Diff: FinalV1/ColourSensor.cpp

Revision:

0:270ea1abdd2d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FinalV1/ColourSensor.cpp	Thu Mar 21 19:43:09 2019 +0000
@@ -0,0 +1,144 @@
+// ColourSensor.cpp
+
+#include "ColourSensor_H.h"
+#include "mbed.h"
+
+ColourSensor::ColourSensor(PinName sensor1, PinName sensor2, PinName Out):
+    inOne(sensor1), inTwo(sensor2), solenoid(Out) {
+        // Class constructor for colour sensor & solenoid
+        // Sets initial conditions of operation
+        
+        initialConditions();
+}
+
+void ColourSensor::initialConditions() {
+    // set initial conditions & variables
+    //printf("Setting Initial Conditions\n\r");
+    sensorOne = inOne.read();
+    sensorOneOld = inOne.read();
+    sensorOneCheck = inOne.read();
+    sensorTwo = inTwo.read();
+    sensorTwoOld = inTwo.read();
+    sensorTwoCheck = inTwo.read();
+    
+    
+    newDetection = 0;
+    diskHave = 0;
+    
+    solenoidState = 0;
+    
+    toggleA = 0;
+    toggleB = 0;
+    toggleC = 0;
+    toggleConst = 1;
+    
+    flagColour = 0;
+    
+    solenoidSet(0);
+}
+
+void ColourSensor::solenoidOn() {
+    // Interrupt (software): Turn ON solenoid
+    //printf("Turning solenoid back ON\n\r");
+    
+    solenoidSet(0);
+}
+
+void ColourSensor::solenoidSet(bool state) {
+    // Turns solenoid on/off, sets solenoid's pull strength
+    // state: pass 1 or 0 for solenoid ON or OFF respectively
+    
+    solenoid.write(state);
+    
+    //printf("Solenoid has been set to %i\n\r", state);
+    
+    solenoidState = state;
+}
+
+void ColourSensor::readSensor() {
+    // Interrupt function (software): reads in colour detection state
+    
+    // Update variables
+    sensorOneOld = sensorOne;
+    sensorTwoOld = sensorTwo;
+    
+    //printf("Reading colour detection state\n\r");
+    
+    sensorOne = inOne.read();
+    sensorTwo = inTwo.read();
+    
+    toggleA = 1;
+}
+
+void ColourSensor::convert() {
+    // Converts sensor logic to sensible logic
+    
+    sensorIfOld = sensorIf; // Transfer variable states
+    newDetection = 0;
+    
+    sensorIf = !(sensorOne xor sensorTwo);
+    
+    if(sensorIf && !sensorIfOld) {
+        sensorColour = sensorOne & sensorTwo;
+        newDetection = 1;
+        toggleB = 1;
+    }
+    if(!diskHave)solenoidSet(0);
+}
+
+void ColourSensor::ColourCheck(){
+    sensorOneCheck = inOne.read();
+    sensorTwoCheck = inTwo.read();
+    bool sensorColourCheck = sensorOneCheck & sensorTwoCheck;
+   if( sensorColour == sensorColourCheck )toggleC = 1;
+   else toggleB = 0;
+   
+   }
+    
+    
+    
+    
+
+void ColourSensor::makeColourActive() {
+    // Interrupt function (software): reactivates colour processing 
+    toggleConst = 1;
+    
+    //printf("Colour processing Activated\n\r");
+}
+
+void ColourSensor::process() {
+    // Processes change of state in colour detection
+    //printf("Colour process() called\n\r");
+    
+    if (!diskHave && newDetection) {
+        // If: No disk & colour newly detected, turn on solenoid
+        //printf("Colour detected; collecting disk\n\r");
+        
+        solenoidSet(1);
+        diskHave = 1;
+        diskColour = sensorColour;
+    } 
+    
+    else if ((diskHave && newDetection) && (diskColour == sensorColour)) {
+        // If: Have disk & colour newly detected & disk colour is same as detected colour, turn off solenoid
+        //printf("Correct colour detected; depositing disk\n\r");
+        
+        solenoidSet(0);
+        flagColour = 1;
+        diskHave = 0;
+    }
+    
+    /*else if ((diskHave && newDetection) && (sensorTwo != diskColour)) {
+        // If: Have disk & colour newly detected & disk colour is NOT same as detected colour, update variables
+        //printf("Wrong colour detected; keeping disk\n\r");
+    }*/
+    
+    else {
+        //printf("Cool (y)\n\r");
+    }
+    
+    // Temporarily disable colour processing
+    //printf("Disabling colour processing\n\r");
+    toggleConst = 0;
+    toggleC = 0;
+}
\ No newline at end of file