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@19:61b21ac4896e, 2015-11-24 (annotated)

Committer:
dreamselec
Date:
Tue Nov 24 01:38:46 2015 +0000
Revision:
19:61b21ac4896e
Parent:
18:44a1c1a30166
Child:
20:4e0f0944f28f
Modes testing working. Need to work on setting new has block similar to other program. Added tags.

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 19:61b21ac4896e 56 pc.printf("INFO:Setting new haz block.\n");
dreamselec 18:44a1c1a30166 57 int lowerBeam = 0;
dreamselec 18:44a1c1a30166 58 int higherBeam = 0;
dreamselec 18:44a1c1a30166 59 char readyChar = '\0';
dreamselec 18:44a1c1a30166 60
dreamselec 18:44a1c1a30166 61 do { higherBeam = fpga->checkForSize();
dreamselec 18:44a1c1a30166 62 } while (higherBeam != 1);
dreamselec 18:44a1c1a30166 63
dreamselec 18:44a1c1a30166 64 int colourValue[4];
dreamselec 18:44a1c1a30166 65 rgbSensor.getAllColors(colourValue);
dreamselec 10:16ba52f8e025 66
dreamselec 18:44a1c1a30166 67 do {
dreamselec 18:44a1c1a30166 68 // readyChar = pc.getc();
dreamselec 18:44a1c1a30166 69 lowerBeam = fpga->checkForBlock();
dreamselec 18:44a1c1a30166 70 // TODO: Check beam reading
dreamselec 18:44a1c1a30166 71 // if (readyChar != 'y'){
dreamselec 18:44a1c1a30166 72 // pc.printf("No block detected by beam\nTry again.");
dreamselec 18:44a1c1a30166 73 // }
dreamselec 18:44a1c1a30166 74 } while (lowerBeam != 1);
dreamselec 18:44a1c1a30166 75 higherBeam = fpga->checkForSize();
dreamselec 18:44a1c1a30166 76
dreamselec 18:44a1c1a30166 77 _HazBlock = Block();
dreamselec 18:44a1c1a30166 78 if (higherBeam == 1)
dreamselec 18:44a1c1a30166 79 _HazBlock.size = Block::Big;
dreamselec 18:44a1c1a30166 80 else if (higherBeam == 0)
dreamselec 18:44a1c1a30166 81 _HazBlock.size = Block::Small;
dreamselec 18:44a1c1a30166 82 for (int i = 0; i < 4; i++) {
dreamselec 18:44a1c1a30166 83 _HazBlock.minColour.components[i] = colourValue[i] - ColourSensorError;
dreamselec 18:44a1c1a30166 84 _HazBlock.maxColour.components[i] = colourValue[i] + ColourSensorError;
dreamselec 18:44a1c1a30166 85 }
dreamselec 18:44a1c1a30166 86 fpga->moveSortingServo(Haz);
dreamselec 18:44a1c1a30166 87 fpga->moveStoppingServo(Go);
dreamselec 18:44a1c1a30166 88 while (fpga->checkForBlock()) {}
dreamselec 18:44a1c1a30166 89 fpga->moveStoppingServo(Stop);
dreamselec 18:44a1c1a30166 90 fpga->moveSortingServo(NonHaz);
dreamselec 18:44a1c1a30166 91
dreamselec 18:44a1c1a30166 92 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 93 } else if (typeRaw == Query) {
dreamselec 18:44a1c1a30166 94 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 95 }
dreamselec 8:e1da2ae62885 96 }
dreamselec 8:e1da2ae62885 97
dreamselec 10:16ba52f8e025 98 void getCurrentBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 99 {
dreamselec 18:44a1c1a30166 100 pc.printf("DEBUG: Getting current block readings\n");
dreamselec 8:e1da2ae62885 101 }
dreamselec 8:e1da2ae62885 102
dreamselec 15:777390eb5afd 103 void setIntegrationTimeTo(float integrationTime)
dreamselec 10:16ba52f8e025 104 {
dreamselec 18:44a1c1a30166 105 rgbSensor.setIntegrationTime(integrationTime);
dreamselec 18:44a1c1a30166 106 pc.printf("DEBUG: Setting integration-time to %i.\n", integrationTime);
dreamselec 8:e1da2ae62885 107 }
dreamselec 8:e1da2ae62885 108
dreamselec 10:16ba52f8e025 109 void previewOnPC(bool on)
dreamselec 10:16ba52f8e025 110 {
dreamselec 18:44a1c1a30166 111 pc.printf("setting preview on pc to %i.\n", on);
dreamselec 8:e1da2ae62885 112 }
dreamselec 8:e1da2ae62885 113
dreamselec 10:16ba52f8e025 114 void readColourSensor(){
dreamselec 10:16ba52f8e025 115 int colourValue[4];
dreamselec 18:44a1c1a30166 116 rgbSensor.getAllColors(colourValue);
dreamselec 18:44a1c1a30166 117 pc.printf( "Colour Reading:%i,%i,%i,%i\n", colourValue[0], colourValue[1], colourValue[2], colourValue[3]);
dreamselec 18:44a1c1a30166 118
dreamselec 8:e1da2ae62885 119 }
dreamselec 8:e1da2ae62885 120
dreamselec 10:16ba52f8e025 121
dreamselec 17:af373246bf80 122 void testServos(Controls state)
dreamselec 10:16ba52f8e025 123 {
dreamselec 18:44a1c1a30166 124 if (state == Start){
dreamselec 18:44a1c1a30166 125 pc.printf("INFO: Running servo test.\n");
dreamselec 18:44a1c1a30166 126 runServoTest = true;
dreamselec 17:af373246bf80 127 }else if (state == Pause){
dreamselec 17:af373246bf80 128 pc.printf("INFO: Finished running servo test.\n");
dreamselec 17:af373246bf80 129 runServoTest = false;
dreamselec 17:af373246bf80 130 }
dreamselec 8:e1da2ae62885 131 }
dreamselec 8:e1da2ae62885 132
dreamselec 10:16ba52f8e025 133 void resetServos()
dreamselec 10:16ba52f8e025 134 {
dreamselec 18:44a1c1a30166 135 pc.printf("resetting servos.\n");
dreamselec 8:e1da2ae62885 136 }
dreamselec 8:e1da2ae62885 137
dreamselec 10:16ba52f8e025 138 void getPortInfo()
dreamselec 10:16ba52f8e025 139 {
dreamselec 18:44a1c1a30166 140 pc.printf("getting port info.\n");
dreamselec 8:e1da2ae62885 141 }
dreamselec 8:e1da2ae62885 142
dreamselec 17:af373246bf80 143 void setPortBaudRate(int baudRate)
dreamselec 10:16ba52f8e025 144 {
dreamselec 14:cf2f255b5560 145 pc.baud(baudRate);
dreamselec 17:af373246bf80 146 wait(0.1);
dreamselec 18:44a1c1a30166 147 pc.printf("DEBUG: Setting port Baud Rate to: %i.\n", baudRate);
dreamselec 10:16ba52f8e025 148 }
dreamselec 10:16ba52f8e025 149
dreamselec 14:cf2f255b5560 150 void setPortParity(int parity){
dreamselec 14:cf2f255b5560 151 SerialBase::Parity _parity = static_cast<SerialBase::Parity>(parity);
dreamselec 14:cf2f255b5560 152 pc.format(8, _parity, 1);
dreamselec 17:af373246bf80 153 wait(0.1);
dreamselec 17:af373246bf80 154 pc.printf("DEBUG: Setting port parity to: %i.\n", parity);
dreamselec 14:cf2f255b5560 155 }