Diff: main.cpp

Revision:

0:717026d23b8e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 04 01:52:41 2013 +0000
@@ -0,0 +1,248 @@
+#include "mbed.h"
+#include "MCP23017.h"
+#include <string>
+using namespace std;
+
+DigitalOut FPGA1(p8);
+DigitalOut FPGA2(p9);
+DigitalOut FPGA3(p10);
+DigitalOut FPGA4(p11);
+
+DigitalIn sorter_Tube(p5);
+DigitalIn AAA_tube(p6);
+InterruptIn voltage_Checker_Tube(p7);
+
+Ticker AAA_checker;
+AnalogIn diode_bridge(p16);
+Serial pc(USBTX, USBRX);
+
+
+uint8_t mode;
+uint8_t in_Voltage_Checker;
+uint16_t AA_sorted;          //Amount of AA sorted
+uint16_t AA_uncharged;          //Amount of uncharged AA
+uint16_t AAA_sorted;         //Amount of AAA sorted
+uint8_t servo_maintenance;
+float voltage;
+    
+void receive() 
+{
+   char c = pc.getc();
+    if(c == 'S')//Normal Mode
+    {
+        mode = 1;
+    }
+    else if(c == 'M')//Maintenance Mode
+    {
+        mode = 2;
+    }
+    else if(c == 'A' && mode == 2)
+    {
+    servo_maintenance = 1;
+    }
+    
+    else if(c == 'B' && mode == 2)
+    {
+        servo_maintenance = 2;
+
+    }
+    
+    else if(c == 'C' && mode == 2)
+    {
+       servo_maintenance = 3;
+
+    }
+    else if(c == 'D' && mode == 2)
+    {
+       servo_maintenance = 4;
+
+    }
+    else if(c == 'N')//Emergency Stop
+    {
+        while(1){;}
+    }
+    else if (c == 'B')//Safe Stop
+    {
+        mode = 0;
+    }
+}
+
+void AAA_passed()
+{
+    if(AAA_tube == 1)
+    {
+        AAA_sorted++;
+    }
+}
+
+void in_Checker()
+{
+    in_Voltage_Checker = 1;
+
+}
+
+float average_analog(int no_of_averages)
+{
+    int i = 0;
+    float average = 0;
+    for ( i = 0; i < no_of_averages; i++)            
+        {
+            average += diode_bridge.read();
+           wait(0.001);    // wait 1mS between reading inputs
+        }
+    return average/i;
+}
+
+void update_pc()
+{
+    AAA_checker.detach();
+    
+    string serial_out;
+ 
+ 
+    char voltage_buffer[4];
+   sprintf(voltage_buffer, "%0.3f", voltage);
+ 
+   char AA_sorted_buffer[2];
+   sprintf(AA_sorted_buffer, "%d", AA_sorted);
+    
+    
+   char AA_uncharged_buffer[2];
+   sprintf(AA_uncharged_buffer , "%d", AA_uncharged);
+
+   char AAA_sorted_buffer[2];
+   sprintf(AAA_sorted_buffer , "%d", AAA_sorted);
+   
+  
+   
+  
+   if(mode == 2)
+   {
+   char sorter_tube_sensor = sorter_Tube.read();
+   char AAA_tube_sensor = AAA_tube.read();
+   
+   char sorter_tube_buffer[2];
+   sprintf(sorter_tube_buffer , "%d", sorter_tube_sensor);
+   
+   char AAA_tube_buffer[2];
+   sprintf(AAA_tube_buffer , "%d", AAA_tube_sensor);
+   
+   pc.putc('A');
+   pc.putc(sorter_tube_buffer[0]);
+   pc.putc('B');
+   pc.putc(AAA_tube_buffer[0]);
+   pc.putc('C');
+   pc.putc(in_Voltage_Checker);
+   }
+   
+   
+   pc.putc('W');
+   pc.putc(voltage_buffer[0]);
+   pc.putc(voltage_buffer[1]);
+   pc.putc(voltage_buffer[2]);  
+   pc.putc(voltage_buffer[3]);
+   
+   pc.putc('X');
+   pc.putc(AA_sorted_buffer[0]);
+   pc.putc(AA_sorted_buffer[1]);
+   pc.putc('Y');
+   pc.putc(AA_uncharged_buffer[0]);
+   pc.putc(AA_uncharged_buffer[1]);
+   pc.putc('Z');
+   pc.putc(AAA_sorted_buffer[0]);
+   pc.putc(AAA_sorted_buffer[1]);
+   pc.putc(';');
+   pc.putc('\0');
+   pc.putc('\r');
+   pc.putc('\n');
+   wait(0.5);
+       AAA_checker.attach(&AAA_passed, 0.1);  
+}
+
+
+void voltage_checker()
+{
+        AA_sorted++;
+        in_Voltage_Checker = 0;
+        FPGA4 = 1;     
+        wait(0.5);
+        FPGA4 = 0;
+        voltage = average_analog(100);
+
+        //pc.printf("%f\n", voltage);  
+        wait(1);
+        if (voltage < 0.2)
+        {
+        AA_uncharged++;
+           FPGA2 = 1;
+           wait(2);
+           FPGA2 = 0; 
+        }
+        else
+        {
+           FPGA3 = 1;
+           wait(2);
+           FPGA3 = 0;
+        }
+}
+int main() {
+   pc.attach(&receive);             //Attach PC receive interrupt
+   voltage_Checker_Tube.rise(&in_Checker);
+   AAA_checker.attach(&AAA_passed, 0.1); 
+   while(1) {
+    if(mode == 1)
+    {
+     if(sorter_Tube == 1)
+        {
+            FPGA1 = 1;
+            wait(1);
+            FPGA1 = 0;
+            wait(3);
+        
+            if(in_Voltage_Checker == 1)
+            {
+                voltage_checker();
+                update_pc();   
+            }
+             
+        }
+    }
+    else if(mode == 2)
+    {
+        
+
+        switch(servo_maintenance)
+        {
+        case 1:
+           FPGA1 = 1;
+            wait(1);
+            FPGA1 = 0;
+        break;
+        
+        case 2:
+            FPGA2 = 1;
+            wait(2);
+            FPGA2 = 0;
+        break;
+        
+        case 3:
+            FPGA3 = 1;
+            wait(2);
+            FPGA3 = 0;
+        break;
+        
+        case 4:
+            FPGA4 = 1;
+            wait(1);
+            FPGA4 = 0;
+            wait(0.5);
+            voltage_checker();
+        break;
+        }
+        update_pc();
+        servo_maintenance = 0;
+        wait(4);
+    }
+   }
+    
+}