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@10:16ba52f8e025, 2015-11-18 (annotated)

Committer:
dreamselec
Date:
Wed Nov 18 16:09:52 2015 +0000
Revision:
10:16ba52f8e025
Parent:
9:dc8f155b71c8
Child:
11:0fe833f8a1ab
Fine tuneing with the hardware. Logic seems fine. Need to fill in all command functions.

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 10:16ba52f8e025 9 int ColourSensorError = 25;
dreamselec 2:7a55cb10259f 10 //SerialBase gParity = SerialBase::None;
dreamselec 2:7a55cb10259f 11 int gStopBits = 1;
dreamselec 3:843b830ee8bd 12
dreamselec 7:b6e31bfdb2af 13 Block _HazBlock = Block(kDefaultHazBlock);
dreamselec 8:e1da2ae62885 14
dreamselec 8:e1da2ae62885 15 bool connectedToPC = false;
dreamselec 10:16ba52f8e025 16 bool runServoTest = false;
dreamselec 8:e1da2ae62885 17
dreamselec 10:16ba52f8e025 18 int readSwitches()
dreamselec 10:16ba52f8e025 19 {
dreamselec 10:16ba52f8e025 20
dreamselec 10:16ba52f8e025 21 if(i2cport->read_bit(8)) {
dreamselec 10:16ba52f8e025 22 return 1;
dreamselec 10:16ba52f8e025 23 } else if (i2cport->read_bit(9)) {
dreamselec 10:16ba52f8e025 24 return 2;
dreamselec 10:16ba52f8e025 25 } else if (i2cport->read_bit(10)) {
dreamselec 10:16ba52f8e025 26 return 3;
dreamselec 10:16ba52f8e025 27 } else if (i2cport->read_bit(11)) {
dreamselec 10:16ba52f8e025 28 return 4;
dreamselec 10:16ba52f8e025 29 } else {
dreamselec 10:16ba52f8e025 30 return 0;
dreamselec 10:16ba52f8e025 31 }
dreamselec 10:16ba52f8e025 32
dreamselec 8:e1da2ae62885 33 }
dreamselec 8:e1da2ae62885 34
dreamselec 10:16ba52f8e025 35 void connectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 36 {
dreamselec 10:16ba52f8e025 37 pc.printf("pc told to connect\n");
dreamselec 10:16ba52f8e025 38 connectedToPC = true;
dreamselec 10:16ba52f8e025 39 }
dreamselec 10:16ba52f8e025 40
dreamselec 10:16ba52f8e025 41 void disconnectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 42 {
dreamselec 10:16ba52f8e025 43 pc.printf("pc told to disconnect\n");
dreamselec 10:16ba52f8e025 44 connectedToPC = false;
dreamselec 8:e1da2ae62885 45 }
dreamselec 8:e1da2ae62885 46
dreamselec 10:16ba52f8e025 47 void hazBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 48 {
dreamselec 10:16ba52f8e025 49 if (typeRaw == Set) {
dreamselec 10:16ba52f8e025 50 pc.printf("setting new haz block.\n");
dreamselec 10:16ba52f8e025 51 // pc.printf("Send 'y' when block is inserted.\n");
dreamselec 10:16ba52f8e025 52 int lowerBeam = 0;
dreamselec 10:16ba52f8e025 53 int higherBeam = 0;
dreamselec 10:16ba52f8e025 54 char readyChar = '\0';
dreamselec 10:16ba52f8e025 55
dreamselec 10:16ba52f8e025 56 do { higherBeam = fpga->checkForSize();
dreamselec 10:16ba52f8e025 57 } while (higherBeam != 1);
dreamselec 10:16ba52f8e025 58
dreamselec 10:16ba52f8e025 59 int colourValue[4];
dreamselec 10:16ba52f8e025 60 rgbSensor.getAllColors(colourValue);
dreamselec 10:16ba52f8e025 61
dreamselec 10:16ba52f8e025 62 do {
dreamselec 10:16ba52f8e025 63 // readyChar = pc.getc();
dreamselec 10:16ba52f8e025 64 lowerBeam = fpga->checkForBlock();
dreamselec 10:16ba52f8e025 65 // TODO: Check beam reading
dreamselec 10:16ba52f8e025 66 // if (readyChar != 'y'){
dreamselec 10:16ba52f8e025 67 // pc.printf("No block detected by beam\nTry again.");
dreamselec 10:16ba52f8e025 68 // }
dreamselec 10:16ba52f8e025 69 } while (lowerBeam != 1);
dreamselec 10:16ba52f8e025 70 higherBeam = fpga->checkForSize();
dreamselec 10:16ba52f8e025 71
dreamselec 10:16ba52f8e025 72
dreamselec 10:16ba52f8e025 73
dreamselec 10:16ba52f8e025 74
dreamselec 10:16ba52f8e025 75 _HazBlock = Block();
dreamselec 10:16ba52f8e025 76 if (higherBeam == 1)
dreamselec 10:16ba52f8e025 77 _HazBlock.size = Block::Big;
dreamselec 10:16ba52f8e025 78 else if (higherBeam == 0)
dreamselec 10:16ba52f8e025 79 _HazBlock.size = Block::Small;
dreamselec 10:16ba52f8e025 80 for (int i = 0; i < 4; i++) {
dreamselec 10:16ba52f8e025 81 _HazBlock.minColour.components[i] = colourValue[i] - ColourSensorError;
dreamselec 10:16ba52f8e025 82 _HazBlock.maxColour.components[i] = colourValue[i] + ColourSensorError;
dreamselec 10:16ba52f8e025 83 }
dreamselec 10:16ba52f8e025 84 fpga->moveSortingServo(Haz);
dreamselec 10:16ba52f8e025 85 fpga->moveStoppingServo(Go);
dreamselec 10:16ba52f8e025 86 while (fpga->checkForBlock()) {}
dreamselec 10:16ba52f8e025 87 fpga->moveStoppingServo(Go);
dreamselec 10:16ba52f8e025 88 fpga->moveSortingServo(NonHaz);
dreamselec 9:dc8f155b71c8 89
dreamselec 10:16ba52f8e025 90 pc.printf( "HazBlock:\n \t Size:%i\n \t Real Colour:%i,%i,%i,%i\n \tMin Colour:%i,%i,%i,%i\n \t Max Colour:%i,%i,%i,%i\n ", _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 10:16ba52f8e025 91 } else if (typeRaw == Query) {
dreamselec 10:16ba52f8e025 92 pc.printf( "HazBlock:\n \t Size:%i\n \t Min Colour:%i,%i,%i,%i\n \t Max Colour:%i,%i,%i,%i\n ", _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 10:16ba52f8e025 93 }
dreamselec 8:e1da2ae62885 94 }
dreamselec 8:e1da2ae62885 95
dreamselec 10:16ba52f8e025 96 void getCurrentBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 97 {
dreamselec 10:16ba52f8e025 98 pc.printf("getting current block readings\n");
dreamselec 8:e1da2ae62885 99 }
dreamselec 8:e1da2ae62885 100
dreamselec 10:16ba52f8e025 101 void setIntegrationTime(int integrationTime)
dreamselec 10:16ba52f8e025 102 {
dreamselec 10:16ba52f8e025 103 rgbSensor.setIntegrationTime(integrationTime);
dreamselec 10:16ba52f8e025 104 pc.printf("setting i-time to %i.\n", integrationTime);
dreamselec 8:e1da2ae62885 105 }
dreamselec 8:e1da2ae62885 106
dreamselec 10:16ba52f8e025 107 void previewOnPC(bool on)
dreamselec 10:16ba52f8e025 108 {
dreamselec 10:16ba52f8e025 109 pc.printf("setting preview on pc to %i.\n", on);
dreamselec 8:e1da2ae62885 110 }
dreamselec 8:e1da2ae62885 111
dreamselec 10:16ba52f8e025 112 void readColourSensor(){
dreamselec 10:16ba52f8e025 113 int colourValue[4];
dreamselec 10:16ba52f8e025 114 rgbSensor.getAllColors(colourValue);
dreamselec 10:16ba52f8e025 115 pc.printf( "Colour Reading:%i,%i,%i,%i\n", colourValue[0], colourValue[1], colourValue[2], colourValue[3]);
dreamselec 10:16ba52f8e025 116
dreamselec 8:e1da2ae62885 117 }
dreamselec 8:e1da2ae62885 118
dreamselec 10:16ba52f8e025 119
dreamselec 10:16ba52f8e025 120 void testServos()
dreamselec 10:16ba52f8e025 121 {
dreamselec 10:16ba52f8e025 122 runServoTest = true;
dreamselec 8:e1da2ae62885 123 }
dreamselec 8:e1da2ae62885 124
dreamselec 10:16ba52f8e025 125 void resetServos()
dreamselec 10:16ba52f8e025 126 {
dreamselec 10:16ba52f8e025 127 pc.printf("resetting servos.\n");
dreamselec 8:e1da2ae62885 128 }
dreamselec 8:e1da2ae62885 129
dreamselec 10:16ba52f8e025 130 void getPortInfo()
dreamselec 10:16ba52f8e025 131 {
dreamselec 10:16ba52f8e025 132 pc.printf("getting port info.\n");
dreamselec 8:e1da2ae62885 133 }
dreamselec 8:e1da2ae62885 134
dreamselec 10:16ba52f8e025 135 void setPortBaudRate(int baudRate)
dreamselec 10:16ba52f8e025 136 {
dreamselec 10:16ba52f8e025 137 pc.printf("setting port baudrate to: %i\n", baudRate);
dreamselec 10:16ba52f8e025 138 }
dreamselec 10:16ba52f8e025 139