char |
IonSystems | 24:8868101d01d0 | 323 | glcd.putc(255); |
IonSystems | 24:8868101d01d0 | 324 | |
IonSystems | 24:8868101d01d0 | 325 | //Dispense Order |
IonSystems | 24:8868101d01d0 | 326 | dispenseOrder(red,green,blue); |
IonSystems | 24:8868101d01d0 | 327 | |
IonSystems | 24:8868101d01d0 | 328 | //Display finished dispensing on lcd |
IonSystems | 24:8868101d01d0 | 329 | glcd.putc(27); |
IonSystems | 24:8868101d01d0 | 330 | glcd.putc(19); |
IonSystems | 24:8868101d01d0 | 331 | glcd.putc(255); |
IonSystems | 24:8868101d01d0 | 332 | |
IonSystems | 24:8868101d01d0 | 333 | //Reset pc ready |
IonSystems | 24:8868101d01d0 | 334 | pcReady = false; |
IonSystems | 24:8868101d01d0 | 335 | wait(1); |
IonSystems | 24:8868101d01d0 | 336 | pc.putc('('); |
IonSystems | 24:8868101d01d0 | 337 | } |
IonSystems | 24:8868101d01d0 | 338 | |
IonSystems | 23:f9e7e64784be | 339 | } |
IonSystems | 23:f9e7e64784be | 340 | } |
IonSystems | 23:f9e7e64784be | 341 | } |
IonSystems | 28:bdf2bf56f97b | 342 | //Runs dispenseFunction with a small delay between iterations, pulses LED. |
IonSystems | 23:f9e7e64784be | 343 | void dispenseMode(void const* args) |
IonSystems | 23:f9e7e64784be | 344 | { |
IonSystems | 24:8868101d01d0 | 345 | |
IonSystems | 24:8868101d01d0 | 346 | while(true) { |
IonSystems | 24:8868101d01d0 | 347 | if(operationMode) { |
IonSystems | 23:f9e7e64784be | 348 | led3 = 1; |
IonSystems | 23:f9e7e64784be | 349 | dispenseFunction(); |
IonSystems | 23:f9e7e64784be | 350 | led3 =0; |
IonSystems | 24:8868101d01d0 | 351 | Thread::wait(50); |
IonSystems | 23:f9e7e64784be | 352 | } |
IonSystems | 24:8868101d01d0 | 353 | |
IonSystems | 23:f9e7e64784be | 354 | } |
IonSystems | 23:f9e7e64784be | 355 | } |
IonSystems | 23:f9e7e64784be | 356 | |
IonSystems | 23:f9e7e64784be | 357 | |
IonSystems | 23:f9e7e64784be | 358 | int main() |
IonSystems | 23:f9e7e64784be | 359 | { |
IonSystems | 23:f9e7e64784be | 360 | led1 = 0; |
IonSystems | 18:12e2c82a5a6c | 361 | setupLCD(); |
IonSystems | 18:12e2c82a5a6c | 362 | printLCD("Welcome to the Chipin Sorter"); |
IonSystems | 24:8868101d01d0 | 363 | Thread::wait(1000); |
IonSystems | 12:814a8fdbb6f7 | 364 | readChipNumbers(); |
IonSystems | 12:814a8fdbb6f7 | 365 | printStoredChipValues(); |
IonSystems | 23:f9e7e64784be | 366 | printLCD("Resetting all sliders"); |
IonSystems | 28:bdf2bf56f97b | 367 | maintain(maintenanceEND); //reset sliders on FPGA |
IonSystems | 24:8868101d01d0 | 368 | printLCD(""); |
IonSystems | 24:8868101d01d0 | 369 | Thread::wait(1000); |
IonSystems | 28:bdf2bf56f97b | 370 | sendLanguageCharacter(); //Synchronise language on PC and arduino |
IonSystems | 23:f9e7e64784be | 371 | |
IonSystems | 28:bdf2bf56f97b | 372 | Thread sortThread(sortMode); //Start the sorting thread. |
IonSystems | 28:bdf2bf56f97b | 373 | if(!languageButton) { //Decide whether to start in operation mode or maintenance mode. |
IonSystems | 27:47a7bc902587 | 374 | operationMode = true; |
IonSystems | 27:47a7bc902587 | 375 | mode = 0; |
IonSystems | 27:47a7bc902587 | 376 | |
IonSystems | 27:47a7bc902587 | 377 | } else { |
IonSystems | 27:47a7bc902587 | 378 | operationMode = false; |
IonSystems | 27:47a7bc902587 | 379 | mode = 1; |
IonSystems | 24:8868101d01d0 | 380 | } |
IonSystems | 28:bdf2bf56f97b | 381 | Thread dispenseThread(dispenseMode); //Start the dispensing thread. |
IonSystems | 23:f9e7e64784be | 382 | while(true) { |
IonSystems | 28:bdf2bf56f97b | 383 | led1 = 1; //pulse led1 |
IonSystems | 23:f9e7e64784be | 384 | led4 = cardDetect; |
IonSystems | 23:f9e7e64784be | 385 | |
IonSystems | 28:bdf2bf56f97b | 386 | if(!operationMode) { //Check for maintenance commands if in maintenance mode. |
IonSystems | 10:8c0696b99692 | 387 | checkSerial(); |
IonSystems | 23:f9e7e64784be | 388 | } |
IonSystems | 28:bdf2bf56f97b | 389 | if(testFunctions) checkSortDispenseButtons(); //Run the MBED modes if enabled. |
IonSystems | 24:8868101d01d0 | 390 | Thread::wait(100); |
IonSystems | 23:f9e7e64784be | 391 | led1=0; |
IonSystems | 24:8868101d01d0 | 392 | Thread::wait(100); |
IonSystems | 23:f9e7e64784be | 393 | } |
IonSystems | 10:8c0696b99692 | 394 | } |