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

main.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 0:fe5cb0a8fc5a 1 #include "mbed.h"
dreamselec 0:fe5cb0a8fc5a 2 #include "WattBob_TextLCD.h"
dreamselec 0:fe5cb0a8fc5a 3 #include "TCS3472_I2C.h"
dreamselec 0:fe5cb0a8fc5a 4 #include "MCP23017.h"
dreamselec 0:fe5cb0a8fc5a 5 #include <string>
dreamselec 1:92a2a5ef65a8 6 #include <time.h>
dreamselec 2:7a55cb10259f 7 //#include <future>
dreamselec 2:7a55cb10259f 8 #include "globals.h"
dreamselec 2:7a55cb10259f 9 #include "commander.h"
dreamselec 3:843b830ee8bd 10 #include "fpga.h"
dreamselec 0:fe5cb0a8fc5a 11
dreamselec 0:fe5cb0a8fc5a 12 #define BACKLIGHT_ON(INTERFACE) INTERFACE->write_bit(1, 4);
dreamselec 0:fe5cb0a8fc5a 13 #define BACKLIGHT_OFF(INTERFACE) INTERFACE->write_bit(0, 4);
dreamselec 0:fe5cb0a8fc5a 14
dreamselec 0:fe5cb0a8fc5a 15 #define LCDFL() lcd->locate(0,0);
dreamselec 0:fe5cb0a8fc5a 16 #define LCDSL() lcd->locate(1,0);
dreamselec 2:7a55cb10259f 17 #define D_LEDS_OFF() i2cport->write_bit(0, 12); i2cport->write_bit(0, 13); i2cport->write_bit(0, 14); i2cport->write_bit(0, 15);
dreamselec 2:7a55cb10259f 18 #define U_LEDS_OFF() myLED1 = 0; myLED2 = 0; myLED3 = 0; myLED4 = 0;
dreamselec 0:fe5cb0a8fc5a 19
dreamselec 2:7a55cb10259f 20 DigitalOut myLED1(LED1);
dreamselec 2:7a55cb10259f 21 DigitalOut myLED2(LED2);
dreamselec 2:7a55cb10259f 22 DigitalOut myLED3(LED3);
dreamselec 2:7a55cb10259f 23 DigitalOut myLED4(LED4);
dreamselec 0:fe5cb0a8fc5a 24
dreamselec 0:fe5cb0a8fc5a 25 MCP23017 *i2cport;
dreamselec 0:fe5cb0a8fc5a 26 WattBob_TextLCD *lcd;
dreamselec 10:16ba52f8e025 27 TCS3472_I2C rgbSensor(p28, p27);
dreamselec 2:7a55cb10259f 28 Serial pc(USBTX, USBRX);
dreamselec 8:e1da2ae62885 29 uint8_t rxBuffer[kSmallBufferSize + 1];
dreamselec 8:e1da2ae62885 30 int rxIndex = 0;
dreamselec 21:60c4fe94d79c 31 float percentageError[3];
dreamselec 21:60c4fe94d79c 32 float adjustedValues[3];
dreamselec 2:7a55cb10259f 33
dreamselec 6:98fe30430194 34 Commander _commander = Commander();
dreamselec 6:98fe30430194 35 Commander *commander = &_commander;
dreamselec 6:98fe30430194 36 FPGA _fpga = FPGA();
dreamselec 9:dc8f155b71c8 37 extern FPGA *fpga = &_fpga;
dreamselec 6:98fe30430194 38
dreamselec 20:4e0f0944f28f 39 Block defualtHazBlock = Block();
dreamselec 6:98fe30430194 40 extern Block _HazBlock;
dreamselec 6:98fe30430194 41 Block *HazBlock = &_HazBlock;
dreamselec 6:98fe30430194 42
dreamselec 18:44a1c1a30166 43 extern PCModes currentMode;
dreamselec 18:44a1c1a30166 44
dreamselec 6:98fe30430194 45 void initInternal();
dreamselec 7:b6e31bfdb2af 46 void initPort(int baudRate=kDefaultBaudRate);
dreamselec 6:98fe30430194 47 void printPCDetectedText();
dreamselec 6:98fe30430194 48 void Rx_interrupt();
dreamselec 18:44a1c1a30166 49 bool checkColour(int colourValues[]);
dreamselec 10:16ba52f8e025 50 void runInServoTestMode();
dreamselec 15:777390eb5afd 51 void displayWaitingLine();
dreamselec 15:777390eb5afd 52 void displayPCStatus();
dreamselec 18:44a1c1a30166 53 bool waitForBlock();
dreamselec 18:44a1c1a30166 54 void sortBlock();
dreamselec 23:db91aaa43a9e 55 void runInBreakBeamTestMode();
dreamselec 23:db91aaa43a9e 56 void turnOffTopLEDs();
dreamselec 23:db91aaa43a9e 57 void turnOffBottomLEDs();
dreamselec 6:98fe30430194 58
dreamselec 6:98fe30430194 59 int main()
dreamselec 6:98fe30430194 60 {
dreamselec 23:db91aaa43a9e 61 initInternal();
dreamselec 23:db91aaa43a9e 62 initPort();
dreamselec 23:db91aaa43a9e 63 srand((unsigned)time(NULL));
dreamselec 23:db91aaa43a9e 64 U_LEDS_OFF();
dreamselec 23:db91aaa43a9e 65 lcd->cls();
dreamselec 15:777390eb5afd 66
dreamselec 23:db91aaa43a9e 67 rgbSensor.enablePowerAndRGBC();
dreamselec 23:db91aaa43a9e 68 rgbSensor.setIntegrationTime(3);
dreamselec 6:98fe30430194 69
dreamselec 23:db91aaa43a9e 70 // Create a serial intereput for RxIrq so when PC is connected it sends '$' to tell MBED it's there.
dreamselec 23:db91aaa43a9e 71 // https://developer.mbed.org/cookbook/Serial-Interrupts
dreamselec 23:db91aaa43a9e 72 pc.attach(&Rx_interrupt, Serial::RxIrq);
dreamselec 6:98fe30430194 73
dreamselec 23:db91aaa43a9e 74 for (;;) {
dreamselec 23:db91aaa43a9e 75 lcd->cls();
dreamselec 23:db91aaa43a9e 76 i2cport->write_bit(1, 12);
dreamselec 23:db91aaa43a9e 77 lcd->printf("1: Start sorting.");
dreamselec 23:db91aaa43a9e 78 LCDSL();
dreamselec 23:db91aaa43a9e 79 i2cport->write_bit(1,13);
dreamselec 23:db91aaa43a9e 80 lcd->printf("2: Connect to PC");
dreamselec 15:777390eb5afd 81
dreamselec 23:db91aaa43a9e 82 fpga->moveStoppingServo(Stop);
dreamselec 23:db91aaa43a9e 83 fpga->moveSortingServo(NonHaz);
dreamselec 24:02c61793f90b 84
dreamselec 24:02c61793f90b 85 pc.printf(":<pc>connect;");
dreamselec 24:02c61793f90b 86 // wait(0.03);
dreamselec 10:16ba52f8e025 87
dreamselec 23:db91aaa43a9e 88 int selection = 0;
dreamselec 23:db91aaa43a9e 89 do {
dreamselec 23:db91aaa43a9e 90 myLED4 = selection;
dreamselec 23:db91aaa43a9e 91 selection = readSwitches();
dreamselec 23:db91aaa43a9e 92 } while (selection != 1 && selection != 2 && connectedToPC == false);
dreamselec 23:db91aaa43a9e 93 D_LEDS_OFF();
dreamselec 23:db91aaa43a9e 94 if (selection == 1) {
dreamselec 23:db91aaa43a9e 95 // User selected op 1: Start sorting autonomously.
dreamselec 23:db91aaa43a9e 96 i2cport->write_bit(1, 12);
dreamselec 23:db91aaa43a9e 97 lcd->cls();
dreamselec 23:db91aaa43a9e 98 LCDFL();
dreamselec 23:db91aaa43a9e 99 lcd->printf("Starting sorting");
dreamselec 23:db91aaa43a9e 100 wait(0.5);
dreamselec 23:db91aaa43a9e 101 D_LEDS_OFF();
dreamselec 19:61b21ac4896e 102
dreamselec 23:db91aaa43a9e 103 for(;;) {
dreamselec 23:db91aaa43a9e 104 displayWaitingLine();
dreamselec 23:db91aaa43a9e 105 lcd->printf("for block.");
dreamselec 10:16ba52f8e025 106
dreamselec 23:db91aaa43a9e 107 i2cport->write_bit(1, 15);
dreamselec 10:16ba52f8e025 108
dreamselec 23:db91aaa43a9e 109 // Break and return to main menu i.e. Start Op, or Connect to PC.
dreamselec 23:db91aaa43a9e 110 if (waitForBlock() == false) {
dreamselec 23:db91aaa43a9e 111 D_LEDS_OFF();
dreamselec 23:db91aaa43a9e 112 break;
dreamselec 23:db91aaa43a9e 113 } else {
dreamselec 23:db91aaa43a9e 114 sortBlock();
dreamselec 23:db91aaa43a9e 115 }
dreamselec 23:db91aaa43a9e 116 }
dreamselec 23:db91aaa43a9e 117 }
dreamselec 23:db91aaa43a9e 118
dreamselec 23:db91aaa43a9e 119 if (selection == 2 || connectedToPC == true) {
dreamselec 23:db91aaa43a9e 120 for (;;) {
dreamselec 23:db91aaa43a9e 121 displayPCStatus();
dreamselec 10:16ba52f8e025 122
dreamselec 23:db91aaa43a9e 123 i2cport->write_bit(1, 15);
dreamselec 23:db91aaa43a9e 124 int abortOperation = false;
dreamselec 23:db91aaa43a9e 125 if (connectedToPC == false)
dreamselec 23:db91aaa43a9e 126 pc.printf(":<pc>connect;");
dreamselec 23:db91aaa43a9e 127 while (connectedToPC == false && abortOperation == false) {
dreamselec 23:db91aaa43a9e 128 abortOperation = readSwitches() == 4;
dreamselec 23:db91aaa43a9e 129 }
dreamselec 19:61b21ac4896e 130
dreamselec 23:db91aaa43a9e 131 if (abortOperation == true) {
dreamselec 23:db91aaa43a9e 132 D_LEDS_OFF();
dreamselec 23:db91aaa43a9e 133 break;
dreamselec 23:db91aaa43a9e 134 }
dreamselec 18:44a1c1a30166 135
dreamselec 23:db91aaa43a9e 136 displayPCStatus();
dreamselec 15:777390eb5afd 137
dreamselec 23:db91aaa43a9e 138 while (abortOperation == false && connectedToPC == true) {
dreamselec 23:db91aaa43a9e 139 if (currentMode == Maintanence) {
dreamselec 24:02c61793f90b 140 displayPCStatus();
dreamselec 24:02c61793f90b 141 while (currentMode == Maintanence){
dreamselec 23:db91aaa43a9e 142 if (runServoTest == true)
dreamselec 23:db91aaa43a9e 143 runInServoTestMode();
dreamselec 23:db91aaa43a9e 144 else if (runBreakBeamTest == true)
dreamselec 23:db91aaa43a9e 145 runInBreakBeamTestMode();
dreamselec 24:02c61793f90b 146 }
dreamselec 23:db91aaa43a9e 147 } else if (currentMode == Normal) {
dreamselec 23:db91aaa43a9e 148 displayPCStatus();
dreamselec 23:db91aaa43a9e 149 while (currentMode == Normal) {
dreamselec 23:db91aaa43a9e 150 if (currentState == Pause) {
dreamselec 23:db91aaa43a9e 151 lcd->cls();
dreamselec 23:db91aaa43a9e 152 lcd->locate(0,0);
dreamselec 23:db91aaa43a9e 153 lcd->printf("Sorting Paused.");
dreamselec 23:db91aaa43a9e 154 lcd->locate(1,0);
dreamselec 23:db91aaa43a9e 155 lcd->printf("1: Start");
dreamselec 23:db91aaa43a9e 156 int button = 0;
dreamselec 23:db91aaa43a9e 157 i2cport->write_bit(1, 12);
dreamselec 23:db91aaa43a9e 158 i2cport->write_bit(1, 15);
dreamselec 23:db91aaa43a9e 159 while (currentState == Pause && currentMode == Normal) {
dreamselec 23:db91aaa43a9e 160 button = readSwitches();
dreamselec 23:db91aaa43a9e 161 if (button == 1) {
dreamselec 23:db91aaa43a9e 162 pc.printf("state:start\n");
dreamselec 23:db91aaa43a9e 163 currentState = Start;
dreamselec 23:db91aaa43a9e 164 } else if (button == 4) {
dreamselec 23:db91aaa43a9e 165 currentMode = None;
dreamselec 23:db91aaa43a9e 166 // goto setModeNone;
dreamselec 23:db91aaa43a9e 167 break;
dreamselec 23:db91aaa43a9e 168 }
dreamselec 23:db91aaa43a9e 169 }
dreamselec 23:db91aaa43a9e 170 }
dreamselec 23:db91aaa43a9e 171 if (currentState == Start) {
dreamselec 23:db91aaa43a9e 172 lcd->cls();
dreamselec 23:db91aaa43a9e 173 lcd->locate(0,0);
dreamselec 23:db91aaa43a9e 174 lcd->printf("Sorting mode...");
dreamselec 23:db91aaa43a9e 175 while (currentState == Start && currentMode == Normal) {
dreamselec 23:db91aaa43a9e 176 if (waitForBlock() == false) {
dreamselec 23:db91aaa43a9e 177 if (connectedToPC == true) {
dreamselec 23:db91aaa43a9e 178 // TODO: Tell PC to update UI if aborted from MBED.
dreamselec 23:db91aaa43a9e 179 pc.printf("state:pause\n");
dreamselec 23:db91aaa43a9e 180 currentState = Pause;
dreamselec 23:db91aaa43a9e 181 continue;
dreamselec 23:db91aaa43a9e 182 } else if (connectedToPC == false) {
dreamselec 23:db91aaa43a9e 183 currentMode = None;
dreamselec 23:db91aaa43a9e 184 abortOperation = true;
dreamselec 23:db91aaa43a9e 185 }
dreamselec 23:db91aaa43a9e 186 } else {
dreamselec 23:db91aaa43a9e 187 sortBlock();
dreamselec 23:db91aaa43a9e 188 }
dreamselec 23:db91aaa43a9e 189 }
dreamselec 23:db91aaa43a9e 190 }
dreamselec 23:db91aaa43a9e 191 }
dreamselec 23:db91aaa43a9e 192 } else if (currentMode == None) {
dreamselec 23:db91aaa43a9e 193 setModeNone:
dreamselec 23:db91aaa43a9e 194 D_LEDS_OFF();
dreamselec 23:db91aaa43a9e 195 i2cport->write_bit(1,15);
dreamselec 23:db91aaa43a9e 196 displayPCStatus();
dreamselec 23:db91aaa43a9e 197 while (currentMode == None && abortOperation == false && connectedToPC == true) {
dreamselec 23:db91aaa43a9e 198 if (i2cport->read_bit(11)) {
dreamselec 23:db91aaa43a9e 199 abortOperation = displayAbortDialog();
dreamselec 23:db91aaa43a9e 200 // Cancel the Abort
dreamselec 23:db91aaa43a9e 201 if (abortOperation == false) {
dreamselec 23:db91aaa43a9e 202 displayPCStatus();
dreamselec 23:db91aaa43a9e 203 i2cport->write_bit(1, 15);
dreamselec 23:db91aaa43a9e 204 }
dreamselec 23:db91aaa43a9e 205 }
dreamselec 23:db91aaa43a9e 206 }
dreamselec 23:db91aaa43a9e 207 }
dreamselec 23:db91aaa43a9e 208 }
dreamselec 15:777390eb5afd 209
dreamselec 23:db91aaa43a9e 210 if (abortOperation == true ) {
dreamselec 23:db91aaa43a9e 211 connectedToPC = false;
dreamselec 23:db91aaa43a9e 212 D_LEDS_OFF();
dreamselec 23:db91aaa43a9e 213 break;
dreamselec 23:db91aaa43a9e 214 }
dreamselec 23:db91aaa43a9e 215 }
dreamselec 23:db91aaa43a9e 216 }
dreamselec 19:61b21ac4896e 217
dreamselec 23:db91aaa43a9e 218 }
dreamselec 18:44a1c1a30166 219 }
dreamselec 8:e1da2ae62885 220
dreamselec 18:44a1c1a30166 221 // Waits until detects block.
dreamselec 18:44a1c1a30166 222 // true if block detected, false if cancelled/connected to PC.
dreamselec 19:61b21ac4896e 223 bool waitForBlock()
dreamselec 19:61b21ac4896e 224 {
dreamselec 23:db91aaa43a9e 225 myLED4 = 0;
dreamselec 23:db91aaa43a9e 226 myLED1 = 1;
dreamselec 23:db91aaa43a9e 227 if (connectedToPC == false) {
dreamselec 23:db91aaa43a9e 228 bool abortOperation = false;
dreamselec 23:db91aaa43a9e 229 int blockInserted = 0;
dreamselec 23:db91aaa43a9e 230 // Wait until a block is breaking the beam, or button 4 is pressed to abort.
dreamselec 23:db91aaa43a9e 231 do {
dreamselec 23:db91aaa43a9e 232 blockInserted = fpga->getBeamValue(Top);
dreamselec 23:db91aaa43a9e 233 myLED4 = blockInserted;
dreamselec 23:db91aaa43a9e 234 if (i2cport->read_bit(11)) {
dreamselec 23:db91aaa43a9e 235 abortOperation = displayAbortDialog();
dreamselec 23:db91aaa43a9e 236 // Cancel the Abort
dreamselec 23:db91aaa43a9e 237 if (abortOperation == false) {
dreamselec 23:db91aaa43a9e 238 displayWaitingLine();
dreamselec 23:db91aaa43a9e 239 lcd->printf("for block");
dreamselec 23:db91aaa43a9e 240 i2cport->write_bit(1, 15);
dreamselec 23:db91aaa43a9e 241 }
dreamselec 23:db91aaa43a9e 242 }
dreamselec 23:db91aaa43a9e 243 } while (abortOperation == false && blockInserted != 1 && connectedToPC == false);
dreamselec 18:44a1c1a30166 244
dreamselec 23:db91aaa43a9e 245 if (abortOperation == true || connectedToPC == true)
dreamselec 23:db91aaa43a9e 246 return false;
dreamselec 23:db91aaa43a9e 247 else
dreamselec 23:db91aaa43a9e 248 return true;
dreamselec 23:db91aaa43a9e 249 } else if (connectedToPC == true) {
dreamselec 23:db91aaa43a9e 250 bool abortOperation = false;
dreamselec 23:db91aaa43a9e 251 int blockInserted = 0;
dreamselec 23:db91aaa43a9e 252 // Wait until a block is breaking the beam, or button 4 is pressed to abort.
dreamselec 23:db91aaa43a9e 253 do {
dreamselec 23:db91aaa43a9e 254 blockInserted = fpga->getBeamValue(Top);
dreamselec 23:db91aaa43a9e 255 myLED4 = blockInserted;
dreamselec 23:db91aaa43a9e 256 if (i2cport->read_bit(11)) {
dreamselec 23:db91aaa43a9e 257 abortOperation = displayAbortDialog();
dreamselec 23:db91aaa43a9e 258 // Cancel the Abort
dreamselec 23:db91aaa43a9e 259 if (abortOperation == false) {
dreamselec 23:db91aaa43a9e 260 displayWaitingLine();
dreamselec 23:db91aaa43a9e 261 lcd->printf("for block");
dreamselec 23:db91aaa43a9e 262 i2cport->write_bit(1, 15);
dreamselec 23:db91aaa43a9e 263 }
dreamselec 23:db91aaa43a9e 264 }
dreamselec 23:db91aaa43a9e 265 } while (abortOperation == false && blockInserted != 1 && connectedToPC == true && currentState == Start && currentMode == Normal);
dreamselec 19:61b21ac4896e 266
dreamselec 23:db91aaa43a9e 267 if (abortOperation == true || connectedToPC == false || currentState == Pause || currentMode == Maintanence)
dreamselec 23:db91aaa43a9e 268 return false;
dreamselec 23:db91aaa43a9e 269 else
dreamselec 23:db91aaa43a9e 270 return true;
dreamselec 23:db91aaa43a9e 271 }
dreamselec 18:44a1c1a30166 272 }
dreamselec 14:cf2f255b5560 273
dreamselec 19:61b21ac4896e 274 void sortBlock()
dreamselec 19:61b21ac4896e 275 {
dreamselec 23:db91aaa43a9e 276 myLED1 = 0;
dreamselec 23:db91aaa43a9e 277 myLED2 = 1;
dreamselec 23:db91aaa43a9e 278 // Cannot Abort any longer. Block is inserted.
dreamselec 23:db91aaa43a9e 279 // Detach rx interrupt until block processed.
dreamselec 23:db91aaa43a9e 280 NVIC_DisableIRQ(UART1_IRQn);
dreamselec 23:db91aaa43a9e 281 fpga->moveSortingServo(Haz);
dreamselec 23:db91aaa43a9e 282 fpga->moveStoppingServo(Go);
dreamselec 21:60c4fe94d79c 283
dreamselec 23:db91aaa43a9e 284 int colourValues[4];
dreamselec 23:db91aaa43a9e 285 int averageColourValues[4] = {0, 0, 0, 0};
dreamselec 23:db91aaa43a9e 286 for (int i = 0; i < 3; i++){
dreamselec 23:db91aaa43a9e 287 rgbSensor.getAllColors(colourValues);
dreamselec 23:db91aaa43a9e 288 for (int j = 0; j < 4; j++){
dreamselec 23:db91aaa43a9e 289 averageColourValues[j] += colourValues[j];
dreamselec 23:db91aaa43a9e 290 }
dreamselec 23:db91aaa43a9e 291 }
dreamselec 23:db91aaa43a9e 292 for (int i = 0; i < 4; i++){
dreamselec 23:db91aaa43a9e 293 averageColourValues[i] = averageColourValues[i] / 3;
dreamselec 23:db91aaa43a9e 294 }
dreamselec 18:44a1c1a30166 295
dreamselec 23:db91aaa43a9e 296 bool haz = false;
dreamselec 23:db91aaa43a9e 297 haz = checkColour(colourValues);
dreamselec 23:db91aaa43a9e 298
dreamselec 23:db91aaa43a9e 299 if (!haz) {
dreamselec 23:db91aaa43a9e 300 fpga->moveSortingServo(NonHaz);
dreamselec 23:db91aaa43a9e 301 }
dreamselec 22:993821a4c396 302 int blockSize;
dreamselec 23:db91aaa43a9e 303 while (fpga->checkForBlock() == 0) { }
dreamselec 23:db91aaa43a9e 304 blockSize = fpga->checkForSize();
dreamselec 23:db91aaa43a9e 305 if (blockSize == HazBlock->size && haz) {
dreamselec 23:db91aaa43a9e 306 // fpga->moveSortingServo(Haz);
dreamselec 23:db91aaa43a9e 307 // fpga->moveStoppingServo(Go);
dreamselec 23:db91aaa43a9e 308 // blockSize = HazBlock->size;
dreamselec 23:db91aaa43a9e 309 while(fpga->getBeamValue(Bottom) == 1) {}
dreamselec 23:db91aaa43a9e 310 wait(kServoWait);
dreamselec 23:db91aaa43a9e 311 fpga->moveStoppingServo(Stop);
dreamselec 23:db91aaa43a9e 312 } else {
dreamselec 23:db91aaa43a9e 313 haz = false;
dreamselec 23:db91aaa43a9e 314 }
dreamselec 23:db91aaa43a9e 315 fpga->moveSortingServo(NonHaz);
dreamselec 23:db91aaa43a9e 316 while(fpga->checkForSize()) {}
dreamselec 20:4e0f0944f28f 317
dreamselec 23:db91aaa43a9e 318 if (connectedToPC) {
dreamselec 23:db91aaa43a9e 319 for (int i = 0; i < 3; i++) {
dreamselec 23:db91aaa43a9e 320 pc.printf("DEBUG:Percentage Error: %.5f.\n", percentageError[i]);
dreamselec 23:db91aaa43a9e 321 if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[i] * 2) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[i] * 2))
dreamselec 23:db91aaa43a9e 322 pc.printf("DEBUG:%i.\n", i);
dreamselec 23:db91aaa43a9e 323 }
dreamselec 23:db91aaa43a9e 324 pc.printf("BLOCK:Size:%i,Red:%.3f,Green:%.3f,Blue:%.3f,Haz:%i, Offsetred:%.3f, Offsetgreen:%.3f, Offsetblue:%.3f;", blockSize, adjustedValues[0], adjustedValues[1], adjustedValues[2], haz, percentageError[0], percentageError[1], percentageError[2]);
dreamselec 23:db91aaa43a9e 325 // pc.printf("VALUE:Size:%i,Red:%i,Green:%i,Blue:%i,Clear:%i\n:VALUE", blockSize, colourValues[0], colourValues[1], colourValues[2], colourValues[3], haz);
dreamselec 23:db91aaa43a9e 326 }
dreamselec 18:44a1c1a30166 327
dreamselec 23:db91aaa43a9e 328 // Re-Attach rx interrupt
dreamselec 23:db91aaa43a9e 329 NVIC_EnableIRQ(UART1_IRQn);
dreamselec 23:db91aaa43a9e 330 myLED3 = 0;
dreamselec 23:db91aaa43a9e 331 myLED4 = 1;
dreamselec 23:db91aaa43a9e 332 return;
dreamselec 6:98fe30430194 333 }
dreamselec 6:98fe30430194 334
dreamselec 6:98fe30430194 335 /// Called every-time it receives an char from PC.
dreamselec 10:16ba52f8e025 336 void Rx_interrupt()
dreamselec 10:16ba52f8e025 337 {
dreamselec 23:db91aaa43a9e 338 char interruptChar = pc.getc();
dreamselec 23:db91aaa43a9e 339 // Uncomment to Echo to USB serial to watch data flow
dreamselec 23:db91aaa43a9e 340 // pc.putc(interruptChar);
dreamselec 6:98fe30430194 341
dreamselec 23:db91aaa43a9e 342 NVIC_DisableIRQ(UART1_IRQn);
dreamselec 8:e1da2ae62885 343
dreamselec 23:db91aaa43a9e 344 if (interruptChar == CommandTypeValue[Query]) {
dreamselec 23:db91aaa43a9e 345 commander->decodeCommand(Query);
dreamselec 23:db91aaa43a9e 346 } else if (interruptChar == CommandTypeValue[Set]) {
dreamselec 23:db91aaa43a9e 347 commander->decodeCommand(Set);
dreamselec 23:db91aaa43a9e 348 } else if (interruptChar== CommandTypeValue[Reply]) {
dreamselec 23:db91aaa43a9e 349 commander->decodeCommand(Reply);
dreamselec 23:db91aaa43a9e 350 }
dreamselec 8:e1da2ae62885 351
dreamselec 23:db91aaa43a9e 352 NVIC_EnableIRQ(UART1_IRQn);
dreamselec 6:98fe30430194 353 }
dreamselec 3:843b830ee8bd 354
dreamselec 4:4eebb4de22a7 355 void initInternal()
dreamselec 4:4eebb4de22a7 356 {
dreamselec 23:db91aaa43a9e 357 myLED1 = 1;
dreamselec 23:db91aaa43a9e 358 i2cport = new MCP23017(p9, p10, 0x40);
dreamselec 23:db91aaa43a9e 359 lcd = new WattBob_TextLCD(i2cport);
dreamselec 23:db91aaa43a9e 360 BACKLIGHT_ON(i2cport);
dreamselec 23:db91aaa43a9e 361 lcd->cls();
dreamselec 23:db91aaa43a9e 362 lcd->locate(0,0);
dreamselec 23:db91aaa43a9e 363 lcd->printf("Initilizing...");
dreamselec 23:db91aaa43a9e 364 DefaultHazBlock();
dreamselec 23:db91aaa43a9e 365 myLED2 = 1;
dreamselec 23:db91aaa43a9e 366 return;
dreamselec 3:843b830ee8bd 367 }
dreamselec 3:843b830ee8bd 368
dreamselec 7:b6e31bfdb2af 369 void initPort(int baudRate)
dreamselec 4:4eebb4de22a7 370 {
dreamselec 23:db91aaa43a9e 371 myLED3 = 1;
dreamselec 23:db91aaa43a9e 372 pc.baud(baudRate);
dreamselec 23:db91aaa43a9e 373 pc.format(8, SerialBase::None, gStopBits);
dreamselec 23:db91aaa43a9e 374 myLED4 = 1;
dreamselec 23:db91aaa43a9e 375 wait (0.1);
dreamselec 23:db91aaa43a9e 376 return;
dreamselec 3:843b830ee8bd 377 }
dreamselec 3:843b830ee8bd 378
dreamselec 18:44a1c1a30166 379 bool checkColour(int colourValues[])
dreamselec 15:777390eb5afd 380 {
dreamselec 23:db91aaa43a9e 381 myLED2 = 0;
dreamselec 23:db91aaa43a9e 382 myLED3 = 1;
dreamselec 23:db91aaa43a9e 383 bool isHazColour[3] = {false, false, false };
dreamselec 23:db91aaa43a9e 384 memset(adjustedValues, 0, sizeof(adjustedValues));
dreamselec 23:db91aaa43a9e 385 memset(percentageError, 0, sizeof(percentageError));
dreamselec 15:777390eb5afd 386
dreamselec 23:db91aaa43a9e 387 for (int i = 0; i < 3; i++) {
dreamselec 23:db91aaa43a9e 388 adjustedValues[i] = (float)colourValues[i]/(float)colourValues[3];
dreamselec 23:db91aaa43a9e 389 percentageError[i] = (adjustedValues[i] - kAverageRedBlock[i]) / kAverageRedBlock[i];
dreamselec 20:4e0f0944f28f 390
dreamselec 23:db91aaa43a9e 391 if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[i] * 2) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[i] * 2)) {
dreamselec 23:db91aaa43a9e 392 isHazColour[i] = true;
dreamselec 23:db91aaa43a9e 393 }
dreamselec 23:db91aaa43a9e 394 }
dreamselec 15:777390eb5afd 395
dreamselec 23:db91aaa43a9e 396 // for (int i = 0; i < 3; i++) {
dreamselec 23:db91aaa43a9e 397 // if (colourValues[i] < HazBlock->maxColour.components[i] && colourValues[i] > HazBlock->minColour.components[i]) {
dreamselec 23:db91aaa43a9e 398 // isHazColour[i] = true;
dreamselec 23:db91aaa43a9e 399 // }
dreamselec 23:db91aaa43a9e 400 // }
dreamselec 15:777390eb5afd 401
dreamselec 23:db91aaa43a9e 402 bool isHazBlock = false;
dreamselec 15:777390eb5afd 403
dreamselec 23:db91aaa43a9e 404 if (isHazColour[0] && isHazColour[1] && isHazColour[2]) {
dreamselec 23:db91aaa43a9e 405 isHazBlock = true;
dreamselec 23:db91aaa43a9e 406 } else {
dreamselec 23:db91aaa43a9e 407 isHazBlock = false;
dreamselec 23:db91aaa43a9e 408 }
dreamselec 23:db91aaa43a9e 409
dreamselec 23:db91aaa43a9e 410 return isHazBlock;
dreamselec 3:843b830ee8bd 411 }
dreamselec 3:843b830ee8bd 412
dreamselec 6:98fe30430194 413 void printPCDetectedText()
dreamselec 4:4eebb4de22a7 414 {
dreamselec 23:db91aaa43a9e 415 lcd->cls();
dreamselec 23:db91aaa43a9e 416 LCDFL();
dreamselec 23:db91aaa43a9e 417 lcd->printf("Detected PC.");
dreamselec 23:db91aaa43a9e 418 LCDSL();
dreamselec 23:db91aaa43a9e 419 lcd->printf("Connecting");
dreamselec 23:db91aaa43a9e 420 initPort();
dreamselec 10:16ba52f8e025 421 }
dreamselec 10:16ba52f8e025 422
dreamselec 10:16ba52f8e025 423 bool displayAbortDialog()
dreamselec 10:16ba52f8e025 424 {
dreamselec 23:db91aaa43a9e 425 while (i2cport->read_bit(11) == 1) {}
dreamselec 23:db91aaa43a9e 426 i2cport->write_bit(1, 12);
dreamselec 10:16ba52f8e025 427
dreamselec 23:db91aaa43a9e 428 lcd->cls();
dreamselec 23:db91aaa43a9e 429 LCDFL();
dreamselec 23:db91aaa43a9e 430 lcd->printf("Abort?");
dreamselec 23:db91aaa43a9e 431 LCDSL();
dreamselec 23:db91aaa43a9e 432 lcd->printf("1:Yes, 2,3,4:No");
dreamselec 23:db91aaa43a9e 433 int reply = 0;
dreamselec 23:db91aaa43a9e 434 do {
dreamselec 23:db91aaa43a9e 435 reply = readSwitches();
dreamselec 23:db91aaa43a9e 436 } while(reply == 0);
dreamselec 10:16ba52f8e025 437
dreamselec 23:db91aaa43a9e 438 D_LEDS_OFF();
dreamselec 23:db91aaa43a9e 439 if (reply == 1) {
dreamselec 23:db91aaa43a9e 440 // while (i2cport->read_bit(8)) { }
dreamselec 23:db91aaa43a9e 441 return true;
dreamselec 23:db91aaa43a9e 442 } else {
dreamselec 23:db91aaa43a9e 443 // while (i2cport->read_bit(9) || i2cport->read_bit(10) || i2cport->read_bit(11)) { }
dreamselec 23:db91aaa43a9e 444 return false;
dreamselec 23:db91aaa43a9e 445 }
dreamselec 3:843b830ee8bd 446 }
dreamselec 3:843b830ee8bd 447
dreamselec 15:777390eb5afd 448 void printServoInfoOnLCD()
dreamselec 15:777390eb5afd 449 {
dreamselec 23:db91aaa43a9e 450 lcd->cls();
dreamselec 23:db91aaa43a9e 451 lcd->locate(0,0);
dreamselec 23:db91aaa43a9e 452 if (fpga->stoppingServoPosition == Stop)
dreamselec 24:02c61793f90b 453 lcd->printf("1: Top: Stop");
dreamselec 23:db91aaa43a9e 454 else if (fpga->stoppingServoPosition == Go)
dreamselec 24:02c61793f90b 455 lcd->printf("1: Top: Go");
dreamselec 23:db91aaa43a9e 456
dreamselec 23:db91aaa43a9e 457 lcd->locate(1,0);
dreamselec 23:db91aaa43a9e 458 if (fpga->sortingServoPosition == NonHaz)
dreamselec 24:02c61793f90b 459 lcd->printf("2: Bottom: NonHaz");
dreamselec 23:db91aaa43a9e 460 else if (fpga->sortingServoPosition == Haz)
dreamselec 24:02c61793f90b 461 lcd->printf("2: Bottom: Haz");
dreamselec 23:db91aaa43a9e 462 }
dreamselec 23:db91aaa43a9e 463
dreamselec 23:db91aaa43a9e 464 void printServoInfoOnPC() {
dreamselec 23:db91aaa43a9e 465 if (fpga->stoppingServoPosition == Stop)
dreamselec 23:db91aaa43a9e 466 pc.printf(":<servos>1=Stop;");
dreamselec 23:db91aaa43a9e 467 else if (fpga->stoppingServoPosition == Go)
dreamselec 23:db91aaa43a9e 468 pc.printf(":<servos>1=Go;");
dreamselec 23:db91aaa43a9e 469
dreamselec 23:db91aaa43a9e 470 if (fpga->sortingServoPosition == NonHaz)
dreamselec 23:db91aaa43a9e 471 pc.printf(":<servos>2=NonHaz;");
dreamselec 23:db91aaa43a9e 472 else if (fpga->sortingServoPosition == Haz)
dreamselec 23:db91aaa43a9e 473 pc.printf(":<servos>2=Haz;");
dreamselec 10:16ba52f8e025 474 }
dreamselec 10:16ba52f8e025 475
dreamselec 15:777390eb5afd 476 void runInServoTestMode()
dreamselec 15:777390eb5afd 477 {
dreamselec 23:db91aaa43a9e 478 pc.printf("VALUES:Testing servos.\n Stopping servo:\n\tStop:%i, Go: %i\n Sorting servo:\n\tHaz:%i, NonHaz:%i\n:VALUES", Stop, Go, Haz, NonHaz);
dreamselec 23:db91aaa43a9e 479 printServoInfoOnPC();
dreamselec 23:db91aaa43a9e 480 printServoInfoOnLCD();
dreamselec 23:db91aaa43a9e 481
dreamselec 23:db91aaa43a9e 482 i2cport->write_bit(1, 12);
dreamselec 23:db91aaa43a9e 483 i2cport->write_bit(1, 13);
dreamselec 23:db91aaa43a9e 484 i2cport->write_bit(1, 15);
dreamselec 23:db91aaa43a9e 485 int button = 0;
dreamselec 23:db91aaa43a9e 486 bool finished = false;
dreamselec 23:db91aaa43a9e 487 do {
dreamselec 23:db91aaa43a9e 488 button = readSwitches();
dreamselec 23:db91aaa43a9e 489 if (button == 1) {
dreamselec 23:db91aaa43a9e 490 fpga->toggleStoppingServo();
dreamselec 23:db91aaa43a9e 491 printServoInfoOnLCD();
dreamselec 23:db91aaa43a9e 492 printServoInfoOnPC();
dreamselec 23:db91aaa43a9e 493 wait(kServoWait);
dreamselec 23:db91aaa43a9e 494 } else if (button == 2) {
dreamselec 23:db91aaa43a9e 495 fpga->toggleSortingServo();
dreamselec 23:db91aaa43a9e 496 printServoInfoOnLCD();
dreamselec 23:db91aaa43a9e 497 printServoInfoOnPC();
dreamselec 23:db91aaa43a9e 498 wait(kServoWait);
dreamselec 23:db91aaa43a9e 499 }
dreamselec 23:db91aaa43a9e 500 finished = button == 4;
dreamselec 23:db91aaa43a9e 501 button = 0;
dreamselec 23:db91aaa43a9e 502 } while (finished == false && runServoTest == true);
dreamselec 23:db91aaa43a9e 503
dreamselec 23:db91aaa43a9e 504 D_LEDS_OFF();
dreamselec 23:db91aaa43a9e 505 lcd->cls();
dreamselec 23:db91aaa43a9e 506 lcd->locate(0,0);
dreamselec 23:db91aaa43a9e 507 lcd->printf("Done servo test");
dreamselec 23:db91aaa43a9e 508 if (runServoTest == true){
dreamselec 23:db91aaa43a9e 509 pc.printf(":<servos>test=pause;");
dreamselec 23:db91aaa43a9e 510 runServoTest = false;
dreamselec 23:db91aaa43a9e 511 }
dreamselec 23:db91aaa43a9e 512 wait(0.5);
dreamselec 23:db91aaa43a9e 513 lcd->cls();
dreamselec 23:db91aaa43a9e 514 return;
dreamselec 23:db91aaa43a9e 515 }
dreamselec 15:777390eb5afd 516
dreamselec 23:db91aaa43a9e 517 void printBeamInfoOnLCD(){
dreamselec 23:db91aaa43a9e 518 lcd->cls();
dreamselec 23:db91aaa43a9e 519 lcd->locate(0,0);
dreamselec 23:db91aaa43a9e 520 lcd->printf("Top:L1 Btm: L2");
dreamselec 23:db91aaa43a9e 521 lcd->locate(1,0);
dreamselec 23:db91aaa43a9e 522 lcd->printf("On:High, Off:Low");
dreamselec 23:db91aaa43a9e 523 }
dreamselec 23:db91aaa43a9e 524
dreamselec 23:db91aaa43a9e 525 void printBeamInfoOnPC(int topBeam, int bottomBeam){
dreamselec 23:db91aaa43a9e 526 pc.printf(":<break_beam>1=%i,2=%i;", topBeam, bottomBeam);
dreamselec 23:db91aaa43a9e 527 }
dreamselec 23:db91aaa43a9e 528
dreamselec 23:db91aaa43a9e 529 void runInBreakBeamTestMode(){
dreamselec 23:db91aaa43a9e 530 turnOffTopLEDs();
dreamselec 23:db91aaa43a9e 531 i2cport->write_bit(1, 15);
dreamselec 23:db91aaa43a9e 532
dreamselec 23:db91aaa43a9e 533 int topBeamValue = fpga->getBeamValue(1);
dreamselec 23:db91aaa43a9e 534 int bottomBeamValue = fpga->getBeamValue(2);
dreamselec 23:db91aaa43a9e 535 printBeamInfoOnPC(topBeamValue, bottomBeamValue);
dreamselec 23:db91aaa43a9e 536 printBeamInfoOnLCD();
dreamselec 18:44a1c1a30166 537
dreamselec 23:db91aaa43a9e 538 int button = 0;
dreamselec 23:db91aaa43a9e 539 bool finished = false;
dreamselec 23:db91aaa43a9e 540 do{
dreamselec 23:db91aaa43a9e 541 button = readSwitches();
dreamselec 23:db91aaa43a9e 542 int currentTopBeamValue = fpga->getBeamValue(1);
dreamselec 23:db91aaa43a9e 543 int currentBottomBeamValue = fpga->getBeamValue(2);
dreamselec 24:02c61793f90b 544
dreamselec 24:02c61793f90b 545 // For debugging, hold down both 1 and 3 or 2 and 3
dreamselec 24:02c61793f90b 546 if (i2cport->read_bit(10) == 1){
dreamselec 24:02c61793f90b 547 currentTopBeamValue = i2cport->read_bit(8) && i2cport->read_bit(10);
dreamselec 24:02c61793f90b 548 currentBottomBeamValue = i2cport->read_bit(9) && i2cport->read_bit(10);
dreamselec 24:02c61793f90b 549 }
dreamselec 23:db91aaa43a9e 550 myLED1 = currentTopBeamValue;
dreamselec 23:db91aaa43a9e 551 myLED2 = currentBottomBeamValue;
dreamselec 23:db91aaa43a9e 552
dreamselec 23:db91aaa43a9e 553 if (currentTopBeamValue != topBeamValue || currentBottomBeamValue != bottomBeamValue ){
dreamselec 23:db91aaa43a9e 554 topBeamValue = currentTopBeamValue;
dreamselec 23:db91aaa43a9e 555 bottomBeamValue = currentBottomBeamValue;
dreamselec 23:db91aaa43a9e 556 printBeamInfoOnPC(topBeamValue, bottomBeamValue);
dreamselec 23:db91aaa43a9e 557 }
dreamselec 23:db91aaa43a9e 558 finished = button == 4;
dreamselec 23:db91aaa43a9e 559 }while (runBreakBeamTest == true && finished == false);
dreamselec 23:db91aaa43a9e 560
dreamselec 23:db91aaa43a9e 561 turnOffBottomLEDs();
dreamselec 23:db91aaa43a9e 562 lcd->cls();
dreamselec 23:db91aaa43a9e 563 lcd->locate(0,0);
dreamselec 23:db91aaa43a9e 564 lcd->printf("Finished test");
dreamselec 23:db91aaa43a9e 565 if (runBreakBeamTest == true){
dreamselec 23:db91aaa43a9e 566 pc.printf(":<break_beam>test=pause;");
dreamselec 23:db91aaa43a9e 567 runBreakBeamTest = false;
dreamselec 23:db91aaa43a9e 568 }
dreamselec 23:db91aaa43a9e 569 wait(0.5);
dreamselec 23:db91aaa43a9e 570 return;
dreamselec 2:7a55cb10259f 571 }
dreamselec 15:777390eb5afd 572
dreamselec 15:777390eb5afd 573 void displayWaitingLine()
dreamselec 15:777390eb5afd 574 {
dreamselec 23:db91aaa43a9e 575 lcd->cls();
dreamselec 23:db91aaa43a9e 576 lcd->locate(0,0);
dreamselec 23:db91aaa43a9e 577 lcd->printf("Waiting...");
dreamselec 23:db91aaa43a9e 578 lcd->locate(1,0);
dreamselec 15:777390eb5afd 579 }
dreamselec 15:777390eb5afd 580
dreamselec 15:777390eb5afd 581 void displayPCStatus()
dreamselec 15:777390eb5afd 582 {
dreamselec 23:db91aaa43a9e 583 lcd->cls();
dreamselec 23:db91aaa43a9e 584 lcd->locate(0,0);
dreamselec 23:db91aaa43a9e 585 if (connectedToPC) {
dreamselec 23:db91aaa43a9e 586 if (currentMode == Normal)
dreamselec 23:db91aaa43a9e 587 lcd->printf("Normal mode.");
dreamselec 23:db91aaa43a9e 588 else if (currentMode == Maintanence)
dreamselec 23:db91aaa43a9e 589 lcd->printf("Maintanence.");
dreamselec 23:db91aaa43a9e 590 else if (currentMode == None)
dreamselec 23:db91aaa43a9e 591 lcd->printf("Connected to PC");
dreamselec 23:db91aaa43a9e 592 } else
dreamselec 23:db91aaa43a9e 593 lcd->printf("Waiting for PC..");
dreamselec 15:777390eb5afd 594
dreamselec 23:db91aaa43a9e 595 lcd->locate(1,0);
dreamselec 23:db91aaa43a9e 596 lcd->printf("4:Disconnect");
dreamselec 23:db91aaa43a9e 597 D_LEDS_OFF();
dreamselec 23:db91aaa43a9e 598 i2cport->write_bit(1,15);
dreamselec 18:44a1c1a30166 599 }
dreamselec 23:db91aaa43a9e 600
dreamselec 23:db91aaa43a9e 601 void turnOffTopLEDs(){
dreamselec 23:db91aaa43a9e 602 myLED1 = 0;
dreamselec 23:db91aaa43a9e 603 myLED2 = 0;
dreamselec 23:db91aaa43a9e 604 myLED3 = 0;
dreamselec 23:db91aaa43a9e 605 myLED4 = 0;
dreamselec 23:db91aaa43a9e 606 }
dreamselec 23:db91aaa43a9e 607
dreamselec 23:db91aaa43a9e 608 void turnOffBottomLEDs(){
dreamselec 23:db91aaa43a9e 609 i2cport->write_bit(0, 12);
dreamselec 23:db91aaa43a9e 610 i2cport->write_bit(0, 13);
dreamselec 23:db91aaa43a9e 611 i2cport->write_bit(0, 14);
dreamselec 23:db91aaa43a9e 612 i2cport->write_bit(0, 15);
dreamselec 23:db91aaa43a9e 613 }