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@18:44a1c1a30166, 2015-11-24 (annotated)

Committer:
dreamselec
Date:
Tue Nov 24 00:24:39 2015 +0000
Revision:
18:44a1c1a30166
Parent:
17:af373246bf80
Child:
19:61b21ac4896e
Implemented new algorithm, now supports different modes on PC.

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 17:af373246bf80 17 PCModes currentMode = None;
dreamselec 18:44a1c1a30166 18 Controls currentState = Pause;
dreamselec 8:e1da2ae62885 19
dreamselec 10:16ba52f8e025 20 int readSwitches()
dreamselec 10:16ba52f8e025 21 {
dreamselec 18:44a1c1a30166 22 if(i2cport->read_bit(8)) {
dreamselec 18:44a1c1a30166 23 while (i2cport->read_bit(8)) { }
dreamselec 18:44a1c1a30166 24 return 1;
dreamselec 18:44a1c1a30166 25 } else if (i2cport->read_bit(9)) {
dreamselec 18:44a1c1a30166 26 while (i2cport->read_bit(9)) { }
dreamselec 18:44a1c1a30166 27 return 2;
dreamselec 18:44a1c1a30166 28 } else if (i2cport->read_bit(10)) {
dreamselec 18:44a1c1a30166 29 while (i2cport->read_bit(10)) { }
dreamselec 18:44a1c1a30166 30 return 3;
dreamselec 18:44a1c1a30166 31 } else if (i2cport->read_bit(11)) {
dreamselec 18:44a1c1a30166 32 while (i2cport->read_bit(11)) { }
dreamselec 18:44a1c1a30166 33 return 4;
dreamselec 18:44a1c1a30166 34 } else {
dreamselec 18:44a1c1a30166 35 return 0;
dreamselec 18:44a1c1a30166 36 }
dreamselec 10:16ba52f8e025 37
dreamselec 8:e1da2ae62885 38 }
dreamselec 8:e1da2ae62885 39
dreamselec 10:16ba52f8e025 40 void connectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 41 {
dreamselec 18:44a1c1a30166 42 connectedToPC = true;
dreamselec 18:44a1c1a30166 43 pc.printf("INFO:MBED connected to PC.\n");
dreamselec 10:16ba52f8e025 44 }
dreamselec 10:16ba52f8e025 45
dreamselec 10:16ba52f8e025 46 void disconnectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 47 {
dreamselec 18:44a1c1a30166 48 pc.printf("INFO:MBED disconnected from PC.\n");
dreamselec 18:44a1c1a30166 49 connectedToPC = false;
dreamselec 18:44a1c1a30166 50 currentMode = None;
dreamselec 8:e1da2ae62885 51 }
dreamselec 8:e1da2ae62885 52
dreamselec 10:16ba52f8e025 53 void hazBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 54 {
dreamselec 18:44a1c1a30166 55 if (typeRaw == Set) {
dreamselec 18:44a1c1a30166 56 pc.printf("Setting new haz block.\n");
dreamselec 18:44a1c1a30166 57 // pc.printf("Send 'y' when block is inserted.\n");
dreamselec 18:44a1c1a30166 58 int lowerBeam = 0;
dreamselec 18:44a1c1a30166 59 int higherBeam = 0;
dreamselec 18:44a1c1a30166 60 char readyChar = '\0';
dreamselec 18:44a1c1a30166 61
dreamselec 18:44a1c1a30166 62 do { higherBeam = fpga->checkForSize();
dreamselec 18:44a1c1a30166 63 } while (higherBeam != 1);
dreamselec 18:44a1c1a30166 64
dreamselec 18:44a1c1a30166 65 int colourValue[4];
dreamselec 18:44a1c1a30166 66 rgbSensor.getAllColors(colourValue);
dreamselec 10:16ba52f8e025 67
dreamselec 18:44a1c1a30166 68 do {
dreamselec 18:44a1c1a30166 69 // readyChar = pc.getc();
dreamselec 18:44a1c1a30166 70 lowerBeam = fpga->checkForBlock();
dreamselec 18:44a1c1a30166 71 // TODO: Check beam reading
dreamselec 18:44a1c1a30166 72 // if (readyChar != 'y'){
dreamselec 18:44a1c1a30166 73 // pc.printf("No block detected by beam\nTry again.");
dreamselec 18:44a1c1a30166 74 // }
dreamselec 18:44a1c1a30166 75 } while (lowerBeam != 1);
dreamselec 18:44a1c1a30166 76 higherBeam = fpga->checkForSize();
dreamselec 18:44a1c1a30166 77
dreamselec 18:44a1c1a30166 78 _HazBlock = Block();
dreamselec 18:44a1c1a30166 79 if (higherBeam == 1)
dreamselec 18:44a1c1a30166 80 _HazBlock.size = Block::Big;
dreamselec 18:44a1c1a30166 81 else if (higherBeam == 0)
dreamselec 18:44a1c1a30166 82 _HazBlock.size = Block::Small;
dreamselec 18:44a1c1a30166 83 for (int i = 0; i < 4; i++) {
dreamselec 18:44a1c1a30166 84 _HazBlock.minColour.components[i] = colourValue[i] - ColourSensorError;
dreamselec 18:44a1c1a30166 85 _HazBlock.maxColour.components[i] = colourValue[i] + ColourSensorError;
dreamselec 18:44a1c1a30166 86 }
dreamselec 18:44a1c1a30166 87 fpga->moveSortingServo(Haz);
dreamselec 18:44a1c1a30166 88 fpga->moveStoppingServo(Go);
dreamselec 18:44a1c1a30166 89 while (fpga->checkForBlock()) {}
dreamselec 18:44a1c1a30166 90 fpga->moveStoppingServo(Stop);
dreamselec 18:44a1c1a30166 91 fpga->moveSortingServo(NonHaz);
dreamselec 18:44a1c1a30166 92
dreamselec 18:44a1c1a30166 93 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 18:44a1c1a30166 94 } else if (typeRaw == Query) {
dreamselec 18:44a1c1a30166 95 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 18:44a1c1a30166 96 }
dreamselec 8:e1da2ae62885 97 }
dreamselec 8:e1da2ae62885 98
dreamselec 10:16ba52f8e025 99 void getCurrentBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 100 {
dreamselec 18:44a1c1a30166 101 pc.printf("DEBUG: Getting current block readings\n");
dreamselec 8:e1da2ae62885 102 }
dreamselec 8:e1da2ae62885 103
dreamselec 15:777390eb5afd 104 void setIntegrationTimeTo(float integrationTime)
dreamselec 10:16ba52f8e025 105 {
dreamselec 18:44a1c1a30166 106 rgbSensor.setIntegrationTime(integrationTime);
dreamselec 18:44a1c1a30166 107 pc.printf("DEBUG: Setting integration-time to %i.\n", integrationTime);
dreamselec 8:e1da2ae62885 108 }
dreamselec 8:e1da2ae62885 109
dreamselec 10:16ba52f8e025 110 void previewOnPC(bool on)
dreamselec 10:16ba52f8e025 111 {
dreamselec 18:44a1c1a30166 112 pc.printf("setting preview on pc to %i.\n", on);
dreamselec 8:e1da2ae62885 113 }
dreamselec 8:e1da2ae62885 114
dreamselec 10:16ba52f8e025 115 void readColourSensor(){
dreamselec 10:16ba52f8e025 116 int colourValue[4];
dreamselec 18:44a1c1a30166 117 rgbSensor.getAllColors(colourValue);
dreamselec 18:44a1c1a30166 118 pc.printf( "Colour Reading:%i,%i,%i,%i\n", colourValue[0], colourValue[1], colourValue[2], colourValue[3]);
dreamselec 18:44a1c1a30166 119
dreamselec 8:e1da2ae62885 120 }
dreamselec 8:e1da2ae62885 121
dreamselec 10:16ba52f8e025 122
dreamselec 17:af373246bf80 123 void testServos(Controls state)
dreamselec 10:16ba52f8e025 124 {
dreamselec 18:44a1c1a30166 125 if (state == Start){
dreamselec 18:44a1c1a30166 126 pc.printf("INFO: Running servo test.\n");
dreamselec 18:44a1c1a30166 127 runServoTest = true;
dreamselec 17:af373246bf80 128 }else if (state == Pause){
dreamselec 17:af373246bf80 129 pc.printf("INFO: Finished running servo test.\n");
dreamselec 17:af373246bf80 130 runServoTest = false;
dreamselec 17:af373246bf80 131 }
dreamselec 8:e1da2ae62885 132 }
dreamselec 8:e1da2ae62885 133
dreamselec 10:16ba52f8e025 134 void resetServos()
dreamselec 10:16ba52f8e025 135 {
dreamselec 18:44a1c1a30166 136 pc.printf("resetting servos.\n");
dreamselec 8:e1da2ae62885 137 }
dreamselec 8:e1da2ae62885 138
dreamselec 10:16ba52f8e025 139 void getPortInfo()
dreamselec 10:16ba52f8e025 140 {
dreamselec 18:44a1c1a30166 141 pc.printf("getting port info.\n");
dreamselec 8:e1da2ae62885 142 }
dreamselec 8:e1da2ae62885 143
dreamselec 17:af373246bf80 144 void setPortBaudRate(int baudRate)
dreamselec 10:16ba52f8e025 145 {
dreamselec 14:cf2f255b5560 146 pc.baud(baudRate);
dreamselec 17:af373246bf80 147 wait(0.1);
dreamselec 18:44a1c1a30166 148 pc.printf("DEBUG: Setting port Baud Rate to: %i.\n", baudRate);
dreamselec 10:16ba52f8e025 149 }
dreamselec 10:16ba52f8e025 150
dreamselec 14:cf2f255b5560 151 void setPortParity(int parity){
dreamselec 14:cf2f255b5560 152 SerialBase::Parity _parity = static_cast<SerialBase::Parity>(parity);
dreamselec 14:cf2f255b5560 153 pc.format(8, _parity, 1);
dreamselec 17:af373246bf80 154 wait(0.1);
dreamselec 17:af373246bf80 155 pc.printf("DEBUG: Setting port parity to: %i.\n", parity);
dreamselec 14:cf2f255b5560 156 }