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@27:2cb1bdb7ae3d, 2015-12-01 (annotated)

Committer:
dreamselec
Date:
Tue Dec 01 16:16:26 2015 +0000
Revision:
27:2cb1bdb7ae3d
Parent:
26:bbcc25418ffa
Child:
28:7e4d29977d72
Adding set new haz block mode, not completed.

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 27:2cb1bdb7ae3d 33 int blockCount = 0;
dreamselec 27:2cb1bdb7ae3d 34 bool lastBlockHaz = false;
dreamselec 2:7a55cb10259f 35
dreamselec 6:98fe30430194 36 Commander _commander = Commander();
dreamselec 6:98fe30430194 37 Commander *commander = &_commander;
dreamselec 6:98fe30430194 38 FPGA _fpga = FPGA();
dreamselec 9:dc8f155b71c8 39 extern FPGA *fpga = &_fpga;
dreamselec 6:98fe30430194 40
dreamselec 20:4e0f0944f28f 41 Block defualtHazBlock = Block();
dreamselec 6:98fe30430194 42 extern Block _HazBlock;
dreamselec 6:98fe30430194 43 Block *HazBlock = &_HazBlock;
dreamselec 6:98fe30430194 44
dreamselec 18:44a1c1a30166 45 extern PCModes currentMode;
dreamselec 18:44a1c1a30166 46
dreamselec 6:98fe30430194 47 void initInternal();
dreamselec 7:b6e31bfdb2af 48 void initPort(int baudRate=kDefaultBaudRate);
dreamselec 6:98fe30430194 49 void printPCDetectedText();
dreamselec 6:98fe30430194 50 void Rx_interrupt();
dreamselec 18:44a1c1a30166 51 bool checkColour(int colourValues[]);
dreamselec 10:16ba52f8e025 52 void runInServoTestMode();
dreamselec 15:777390eb5afd 53 void displayWaitingLine();
dreamselec 15:777390eb5afd 54 void displayPCStatus();
dreamselec 18:44a1c1a30166 55 bool waitForBlock();
dreamselec 18:44a1c1a30166 56 void sortBlock();
dreamselec 23:db91aaa43a9e 57 void runInBreakBeamTestMode();
dreamselec 23:db91aaa43a9e 58 void turnOffTopLEDs();
dreamselec 23:db91aaa43a9e 59 void turnOffBottomLEDs();
dreamselec 25:792540d69c49 60 void runInColourSensorTestMode();
dreamselec 6:98fe30430194 61
dreamselec 6:98fe30430194 62 int main()
dreamselec 6:98fe30430194 63 {
dreamselec 27:2cb1bdb7ae3d 64 initInternal();
dreamselec 27:2cb1bdb7ae3d 65 initPort();
dreamselec 27:2cb1bdb7ae3d 66 srand((unsigned)time(NULL));
dreamselec 27:2cb1bdb7ae3d 67 U_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 68 lcd->cls();
dreamselec 15:777390eb5afd 69
dreamselec 27:2cb1bdb7ae3d 70 rgbSensor.enablePowerAndRGBC();
dreamselec 27:2cb1bdb7ae3d 71 rgbSensor.setIntegrationTime(gIntegrationTime);
dreamselec 6:98fe30430194 72
dreamselec 27:2cb1bdb7ae3d 73 // Create a serial intereput for RxIrq so when PC is connected it sends '$' to tell MBED it's there.
dreamselec 27:2cb1bdb7ae3d 74 // https://developer.mbed.org/cookbook/Serial-Interrupts
dreamselec 27:2cb1bdb7ae3d 75 pc.attach(&Rx_interrupt, Serial::RxIrq);
dreamselec 6:98fe30430194 76
dreamselec 27:2cb1bdb7ae3d 77 DefaultHazBlock();
dreamselec 27:2cb1bdb7ae3d 78 fpga->moveStoppingServo(Stop);
dreamselec 27:2cb1bdb7ae3d 79 fpga->moveSortingServo(NonHaz);
dreamselec 27:2cb1bdb7ae3d 80 pc.printf(":<pc>connect;");
dreamselec 27:2cb1bdb7ae3d 81 wait(0.2);
dreamselec 27:2cb1bdb7ae3d 82
dreamselec 27:2cb1bdb7ae3d 83 for (;;) {
dreamselec 27:2cb1bdb7ae3d 84 if (connectedToPC == false) {
dreamselec 27:2cb1bdb7ae3d 85 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 86 i2cport->write_bit(1, 12);
dreamselec 27:2cb1bdb7ae3d 87 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 88 lcd->printf("1: Start sorting.");
dreamselec 27:2cb1bdb7ae3d 89 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 90 i2cport->write_bit(1,13);
dreamselec 27:2cb1bdb7ae3d 91 lcd->printf("2: Connect to PC");
dreamselec 27:2cb1bdb7ae3d 92 }
dreamselec 27:2cb1bdb7ae3d 93
dreamselec 24:02c61793f90b 94 // wait(0.03);
dreamselec 10:16ba52f8e025 95
dreamselec 27:2cb1bdb7ae3d 96 int selection = 0;
dreamselec 27:2cb1bdb7ae3d 97 do {
dreamselec 27:2cb1bdb7ae3d 98 myLED4 = selection;
dreamselec 27:2cb1bdb7ae3d 99 selection = readSwitches();
dreamselec 27:2cb1bdb7ae3d 100 } while (selection != 1 && selection != 2 && connectedToPC == false);
dreamselec 27:2cb1bdb7ae3d 101 // lcd->cls();
dreamselec 27:2cb1bdb7ae3d 102 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 103 if (selection == 1) {
dreamselec 27:2cb1bdb7ae3d 104 // User selected op 1: Start sorting autonomously.
dreamselec 27:2cb1bdb7ae3d 105 i2cport->write_bit(1, 12);
dreamselec 27:2cb1bdb7ae3d 106 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 107 LCDFL();
dreamselec 27:2cb1bdb7ae3d 108 lcd->printf("Starting sorting");
dreamselec 27:2cb1bdb7ae3d 109 wait(0.5);
dreamselec 27:2cb1bdb7ae3d 110 D_LEDS_OFF();
dreamselec 19:61b21ac4896e 111
dreamselec 27:2cb1bdb7ae3d 112 for(;;) {
dreamselec 27:2cb1bdb7ae3d 113 if (blockCount > 0) {
dreamselec 27:2cb1bdb7ae3d 114 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 115 displayWaitingLine();
dreamselec 27:2cb1bdb7ae3d 116 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 117 if (lastBlockHaz == true)
dreamselec 27:2cb1bdb7ae3d 118 lcd->printf("Hazardous");
dreamselec 27:2cb1bdb7ae3d 119 else if (lastBlockHaz == false)
dreamselec 27:2cb1bdb7ae3d 120 lcd->printf("Non-Hazardous");
dreamselec 27:2cb1bdb7ae3d 121 } else {
dreamselec 27:2cb1bdb7ae3d 122 displayWaitingLine();
dreamselec 27:2cb1bdb7ae3d 123 }
dreamselec 10:16ba52f8e025 124
dreamselec 27:2cb1bdb7ae3d 125 i2cport->write_bit(1, 15);
dreamselec 23:db91aaa43a9e 126
dreamselec 27:2cb1bdb7ae3d 127 // Break and return to main menu i.e. Start Op, or Connect to PC.
dreamselec 27:2cb1bdb7ae3d 128 if (waitForBlock() == false) {
dreamselec 27:2cb1bdb7ae3d 129 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 130 break;
dreamselec 27:2cb1bdb7ae3d 131 } else {
dreamselec 27:2cb1bdb7ae3d 132 sortBlock();
dreamselec 27:2cb1bdb7ae3d 133 }
dreamselec 27:2cb1bdb7ae3d 134 }
dreamselec 27:2cb1bdb7ae3d 135 }
dreamselec 10:16ba52f8e025 136
dreamselec 27:2cb1bdb7ae3d 137 if (selection == 2 || connectedToPC == true) {
dreamselec 27:2cb1bdb7ae3d 138 wait(0.1);
dreamselec 27:2cb1bdb7ae3d 139 for (;;) {
dreamselec 27:2cb1bdb7ae3d 140 displayPCStatus();
dreamselec 19:61b21ac4896e 141
dreamselec 27:2cb1bdb7ae3d 142 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 143 int abortOperation = false;
dreamselec 27:2cb1bdb7ae3d 144 if (connectedToPC == false)
dreamselec 27:2cb1bdb7ae3d 145 pc.printf(":<pc>connect;");
dreamselec 27:2cb1bdb7ae3d 146 while (connectedToPC == false && abortOperation == false) {
dreamselec 27:2cb1bdb7ae3d 147 abortOperation = readSwitches() == 4;
dreamselec 27:2cb1bdb7ae3d 148 }
dreamselec 18:44a1c1a30166 149
dreamselec 27:2cb1bdb7ae3d 150 if (abortOperation == true) {
dreamselec 27:2cb1bdb7ae3d 151 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 152 break;
dreamselec 27:2cb1bdb7ae3d 153 }
dreamselec 27:2cb1bdb7ae3d 154
dreamselec 27:2cb1bdb7ae3d 155 displayPCStatus();
dreamselec 15:777390eb5afd 156
dreamselec 27:2cb1bdb7ae3d 157 while (abortOperation == false && connectedToPC == true) {
dreamselec 27:2cb1bdb7ae3d 158 if (currentMode == Maintanence) {
dreamselec 27:2cb1bdb7ae3d 159 displayPCStatus();
dreamselec 27:2cb1bdb7ae3d 160 while (currentMode == Maintanence) {
dreamselec 27:2cb1bdb7ae3d 161 if (runServoTest == true)
dreamselec 27:2cb1bdb7ae3d 162 runInServoTestMode();
dreamselec 27:2cb1bdb7ae3d 163 else if (runBreakBeamTest == true)
dreamselec 27:2cb1bdb7ae3d 164 runInBreakBeamTestMode();
dreamselec 27:2cb1bdb7ae3d 165 else if (runColourSensorTest == true)
dreamselec 27:2cb1bdb7ae3d 166 runInColourSensorTestMode();
dreamselec 27:2cb1bdb7ae3d 167 if (i2cport->read_bit(11) == 1) {
dreamselec 27:2cb1bdb7ae3d 168 if (displayAbortDialog() == true) {
dreamselec 27:2cb1bdb7ae3d 169 currentMode = None;
dreamselec 27:2cb1bdb7ae3d 170 pc.printf(":<mbed>mode=none;");
dreamselec 27:2cb1bdb7ae3d 171 } else {
dreamselec 27:2cb1bdb7ae3d 172 displayPCStatus();
dreamselec 27:2cb1bdb7ae3d 173 }
dreamselec 27:2cb1bdb7ae3d 174 }
dreamselec 27:2cb1bdb7ae3d 175 }
dreamselec 27:2cb1bdb7ae3d 176 } else if (currentMode == Normal) {
dreamselec 27:2cb1bdb7ae3d 177 displayPCStatus();
dreamselec 27:2cb1bdb7ae3d 178 while (currentMode == Normal) {
dreamselec 27:2cb1bdb7ae3d 179 if (currentState == Pause) {
dreamselec 27:2cb1bdb7ae3d 180 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 181 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 182 lcd->printf("Sorting Paused.");
dreamselec 27:2cb1bdb7ae3d 183 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 184 lcd->printf("1: Start");
dreamselec 27:2cb1bdb7ae3d 185 int button = 0;
dreamselec 27:2cb1bdb7ae3d 186 i2cport->write_bit(1, 12);
dreamselec 27:2cb1bdb7ae3d 187 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 188 while (currentState == Pause && currentMode == Normal) {
dreamselec 27:2cb1bdb7ae3d 189 button = readSwitches();
dreamselec 27:2cb1bdb7ae3d 190 if (button == 1) {
dreamselec 27:2cb1bdb7ae3d 191 pc.printf(":<mbed>sort=start;");
dreamselec 27:2cb1bdb7ae3d 192 currentState = Start;
dreamselec 27:2cb1bdb7ae3d 193 } else if (button == 4) {
dreamselec 27:2cb1bdb7ae3d 194 currentMode = None;
dreamselec 27:2cb1bdb7ae3d 195 pc.printf(":<mbed>mode=none;");
dreamselec 27:2cb1bdb7ae3d 196 // goto setModeNone;
dreamselec 27:2cb1bdb7ae3d 197 break;
dreamselec 27:2cb1bdb7ae3d 198 }
dreamselec 27:2cb1bdb7ae3d 199 }
dreamselec 27:2cb1bdb7ae3d 200 }
dreamselec 27:2cb1bdb7ae3d 201 if (currentState == Start) {
dreamselec 27:2cb1bdb7ae3d 202 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 203 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 204 lcd->printf("Sorting mode...");
dreamselec 27:2cb1bdb7ae3d 205 while (currentState == Start && currentMode == Normal) {
dreamselec 27:2cb1bdb7ae3d 206 if (waitForBlock() == false) {
dreamselec 27:2cb1bdb7ae3d 207 if (connectedToPC == true && currentState != Pause) {
dreamselec 27:2cb1bdb7ae3d 208 // TODO: Tell PC to update UI if aborted from MBED.
dreamselec 27:2cb1bdb7ae3d 209 pc.printf(":<mbed>sort=pause;");
dreamselec 27:2cb1bdb7ae3d 210 currentState = Pause;
dreamselec 27:2cb1bdb7ae3d 211 continue;
dreamselec 27:2cb1bdb7ae3d 212 } else if (connectedToPC == false) {
dreamselec 27:2cb1bdb7ae3d 213 currentMode = None;
dreamselec 27:2cb1bdb7ae3d 214 abortOperation = true;
dreamselec 27:2cb1bdb7ae3d 215 }
dreamselec 27:2cb1bdb7ae3d 216 } else {
dreamselec 27:2cb1bdb7ae3d 217 sortBlock();
dreamselec 27:2cb1bdb7ae3d 218 }
dreamselec 27:2cb1bdb7ae3d 219 }
dreamselec 27:2cb1bdb7ae3d 220 }
dreamselec 27:2cb1bdb7ae3d 221 }
dreamselec 27:2cb1bdb7ae3d 222 } else if (currentMode == None) {
dreamselec 27:2cb1bdb7ae3d 223 setModeNone:
dreamselec 27:2cb1bdb7ae3d 224 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 225 i2cport->write_bit(1,15);
dreamselec 27:2cb1bdb7ae3d 226 displayPCStatus();
dreamselec 27:2cb1bdb7ae3d 227 while (currentMode == None && abortOperation == false && connectedToPC == true) {
dreamselec 27:2cb1bdb7ae3d 228 if (i2cport->read_bit(11)) {
dreamselec 27:2cb1bdb7ae3d 229 abortOperation = displayAbortDialog();
dreamselec 27:2cb1bdb7ae3d 230 // Cancel the Abort
dreamselec 27:2cb1bdb7ae3d 231 if (abortOperation == false) {
dreamselec 27:2cb1bdb7ae3d 232 displayPCStatus();
dreamselec 27:2cb1bdb7ae3d 233 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 234 }
dreamselec 27:2cb1bdb7ae3d 235 }
dreamselec 27:2cb1bdb7ae3d 236 }
dreamselec 27:2cb1bdb7ae3d 237 }
dreamselec 27:2cb1bdb7ae3d 238 }
dreamselec 15:777390eb5afd 239
dreamselec 27:2cb1bdb7ae3d 240 if (abortOperation == true ) {
dreamselec 27:2cb1bdb7ae3d 241 connectedToPC = false;
dreamselec 27:2cb1bdb7ae3d 242 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 243 break;
dreamselec 27:2cb1bdb7ae3d 244 }
dreamselec 27:2cb1bdb7ae3d 245 }
dreamselec 27:2cb1bdb7ae3d 246 }
dreamselec 19:61b21ac4896e 247
dreamselec 27:2cb1bdb7ae3d 248 }
dreamselec 18:44a1c1a30166 249 }
dreamselec 8:e1da2ae62885 250
dreamselec 18:44a1c1a30166 251 // Waits until detects block.
dreamselec 18:44a1c1a30166 252 // true if block detected, false if cancelled/connected to PC.
dreamselec 19:61b21ac4896e 253 bool waitForBlock()
dreamselec 19:61b21ac4896e 254 {
dreamselec 27:2cb1bdb7ae3d 255 myLED4 = 0;
dreamselec 27:2cb1bdb7ae3d 256 myLED1 = 1;
dreamselec 27:2cb1bdb7ae3d 257 if (connectedToPC == false) {
dreamselec 27:2cb1bdb7ae3d 258 bool abortOperation = false;
dreamselec 27:2cb1bdb7ae3d 259 int blockInserted = 0;
dreamselec 27:2cb1bdb7ae3d 260 // Wait until a block is breaking the beam, or button 4 is pressed to abort.
dreamselec 27:2cb1bdb7ae3d 261 do {
dreamselec 27:2cb1bdb7ae3d 262 blockInserted = fpga->getBeamValue(Top);
dreamselec 27:2cb1bdb7ae3d 263 myLED4 = blockInserted;
dreamselec 27:2cb1bdb7ae3d 264 if (i2cport->read_bit(11)) {
dreamselec 27:2cb1bdb7ae3d 265 abortOperation = displayAbortDialog();
dreamselec 27:2cb1bdb7ae3d 266 // Cancel the Abort
dreamselec 27:2cb1bdb7ae3d 267 if (abortOperation == false) {
dreamselec 27:2cb1bdb7ae3d 268 displayWaitingLine();
dreamselec 27:2cb1bdb7ae3d 269 lcd->printf("for block");
dreamselec 27:2cb1bdb7ae3d 270 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 271 }
dreamselec 27:2cb1bdb7ae3d 272 }
dreamselec 27:2cb1bdb7ae3d 273 } while (abortOperation == false && blockInserted != 1 && connectedToPC == false);
dreamselec 18:44a1c1a30166 274
dreamselec 27:2cb1bdb7ae3d 275 if (abortOperation == true || connectedToPC == true)
dreamselec 27:2cb1bdb7ae3d 276 return false;
dreamselec 27:2cb1bdb7ae3d 277 else
dreamselec 27:2cb1bdb7ae3d 278 return true;
dreamselec 27:2cb1bdb7ae3d 279 } else if (connectedToPC == true) {
dreamselec 27:2cb1bdb7ae3d 280 bool abortOperation = false;
dreamselec 27:2cb1bdb7ae3d 281 int blockInserted = 0;
dreamselec 27:2cb1bdb7ae3d 282 // Wait until a block is breaking the beam, or button 4 is pressed to abort.
dreamselec 27:2cb1bdb7ae3d 283 do {
dreamselec 27:2cb1bdb7ae3d 284 blockInserted = fpga->getBeamValue(Top);
dreamselec 27:2cb1bdb7ae3d 285 myLED4 = blockInserted;
dreamselec 27:2cb1bdb7ae3d 286 if (i2cport->read_bit(11)) {
dreamselec 27:2cb1bdb7ae3d 287 abortOperation = displayAbortDialog();
dreamselec 27:2cb1bdb7ae3d 288 // Cancel the Abort
dreamselec 27:2cb1bdb7ae3d 289 if (abortOperation == false) {
dreamselec 27:2cb1bdb7ae3d 290 displayWaitingLine();
dreamselec 27:2cb1bdb7ae3d 291 lcd->printf("for block");
dreamselec 27:2cb1bdb7ae3d 292 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 293 }
dreamselec 27:2cb1bdb7ae3d 294 }
dreamselec 27:2cb1bdb7ae3d 295 } while (abortOperation == false && blockInserted != 1 && connectedToPC == true && currentState == Start && currentMode == Normal);
dreamselec 19:61b21ac4896e 296
dreamselec 27:2cb1bdb7ae3d 297 if (abortOperation == true || connectedToPC == false || currentState == Pause || currentMode == Maintanence)
dreamselec 27:2cb1bdb7ae3d 298 return false;
dreamselec 27:2cb1bdb7ae3d 299 else
dreamselec 27:2cb1bdb7ae3d 300 return true;
dreamselec 27:2cb1bdb7ae3d 301 }
dreamselec 27:2cb1bdb7ae3d 302 return false;
dreamselec 18:44a1c1a30166 303 }
dreamselec 14:cf2f255b5560 304
dreamselec 19:61b21ac4896e 305 void sortBlock()
dreamselec 19:61b21ac4896e 306 {
dreamselec 27:2cb1bdb7ae3d 307 myLED1 = 0;
dreamselec 27:2cb1bdb7ae3d 308 myLED2 = 1;
dreamselec 27:2cb1bdb7ae3d 309 // Cannot Abort any longer. Block is inserted.
dreamselec 27:2cb1bdb7ae3d 310 // Detach rx interrupt until block processed.
dreamselec 27:2cb1bdb7ae3d 311 NVIC_DisableIRQ(UART1_IRQn);
dreamselec 27:2cb1bdb7ae3d 312 fpga->moveSortingServo(Haz);
dreamselec 27:2cb1bdb7ae3d 313 fpga->moveStoppingServo(Go);
dreamselec 21:60c4fe94d79c 314
dreamselec 27:2cb1bdb7ae3d 315 int colourValues[4];
dreamselec 27:2cb1bdb7ae3d 316 int averageColourValues[4] = {0, 0, 0, 0};
dreamselec 27:2cb1bdb7ae3d 317 int numberOfReadings = 3;
dreamselec 27:2cb1bdb7ae3d 318 for (int i = 0; i < 4; i++) {
dreamselec 27:2cb1bdb7ae3d 319 rgbSensor.getAllColors(colourValues);
dreamselec 27:2cb1bdb7ae3d 320 for (int j = 0; j < 4; j++) {
dreamselec 27:2cb1bdb7ae3d 321 averageColourValues[j] += colourValues[j];
dreamselec 27:2cb1bdb7ae3d 322 }
dreamselec 27:2cb1bdb7ae3d 323 }
dreamselec 27:2cb1bdb7ae3d 324 for (int i = 0; i < 4; i++) {
dreamselec 27:2cb1bdb7ae3d 325 averageColourValues[i] = averageColourValues[i] / numberOfReadings;
dreamselec 27:2cb1bdb7ae3d 326 }
dreamselec 18:44a1c1a30166 327
dreamselec 27:2cb1bdb7ae3d 328 lastBlockHaz = false;
dreamselec 27:2cb1bdb7ae3d 329 lastBlockHaz = checkColour(averageColourValues);
dreamselec 27:2cb1bdb7ae3d 330
dreamselec 27:2cb1bdb7ae3d 331 if (!lastBlockHaz) {
dreamselec 27:2cb1bdb7ae3d 332 fpga->moveSortingServo(NonHaz);
dreamselec 27:2cb1bdb7ae3d 333 }
dreamselec 23:db91aaa43a9e 334
dreamselec 27:2cb1bdb7ae3d 335 myLED3 = 1;
dreamselec 27:2cb1bdb7ae3d 336 int blockSize;
dreamselec 27:2cb1bdb7ae3d 337 while (fpga->checkForBlock() == 0) { }
dreamselec 27:2cb1bdb7ae3d 338 blockSize = fpga->checkForSize();
dreamselec 27:2cb1bdb7ae3d 339 if (blockSize == HazBlock->size && lastBlockHaz) {
dreamselec 27:2cb1bdb7ae3d 340 // fpga->moveSortingServo(Haz);
dreamselec 27:2cb1bdb7ae3d 341 // fpga->moveStoppingServo(Go);
dreamselec 27:2cb1bdb7ae3d 342 // blockSize = HazBlock->size;
dreamselec 27:2cb1bdb7ae3d 343 while(fpga->getBeamValue(Bottom) == 1) {}
dreamselec 27:2cb1bdb7ae3d 344 wait(kServoWait);
dreamselec 27:2cb1bdb7ae3d 345 fpga->moveStoppingServo(Stop);
dreamselec 27:2cb1bdb7ae3d 346 } else {
dreamselec 27:2cb1bdb7ae3d 347 lastBlockHaz = false;
dreamselec 27:2cb1bdb7ae3d 348 }
dreamselec 27:2cb1bdb7ae3d 349 fpga->moveSortingServo(NonHaz);
dreamselec 27:2cb1bdb7ae3d 350 while(fpga->checkForSize()) {}
dreamselec 20:4e0f0944f28f 351
dreamselec 27:2cb1bdb7ae3d 352 if (connectedToPC) {
dreamselec 27:2cb1bdb7ae3d 353 for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 354 pc.printf("DEBUG:Percentage Error: %.5f.\n", percentageError[i]);
dreamselec 27:2cb1bdb7ae3d 355 if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[i] * errorMultiplier) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[i] * errorMultiplier))
dreamselec 27:2cb1bdb7ae3d 356 pc.printf("DEBUG:%i Pass.\n", i);
dreamselec 27:2cb1bdb7ae3d 357 }
dreamselec 27:2cb1bdb7ae3d 358 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], lastBlockHaz, percentageError[0], percentageError[1], percentageError[2]);
dreamselec 27:2cb1bdb7ae3d 359 // pc.printf("VALUE:Size:%i,Red:%i,Green:%i,Blue:%i,Clear:%i\n:VALUE", blockSize, colourValues[0], colourValues[1], colourValues[2], colourValues[3], lastBlockHaz);
dreamselec 27:2cb1bdb7ae3d 360 }
dreamselec 18:44a1c1a30166 361
dreamselec 27:2cb1bdb7ae3d 362 // Re-Attach rx interrupt
dreamselec 27:2cb1bdb7ae3d 363 NVIC_EnableIRQ(UART1_IRQn);
dreamselec 27:2cb1bdb7ae3d 364
dreamselec 27:2cb1bdb7ae3d 365 blockCount++;
dreamselec 27:2cb1bdb7ae3d 366 myLED3 = 0;
dreamselec 27:2cb1bdb7ae3d 367 myLED4 = 1;
dreamselec 27:2cb1bdb7ae3d 368 return;
dreamselec 6:98fe30430194 369 }
dreamselec 6:98fe30430194 370
dreamselec 6:98fe30430194 371 /// Called every-time it receives an char from PC.
dreamselec 10:16ba52f8e025 372 void Rx_interrupt()
dreamselec 10:16ba52f8e025 373 {
dreamselec 27:2cb1bdb7ae3d 374 char interruptChar = pc.getc();
dreamselec 27:2cb1bdb7ae3d 375 // Uncomment to Echo to USB serial to watch data flow
dreamselec 27:2cb1bdb7ae3d 376 // pc.putc(interruptChar);
dreamselec 6:98fe30430194 377
dreamselec 27:2cb1bdb7ae3d 378 NVIC_DisableIRQ(UART1_IRQn);
dreamselec 8:e1da2ae62885 379
dreamselec 27:2cb1bdb7ae3d 380 if (interruptChar == CommandTypeValue[Query]) {
dreamselec 27:2cb1bdb7ae3d 381 commander->decodeCommand(Query);
dreamselec 27:2cb1bdb7ae3d 382 } else if (interruptChar == CommandTypeValue[Set]) {
dreamselec 27:2cb1bdb7ae3d 383 commander->decodeCommand(Set);
dreamselec 27:2cb1bdb7ae3d 384 } else if (interruptChar== CommandTypeValue[Reply]) {
dreamselec 27:2cb1bdb7ae3d 385 commander->decodeCommand(Reply);
dreamselec 27:2cb1bdb7ae3d 386 }
dreamselec 8:e1da2ae62885 387
dreamselec 27:2cb1bdb7ae3d 388 NVIC_EnableIRQ(UART1_IRQn);
dreamselec 6:98fe30430194 389 }
dreamselec 3:843b830ee8bd 390
dreamselec 4:4eebb4de22a7 391 void initInternal()
dreamselec 4:4eebb4de22a7 392 {
dreamselec 27:2cb1bdb7ae3d 393 myLED1 = 1;
dreamselec 27:2cb1bdb7ae3d 394 i2cport = new MCP23017(p9, p10, 0x40);
dreamselec 27:2cb1bdb7ae3d 395 lcd = new WattBob_TextLCD(i2cport);
dreamselec 27:2cb1bdb7ae3d 396 BACKLIGHT_ON(i2cport);
dreamselec 27:2cb1bdb7ae3d 397 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 398 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 399 lcd->printf("Initilizing...");
dreamselec 27:2cb1bdb7ae3d 400 DefaultHazBlock();
dreamselec 27:2cb1bdb7ae3d 401 myLED2 = 1;
dreamselec 27:2cb1bdb7ae3d 402 return;
dreamselec 3:843b830ee8bd 403 }
dreamselec 3:843b830ee8bd 404
dreamselec 7:b6e31bfdb2af 405 void initPort(int baudRate)
dreamselec 4:4eebb4de22a7 406 {
dreamselec 27:2cb1bdb7ae3d 407 myLED3 = 1;
dreamselec 27:2cb1bdb7ae3d 408 pc.baud(baudRate);
dreamselec 27:2cb1bdb7ae3d 409 pc.format(8, SerialBase::None, gStopBits);
dreamselec 27:2cb1bdb7ae3d 410 myLED4 = 1;
dreamselec 27:2cb1bdb7ae3d 411 wait (0.1);
dreamselec 27:2cb1bdb7ae3d 412 return;
dreamselec 3:843b830ee8bd 413 }
dreamselec 3:843b830ee8bd 414
dreamselec 18:44a1c1a30166 415 bool checkColour(int colourValues[])
dreamselec 15:777390eb5afd 416 {
dreamselec 27:2cb1bdb7ae3d 417 bool isHazColour[3] = {false, false, false };
dreamselec 27:2cb1bdb7ae3d 418 memset(adjustedValues, 0, sizeof(adjustedValues));
dreamselec 27:2cb1bdb7ae3d 419 memset(percentageError, 0, sizeof(percentageError));
dreamselec 27:2cb1bdb7ae3d 420
dreamselec 27:2cb1bdb7ae3d 421 /* Harcoded working
dreamselec 27:2cb1bdb7ae3d 422 for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 423 adjustedValues[i] = (float)colourValues[i]/(float)colourValues[3];
dreamselec 27:2cb1bdb7ae3d 424 percentageError[i] = (adjustedValues[i] - kAverageRedBlock[i]) / kAverageRedBlock[i];
dreamselec 15:777390eb5afd 425
dreamselec 27:2cb1bdb7ae3d 426 if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[i] * 2) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[i] * 2)) {
dreamselec 27:2cb1bdb7ae3d 427 isHazColour[i] = true;
dreamselec 27:2cb1bdb7ae3d 428 }
dreamselec 27:2cb1bdb7ae3d 429 }
dreamselec 27:2cb1bdb7ae3d 430 */
dreamselec 27:2cb1bdb7ae3d 431 for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 432 adjustedValues[i] = (float)colourValues[i]/(float)colourValues[3];
dreamselec 27:2cb1bdb7ae3d 433 percentageError[i] = (adjustedValues[i] - kAverageRedBlock[i]) / kAverageRedBlock[i];
dreamselec 15:777390eb5afd 434
dreamselec 27:2cb1bdb7ae3d 435 if ((percentageError[i] < 0 && std::abs(percentageError[i]) < currentMinError[i] * errorMultiplier) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < currentMaxError[i] * errorMultiplier)) {
dreamselec 27:2cb1bdb7ae3d 436 isHazColour[i] = true;
dreamselec 27:2cb1bdb7ae3d 437 }
dreamselec 27:2cb1bdb7ae3d 438 }
dreamselec 15:777390eb5afd 439
dreamselec 27:2cb1bdb7ae3d 440 // for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 441 // if (colourValues[i] < HazBlock->maxColour.components[i] && colourValues[i] > HazBlock->minColour.components[i]) {
dreamselec 27:2cb1bdb7ae3d 442 // isHazColour[i] = true;
dreamselec 27:2cb1bdb7ae3d 443 // }
dreamselec 27:2cb1bdb7ae3d 444 // }
dreamselec 27:2cb1bdb7ae3d 445
dreamselec 27:2cb1bdb7ae3d 446 bool isHazBlock = false;
dreamselec 15:777390eb5afd 447
dreamselec 27:2cb1bdb7ae3d 448 if (isHazColour[0] && isHazColour[1] && isHazColour[2]) {
dreamselec 27:2cb1bdb7ae3d 449 isHazBlock = true;
dreamselec 27:2cb1bdb7ae3d 450 } else {
dreamselec 27:2cb1bdb7ae3d 451 isHazBlock = false;
dreamselec 27:2cb1bdb7ae3d 452 }
dreamselec 27:2cb1bdb7ae3d 453 myLED2 = 0;
dreamselec 27:2cb1bdb7ae3d 454 return isHazBlock;
dreamselec 3:843b830ee8bd 455 }
dreamselec 3:843b830ee8bd 456
dreamselec 6:98fe30430194 457 void printPCDetectedText()
dreamselec 4:4eebb4de22a7 458 {
dreamselec 27:2cb1bdb7ae3d 459 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 460 LCDFL();
dreamselec 27:2cb1bdb7ae3d 461 lcd->printf("Detected PC.");
dreamselec 27:2cb1bdb7ae3d 462 LCDSL();
dreamselec 27:2cb1bdb7ae3d 463 lcd->printf("Connecting");
dreamselec 27:2cb1bdb7ae3d 464 initPort();
dreamselec 10:16ba52f8e025 465 }
dreamselec 10:16ba52f8e025 466
dreamselec 10:16ba52f8e025 467 bool displayAbortDialog()
dreamselec 10:16ba52f8e025 468 {
dreamselec 27:2cb1bdb7ae3d 469 while (i2cport->read_bit(11) == 1) {}
dreamselec 27:2cb1bdb7ae3d 470 i2cport->write_bit(1, 12);
dreamselec 10:16ba52f8e025 471
dreamselec 27:2cb1bdb7ae3d 472 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 473 LCDFL();
dreamselec 27:2cb1bdb7ae3d 474 lcd->printf("Abort?");
dreamselec 27:2cb1bdb7ae3d 475 LCDSL();
dreamselec 27:2cb1bdb7ae3d 476 lcd->printf("1:Yes, 2,3,4:No");
dreamselec 27:2cb1bdb7ae3d 477 int reply = 0;
dreamselec 27:2cb1bdb7ae3d 478 do {
dreamselec 27:2cb1bdb7ae3d 479 reply = readSwitches();
dreamselec 27:2cb1bdb7ae3d 480 } while(reply == 0);
dreamselec 10:16ba52f8e025 481
dreamselec 27:2cb1bdb7ae3d 482 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 483 if (reply == 1) {
dreamselec 27:2cb1bdb7ae3d 484 // while (i2cport->read_bit(8)) { }
dreamselec 27:2cb1bdb7ae3d 485 return true;
dreamselec 27:2cb1bdb7ae3d 486 } else {
dreamselec 27:2cb1bdb7ae3d 487 // while (i2cport->read_bit(9) || i2cport->read_bit(10) || i2cport->read_bit(11)) { }
dreamselec 27:2cb1bdb7ae3d 488 return false;
dreamselec 27:2cb1bdb7ae3d 489 }
dreamselec 3:843b830ee8bd 490 }
dreamselec 3:843b830ee8bd 491
dreamselec 15:777390eb5afd 492 void printServoInfoOnLCD()
dreamselec 15:777390eb5afd 493 {
dreamselec 27:2cb1bdb7ae3d 494 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 495 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 496 if (fpga->stoppingServoPosition == Stop)
dreamselec 27:2cb1bdb7ae3d 497 lcd->printf("1:Top: Go");
dreamselec 27:2cb1bdb7ae3d 498 else if (fpga->stoppingServoPosition == Go)
dreamselec 27:2cb1bdb7ae3d 499 lcd->printf("1:Top: Stop");
dreamselec 23:db91aaa43a9e 500
dreamselec 27:2cb1bdb7ae3d 501 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 502 if (fpga->sortingServoPosition == NonHaz)
dreamselec 27:2cb1bdb7ae3d 503 lcd->printf("2:Bottom: Haz");
dreamselec 27:2cb1bdb7ae3d 504 else if (fpga->sortingServoPosition == Haz)
dreamselec 27:2cb1bdb7ae3d 505 lcd->printf("2:Bottom: NonHaz");
dreamselec 23:db91aaa43a9e 506 }
dreamselec 23:db91aaa43a9e 507
dreamselec 27:2cb1bdb7ae3d 508 void printServoInfoOnPC()
dreamselec 27:2cb1bdb7ae3d 509 {
dreamselec 27:2cb1bdb7ae3d 510 if (fpga->stoppingServoPosition == Stop)
dreamselec 27:2cb1bdb7ae3d 511 pc.printf(":<servos>1=Stop;");
dreamselec 27:2cb1bdb7ae3d 512 else if (fpga->stoppingServoPosition == Go)
dreamselec 27:2cb1bdb7ae3d 513 pc.printf(":<servos>1=Go;");
dreamselec 23:db91aaa43a9e 514
dreamselec 27:2cb1bdb7ae3d 515 if (fpga->sortingServoPosition == NonHaz)
dreamselec 27:2cb1bdb7ae3d 516 pc.printf(":<servos>2=NonHaz;");
dreamselec 27:2cb1bdb7ae3d 517 else if (fpga->sortingServoPosition == Haz)
dreamselec 27:2cb1bdb7ae3d 518 pc.printf(":<servos>2=Haz;");
dreamselec 10:16ba52f8e025 519 }
dreamselec 10:16ba52f8e025 520
dreamselec 15:777390eb5afd 521 void runInServoTestMode()
dreamselec 15:777390eb5afd 522 {
dreamselec 27:2cb1bdb7ae3d 523 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 27:2cb1bdb7ae3d 524 printServoInfoOnPC();
dreamselec 27:2cb1bdb7ae3d 525 printServoInfoOnLCD();
dreamselec 27:2cb1bdb7ae3d 526
dreamselec 27:2cb1bdb7ae3d 527 i2cport->write_bit(1, 12);
dreamselec 27:2cb1bdb7ae3d 528 i2cport->write_bit(1, 13);
dreamselec 27:2cb1bdb7ae3d 529 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 530 int button = 0;
dreamselec 27:2cb1bdb7ae3d 531 bool finished = false;
dreamselec 27:2cb1bdb7ae3d 532 do {
dreamselec 27:2cb1bdb7ae3d 533 button = readSwitches();
dreamselec 27:2cb1bdb7ae3d 534
dreamselec 27:2cb1bdb7ae3d 535 // gToggleServoNumber: 1 = Toggle top servo, 2 = Toggle bottom servo, 3 = Toggle both servos
dreamselec 27:2cb1bdb7ae3d 536 if (gToggleServoNumber == 1) {
dreamselec 27:2cb1bdb7ae3d 537 button = 1;
dreamselec 27:2cb1bdb7ae3d 538 gToggleServoNumber = 0;
dreamselec 27:2cb1bdb7ae3d 539 } else if (gToggleServoNumber == 2) {
dreamselec 27:2cb1bdb7ae3d 540 button = 2;
dreamselec 27:2cb1bdb7ae3d 541 gToggleServoNumber = 0;
dreamselec 27:2cb1bdb7ae3d 542 }
dreamselec 23:db91aaa43a9e 543
dreamselec 27:2cb1bdb7ae3d 544 if (button == 1) {
dreamselec 27:2cb1bdb7ae3d 545 fpga->toggleStoppingServo();
dreamselec 27:2cb1bdb7ae3d 546 printServoInfoOnLCD();
dreamselec 27:2cb1bdb7ae3d 547 printServoInfoOnPC();
dreamselec 27:2cb1bdb7ae3d 548 wait(kServoWait);
dreamselec 27:2cb1bdb7ae3d 549 } else if (button == 2) {
dreamselec 27:2cb1bdb7ae3d 550 fpga->toggleSortingServo();
dreamselec 27:2cb1bdb7ae3d 551 printServoInfoOnLCD();
dreamselec 27:2cb1bdb7ae3d 552 printServoInfoOnPC();
dreamselec 27:2cb1bdb7ae3d 553 wait(kServoWait);
dreamselec 27:2cb1bdb7ae3d 554 }
dreamselec 23:db91aaa43a9e 555
dreamselec 27:2cb1bdb7ae3d 556 finished = button == 4;
dreamselec 27:2cb1bdb7ae3d 557 button = 0;
dreamselec 27:2cb1bdb7ae3d 558 } while (finished == false && runServoTest == true);
dreamselec 27:2cb1bdb7ae3d 559
dreamselec 27:2cb1bdb7ae3d 560 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 561 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 562 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 563 lcd->printf("Done servo test");
dreamselec 27:2cb1bdb7ae3d 564 if (runServoTest == true) {
dreamselec 27:2cb1bdb7ae3d 565 pc.printf(":<servos>test=pause;");
dreamselec 27:2cb1bdb7ae3d 566 runServoTest = false;
dreamselec 27:2cb1bdb7ae3d 567 }
dreamselec 27:2cb1bdb7ae3d 568 wait(0.5);
dreamselec 27:2cb1bdb7ae3d 569 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 570 return;
dreamselec 23:db91aaa43a9e 571 }
dreamselec 15:777390eb5afd 572
dreamselec 27:2cb1bdb7ae3d 573 void printBeamInfoOnLCD()
dreamselec 27:2cb1bdb7ae3d 574 {
dreamselec 27:2cb1bdb7ae3d 575 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 576 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 577 lcd->printf("Top:L1 Btm: L2");
dreamselec 27:2cb1bdb7ae3d 578 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 579 lcd->printf("On:High, Off:Low");
dreamselec 23:db91aaa43a9e 580 }
dreamselec 23:db91aaa43a9e 581
dreamselec 27:2cb1bdb7ae3d 582 void printBeamInfoOnPC(int topBeam, int bottomBeam)
dreamselec 27:2cb1bdb7ae3d 583 {
dreamselec 27:2cb1bdb7ae3d 584 pc.printf(":<break_beam>2=%i,1=%i;", topBeam, bottomBeam);
dreamselec 23:db91aaa43a9e 585 }
dreamselec 23:db91aaa43a9e 586
dreamselec 27:2cb1bdb7ae3d 587 void runInBreakBeamTestMode()
dreamselec 27:2cb1bdb7ae3d 588 {
dreamselec 27:2cb1bdb7ae3d 589 turnOffTopLEDs();
dreamselec 27:2cb1bdb7ae3d 590 i2cport->write_bit(1, 15);
dreamselec 23:db91aaa43a9e 591
dreamselec 27:2cb1bdb7ae3d 592 int topBeamValue = fpga->getBeamValue(1);
dreamselec 27:2cb1bdb7ae3d 593 int bottomBeamValue = fpga->getBeamValue(2);
dreamselec 27:2cb1bdb7ae3d 594 printBeamInfoOnPC(topBeamValue, bottomBeamValue);
dreamselec 27:2cb1bdb7ae3d 595 printBeamInfoOnLCD();
dreamselec 27:2cb1bdb7ae3d 596
dreamselec 27:2cb1bdb7ae3d 597 int button = 0;
dreamselec 27:2cb1bdb7ae3d 598 bool finished = false;
dreamselec 27:2cb1bdb7ae3d 599 do {
dreamselec 27:2cb1bdb7ae3d 600 button = readSwitches();
dreamselec 27:2cb1bdb7ae3d 601 int currentTopBeamValue = fpga->getBeamValue(1);
dreamselec 27:2cb1bdb7ae3d 602 int currentBottomBeamValue = fpga->getBeamValue(2);
dreamselec 18:44a1c1a30166 603
dreamselec 27:2cb1bdb7ae3d 604 // For debugging, hold down both 1 and 3 or 2 and 3
dreamselec 27:2cb1bdb7ae3d 605 if (i2cport->read_bit(10) == 1) {
dreamselec 27:2cb1bdb7ae3d 606 currentTopBeamValue = i2cport->read_bit(8) && i2cport->read_bit(10);
dreamselec 27:2cb1bdb7ae3d 607 currentBottomBeamValue = i2cport->read_bit(9) && i2cport->read_bit(10);
dreamselec 27:2cb1bdb7ae3d 608 }
dreamselec 27:2cb1bdb7ae3d 609 myLED1 = currentTopBeamValue;
dreamselec 27:2cb1bdb7ae3d 610 myLED2 = currentBottomBeamValue;
dreamselec 23:db91aaa43a9e 611
dreamselec 27:2cb1bdb7ae3d 612 if (currentTopBeamValue != topBeamValue || currentBottomBeamValue != bottomBeamValue ) {
dreamselec 27:2cb1bdb7ae3d 613 topBeamValue = currentTopBeamValue;
dreamselec 27:2cb1bdb7ae3d 614 bottomBeamValue = currentBottomBeamValue;
dreamselec 27:2cb1bdb7ae3d 615 printBeamInfoOnPC(topBeamValue, bottomBeamValue);
dreamselec 27:2cb1bdb7ae3d 616 }
dreamselec 27:2cb1bdb7ae3d 617 finished = button == 4;
dreamselec 27:2cb1bdb7ae3d 618 } while (runBreakBeamTest == true && finished == false);
dreamselec 23:db91aaa43a9e 619
dreamselec 27:2cb1bdb7ae3d 620 turnOffBottomLEDs();
dreamselec 27:2cb1bdb7ae3d 621 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 622 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 623 lcd->printf("Finished test");
dreamselec 27:2cb1bdb7ae3d 624 if (runBreakBeamTest == true) {
dreamselec 27:2cb1bdb7ae3d 625 pc.printf(":<break_beam>test=pause;");
dreamselec 27:2cb1bdb7ae3d 626 runBreakBeamTest = false;
dreamselec 27:2cb1bdb7ae3d 627 }
dreamselec 27:2cb1bdb7ae3d 628 wait(0.5);
dreamselec 27:2cb1bdb7ae3d 629 return;
dreamselec 2:7a55cb10259f 630 }
dreamselec 15:777390eb5afd 631
dreamselec 27:2cb1bdb7ae3d 632 void printColourSensorInfoOnLCD(int colourValues[])
dreamselec 27:2cb1bdb7ae3d 633 {
dreamselec 27:2cb1bdb7ae3d 634 float weightedValues[4];
dreamselec 27:2cb1bdb7ae3d 635
dreamselec 27:2cb1bdb7ae3d 636 for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 637 weightedValues[i] = (float)colourValues[i] / (float)colourValues[3];
dreamselec 27:2cb1bdb7ae3d 638 }
dreamselec 27:2cb1bdb7ae3d 639 //TODO: Print values on LCD
dreamselec 27:2cb1bdb7ae3d 640 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 641 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 642 lcd->printf("Colour sensor");
dreamselec 27:2cb1bdb7ae3d 643 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 644 lcd->printf("Test mode");
dreamselec 25:792540d69c49 645 }
dreamselec 25:792540d69c49 646
dreamselec 27:2cb1bdb7ae3d 647 void printColourSensorInfoOnPC(int colourValues[])
dreamselec 27:2cb1bdb7ae3d 648 {
dreamselec 27:2cb1bdb7ae3d 649 pc.printf(":<colour_sensor>red=%i,green=%i,blue=%i,clear=%i;", colourValues[0], colourValues[1], colourValues[2], colourValues[3]);
dreamselec 25:792540d69c49 650 }
dreamselec 25:792540d69c49 651
dreamselec 27:2cb1bdb7ae3d 652 void runInColourSensorTestMode()
dreamselec 27:2cb1bdb7ae3d 653 {
dreamselec 27:2cb1bdb7ae3d 654 turnOffTopLEDs();
dreamselec 27:2cb1bdb7ae3d 655 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 656 i2cport->write_bit(1, 12);
dreamselec 27:2cb1bdb7ae3d 657 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 658 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 659 lcd->printf("Colour Sensor");
dreamselec 27:2cb1bdb7ae3d 660 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 661 lcd->printf("Test Mode");
dreamselec 27:2cb1bdb7ae3d 662 pc.printf("!<colour_sensor>i-time=%.3f", gIntegrationTime);
dreamselec 27:2cb1bdb7ae3d 663
dreamselec 27:2cb1bdb7ae3d 664 int button = 0;
dreamselec 27:2cb1bdb7ae3d 665 bool finished = false;
dreamselec 27:2cb1bdb7ae3d 666
dreamselec 27:2cb1bdb7ae3d 667 do {
dreamselec 27:2cb1bdb7ae3d 668 button = readSwitches();
dreamselec 27:2cb1bdb7ae3d 669
dreamselec 27:2cb1bdb7ae3d 670 if (getColourSensorValue == true) {
dreamselec 27:2cb1bdb7ae3d 671 int colourValues[4];
dreamselec 27:2cb1bdb7ae3d 672 rgbSensor.getAllColors(colourValues);
dreamselec 27:2cb1bdb7ae3d 673 printColourSensorInfoOnPC(colourValues);
dreamselec 27:2cb1bdb7ae3d 674 printColourSensorInfoOnLCD(colourValues);
dreamselec 27:2cb1bdb7ae3d 675 getColourSensorValue = false;
dreamselec 27:2cb1bdb7ae3d 676 } else if (getBlockColourValue == true) {
dreamselec 27:2cb1bdb7ae3d 677 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 678 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 679 lcd->printf("Drop block");
dreamselec 27:2cb1bdb7ae3d 680
dreamselec 27:2cb1bdb7ae3d 681
dreamselec 27:2cb1bdb7ae3d 682 turnOffTopLEDs();
dreamselec 27:2cb1bdb7ae3d 683
dreamselec 27:2cb1bdb7ae3d 684 while(fpga->getBeamValue(Top) == 0) {
dreamselec 27:2cb1bdb7ae3d 685 myLED1 = fpga->getBeamValue(Top);
dreamselec 27:2cb1bdb7ae3d 686 myLED2 = fpga->getBeamValue(Bottom);
dreamselec 27:2cb1bdb7ae3d 687 }
dreamselec 27:2cb1bdb7ae3d 688
dreamselec 27:2cb1bdb7ae3d 689 myLED3 = 1;
dreamselec 27:2cb1bdb7ae3d 690 int colourValues[3][4];
dreamselec 27:2cb1bdb7ae3d 691 for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 692 memset(colourValues[i], 0, sizeof(colourValues));
dreamselec 27:2cb1bdb7ae3d 693 }
dreamselec 27:2cb1bdb7ae3d 694 int valueCount = 0;
dreamselec 27:2cb1bdb7ae3d 695
dreamselec 27:2cb1bdb7ae3d 696 do {
dreamselec 27:2cb1bdb7ae3d 697 rgbSensor.getAllColors(colourValues[valueCount]);
dreamselec 27:2cb1bdb7ae3d 698 } while (fpga->getBeamValue(Top) == 1 && valueCount < 3);
dreamselec 27:2cb1bdb7ae3d 699
dreamselec 27:2cb1bdb7ae3d 700 turnOffTopLEDs();
dreamselec 27:2cb1bdb7ae3d 701 myLED4 = 1;
dreamselec 27:2cb1bdb7ae3d 702
dreamselec 27:2cb1bdb7ae3d 703 int averageValues[4] = {0, 0, 0, 0};
dreamselec 27:2cb1bdb7ae3d 704 for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 705 averageValues[0] += colourValues[i][0];
dreamselec 27:2cb1bdb7ae3d 706 averageValues[1] += colourValues[i][1];
dreamselec 27:2cb1bdb7ae3d 707 averageValues[2] += colourValues[i][2];
dreamselec 27:2cb1bdb7ae3d 708 averageValues[3] += colourValues[i][3];
dreamselec 27:2cb1bdb7ae3d 709 }
dreamselec 27:2cb1bdb7ae3d 710 averageValues[0] = averageValues[0] / valueCount;
dreamselec 27:2cb1bdb7ae3d 711 averageValues[1] = averageValues[1] / valueCount;
dreamselec 27:2cb1bdb7ae3d 712 averageValues[2] = averageValues[2] / valueCount;
dreamselec 27:2cb1bdb7ae3d 713 averageValues[3] = averageValues[3] / valueCount;
dreamselec 27:2cb1bdb7ae3d 714 myLED4 = 0;
dreamselec 27:2cb1bdb7ae3d 715
dreamselec 27:2cb1bdb7ae3d 716 printColourSensorInfoOnPC(averageValues);
dreamselec 27:2cb1bdb7ae3d 717 printColourSensorInfoOnLCD(averageValues);
dreamselec 27:2cb1bdb7ae3d 718
dreamselec 27:2cb1bdb7ae3d 719 getBlockColourValue = false;
dreamselec 27:2cb1bdb7ae3d 720 } else if (button == 1) {
dreamselec 27:2cb1bdb7ae3d 721 getColourSensorValue = true;
dreamselec 27:2cb1bdb7ae3d 722 button = 0;
dreamselec 27:2cb1bdb7ae3d 723 }
dreamselec 27:2cb1bdb7ae3d 724
dreamselec 27:2cb1bdb7ae3d 725 finished = button == 4;
dreamselec 25:792540d69c49 726 // button = 0;
dreamselec 27:2cb1bdb7ae3d 727 } while (finished == false && runColourSensorTest == true);
dreamselec 27:2cb1bdb7ae3d 728
dreamselec 27:2cb1bdb7ae3d 729 turnOffBottomLEDs();
dreamselec 27:2cb1bdb7ae3d 730 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 731 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 732 lcd->printf("Finished test");
dreamselec 27:2cb1bdb7ae3d 733 if (runColourSensorTest == true) {
dreamselec 27:2cb1bdb7ae3d 734 pc.printf(":<colour_sensor>test=pause;");
dreamselec 27:2cb1bdb7ae3d 735 runColourSensorTest = false;
dreamselec 27:2cb1bdb7ae3d 736 }
dreamselec 27:2cb1bdb7ae3d 737 wait(0.5);
dreamselec 27:2cb1bdb7ae3d 738 return;
dreamselec 25:792540d69c49 739 }
dreamselec 25:792540d69c49 740
dreamselec 15:777390eb5afd 741 void displayWaitingLine()
dreamselec 15:777390eb5afd 742 {
dreamselec 27:2cb1bdb7ae3d 743 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 744 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 745 lcd->printf("Waiting...");
dreamselec 27:2cb1bdb7ae3d 746 lcd->locate(1,0);
dreamselec 15:777390eb5afd 747 }
dreamselec 15:777390eb5afd 748
dreamselec 15:777390eb5afd 749 void displayPCStatus()
dreamselec 15:777390eb5afd 750 {
dreamselec 27:2cb1bdb7ae3d 751 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 752 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 753 if (connectedToPC == true) {
dreamselec 27:2cb1bdb7ae3d 754 if (currentMode == Normal)
dreamselec 27:2cb1bdb7ae3d 755 lcd->printf("Normal mode.");
dreamselec 27:2cb1bdb7ae3d 756 else if (currentMode == Maintanence)
dreamselec 27:2cb1bdb7ae3d 757 lcd->printf("Maintanence.");
dreamselec 27:2cb1bdb7ae3d 758 else if (currentMode == None)
dreamselec 27:2cb1bdb7ae3d 759 lcd->printf("Connected to PC");
dreamselec 27:2cb1bdb7ae3d 760 } else
dreamselec 27:2cb1bdb7ae3d 761 lcd->printf("Waiting for PC..");
dreamselec 15:777390eb5afd 762
dreamselec 27:2cb1bdb7ae3d 763 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 764 lcd->printf("4:Disconnect");
dreamselec 27:2cb1bdb7ae3d 765 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 766 i2cport->write_bit(1,15);
dreamselec 18:44a1c1a30166 767 }
dreamselec 23:db91aaa43a9e 768
dreamselec 27:2cb1bdb7ae3d 769 void turnOffTopLEDs()
dreamselec 27:2cb1bdb7ae3d 770 {
dreamselec 27:2cb1bdb7ae3d 771 myLED1 = 0;
dreamselec 27:2cb1bdb7ae3d 772 myLED2 = 0;
dreamselec 27:2cb1bdb7ae3d 773 myLED3 = 0;
dreamselec 27:2cb1bdb7ae3d 774 myLED4 = 0;
dreamselec 23:db91aaa43a9e 775 }
dreamselec 23:db91aaa43a9e 776
dreamselec 27:2cb1bdb7ae3d 777 void turnOffBottomLEDs()
dreamselec 27:2cb1bdb7ae3d 778 {
dreamselec 27:2cb1bdb7ae3d 779 i2cport->write_bit(0, 12);
dreamselec 27:2cb1bdb7ae3d 780 i2cport->write_bit(0, 13);
dreamselec 27:2cb1bdb7ae3d 781 i2cport->write_bit(0, 14);
dreamselec 27:2cb1bdb7ae3d 782 i2cport->write_bit(0, 15);
dreamselec 23:db91aaa43a9e 783 }