Diff: main.cpp

Revision:

3:97668a4cd69d

Parent:

2:168850019d5a

Child:

4:f3be545b3826

diff -r 168850019d5a -r 97668a4cd69d main.cpp
--- a/main.cpp	Wed Oct 29 11:11:02 2014 +0000
+++ b/main.cpp	Tue Nov 04 17:30:49 2014 +0000
@@ -2,22 +2,23 @@
 #include "MCP23017.h"
 #include "WattBob_TextLCD.h"
 #include "TCS3472_I2C.h"
+#include <string>
 
-//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);
+//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 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.
@@ -42,15 +43,26 @@
 double rMax = 9244;
 double gMax = 3194;
 double bMax = 3590;
-TCS3472_I2C rgb_sensor(p28, p27);
+TCS3472_I2C rgb_sensor(p28,p27); //p28 =sda, p27=scl
+//thresholds are in the RGB format.
+int redLowerThresholds [3] = {79,23,41};
+int redUpperThresholds [3]= {92,28,49};
+int greenLowerThresholds [3] = {46,81,61};
+int greenUpperThresholds [3]= {57,100,75};
+int blueLowerThresholds [3]= {25,47,47};
+int blueUpperThresholds [3]= {28,52,52};
 
-//setup Card Reader stuff
+//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.
@@ -77,16 +89,94 @@
 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 printLCD(char * text){
+        
+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();
-        lcd->printf(text);
+        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.
@@ -140,7 +230,7 @@
 */
    
 void processMessage(char c){
-       if(!operation){ switch(c){
+     switch(c){
             case 'a' : //servo 1 clockwise
                 sendCharacter('a'); //bounce back for acknowledgement
                 printLCD("S1 clockwise");
@@ -166,25 +256,35 @@
                     //wait(0.1);
                 }
                 sendCharacter('C'); //Tells PC that the card has been read
-                printLCD("Card read success");
+                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");
+                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
-                sortStart = true; 
+                startSort = true; 
+            break;
+            case 't'://Test 180 servo
+            sendCharacter('T');
+            printLCD("Servo signal on");
+            servoTest = true;
             break;
-        }
-        }
-        else if (operation){
+            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.
@@ -202,10 +302,10 @@
                     sendCharacter('P');
                 break;
                 }
-            }
+          */  }
 }
         
-void colourSensorTick(){
+void readColourSensor(){
         rgb_sensor.getAllColors(rgb_readings);
         
         double redd = (rgb_readings[1] /gMax) * 255;
@@ -215,7 +315,7 @@
         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);
@@ -231,6 +331,12 @@
             lcd->printf("BLUE");
         }  
 }
+
+void resetForNextCustomer(){
+        colourDataAcquired = false;
+        cardDataAcquired = false;
+        printLCD("Ready for next customer");
+        }
         
 int main() {
     //Setting up all the global variables
@@ -241,30 +347,27 @@
     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
+   // 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){
-        char c = pc.getc(); //wait for a serial character to be recieved.
-        processMessage(c);  //Do something, based on the character recieved.
+       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) readColourSensor();
         }
       
         
-            /*
-            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();
-                    }
-        
-        */
+
     }