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
Diff: main.cpp
- Revision:
- 14:31ba3e56c788
- Parent:
- 13:0661d658d9d1
- Child:
- 15:0c5f20e15b6a
diff -r 0661d658d9d1 -r 31ba3e56c788 main.cpp --- a/main.cpp Thu Nov 20 11:15:47 2014 +0000 +++ b/main.cpp Thu Nov 20 22:02:54 2014 +0000 @@ -31,9 +31,9 @@ bool chipDetected = false; -int mode = 0; +int mode = 3; int maintenanceModePointer = 0; - +Colour lastColour = NONE; void checkSortDispenseButtons(){ @@ -85,11 +85,19 @@ stateMachine = SORT_RECYCLE; processState(stateMachine); } - }else if(mode == 3){ //Colour Sensing Mode + }else if(mode == 3){ + printLCD("Colour Sensor Mode"); //Colour Sensing Mode if(colourSensor){ Colour colour = readColourSensor(); - if(sorter) sort(colour); //Put (sorter && colour != BIN) in if statement. + lastColour = colour; + if(lastColour == NONE || lastColour == BIN){ + return; + } + + if(sorter) sort(colour); + //Put (sorter && colour != BIN) in if statement. } + //if }else if(mode == 4){ //Card Reader Mode if(cardReader && cardDetect){ cardAcquisition(); @@ -119,6 +127,7 @@ } }else if(mode == 6){ //Maintenance Mode + printLCD("Maintenace Mode"); if(par_port->read_bit(8)){ //Next maintenance function maintenanceModePointer++; if(maintenanceModePointer > 12) maintenanceModePointer = 0; @@ -128,60 +137,74 @@ }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: - maintain(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: - maintain(GB_RIGHT); + printLCD("Pushing blue dispensor"); + maintain(GB_RIGHT ); break; - } + } printLCD("Ready for next command"); + wait(1); } } } @@ -194,7 +217,7 @@ processState(stateMachine); readChipNumbers(); printStoredChipValues(); - displayOperationMode(); + //displayOperationMode(); while(true){ if(serialComms){ checkSerial();