Chandan Siyag / Mbed 2 deprecated AlooMBED

3rd year group project. Electronic and Electrical Engineering. Heriot-Watt University. This is the code for the mbed for the Automatic Little Object Organiser (ALOO).

Dependencies:   MCP23017 TCS3472_I2C WattBob_TextLCD mbed

globals.cpp@24:02c61793f90b, 2015-11-29 (annotated)

Committer:
dreamselec
Date:
Sun Nov 29 01:05:42 2015 +0000
Revision:
24:02c61793f90b
Parent:
23:db91aaa43a9e
Child:
25:792540d69c49
Both break-beam and servo test modes working.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dreamselec 2:7a55cb10259f 1 #include "globals.h"
dreamselec 9:dc8f155b71c8 2 #include "Block.h"
dreamselec 9:dc8f155b71c8 3 #include "fpga.h"
dreamselec 10:16ba52f8e025 4 #include "TCS3472_I2C.h"
dreamselec 10:16ba52f8e025 5 #include "MCP23017.h"
dreamselec 10:16ba52f8e025 6 #include "WattBob_TextLCD.h"
dreamselec 2:7a55cb10259f 7
dreamselec 7:b6e31bfdb2af 8 int kDefaultBaudRate = 19200;
dreamselec 20:4e0f0944f28f 9 //TODO: Not let it be constant.
dreamselec 20:4e0f0944f28f 10 int ColourSensorError = 0.5;
dreamselec 2:7a55cb10259f 11 //SerialBase gParity = SerialBase::None;
dreamselec 2:7a55cb10259f 12 int gStopBits = 1;
dreamselec 3:843b830ee8bd 13
dreamselec 20:4e0f0944f28f 14
dreamselec 20:4e0f0944f28f 15 Block _HazBlock = Block();
dreamselec 8:e1da2ae62885 16
dreamselec 8:e1da2ae62885 17 bool connectedToPC = false;
dreamselec 10:16ba52f8e025 18 bool runServoTest = false;
dreamselec 23:db91aaa43a9e 19 bool runBreakBeamTest = false;
dreamselec 17:af373246bf80 20 PCModes currentMode = None;
dreamselec 18:44a1c1a30166 21 Controls currentState = Pause;
dreamselec 8:e1da2ae62885 22
dreamselec 20:4e0f0944f28f 23 void DefaultHazBlock(){
dreamselec 20:4e0f0944f28f 24 Colour _minRedBlock = Colour();
dreamselec 20:4e0f0944f28f 25 Colour _maxRedBlock = Colour();
dreamselec 20:4e0f0944f28f 26 Colour _averageRedBlock = Colour();
dreamselec 20:4e0f0944f28f 27
dreamselec 20:4e0f0944f28f 28 for (int i = 0; i < 4; i++){
dreamselec 20:4e0f0944f28f 29 _minRedBlock.components[i] = kMinRedBlock[i];
dreamselec 20:4e0f0944f28f 30 _maxRedBlock.components[i] = kMaxRedBlock[i];
dreamselec 20:4e0f0944f28f 31 _averageRedBlock.components[i] = kAverageRedBlock[i];
dreamselec 20:4e0f0944f28f 32 }
dreamselec 20:4e0f0944f28f 33
dreamselec 20:4e0f0944f28f 34 _HazBlock.minColour = Colour(_minRedBlock);
dreamselec 20:4e0f0944f28f 35 _HazBlock.maxColour = Colour(_maxRedBlock);
dreamselec 20:4e0f0944f28f 36 _HazBlock.averageColour = Colour(_averageRedBlock);
dreamselec 20:4e0f0944f28f 37 _HazBlock.size = Block::Small;
dreamselec 20:4e0f0944f28f 38
dreamselec 20:4e0f0944f28f 39 // defaultHazBlock.minColour = Colour(_minRedBlock);
dreamselec 20:4e0f0944f28f 40 // defaultHazBlock.maxColour = Colour(_maxRedBlock);
dreamselec 20:4e0f0944f28f 41 // defaultHazBlock.averageColour = Colour(_averageRedBlock);
dreamselec 20:4e0f0944f28f 42
dreamselec 20:4e0f0944f28f 43 // Block _HazBlock = Block(defaultHazBlock);
dreamselec 20:4e0f0944f28f 44 }
dreamselec 20:4e0f0944f28f 45
dreamselec 10:16ba52f8e025 46 int readSwitches()
dreamselec 10:16ba52f8e025 47 {
dreamselec 20:4e0f0944f28f 48 if(i2cport->read_bit(8)) {
dreamselec 20:4e0f0944f28f 49 while (i2cport->read_bit(8)) { }
dreamselec 20:4e0f0944f28f 50 return 1;
dreamselec 20:4e0f0944f28f 51 } else if (i2cport->read_bit(9)) {
dreamselec 20:4e0f0944f28f 52 while (i2cport->read_bit(9)) { }
dreamselec 20:4e0f0944f28f 53 return 2;
dreamselec 20:4e0f0944f28f 54 } else if (i2cport->read_bit(10)) {
dreamselec 20:4e0f0944f28f 55 while (i2cport->read_bit(10)) { }
dreamselec 20:4e0f0944f28f 56 return 3;
dreamselec 20:4e0f0944f28f 57 } else if (i2cport->read_bit(11)) {
dreamselec 20:4e0f0944f28f 58 while (i2cport->read_bit(11)) { }
dreamselec 20:4e0f0944f28f 59 return 4;
dreamselec 20:4e0f0944f28f 60 } else {
dreamselec 20:4e0f0944f28f 61 return 0;
dreamselec 20:4e0f0944f28f 62 }
dreamselec 10:16ba52f8e025 63
dreamselec 8:e1da2ae62885 64 }
dreamselec 8:e1da2ae62885 65
dreamselec 10:16ba52f8e025 66 void connectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 67 {
dreamselec 20:4e0f0944f28f 68 connectedToPC = true;
dreamselec 24:02c61793f90b 69 pc.printf("INFO:PC connected to MBED.\n");
dreamselec 10:16ba52f8e025 70 }
dreamselec 10:16ba52f8e025 71
dreamselec 10:16ba52f8e025 72 void disconnectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 73 {
dreamselec 24:02c61793f90b 74 pc.printf("INFO:PC disconnected to MBED.\n");
dreamselec 20:4e0f0944f28f 75 connectedToPC = false;
dreamselec 20:4e0f0944f28f 76 currentMode = None;
dreamselec 8:e1da2ae62885 77 }
dreamselec 8:e1da2ae62885 78
dreamselec 10:16ba52f8e025 79 void hazBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 80 {
dreamselec 20:4e0f0944f28f 81 if (typeRaw == Set) {
dreamselec 20:4e0f0944f28f 82 pc.printf("INFO:Setting new haz block.\n");
dreamselec 20:4e0f0944f28f 83 int lowerBeam = 0;
dreamselec 20:4e0f0944f28f 84 int higherBeam = 0;
dreamselec 20:4e0f0944f28f 85 char readyChar = '\0';
dreamselec 20:4e0f0944f28f 86
dreamselec 20:4e0f0944f28f 87 lcd->cls();
dreamselec 20:4e0f0944f28f 88 lcd->locate(0,0);
dreamselec 20:4e0f0944f28f 89 lcd->printf("New haz block");
dreamselec 18:44a1c1a30166 90
dreamselec 20:4e0f0944f28f 91 do {
dreamselec 20:4e0f0944f28f 92 higherBeam = fpga->getBeamValue(Top);
dreamselec 20:4e0f0944f28f 93 if (readSwitches() == 4) {
dreamselec 20:4e0f0944f28f 94 if (displayAbortDialog()) {
dreamselec 20:4e0f0944f28f 95 pc.printf("INFO: Operation aborted form MBED.\n");
dreamselec 20:4e0f0944f28f 96 displayPCStatus();
dreamselec 20:4e0f0944f28f 97 return;
dreamselec 20:4e0f0944f28f 98 } else {
dreamselec 20:4e0f0944f28f 99 lcd->cls();
dreamselec 20:4e0f0944f28f 100 lcd->locate(0,0);
dreamselec 20:4e0f0944f28f 101 lcd->printf("New haz block");
dreamselec 20:4e0f0944f28f 102 }
dreamselec 18:44a1c1a30166 103
dreamselec 20:4e0f0944f28f 104 }
dreamselec 20:4e0f0944f28f 105 } while (higherBeam != 1);
dreamselec 10:16ba52f8e025 106
dreamselec 20:4e0f0944f28f 107 int colourValue[4];
dreamselec 20:4e0f0944f28f 108 rgbSensor.getAllColors(colourValue);
dreamselec 20:4e0f0944f28f 109
dreamselec 20:4e0f0944f28f 110 do {
dreamselec 20:4e0f0944f28f 111 lowerBeam = fpga->checkForBlock();
dreamselec 20:4e0f0944f28f 112 } while (lowerBeam != 1);
dreamselec 20:4e0f0944f28f 113 higherBeam = fpga->checkForSize();
dreamselec 18:44a1c1a30166 114
dreamselec 20:4e0f0944f28f 115 _HazBlock = Block();
dreamselec 20:4e0f0944f28f 116 if (higherBeam == 1)
dreamselec 20:4e0f0944f28f 117 _HazBlock.size = Block::Big;
dreamselec 20:4e0f0944f28f 118 else if (higherBeam == 0)
dreamselec 20:4e0f0944f28f 119 _HazBlock.size = Block::Small;
dreamselec 20:4e0f0944f28f 120 for (int i = 0; i < 3; i++) {
dreamselec 20:4e0f0944f28f 121 _HazBlock.minColour.components[i] = colourValue[i]/colourValue[3] - ColourSensorError;
dreamselec 20:4e0f0944f28f 122 _HazBlock.maxColour.components[i] = colourValue[i]/colourValue[3] + ColourSensorError;
dreamselec 20:4e0f0944f28f 123 }
dreamselec 20:4e0f0944f28f 124 fpga->moveSortingServo(Haz);
dreamselec 20:4e0f0944f28f 125 fpga->moveStoppingServo(Go);
dreamselec 20:4e0f0944f28f 126 while (fpga->checkForBlock()) {}
dreamselec 20:4e0f0944f28f 127 fpga->moveStoppingServo(Stop);
dreamselec 20:4e0f0944f28f 128 fpga->moveSortingServo(NonHaz);
dreamselec 18:44a1c1a30166 129
dreamselec 22:993821a4c396 130 pc.printf( "VALUE:HazBlock:\n \t Size:%i\n \tMin Colour:%i,%i,%i,%i\n \t Max Colour:%i,%i,%i,%i:VALUE", _HazBlock.size, colourValue[0], colourValue[1], colourValue[2], colourValue[3], _HazBlock.minColour.components[Colour::Red], _HazBlock.minColour.components[Colour::Blue], _HazBlock.minColour.components[Colour::Green], _HazBlock.minColour.components[Colour::Alpha], _HazBlock.maxColour.components[Colour::Red], _HazBlock.maxColour.components[Colour::Blue], _HazBlock.maxColour.components[Colour::Green], _HazBlock.maxColour.components[Colour::Alpha]);
dreamselec 20:4e0f0944f28f 131 } else if (typeRaw == Query) {
dreamselec 20:4e0f0944f28f 132 pc.printf( "VALUE:HazBlock:\n \t Size:%i\n \t Min Colour:%i,%i,%i,%i\n \t Max Colour:%i,%i,%i,%i:VALUE", _HazBlock.size, _HazBlock.minColour.components[Colour::Red], _HazBlock.minColour.components[Colour::Blue], _HazBlock.minColour.components[Colour::Green], _HazBlock.minColour.components[Colour::Alpha], _HazBlock.maxColour.components[Colour::Red], _HazBlock.maxColour.components[Colour::Blue], _HazBlock.maxColour.components[Colour::Green], _HazBlock.maxColour.components[Colour::Alpha]);
dreamselec 20:4e0f0944f28f 133 }
dreamselec 8:e1da2ae62885 134 }
dreamselec 8:e1da2ae62885 135
dreamselec 10:16ba52f8e025 136 void getCurrentBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 137 {
dreamselec 20:4e0f0944f28f 138 pc.printf("DEBUG: Getting current block readings\n");
dreamselec 8:e1da2ae62885 139 }
dreamselec 8:e1da2ae62885 140
dreamselec 15:777390eb5afd 141 void setIntegrationTimeTo(float integrationTime)
dreamselec 10:16ba52f8e025 142 {
dreamselec 20:4e0f0944f28f 143 rgbSensor.setIntegrationTime(integrationTime);
dreamselec 20:4e0f0944f28f 144 pc.printf("DEBUG: Setting integration-time to %i.\n", integrationTime);
dreamselec 8:e1da2ae62885 145 }
dreamselec 8:e1da2ae62885 146
dreamselec 10:16ba52f8e025 147 void previewOnPC(bool on)
dreamselec 10:16ba52f8e025 148 {
dreamselec 20:4e0f0944f28f 149 pc.printf("setting preview on pc to %i.\n", on);
dreamselec 8:e1da2ae62885 150 }
dreamselec 8:e1da2ae62885 151
dreamselec 20:4e0f0944f28f 152 void readColourSensor()
dreamselec 20:4e0f0944f28f 153 {
dreamselec 20:4e0f0944f28f 154 int colourValue[4];
dreamselec 20:4e0f0944f28f 155 rgbSensor.getAllColors(colourValue);
dreamselec 20:4e0f0944f28f 156 pc.printf( "VALEU:Colour Reading:%i,%i,%i,%i\n:VALUE", colourValue[0], colourValue[1], colourValue[2], colourValue[3]);
dreamselec 18:44a1c1a30166 157
dreamselec 8:e1da2ae62885 158 }
dreamselec 8:e1da2ae62885 159
dreamselec 17:af373246bf80 160 void testServos(Controls state)
dreamselec 10:16ba52f8e025 161 {
dreamselec 20:4e0f0944f28f 162 if (state == Start) {
dreamselec 20:4e0f0944f28f 163 pc.printf("INFO: Running servo test.\n");
dreamselec 20:4e0f0944f28f 164 runServoTest = true;
dreamselec 20:4e0f0944f28f 165 } else if (state == Pause) {
dreamselec 20:4e0f0944f28f 166 pc.printf("INFO: Finished running servo test.\n");
dreamselec 20:4e0f0944f28f 167 runServoTest = false;
dreamselec 20:4e0f0944f28f 168 }
dreamselec 8:e1da2ae62885 169 }
dreamselec 8:e1da2ae62885 170
dreamselec 10:16ba52f8e025 171 void resetServos()
dreamselec 10:16ba52f8e025 172 {
dreamselec 20:4e0f0944f28f 173 pc.printf("resetting servos.\n");
dreamselec 8:e1da2ae62885 174 }
dreamselec 8:e1da2ae62885 175
dreamselec 10:16ba52f8e025 176 void getPortInfo()
dreamselec 10:16ba52f8e025 177 {
dreamselec 20:4e0f0944f28f 178 pc.printf("getting port info.\n");
dreamselec 8:e1da2ae62885 179 }
dreamselec 8:e1da2ae62885 180
dreamselec 17:af373246bf80 181 void setPortBaudRate(int baudRate)
dreamselec 10:16ba52f8e025 182 {
dreamselec 20:4e0f0944f28f 183 pc.baud(baudRate);
dreamselec 20:4e0f0944f28f 184 wait(0.1);
dreamselec 20:4e0f0944f28f 185 pc.printf("DEBUG: Setting port Baud Rate to: %i.\n", baudRate);
dreamselec 10:16ba52f8e025 186 }
dreamselec 10:16ba52f8e025 187
dreamselec 20:4e0f0944f28f 188 void setPortParity(int parity)
dreamselec 20:4e0f0944f28f 189 {
dreamselec 20:4e0f0944f28f 190 SerialBase::Parity _parity = static_cast<SerialBase::Parity>(parity);
dreamselec 20:4e0f0944f28f 191 pc.format(8, _parity, 1);
dreamselec 20:4e0f0944f28f 192 wait(0.1);
dreamselec 20:4e0f0944f28f 193 pc.printf("DEBUG: Setting port parity to: %i.\n", parity);
dreamselec 14:cf2f255b5560 194 }
dreamselec 23:db91aaa43a9e 195
dreamselec 23:db91aaa43a9e 196 void testBreakBeams(Controls state){
dreamselec 23:db91aaa43a9e 197 if (state == Start){
dreamselec 23:db91aaa43a9e 198 pc.printf("INFO: Running break beam test.\n");
dreamselec 23:db91aaa43a9e 199 runBreakBeamTest = true;
dreamselec 23:db91aaa43a9e 200 }else if (state == Pause){
dreamselec 23:db91aaa43a9e 201 pc.printf("INFO: Exiting break beam test.\n");
dreamselec 23:db91aaa43a9e 202 runBreakBeamTest = false;
dreamselec 23:db91aaa43a9e 203 }
dreamselec 23:db91aaa43a9e 204 }