Ion Systems / Mbed 2 deprecated Chipin_Main

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   MCP23017 TCS3472_I2C WattBob_TextLCD mbed-rtos mbed

main.cpp@17:6a0bb0ad5bb4, 2014-11-24 (annotated)

Committer:
IonSystems
Date:
Mon Nov 24 14:00:46 2014 +0000
Revision:
17:6a0bb0ad5bb4
Parent:
16:498359d078dc
Child:
18:12e2c82a5a6c
fixed some bugs, great comment i know

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IonSystems 12:814a8fdbb6f7 1 bool operationMode = true; //the MBED starts in operation mode.
IonSystems 0:8d54ffcf256e 2 #include "mbed.h"
IonSystems 15:0c5f20e15b6a 3 #include "Language.h"
IonSystems 15:0c5f20e15b6a 4 DigitalIn languageButton(p30);
IonSystems 15:0c5f20e15b6a 5 Language currentLanguage = ENGLISH;
IonSystems 6:e64796f1f384 6 #include <sstream>
IonSystems 12:814a8fdbb6f7 7 #include <string>
IonSystems 15:0c5f20e15b6a 8
IonSystems 17:6a0bb0ad5bb4 9
IonSystems 6:e64796f1f384 10 #include "mbedStorage.h"
IonSystems 6:e64796f1f384 11 #include "rgbLED.h"
IonSystems 6:e64796f1f384 12 #include "mbedLCD.h"
IonSystems 7:6ba00694f9cd 13 #include "stateMachine.h"
IonSystems 8:b7771391adc9 14 #include "FPGAcomms.h"
IonSystems 10:8c0696b99692 15 #ifndef serialComm
IonSystems 10:8c0696b99692 16 #define serialComm
IonSystems 15:0c5f20e15b6a 17
IonSystems 10:8c0696b99692 18 #include "serialCommunication.h"
IonSystems 10:8c0696b99692 19 #endif
IonSystems 10:8c0696b99692 20 #include "testFunctions.h"
IonSystems 5:644bca33c1ca 21
IonSystems 0:8d54ffcf256e 22
IonSystems 11:06f6e82b40a8 23
IonSystems 11:06f6e82b40a8 24
IonSystems 7:6ba00694f9cd 25 StateMachine stateMachine;
IonSystems 7:6ba00694f9cd 26
IonSystems 6:e64796f1f384 27 //Boolean values to easily enable and disable certain features for individual testing
IonSystems 6:e64796f1f384 28 bool colourSensor = true;
IonSystems 6:e64796f1f384 29 bool cardReader = true;
IonSystems 6:e64796f1f384 30 bool sorter = true;
IonSystems 6:e64796f1f384 31 bool dispensor = true;
IonSystems 10:8c0696b99692 32 bool testFunctions = true;
IonSystems 10:8c0696b99692 33 bool serialComms = true;
IonSystems 6:e64796f1f384 34
IonSystems 6:e64796f1f384 35 bool colourDataAcquired = false;
IonSystems 6:e64796f1f384 36 bool chipDetected = false;
IonSystems 12:814a8fdbb6f7 37
IonSystems 3:97668a4cd69d 38
IonSystems 17:6a0bb0ad5bb4 39 int mode = 3;
IonSystems 13:0661d658d9d1 40 int maintenanceModePointer = 0;
IonSystems 14:31ba3e56c788 41 Colour lastColour = NONE;
IonSystems 17:6a0bb0ad5bb4 42 Colour colourStore = NONE;
IonSystems 10:8c0696b99692 43
IonSystems 10:8c0696b99692 44 void checkSortDispenseButtons(){
IonSystems 11:06f6e82b40a8 45
IonSystems 11:06f6e82b40a8 46 if(par_port->read_bit(11)){
IonSystems 12:814a8fdbb6f7 47 mode++;
IonSystems 13:0661d658d9d1 48 if(mode >= 7) mode = 0;
IonSystems 11:06f6e82b40a8 49 }
IonSystems 11:06f6e82b40a8 50
IonSystems 11:06f6e82b40a8 51
IonSystems 13:0661d658d9d1 52 if(mode == 0){ //Dispense Mode
IonSystems 11:06f6e82b40a8 53 printLCD("Dispense Mode");
IonSystems 10:8c0696b99692 54 if(par_port->read_bit(8)){
IonSystems 10:8c0696b99692 55 log("Red Button pressed");
IonSystems 10:8c0696b99692 56 stateMachine = DISPENSE_RED;
IonSystems 10:8c0696b99692 57 processState(stateMachine);
IonSystems 10:8c0696b99692 58 }else if(par_port->read_bit(9)){
IonSystems 10:8c0696b99692 59 log("Green Button pressed");
IonSystems 10:8c0696b99692 60 stateMachine = DISPENSE_GREEN;
IonSystems 10:8c0696b99692 61 processState(stateMachine);
IonSystems 10:8c0696b99692 62 }else if(par_port->read_bit(10)){
IonSystems 10:8c0696b99692 63 log("Blue Button pressed");
IonSystems 10:8c0696b99692 64 stateMachine = DISPENSE_BLUE;
IonSystems 10:8c0696b99692 65 processState(stateMachine);
IonSystems 10:8c0696b99692 66 }
IonSystems 13:0661d658d9d1 67 }else if(mode == 1){ //Sort Mode
IonSystems 11:06f6e82b40a8 68 printLCD("Sort Mode");
IonSystems 10:8c0696b99692 69 if(par_port->read_bit(8)){
IonSystems 10:8c0696b99692 70 log("Red Button pressed");
IonSystems 10:8c0696b99692 71 stateMachine = SORT_RED;
IonSystems 10:8c0696b99692 72 processState(stateMachine);
IonSystems 10:8c0696b99692 73 }else if(par_port->read_bit(9)){
IonSystems 13:0661d658d9d1 74 log("Green Button pressed");
IonSystems 10:8c0696b99692 75 stateMachine = SORT_GREEN;
IonSystems 10:8c0696b99692 76 processState(stateMachine);
IonSystems 10:8c0696b99692 77 }else if(par_port->read_bit(10)){
IonSystems 10:8c0696b99692 78 log("Blue Button pressed");
IonSystems 10:8c0696b99692 79 stateMachine = SORT_BLUE;
IonSystems 10:8c0696b99692 80 processState(stateMachine);
IonSystems 10:8c0696b99692 81 }
IonSystems 11:06f6e82b40a8 82
IonSystems 13:0661d658d9d1 83 }else if(mode == 2){ //Bin/Recycle Mode
IonSystems 11:06f6e82b40a8 84 printLCD("Bin/Recycle Mode");
IonSystems 11:06f6e82b40a8 85 if(par_port->read_bit(8)){
IonSystems 11:06f6e82b40a8 86 log("Bin button pressed");
IonSystems 11:06f6e82b40a8 87 stateMachine = SORT_BIN;
IonSystems 11:06f6e82b40a8 88 processState(stateMachine);
IonSystems 11:06f6e82b40a8 89 }else if(par_port->read_bit(9)){
IonSystems 11:06f6e82b40a8 90 log("Recycle Button");
IonSystems 11:06f6e82b40a8 91 stateMachine = SORT_RECYCLE;
IonSystems 11:06f6e82b40a8 92 processState(stateMachine);
IonSystems 11:06f6e82b40a8 93 }
IonSystems 14:31ba3e56c788 94 }else if(mode == 3){
IonSystems 14:31ba3e56c788 95 printLCD("Colour Sensor Mode"); //Colour Sensing Mode
IonSystems 11:06f6e82b40a8 96 if(colourSensor){
IonSystems 17:6a0bb0ad5bb4 97
IonSystems 17:6a0bb0ad5bb4 98
IonSystems 17:6a0bb0ad5bb4 99 Colour colour = readColourSensor();
IonSystems 17:6a0bb0ad5bb4 100 lastColour = colourStore;
IonSystems 17:6a0bb0ad5bb4 101 colourStore = colour;
IonSystems 15:0c5f20e15b6a 102 /* Tries to prevent a colour mis-read. When a chip is read as BIN or NONE,
IonSystems 15:0c5f20e15b6a 103 the chip may be falling down the tube as the reading was taken. The chip may
IonSystems 15:0c5f20e15b6a 104 also be out of position on the slider. Ignoring the next reading is trying to
IonSystems 15:0c5f20e15b6a 105 prevent a mis-read being valid.
IonSystems 15:0c5f20e15b6a 106 */
IonSystems 17:6a0bb0ad5bb4 107 if(lastColour == NONE){
IonSystems 17:6a0bb0ad5bb4 108
IonSystems 14:31ba3e56c788 109 return;
IonSystems 14:31ba3e56c788 110 }
IonSystems 17:6a0bb0ad5bb4 111
IonSystems 14:31ba3e56c788 112 if(sorter) sort(colour);
IonSystems 14:31ba3e56c788 113 //Put (sorter && colour != BIN) in if statement.
IonSystems 11:06f6e82b40a8 114 }
IonSystems 14:31ba3e56c788 115 //if
IonSystems 13:0661d658d9d1 116 }else if(mode == 4){ //Card Reader Mode
IonSystems 12:814a8fdbb6f7 117 if(cardReader && cardDetect){
IonSystems 12:814a8fdbb6f7 118 cardAcquisition();
IonSystems 12:814a8fdbb6f7 119
IonSystems 12:814a8fdbb6f7 120 }
IonSystems 13:0661d658d9d1 121 }else if(mode == 5){ //Storage Mode
IonSystems 12:814a8fdbb6f7 122 stringstream ss;
IonSystems 12:814a8fdbb6f7 123 ss << "Stored Values " << "R:" << redAmount << "G:" << greenAmount << "B:" << blueAmount;
IonSystems 12:814a8fdbb6f7 124 string tmp = ss.str();
IonSystems 12:814a8fdbb6f7 125 printLCD(tmp.c_str());
IonSystems 12:814a8fdbb6f7 126 wait(0.1);
IonSystems 12:814a8fdbb6f7 127 if(par_port->read_bit(8)){
IonSystems 12:814a8fdbb6f7 128 log("Dispense all button pressed");
IonSystems 12:814a8fdbb6f7 129 stateMachine = DISPENSE_ALL;
IonSystems 12:814a8fdbb6f7 130 processState(stateMachine);
IonSystems 12:814a8fdbb6f7 131 }else if(par_port->read_bit(9)){
IonSystems 12:814a8fdbb6f7 132 log("Clear stored numbers button pressed");
IonSystems 12:814a8fdbb6f7 133 writeFile(0,0,0);
IonSystems 12:814a8fdbb6f7 134 redAmount = 0;greenAmount = 0;blueAmount = 0;
IonSystems 12:814a8fdbb6f7 135 printLCD("Cleared values");
IonSystems 12:814a8fdbb6f7 136
IonSystems 12:814a8fdbb6f7 137 }else if(par_port->read_bit(10)){
IonSystems 16:498359d078dc 138 log("Increment all stored values by 2.");
IonSystems 16:498359d078dc 139 redAmount += 2;greenAmount += 2;blueAmount += 2;
IonSystems 16:498359d078dc 140 writeFile(redAmount,greenAmount,blueAmount);
IonSystems 16:498359d078dc 141
IonSystems 13:0661d658d9d1 142 printLCD("set values to 2");
IonSystems 12:814a8fdbb6f7 143
IonSystems 12:814a8fdbb6f7 144 }
IonSystems 17:6a0bb0ad5bb4 145 }else if(mode == 6){
IonSystems 17:6a0bb0ad5bb4 146 printLCD("Main. Mode: " + maintenanceModeSelect);
IonSystems 17:6a0bb0ad5bb4 147 wait(0.1); //Maintenance Mode
IonSystems 17:6a0bb0ad5bb4 148 //printLCD("Maintenance Mode");
IonSystems 13:0661d658d9d1 149 if(par_port->read_bit(8)){ //Next maintenance function
IonSystems 13:0661d658d9d1 150 maintenanceModePointer++;
IonSystems 13:0661d658d9d1 151 if(maintenanceModePointer > 12) maintenanceModePointer = 0;
IonSystems 13:0661d658d9d1 152 }else if(par_port->read_bit(9)){ //Previous maintenance function
IonSystems 13:0661d658d9d1 153 maintenanceModePointer--;
IonSystems 13:0661d658d9d1 154 if(maintenanceModePointer < 0) maintenanceModePointer = 12;
IonSystems 13:0661d658d9d1 155 }else if(par_port->read_bit(10)){ //Process Instruction
IonSystems 13:0661d658d9d1 156 switch(maintenanceModePointer){
IonSystems 13:0661d658d9d1 157 case 0://RB_LEFT:
IonSystems 14:31ba3e56c788 158 printLCD("Moving Red/Blue Slider left.");
IonSystems 13:0661d658d9d1 159 maintain(RB_LEFT);
IonSystems 13:0661d658d9d1 160 break;
IonSystems 13:0661d658d9d1 161
IonSystems 13:0661d658d9d1 162 case 1://RB_CENTRE:
IonSystems 14:31ba3e56c788 163 printLCD("Centering Red/Blue Slider.");
IonSystems 13:0661d658d9d1 164 maintain(RB_CENTRE);
IonSystems 13:0661d658d9d1 165 break;
IonSystems 13:0661d658d9d1 166
IonSystems 13:0661d658d9d1 167 case 2://RB_RIGHT:
IonSystems 14:31ba3e56c788 168 printLCD("Moving Red/Blue Slider right.");
IonSystems 13:0661d658d9d1 169 maintain(RB_RIGHT);
IonSystems 13:0661d658d9d1 170 break;
IonSystems 13:0661d658d9d1 171
IonSystems 13:0661d658d9d1 172 case 3://GO_UP:
IonSystems 14:31ba3e56c788 173 printLCD("Moving Green Slider up.");
IonSystems 13:0661d658d9d1 174 maintain(GO_UP);
IonSystems 13:0661d658d9d1 175 break;
IonSystems 13:0661d658d9d1 176
IonSystems 13:0661d658d9d1 177 case 4://GO_CENTRE:
IonSystems 14:31ba3e56c788 178 printLCD("Centering Green Slider.");
IonSystems 13:0661d658d9d1 179 maintain(GO_CENTRE);
IonSystems 13:0661d658d9d1 180 break;
IonSystems 13:0661d658d9d1 181
IonSystems 13:0661d658d9d1 182 case 5://GO_DOWN:
IonSystems 14:31ba3e56c788 183 printLCD("Moving Green Slider down.");
IonSystems 13:0661d658d9d1 184 maintain(GO_DOWN);
IonSystems 13:0661d658d9d1 185 break;
IonSystems 13:0661d658d9d1 186
IonSystems 13:0661d658d9d1 187 case 6://BR_LEFT:
IonSystems 14:31ba3e56c788 188 printLCD("Moving Bin Slider left.");
IonSystems 13:0661d658d9d1 189 maintain(BR_LEFT);
IonSystems 13:0661d658d9d1 190 break;
IonSystems 13:0661d658d9d1 191
IonSystems 13:0661d658d9d1 192 case 7://BR_RIGHT:
IonSystems 14:31ba3e56c788 193 printLCD("Moving Bin Slider right.");
IonSystems 13:0661d658d9d1 194 maintain(BR_RIGHT);
IonSystems 13:0661d658d9d1 195 break;
IonSystems 13:0661d658d9d1 196
IonSystems 13:0661d658d9d1 197 case 8://R_PUSH:
IonSystems 14:31ba3e56c788 198 printLCD("Pushing red dispensor");
IonSystems 13:0661d658d9d1 199 maintain(R_PUSH);
IonSystems 13:0661d658d9d1 200 break;
IonSystems 13:0661d658d9d1 201
IonSystems 13:0661d658d9d1 202 case 9://R_HOME:
IonSystems 14:31ba3e56c788 203 printLCD("Homing red dispensor");
IonSystems 14:31ba3e56c788 204 maintain(R_HOME);
IonSystems 13:0661d658d9d1 205 break;
IonSystems 13:0661d658d9d1 206
IonSystems 13:0661d658d9d1 207 case 10://GB_LEFT:
IonSystems 14:31ba3e56c788 208 printLCD("Pushing green dispensor");
IonSystems 13:0661d658d9d1 209 maintain(GB_LEFT);
IonSystems 13:0661d658d9d1 210 break;
IonSystems 13:0661d658d9d1 211
IonSystems 13:0661d658d9d1 212 case 11://GB_CENTRE:
IonSystems 14:31ba3e56c788 213 printLCD("Centre green/blue dispensor");
IonSystems 13:0661d658d9d1 214 maintain(GB_CENTRE);
IonSystems 13:0661d658d9d1 215 break;
IonSystems 13:0661d658d9d1 216
IonSystems 13:0661d658d9d1 217 case 12://GB_RIGHT:
IonSystems 14:31ba3e56c788 218 printLCD("Pushing blue dispensor");
IonSystems 14:31ba3e56c788 219 maintain(GB_RIGHT );
IonSystems 13:0661d658d9d1 220 break;
IonSystems 13:0661d658d9d1 221
IonSystems 13:0661d658d9d1 222
IonSystems 13:0661d658d9d1 223
IonSystems 14:31ba3e56c788 224 } printLCD("Ready for next command");
IonSystems 14:31ba3e56c788 225 wait(1);
IonSystems 13:0661d658d9d1 226 }
IonSystems 12:814a8fdbb6f7 227 }
IonSystems 9:8d78eb55ad5e 228 }
IonSystems 12:814a8fdbb6f7 229
IonSystems 15:0c5f20e15b6a 230 void changeLanguage(){
IonSystems 17:6a0bb0ad5bb4 231 currentLanguage = nextLanguage(currentLanguage); //Change the language on teh MBED.
IonSystems 17:6a0bb0ad5bb4 232 sendLanguageCharacter(); //Tell PC to change language
IonSystems 17:6a0bb0ad5bb4 233 ////Change Language //Tell Arduino to change language.
IonSystems 15:0c5f20e15b6a 234 printLCD("setting language to english");
IonSystems 17:6a0bb0ad5bb4 235 wait(1);
IonSystems 15:0c5f20e15b6a 236 }
IonSystems 6:e64796f1f384 237
IonSystems 6:e64796f1f384 238 int main() {
IonSystems 12:814a8fdbb6f7 239
IonSystems 7:6ba00694f9cd 240 stateMachine = INITIALISING;
IonSystems 8:b7771391adc9 241 processState(stateMachine);
IonSystems 12:814a8fdbb6f7 242 readChipNumbers();
IonSystems 12:814a8fdbb6f7 243 printStoredChipValues();
IonSystems 14:31ba3e56c788 244 //displayOperationMode();
IonSystems 8:b7771391adc9 245 while(true){
IonSystems 10:8c0696b99692 246 if(serialComms){
IonSystems 10:8c0696b99692 247 checkSerial();
IonSystems 12:814a8fdbb6f7 248 }if(testFunctions) checkSortDispenseButtons();
IonSystems 17:6a0bb0ad5bb4 249 //if(languageButton) changeLanguage();
IonSystems 15:0c5f20e15b6a 250
IonSystems 15:0c5f20e15b6a 251
IonSystems 15:0c5f20e15b6a 252
IonSystems 15:0c5f20e15b6a 253
IonSystems 11:06f6e82b40a8 254 wait(0.05);
IonSystems 12:814a8fdbb6f7 255
IonSystems 8:b7771391adc9 256 }
IonSystems 10:8c0696b99692 257 /*char c;
IonSystems 10:8c0696b99692 258 if(c = readCharacter()){
IonSystems 10:8c0696b99692 259 processMessage(c);
IonSystems 10:8c0696b99692 260 }*/
IonSystems 11:06f6e82b40a8 261
IonSystems 11:06f6e82b40a8 262
IonSystems 10:8c0696b99692 263 }
IonSystems 9:8d78eb55ad5e 264
IonSystems 9:8d78eb55ad5e 265
IonSystems 9:8d78eb55ad5e 266
IonSystems 17:6a0bb0ad5bb4 267
IonSystems 8:b7771391adc9 268
IonSystems 17:6a0bb0ad5bb4 269
IonSystems 3:97668a4cd69d 270
IonSystems 10:8c0696b99692 271
IonSystems 10:8c0696b99692 272