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@20:4e0f0944f28f, 2015-11-24 (annotated)

Committer:
dreamselec
Date:
Tue Nov 24 20:53:51 2015 +0000
Revision:
20:4e0f0944f28f
Parent:
19:61b21ac4896e
Child:
22:993821a4c396
Hardcoded red small block values. Testing with hardware was working.

Who changed what in which revision?

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