Diff: FPGAcomms.h

Revision:

12:814a8fdbb6f7

Parent:

11:06f6e82b40a8

Child:

13:0661d658d9d1

diff -r 06f6e82b40a8 -r 814a8fdbb6f7 FPGAcomms.h
--- a/FPGAcomms.h	Thu Nov 13 11:59:39 2014 +0000
+++ b/FPGAcomms.h	Mon Nov 17 21:31:42 2014 +0000
@@ -30,39 +30,105 @@
 DigitalOut dispenseBit1(p19);  //The 2 bits below are select bits for the dispenser.p10
 DigitalOut dispenseBit2(p20); //p11
 
-DigitalIn dispenseComplete(p12);    //FPGA sets to 1 once complete until another signal is recieved.
+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){
+        wait(0.1);
+        }
+}
+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;
+    }    
+    setMaintenanceStart(true);//Bit 7
+    waitForMaintenanceComplete();
+    setMaintenanceStart(false);
+    }
+    
+
 void dispense(Colour colour){
-    
+        bool validDispense = false;
         select = 0; //Setting to operation mode just in case it has not been set.
         dispenseBit1 = true;
         dispenseBit2 = true;
         switch(colour){
             case RED:
-                log("RED");
-                log("Setting dispense bits to 00");
-                dispenseBit1 = false;
-                dispenseBit2 = false;               
-                
+            if(redAmount > 0 || operationMode == false){
+                    log("RED");
+                    log("Setting dispense bits to 00");
+                    dispenseBit1 = false;
+                    dispenseBit2 = false;               
+                    redAmount--;
+                    validDispense = true;
+                }
             break;
             case GREEN:
-                log("GREEN");
-                log("Setting dispense bits to 10");
-                dispenseBit1 = true;
-                dispenseBit2 = false;
-                
+            if(greenAmount > 0 || operationMode == false){
+                    log("GREEN");
+                    log("Setting dispense bits to 10");
+                    dispenseBit1 = true;
+                    dispenseBit2 = false;
+                    greenAmount--;
+                    validDispense = true;
+                }
             break;
             case BLUE:
+            if(blueAmount > 0 || operationMode == false){
                 log("BLUE");
                 log("Setting dispense bits to 01");
                 dispenseBit1 = false;
                 dispenseBit2 = 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.
        
@@ -74,7 +140,7 @@
             printLCD("Waiting for dispense complete");           
         }
         
-        wait(0.5);
+        wait(0.6);
         log("Complete");
         log("Setting start dispense to false");
         startDispense = false;
@@ -86,6 +152,7 @@
       
        
         printLCD("DISPENSE COMPLETE");
+        }
     }
     
 void sort(Colour colour){
@@ -100,7 +167,7 @@
                 colourBit1 = false;
                 colourBit2 = false;
                 colourBit3 = false;              
-                
+                redAmount++;
             break;
             case GREEN:
                 log("Sort GREEN");
@@ -108,7 +175,7 @@
                 colourBit1 = true;
                 colourBit2 = false;
                 colourBit3 = false;
-                
+                greenAmount++;
             break;
             case BLUE:
                 log("Sort BLUE");
@@ -116,7 +183,7 @@
                 colourBit1 = false;
                 colourBit2 = true;
                 colourBit3 = false;
-                
+                blueAmount++;
             break;
             case BIN:
                 log("Sort BIN");
@@ -148,7 +215,7 @@
         
         
         log("Complete");
-        wait(0.5);
+        wait(0.6);
         log("Setting start sort to false");
         startSort = false;     
         
@@ -157,5 +224,27 @@
         colourBit2 = true;    //reset the dispense select to do nothing
         colourBit3 = true;
         printLCD("SORT COMPLETE");
+        writeFile(redAmount,greenAmount,blueAmount);
         
-}
\ No newline at end of file
+}
+
+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);
+    }
\ No newline at end of file