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@28:7e4d29977d72, 2015-12-01 (annotated)

Committer:
dreamselec
Date:
Tue Dec 01 20:54:26 2015 +0000
Revision:
28:7e4d29977d72
Parent:
27:2cb1bdb7ae3d
Child:
29:9c0339e3c593
Intialization sequence optimised, it will also sync with PC's current state.

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 28:7e4d29977d72 35 bool recievingResponse = false;
dreamselec 2:7a55cb10259f 36
dreamselec 6:98fe30430194 37 Commander _commander = Commander();
dreamselec 6:98fe30430194 38 Commander *commander = &_commander;
dreamselec 6:98fe30430194 39 FPGA _fpga = FPGA();
dreamselec 9:dc8f155b71c8 40 extern FPGA *fpga = &_fpga;
dreamselec 6:98fe30430194 41
dreamselec 20:4e0f0944f28f 42 Block defualtHazBlock = Block();
dreamselec 6:98fe30430194 43 extern Block _HazBlock;
dreamselec 6:98fe30430194 44 Block *HazBlock = &_HazBlock;
dreamselec 6:98fe30430194 45
dreamselec 18:44a1c1a30166 46 extern PCModes currentMode;
dreamselec 18:44a1c1a30166 47
dreamselec 6:98fe30430194 48 void initInternal();
dreamselec 7:b6e31bfdb2af 49 void initPort(int baudRate=kDefaultBaudRate);
dreamselec 6:98fe30430194 50 void printPCDetectedText();
dreamselec 6:98fe30430194 51 void Rx_interrupt();
dreamselec 18:44a1c1a30166 52 bool checkColour(int colourValues[]);
dreamselec 10:16ba52f8e025 53 void runInServoTestMode();
dreamselec 15:777390eb5afd 54 void displayWaitingLine();
dreamselec 15:777390eb5afd 55 void displayPCStatus();
dreamselec 18:44a1c1a30166 56 bool waitForBlock();
dreamselec 18:44a1c1a30166 57 void sortBlock();
dreamselec 23:db91aaa43a9e 58 void runInBreakBeamTestMode();
dreamselec 23:db91aaa43a9e 59 void turnOffTopLEDs();
dreamselec 23:db91aaa43a9e 60 void turnOffBottomLEDs();
dreamselec 25:792540d69c49 61 void runInColourSensorTestMode();
dreamselec 6:98fe30430194 62
dreamselec 6:98fe30430194 63 int main()
dreamselec 6:98fe30430194 64 {
dreamselec 27:2cb1bdb7ae3d 65 initInternal();
dreamselec 27:2cb1bdb7ae3d 66 initPort();
dreamselec 27:2cb1bdb7ae3d 67
dreamselec 27:2cb1bdb7ae3d 68 for (;;) {
dreamselec 27:2cb1bdb7ae3d 69 if (connectedToPC == false) {
dreamselec 28:7e4d29977d72 70 pc.printf("DEBUG: PC did not responded.\n");
dreamselec 27:2cb1bdb7ae3d 71 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 72 i2cport->write_bit(1, 12);
dreamselec 27:2cb1bdb7ae3d 73 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 74 lcd->printf("1: Start sorting.");
dreamselec 27:2cb1bdb7ae3d 75 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 76 i2cport->write_bit(1,13);
dreamselec 27:2cb1bdb7ae3d 77 lcd->printf("2: Connect to PC");
dreamselec 27:2cb1bdb7ae3d 78 }
dreamselec 27:2cb1bdb7ae3d 79
dreamselec 24:02c61793f90b 80 // wait(0.03);
dreamselec 10:16ba52f8e025 81
dreamselec 27:2cb1bdb7ae3d 82 int selection = 0;
dreamselec 27:2cb1bdb7ae3d 83 do {
dreamselec 27:2cb1bdb7ae3d 84 myLED4 = selection;
dreamselec 27:2cb1bdb7ae3d 85 selection = readSwitches();
dreamselec 27:2cb1bdb7ae3d 86 } while (selection != 1 && selection != 2 && connectedToPC == false);
dreamselec 27:2cb1bdb7ae3d 87 // lcd->cls();
dreamselec 27:2cb1bdb7ae3d 88 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 89 if (selection == 1) {
dreamselec 27:2cb1bdb7ae3d 90 // User selected op 1: Start sorting autonomously.
dreamselec 27:2cb1bdb7ae3d 91 i2cport->write_bit(1, 12);
dreamselec 27:2cb1bdb7ae3d 92 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 93 LCDFL();
dreamselec 27:2cb1bdb7ae3d 94 lcd->printf("Starting sorting");
dreamselec 27:2cb1bdb7ae3d 95 wait(0.5);
dreamselec 27:2cb1bdb7ae3d 96 D_LEDS_OFF();
dreamselec 19:61b21ac4896e 97
dreamselec 27:2cb1bdb7ae3d 98 for(;;) {
dreamselec 27:2cb1bdb7ae3d 99 if (blockCount > 0) {
dreamselec 27:2cb1bdb7ae3d 100 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 101 displayWaitingLine();
dreamselec 27:2cb1bdb7ae3d 102 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 103 if (lastBlockHaz == true)
dreamselec 27:2cb1bdb7ae3d 104 lcd->printf("Hazardous");
dreamselec 27:2cb1bdb7ae3d 105 else if (lastBlockHaz == false)
dreamselec 27:2cb1bdb7ae3d 106 lcd->printf("Non-Hazardous");
dreamselec 27:2cb1bdb7ae3d 107 } else {
dreamselec 27:2cb1bdb7ae3d 108 displayWaitingLine();
dreamselec 27:2cb1bdb7ae3d 109 }
dreamselec 10:16ba52f8e025 110
dreamselec 27:2cb1bdb7ae3d 111 i2cport->write_bit(1, 15);
dreamselec 23:db91aaa43a9e 112
dreamselec 27:2cb1bdb7ae3d 113 // Break and return to main menu i.e. Start Op, or Connect to PC.
dreamselec 27:2cb1bdb7ae3d 114 if (waitForBlock() == false) {
dreamselec 27:2cb1bdb7ae3d 115 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 116 break;
dreamselec 27:2cb1bdb7ae3d 117 } else {
dreamselec 27:2cb1bdb7ae3d 118 sortBlock();
dreamselec 27:2cb1bdb7ae3d 119 }
dreamselec 27:2cb1bdb7ae3d 120 }
dreamselec 27:2cb1bdb7ae3d 121 }
dreamselec 10:16ba52f8e025 122
dreamselec 27:2cb1bdb7ae3d 123 if (selection == 2 || connectedToPC == true) {
dreamselec 27:2cb1bdb7ae3d 124 wait(0.1);
dreamselec 27:2cb1bdb7ae3d 125 for (;;) {
dreamselec 27:2cb1bdb7ae3d 126 displayPCStatus();
dreamselec 19:61b21ac4896e 127
dreamselec 27:2cb1bdb7ae3d 128 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 129 int abortOperation = false;
dreamselec 27:2cb1bdb7ae3d 130 if (connectedToPC == false)
dreamselec 27:2cb1bdb7ae3d 131 pc.printf(":<pc>connect;");
dreamselec 27:2cb1bdb7ae3d 132 while (connectedToPC == false && abortOperation == false) {
dreamselec 27:2cb1bdb7ae3d 133 abortOperation = readSwitches() == 4;
dreamselec 27:2cb1bdb7ae3d 134 }
dreamselec 18:44a1c1a30166 135
dreamselec 27:2cb1bdb7ae3d 136 if (abortOperation == true) {
dreamselec 27:2cb1bdb7ae3d 137 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 138 break;
dreamselec 27:2cb1bdb7ae3d 139 }
dreamselec 27:2cb1bdb7ae3d 140
dreamselec 27:2cb1bdb7ae3d 141 displayPCStatus();
dreamselec 15:777390eb5afd 142
dreamselec 27:2cb1bdb7ae3d 143 while (abortOperation == false && connectedToPC == true) {
dreamselec 27:2cb1bdb7ae3d 144 if (currentMode == Maintanence) {
dreamselec 27:2cb1bdb7ae3d 145 displayPCStatus();
dreamselec 27:2cb1bdb7ae3d 146 while (currentMode == Maintanence) {
dreamselec 27:2cb1bdb7ae3d 147 if (runServoTest == true)
dreamselec 27:2cb1bdb7ae3d 148 runInServoTestMode();
dreamselec 27:2cb1bdb7ae3d 149 else if (runBreakBeamTest == true)
dreamselec 27:2cb1bdb7ae3d 150 runInBreakBeamTestMode();
dreamselec 27:2cb1bdb7ae3d 151 else if (runColourSensorTest == true)
dreamselec 27:2cb1bdb7ae3d 152 runInColourSensorTestMode();
dreamselec 27:2cb1bdb7ae3d 153 if (i2cport->read_bit(11) == 1) {
dreamselec 27:2cb1bdb7ae3d 154 if (displayAbortDialog() == true) {
dreamselec 27:2cb1bdb7ae3d 155 currentMode = None;
dreamselec 27:2cb1bdb7ae3d 156 pc.printf(":<mbed>mode=none;");
dreamselec 27:2cb1bdb7ae3d 157 } else {
dreamselec 27:2cb1bdb7ae3d 158 displayPCStatus();
dreamselec 27:2cb1bdb7ae3d 159 }
dreamselec 27:2cb1bdb7ae3d 160 }
dreamselec 27:2cb1bdb7ae3d 161 }
dreamselec 27:2cb1bdb7ae3d 162 } else if (currentMode == Normal) {
dreamselec 27:2cb1bdb7ae3d 163 displayPCStatus();
dreamselec 27:2cb1bdb7ae3d 164 while (currentMode == Normal) {
dreamselec 27:2cb1bdb7ae3d 165 if (currentState == Pause) {
dreamselec 27:2cb1bdb7ae3d 166 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 167 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 168 lcd->printf("Sorting Paused.");
dreamselec 27:2cb1bdb7ae3d 169 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 170 lcd->printf("1: Start");
dreamselec 27:2cb1bdb7ae3d 171 int button = 0;
dreamselec 27:2cb1bdb7ae3d 172 i2cport->write_bit(1, 12);
dreamselec 27:2cb1bdb7ae3d 173 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 174 while (currentState == Pause && currentMode == Normal) {
dreamselec 27:2cb1bdb7ae3d 175 button = readSwitches();
dreamselec 27:2cb1bdb7ae3d 176 if (button == 1) {
dreamselec 27:2cb1bdb7ae3d 177 pc.printf(":<mbed>sort=start;");
dreamselec 27:2cb1bdb7ae3d 178 currentState = Start;
dreamselec 27:2cb1bdb7ae3d 179 } else if (button == 4) {
dreamselec 27:2cb1bdb7ae3d 180 currentMode = None;
dreamselec 27:2cb1bdb7ae3d 181 pc.printf(":<mbed>mode=none;");
dreamselec 27:2cb1bdb7ae3d 182 // goto setModeNone;
dreamselec 27:2cb1bdb7ae3d 183 break;
dreamselec 27:2cb1bdb7ae3d 184 }
dreamselec 27:2cb1bdb7ae3d 185 }
dreamselec 27:2cb1bdb7ae3d 186 }
dreamselec 27:2cb1bdb7ae3d 187 if (currentState == Start) {
dreamselec 27:2cb1bdb7ae3d 188 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 189 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 190 lcd->printf("Sorting mode...");
dreamselec 27:2cb1bdb7ae3d 191 while (currentState == Start && currentMode == Normal) {
dreamselec 27:2cb1bdb7ae3d 192 if (waitForBlock() == false) {
dreamselec 28:7e4d29977d72 193 if (connectedToPC == true && currentState != Pause && currentMode == Normal) {
dreamselec 27:2cb1bdb7ae3d 194 // TODO: Tell PC to update UI if aborted from MBED.
dreamselec 27:2cb1bdb7ae3d 195 pc.printf(":<mbed>sort=pause;");
dreamselec 27:2cb1bdb7ae3d 196 currentState = Pause;
dreamselec 27:2cb1bdb7ae3d 197 continue;
dreamselec 28:7e4d29977d72 198 }else if (connectedToPC == true && currentMode == None) {
dreamselec 28:7e4d29977d72 199 goto setModeNone;
dreamselec 28:7e4d29977d72 200 }else if (connectedToPC == false) {
dreamselec 27:2cb1bdb7ae3d 201 currentMode = None;
dreamselec 28:7e4d29977d72 202 currentState = Pause;
dreamselec 27:2cb1bdb7ae3d 203 abortOperation = true;
dreamselec 27:2cb1bdb7ae3d 204 }
dreamselec 27:2cb1bdb7ae3d 205 } else {
dreamselec 27:2cb1bdb7ae3d 206 sortBlock();
dreamselec 27:2cb1bdb7ae3d 207 }
dreamselec 27:2cb1bdb7ae3d 208 }
dreamselec 27:2cb1bdb7ae3d 209 }
dreamselec 27:2cb1bdb7ae3d 210 }
dreamselec 27:2cb1bdb7ae3d 211 } else if (currentMode == None) {
dreamselec 27:2cb1bdb7ae3d 212 setModeNone:
dreamselec 27:2cb1bdb7ae3d 213 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 214 i2cport->write_bit(1,15);
dreamselec 27:2cb1bdb7ae3d 215 displayPCStatus();
dreamselec 27:2cb1bdb7ae3d 216 while (currentMode == None && abortOperation == false && connectedToPC == true) {
dreamselec 27:2cb1bdb7ae3d 217 if (i2cport->read_bit(11)) {
dreamselec 27:2cb1bdb7ae3d 218 abortOperation = displayAbortDialog();
dreamselec 27:2cb1bdb7ae3d 219 // Cancel the Abort
dreamselec 27:2cb1bdb7ae3d 220 if (abortOperation == false) {
dreamselec 27:2cb1bdb7ae3d 221 displayPCStatus();
dreamselec 27:2cb1bdb7ae3d 222 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 223 }
dreamselec 27:2cb1bdb7ae3d 224 }
dreamselec 27:2cb1bdb7ae3d 225 }
dreamselec 27:2cb1bdb7ae3d 226 }
dreamselec 27:2cb1bdb7ae3d 227 }
dreamselec 15:777390eb5afd 228
dreamselec 27:2cb1bdb7ae3d 229 if (abortOperation == true ) {
dreamselec 27:2cb1bdb7ae3d 230 connectedToPC = false;
dreamselec 27:2cb1bdb7ae3d 231 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 232 break;
dreamselec 27:2cb1bdb7ae3d 233 }
dreamselec 27:2cb1bdb7ae3d 234 }
dreamselec 27:2cb1bdb7ae3d 235 }
dreamselec 19:61b21ac4896e 236
dreamselec 27:2cb1bdb7ae3d 237 }
dreamselec 18:44a1c1a30166 238 }
dreamselec 8:e1da2ae62885 239
dreamselec 18:44a1c1a30166 240 // Waits until detects block.
dreamselec 18:44a1c1a30166 241 // true if block detected, false if cancelled/connected to PC.
dreamselec 19:61b21ac4896e 242 bool waitForBlock()
dreamselec 19:61b21ac4896e 243 {
dreamselec 27:2cb1bdb7ae3d 244 myLED4 = 0;
dreamselec 27:2cb1bdb7ae3d 245 myLED1 = 1;
dreamselec 27:2cb1bdb7ae3d 246 if (connectedToPC == false) {
dreamselec 27:2cb1bdb7ae3d 247 bool abortOperation = false;
dreamselec 27:2cb1bdb7ae3d 248 int blockInserted = 0;
dreamselec 27:2cb1bdb7ae3d 249 // Wait until a block is breaking the beam, or button 4 is pressed to abort.
dreamselec 27:2cb1bdb7ae3d 250 do {
dreamselec 27:2cb1bdb7ae3d 251 blockInserted = fpga->getBeamValue(Top);
dreamselec 27:2cb1bdb7ae3d 252 myLED4 = blockInserted;
dreamselec 27:2cb1bdb7ae3d 253 if (i2cport->read_bit(11)) {
dreamselec 27:2cb1bdb7ae3d 254 abortOperation = displayAbortDialog();
dreamselec 27:2cb1bdb7ae3d 255 // Cancel the Abort
dreamselec 27:2cb1bdb7ae3d 256 if (abortOperation == false) {
dreamselec 27:2cb1bdb7ae3d 257 displayWaitingLine();
dreamselec 27:2cb1bdb7ae3d 258 }
dreamselec 27:2cb1bdb7ae3d 259 }
dreamselec 27:2cb1bdb7ae3d 260 } while (abortOperation == false && blockInserted != 1 && connectedToPC == false);
dreamselec 18:44a1c1a30166 261
dreamselec 27:2cb1bdb7ae3d 262 if (abortOperation == true || connectedToPC == true)
dreamselec 27:2cb1bdb7ae3d 263 return false;
dreamselec 27:2cb1bdb7ae3d 264 else
dreamselec 27:2cb1bdb7ae3d 265 return true;
dreamselec 27:2cb1bdb7ae3d 266 } else if (connectedToPC == true) {
dreamselec 27:2cb1bdb7ae3d 267 bool abortOperation = false;
dreamselec 27:2cb1bdb7ae3d 268 int blockInserted = 0;
dreamselec 27:2cb1bdb7ae3d 269 // Wait until a block is breaking the beam, or button 4 is pressed to abort.
dreamselec 28:7e4d29977d72 270 pc.printf("INFO: Waiting for block.\n");
dreamselec 27:2cb1bdb7ae3d 271 do {
dreamselec 27:2cb1bdb7ae3d 272 blockInserted = fpga->getBeamValue(Top);
dreamselec 27:2cb1bdb7ae3d 273 myLED4 = blockInserted;
dreamselec 28:7e4d29977d72 274 if (readSwitches() == 4) {
dreamselec 27:2cb1bdb7ae3d 275 abortOperation = displayAbortDialog();
dreamselec 27:2cb1bdb7ae3d 276 // Cancel the Abort
dreamselec 27:2cb1bdb7ae3d 277 if (abortOperation == false) {
dreamselec 27:2cb1bdb7ae3d 278 displayWaitingLine();
dreamselec 27:2cb1bdb7ae3d 279 lcd->printf("for block");
dreamselec 27:2cb1bdb7ae3d 280 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 281 }
dreamselec 27:2cb1bdb7ae3d 282 }
dreamselec 27:2cb1bdb7ae3d 283 } while (abortOperation == false && blockInserted != 1 && connectedToPC == true && currentState == Start && currentMode == Normal);
dreamselec 19:61b21ac4896e 284
dreamselec 28:7e4d29977d72 285 if (abortOperation == true || connectedToPC == false || currentState == Pause || currentMode != Normal)
dreamselec 27:2cb1bdb7ae3d 286 return false;
dreamselec 27:2cb1bdb7ae3d 287 else
dreamselec 27:2cb1bdb7ae3d 288 return true;
dreamselec 27:2cb1bdb7ae3d 289 }
dreamselec 27:2cb1bdb7ae3d 290 return false;
dreamselec 18:44a1c1a30166 291 }
dreamselec 14:cf2f255b5560 292
dreamselec 19:61b21ac4896e 293 void sortBlock()
dreamselec 19:61b21ac4896e 294 {
dreamselec 28:7e4d29977d72 295 pc.printf("BLOCK: Sorting block");
dreamselec 27:2cb1bdb7ae3d 296 myLED1 = 0;
dreamselec 27:2cb1bdb7ae3d 297 myLED2 = 1;
dreamselec 27:2cb1bdb7ae3d 298 // Cannot Abort any longer. Block is inserted.
dreamselec 27:2cb1bdb7ae3d 299 // Detach rx interrupt until block processed.
dreamselec 27:2cb1bdb7ae3d 300 NVIC_DisableIRQ(UART1_IRQn);
dreamselec 27:2cb1bdb7ae3d 301 fpga->moveSortingServo(Haz);
dreamselec 27:2cb1bdb7ae3d 302 fpga->moveStoppingServo(Go);
dreamselec 21:60c4fe94d79c 303
dreamselec 27:2cb1bdb7ae3d 304 int colourValues[4];
dreamselec 27:2cb1bdb7ae3d 305 int averageColourValues[4] = {0, 0, 0, 0};
dreamselec 27:2cb1bdb7ae3d 306 int numberOfReadings = 3;
dreamselec 27:2cb1bdb7ae3d 307 for (int i = 0; i < 4; i++) {
dreamselec 27:2cb1bdb7ae3d 308 rgbSensor.getAllColors(colourValues);
dreamselec 27:2cb1bdb7ae3d 309 for (int j = 0; j < 4; j++) {
dreamselec 27:2cb1bdb7ae3d 310 averageColourValues[j] += colourValues[j];
dreamselec 27:2cb1bdb7ae3d 311 }
dreamselec 27:2cb1bdb7ae3d 312 }
dreamselec 27:2cb1bdb7ae3d 313 for (int i = 0; i < 4; i++) {
dreamselec 27:2cb1bdb7ae3d 314 averageColourValues[i] = averageColourValues[i] / numberOfReadings;
dreamselec 27:2cb1bdb7ae3d 315 }
dreamselec 18:44a1c1a30166 316
dreamselec 27:2cb1bdb7ae3d 317 lastBlockHaz = false;
dreamselec 27:2cb1bdb7ae3d 318 lastBlockHaz = checkColour(averageColourValues);
dreamselec 28:7e4d29977d72 319 // lastBlockHaz = checkColour(colourValues);
dreamselec 27:2cb1bdb7ae3d 320
dreamselec 27:2cb1bdb7ae3d 321 if (!lastBlockHaz) {
dreamselec 27:2cb1bdb7ae3d 322 fpga->moveSortingServo(NonHaz);
dreamselec 27:2cb1bdb7ae3d 323 }
dreamselec 23:db91aaa43a9e 324
dreamselec 27:2cb1bdb7ae3d 325 myLED3 = 1;
dreamselec 27:2cb1bdb7ae3d 326 int blockSize;
dreamselec 27:2cb1bdb7ae3d 327 while (fpga->checkForBlock() == 0) { }
dreamselec 27:2cb1bdb7ae3d 328 blockSize = fpga->checkForSize();
dreamselec 27:2cb1bdb7ae3d 329 if (blockSize == HazBlock->size && lastBlockHaz) {
dreamselec 27:2cb1bdb7ae3d 330 // fpga->moveSortingServo(Haz);
dreamselec 27:2cb1bdb7ae3d 331 // fpga->moveStoppingServo(Go);
dreamselec 27:2cb1bdb7ae3d 332 // blockSize = HazBlock->size;
dreamselec 27:2cb1bdb7ae3d 333 while(fpga->getBeamValue(Bottom) == 1) {}
dreamselec 27:2cb1bdb7ae3d 334 wait(kServoWait);
dreamselec 27:2cb1bdb7ae3d 335 fpga->moveStoppingServo(Stop);
dreamselec 27:2cb1bdb7ae3d 336 } else {
dreamselec 27:2cb1bdb7ae3d 337 lastBlockHaz = false;
dreamselec 27:2cb1bdb7ae3d 338 }
dreamselec 27:2cb1bdb7ae3d 339 fpga->moveSortingServo(NonHaz);
dreamselec 27:2cb1bdb7ae3d 340 while(fpga->checkForSize()) {}
dreamselec 20:4e0f0944f28f 341
dreamselec 27:2cb1bdb7ae3d 342 if (connectedToPC) {
dreamselec 27:2cb1bdb7ae3d 343 for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 344 pc.printf("DEBUG:Percentage Error: %.5f.\n", percentageError[i]);
dreamselec 27:2cb1bdb7ae3d 345 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 346 pc.printf("DEBUG:%i Pass.\n", i);
dreamselec 27:2cb1bdb7ae3d 347 }
dreamselec 27:2cb1bdb7ae3d 348 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 349 // 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 350 }
dreamselec 18:44a1c1a30166 351
dreamselec 27:2cb1bdb7ae3d 352 // Re-Attach rx interrupt
dreamselec 27:2cb1bdb7ae3d 353 NVIC_EnableIRQ(UART1_IRQn);
dreamselec 27:2cb1bdb7ae3d 354
dreamselec 27:2cb1bdb7ae3d 355 blockCount++;
dreamselec 27:2cb1bdb7ae3d 356 myLED3 = 0;
dreamselec 27:2cb1bdb7ae3d 357 myLED4 = 1;
dreamselec 27:2cb1bdb7ae3d 358 return;
dreamselec 6:98fe30430194 359 }
dreamselec 6:98fe30430194 360
dreamselec 6:98fe30430194 361 /// Called every-time it receives an char from PC.
dreamselec 10:16ba52f8e025 362 void Rx_interrupt()
dreamselec 10:16ba52f8e025 363 {
dreamselec 28:7e4d29977d72 364 recievingResponse = true;
dreamselec 27:2cb1bdb7ae3d 365 char interruptChar = pc.getc();
dreamselec 27:2cb1bdb7ae3d 366 // Uncomment to Echo to USB serial to watch data flow
dreamselec 27:2cb1bdb7ae3d 367 // pc.putc(interruptChar);
dreamselec 6:98fe30430194 368
dreamselec 27:2cb1bdb7ae3d 369 NVIC_DisableIRQ(UART1_IRQn);
dreamselec 8:e1da2ae62885 370
dreamselec 27:2cb1bdb7ae3d 371 if (interruptChar == CommandTypeValue[Query]) {
dreamselec 27:2cb1bdb7ae3d 372 commander->decodeCommand(Query);
dreamselec 27:2cb1bdb7ae3d 373 } else if (interruptChar == CommandTypeValue[Set]) {
dreamselec 27:2cb1bdb7ae3d 374 commander->decodeCommand(Set);
dreamselec 27:2cb1bdb7ae3d 375 } else if (interruptChar== CommandTypeValue[Reply]) {
dreamselec 27:2cb1bdb7ae3d 376 commander->decodeCommand(Reply);
dreamselec 27:2cb1bdb7ae3d 377 }
dreamselec 8:e1da2ae62885 378
dreamselec 27:2cb1bdb7ae3d 379 NVIC_EnableIRQ(UART1_IRQn);
dreamselec 28:7e4d29977d72 380 recievingResponse = false;
dreamselec 6:98fe30430194 381 }
dreamselec 3:843b830ee8bd 382
dreamselec 4:4eebb4de22a7 383 void initInternal()
dreamselec 4:4eebb4de22a7 384 {
dreamselec 27:2cb1bdb7ae3d 385 myLED1 = 1;
dreamselec 27:2cb1bdb7ae3d 386 i2cport = new MCP23017(p9, p10, 0x40);
dreamselec 27:2cb1bdb7ae3d 387 lcd = new WattBob_TextLCD(i2cport);
dreamselec 27:2cb1bdb7ae3d 388 BACKLIGHT_ON(i2cport);
dreamselec 27:2cb1bdb7ae3d 389 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 390 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 391 lcd->printf("Initilizing...");
dreamselec 27:2cb1bdb7ae3d 392 DefaultHazBlock();
dreamselec 28:7e4d29977d72 393 rgbSensor.enablePowerAndRGBC();
dreamselec 28:7e4d29977d72 394 rgbSensor.setIntegrationTime(gIntegrationTime);
dreamselec 28:7e4d29977d72 395 srand((unsigned)time(NULL));
dreamselec 27:2cb1bdb7ae3d 396 myLED2 = 1;
dreamselec 28:7e4d29977d72 397 fpga->moveStoppingServo(Stop);
dreamselec 28:7e4d29977d72 398 fpga->moveSortingServo(NonHaz);
dreamselec 27:2cb1bdb7ae3d 399 return;
dreamselec 3:843b830ee8bd 400 }
dreamselec 3:843b830ee8bd 401
dreamselec 7:b6e31bfdb2af 402 void initPort(int baudRate)
dreamselec 4:4eebb4de22a7 403 {
dreamselec 27:2cb1bdb7ae3d 404 myLED3 = 1;
dreamselec 27:2cb1bdb7ae3d 405 pc.baud(baudRate);
dreamselec 27:2cb1bdb7ae3d 406 pc.format(8, SerialBase::None, gStopBits);
dreamselec 28:7e4d29977d72 407 pc.attach(&Rx_interrupt, Serial::RxIrq);
dreamselec 28:7e4d29977d72 408 myLED4 = 1;
dreamselec 28:7e4d29977d72 409 pc.printf(":<pc>connect;");
dreamselec 28:7e4d29977d72 410 // wait (0.3);
dreamselec 28:7e4d29977d72 411 // while(recievingResponse == true) {}
dreamselec 28:7e4d29977d72 412 turnOffTopLEDs();
dreamselec 27:2cb1bdb7ae3d 413 return;
dreamselec 3:843b830ee8bd 414 }
dreamselec 3:843b830ee8bd 415
dreamselec 18:44a1c1a30166 416 bool checkColour(int colourValues[])
dreamselec 15:777390eb5afd 417 {
dreamselec 27:2cb1bdb7ae3d 418 bool isHazColour[3] = {false, false, false };
dreamselec 27:2cb1bdb7ae3d 419 memset(adjustedValues, 0, sizeof(adjustedValues));
dreamselec 27:2cb1bdb7ae3d 420 memset(percentageError, 0, sizeof(percentageError));
dreamselec 27:2cb1bdb7ae3d 421
dreamselec 27:2cb1bdb7ae3d 422 /* Harcoded working
dreamselec 27:2cb1bdb7ae3d 423 for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 424 adjustedValues[i] = (float)colourValues[i]/(float)colourValues[3];
dreamselec 27:2cb1bdb7ae3d 425 percentageError[i] = (adjustedValues[i] - kAverageRedBlock[i]) / kAverageRedBlock[i];
dreamselec 15:777390eb5afd 426
dreamselec 27:2cb1bdb7ae3d 427 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 428 isHazColour[i] = true;
dreamselec 27:2cb1bdb7ae3d 429 }
dreamselec 27:2cb1bdb7ae3d 430 }
dreamselec 27:2cb1bdb7ae3d 431 */
dreamselec 27:2cb1bdb7ae3d 432 for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 433 adjustedValues[i] = (float)colourValues[i]/(float)colourValues[3];
dreamselec 27:2cb1bdb7ae3d 434 percentageError[i] = (adjustedValues[i] - kAverageRedBlock[i]) / kAverageRedBlock[i];
dreamselec 15:777390eb5afd 435
dreamselec 27:2cb1bdb7ae3d 436 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 437 isHazColour[i] = true;
dreamselec 27:2cb1bdb7ae3d 438 }
dreamselec 27:2cb1bdb7ae3d 439 }
dreamselec 15:777390eb5afd 440
dreamselec 27:2cb1bdb7ae3d 441 // for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 442 // if (colourValues[i] < HazBlock->maxColour.components[i] && colourValues[i] > HazBlock->minColour.components[i]) {
dreamselec 27:2cb1bdb7ae3d 443 // isHazColour[i] = true;
dreamselec 27:2cb1bdb7ae3d 444 // }
dreamselec 27:2cb1bdb7ae3d 445 // }
dreamselec 27:2cb1bdb7ae3d 446
dreamselec 27:2cb1bdb7ae3d 447 bool isHazBlock = false;
dreamselec 15:777390eb5afd 448
dreamselec 27:2cb1bdb7ae3d 449 if (isHazColour[0] && isHazColour[1] && isHazColour[2]) {
dreamselec 27:2cb1bdb7ae3d 450 isHazBlock = true;
dreamselec 27:2cb1bdb7ae3d 451 } else {
dreamselec 27:2cb1bdb7ae3d 452 isHazBlock = false;
dreamselec 27:2cb1bdb7ae3d 453 }
dreamselec 27:2cb1bdb7ae3d 454 myLED2 = 0;
dreamselec 27:2cb1bdb7ae3d 455 return isHazBlock;
dreamselec 3:843b830ee8bd 456 }
dreamselec 3:843b830ee8bd 457
dreamselec 6:98fe30430194 458 void printPCDetectedText()
dreamselec 4:4eebb4de22a7 459 {
dreamselec 27:2cb1bdb7ae3d 460 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 461 LCDFL();
dreamselec 27:2cb1bdb7ae3d 462 lcd->printf("Detected PC.");
dreamselec 27:2cb1bdb7ae3d 463 LCDSL();
dreamselec 27:2cb1bdb7ae3d 464 lcd->printf("Connecting");
dreamselec 27:2cb1bdb7ae3d 465 initPort();
dreamselec 10:16ba52f8e025 466 }
dreamselec 10:16ba52f8e025 467
dreamselec 10:16ba52f8e025 468 bool displayAbortDialog()
dreamselec 10:16ba52f8e025 469 {
dreamselec 27:2cb1bdb7ae3d 470 while (i2cport->read_bit(11) == 1) {}
dreamselec 27:2cb1bdb7ae3d 471 i2cport->write_bit(1, 12);
dreamselec 10:16ba52f8e025 472
dreamselec 27:2cb1bdb7ae3d 473 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 474 LCDFL();
dreamselec 27:2cb1bdb7ae3d 475 lcd->printf("Abort?");
dreamselec 27:2cb1bdb7ae3d 476 LCDSL();
dreamselec 27:2cb1bdb7ae3d 477 lcd->printf("1:Yes, 2,3,4:No");
dreamselec 27:2cb1bdb7ae3d 478 int reply = 0;
dreamselec 27:2cb1bdb7ae3d 479 do {
dreamselec 27:2cb1bdb7ae3d 480 reply = readSwitches();
dreamselec 27:2cb1bdb7ae3d 481 } while(reply == 0);
dreamselec 10:16ba52f8e025 482
dreamselec 27:2cb1bdb7ae3d 483 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 484 if (reply == 1) {
dreamselec 27:2cb1bdb7ae3d 485 // while (i2cport->read_bit(8)) { }
dreamselec 27:2cb1bdb7ae3d 486 return true;
dreamselec 27:2cb1bdb7ae3d 487 } else {
dreamselec 27:2cb1bdb7ae3d 488 // while (i2cport->read_bit(9) || i2cport->read_bit(10) || i2cport->read_bit(11)) { }
dreamselec 27:2cb1bdb7ae3d 489 return false;
dreamselec 27:2cb1bdb7ae3d 490 }
dreamselec 3:843b830ee8bd 491 }
dreamselec 3:843b830ee8bd 492
dreamselec 15:777390eb5afd 493 void printServoInfoOnLCD()
dreamselec 15:777390eb5afd 494 {
dreamselec 27:2cb1bdb7ae3d 495 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 496 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 497 if (fpga->stoppingServoPosition == Stop)
dreamselec 27:2cb1bdb7ae3d 498 lcd->printf("1:Top: Go");
dreamselec 27:2cb1bdb7ae3d 499 else if (fpga->stoppingServoPosition == Go)
dreamselec 27:2cb1bdb7ae3d 500 lcd->printf("1:Top: Stop");
dreamselec 23:db91aaa43a9e 501
dreamselec 27:2cb1bdb7ae3d 502 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 503 if (fpga->sortingServoPosition == NonHaz)
dreamselec 27:2cb1bdb7ae3d 504 lcd->printf("2:Bottom: Haz");
dreamselec 27:2cb1bdb7ae3d 505 else if (fpga->sortingServoPosition == Haz)
dreamselec 27:2cb1bdb7ae3d 506 lcd->printf("2:Bottom: NonHaz");
dreamselec 23:db91aaa43a9e 507 }
dreamselec 23:db91aaa43a9e 508
dreamselec 27:2cb1bdb7ae3d 509 void printServoInfoOnPC()
dreamselec 27:2cb1bdb7ae3d 510 {
dreamselec 27:2cb1bdb7ae3d 511 if (fpga->stoppingServoPosition == Stop)
dreamselec 27:2cb1bdb7ae3d 512 pc.printf(":<servos>1=Stop;");
dreamselec 27:2cb1bdb7ae3d 513 else if (fpga->stoppingServoPosition == Go)
dreamselec 27:2cb1bdb7ae3d 514 pc.printf(":<servos>1=Go;");
dreamselec 23:db91aaa43a9e 515
dreamselec 27:2cb1bdb7ae3d 516 if (fpga->sortingServoPosition == NonHaz)
dreamselec 27:2cb1bdb7ae3d 517 pc.printf(":<servos>2=NonHaz;");
dreamselec 27:2cb1bdb7ae3d 518 else if (fpga->sortingServoPosition == Haz)
dreamselec 27:2cb1bdb7ae3d 519 pc.printf(":<servos>2=Haz;");
dreamselec 10:16ba52f8e025 520 }
dreamselec 10:16ba52f8e025 521
dreamselec 15:777390eb5afd 522 void runInServoTestMode()
dreamselec 15:777390eb5afd 523 {
dreamselec 27:2cb1bdb7ae3d 524 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 525 printServoInfoOnPC();
dreamselec 27:2cb1bdb7ae3d 526 printServoInfoOnLCD();
dreamselec 27:2cb1bdb7ae3d 527
dreamselec 27:2cb1bdb7ae3d 528 i2cport->write_bit(1, 12);
dreamselec 27:2cb1bdb7ae3d 529 i2cport->write_bit(1, 13);
dreamselec 27:2cb1bdb7ae3d 530 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 531 int button = 0;
dreamselec 27:2cb1bdb7ae3d 532 bool finished = false;
dreamselec 27:2cb1bdb7ae3d 533 do {
dreamselec 27:2cb1bdb7ae3d 534 button = readSwitches();
dreamselec 27:2cb1bdb7ae3d 535
dreamselec 27:2cb1bdb7ae3d 536 // gToggleServoNumber: 1 = Toggle top servo, 2 = Toggle bottom servo, 3 = Toggle both servos
dreamselec 27:2cb1bdb7ae3d 537 if (gToggleServoNumber == 1) {
dreamselec 27:2cb1bdb7ae3d 538 button = 1;
dreamselec 27:2cb1bdb7ae3d 539 gToggleServoNumber = 0;
dreamselec 27:2cb1bdb7ae3d 540 } else if (gToggleServoNumber == 2) {
dreamselec 27:2cb1bdb7ae3d 541 button = 2;
dreamselec 27:2cb1bdb7ae3d 542 gToggleServoNumber = 0;
dreamselec 27:2cb1bdb7ae3d 543 }
dreamselec 23:db91aaa43a9e 544
dreamselec 27:2cb1bdb7ae3d 545 if (button == 1) {
dreamselec 27:2cb1bdb7ae3d 546 fpga->toggleStoppingServo();
dreamselec 27:2cb1bdb7ae3d 547 printServoInfoOnLCD();
dreamselec 27:2cb1bdb7ae3d 548 printServoInfoOnPC();
dreamselec 27:2cb1bdb7ae3d 549 wait(kServoWait);
dreamselec 27:2cb1bdb7ae3d 550 } else if (button == 2) {
dreamselec 27:2cb1bdb7ae3d 551 fpga->toggleSortingServo();
dreamselec 27:2cb1bdb7ae3d 552 printServoInfoOnLCD();
dreamselec 27:2cb1bdb7ae3d 553 printServoInfoOnPC();
dreamselec 27:2cb1bdb7ae3d 554 wait(kServoWait);
dreamselec 27:2cb1bdb7ae3d 555 }
dreamselec 23:db91aaa43a9e 556
dreamselec 27:2cb1bdb7ae3d 557 finished = button == 4;
dreamselec 27:2cb1bdb7ae3d 558 button = 0;
dreamselec 27:2cb1bdb7ae3d 559 } while (finished == false && runServoTest == true);
dreamselec 27:2cb1bdb7ae3d 560
dreamselec 27:2cb1bdb7ae3d 561 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 562 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 563 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 564 lcd->printf("Done servo test");
dreamselec 28:7e4d29977d72 565 fpga->moveSortingServo(NonHaz);
dreamselec 27:2cb1bdb7ae3d 566 if (runServoTest == true) {
dreamselec 27:2cb1bdb7ae3d 567 pc.printf(":<servos>test=pause;");
dreamselec 27:2cb1bdb7ae3d 568 runServoTest = false;
dreamselec 27:2cb1bdb7ae3d 569 }
dreamselec 27:2cb1bdb7ae3d 570 wait(0.5);
dreamselec 27:2cb1bdb7ae3d 571 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 572 return;
dreamselec 23:db91aaa43a9e 573 }
dreamselec 15:777390eb5afd 574
dreamselec 27:2cb1bdb7ae3d 575 void printBeamInfoOnLCD()
dreamselec 27:2cb1bdb7ae3d 576 {
dreamselec 27:2cb1bdb7ae3d 577 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 578 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 579 lcd->printf("Top:L1 Btm: L2");
dreamselec 27:2cb1bdb7ae3d 580 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 581 lcd->printf("On:High, Off:Low");
dreamselec 23:db91aaa43a9e 582 }
dreamselec 23:db91aaa43a9e 583
dreamselec 27:2cb1bdb7ae3d 584 void printBeamInfoOnPC(int topBeam, int bottomBeam)
dreamselec 27:2cb1bdb7ae3d 585 {
dreamselec 27:2cb1bdb7ae3d 586 pc.printf(":<break_beam>2=%i,1=%i;", topBeam, bottomBeam);
dreamselec 23:db91aaa43a9e 587 }
dreamselec 23:db91aaa43a9e 588
dreamselec 27:2cb1bdb7ae3d 589 void runInBreakBeamTestMode()
dreamselec 27:2cb1bdb7ae3d 590 {
dreamselec 27:2cb1bdb7ae3d 591 turnOffTopLEDs();
dreamselec 27:2cb1bdb7ae3d 592 i2cport->write_bit(1, 15);
dreamselec 23:db91aaa43a9e 593
dreamselec 27:2cb1bdb7ae3d 594 int topBeamValue = fpga->getBeamValue(1);
dreamselec 27:2cb1bdb7ae3d 595 int bottomBeamValue = fpga->getBeamValue(2);
dreamselec 27:2cb1bdb7ae3d 596 printBeamInfoOnPC(topBeamValue, bottomBeamValue);
dreamselec 27:2cb1bdb7ae3d 597 printBeamInfoOnLCD();
dreamselec 27:2cb1bdb7ae3d 598
dreamselec 27:2cb1bdb7ae3d 599 int button = 0;
dreamselec 27:2cb1bdb7ae3d 600 bool finished = false;
dreamselec 27:2cb1bdb7ae3d 601 do {
dreamselec 27:2cb1bdb7ae3d 602 button = readSwitches();
dreamselec 27:2cb1bdb7ae3d 603 int currentTopBeamValue = fpga->getBeamValue(1);
dreamselec 27:2cb1bdb7ae3d 604 int currentBottomBeamValue = fpga->getBeamValue(2);
dreamselec 18:44a1c1a30166 605
dreamselec 27:2cb1bdb7ae3d 606 // For debugging, hold down both 1 and 3 or 2 and 3
dreamselec 27:2cb1bdb7ae3d 607 if (i2cport->read_bit(10) == 1) {
dreamselec 27:2cb1bdb7ae3d 608 currentTopBeamValue = i2cport->read_bit(8) && i2cport->read_bit(10);
dreamselec 27:2cb1bdb7ae3d 609 currentBottomBeamValue = i2cport->read_bit(9) && i2cport->read_bit(10);
dreamselec 27:2cb1bdb7ae3d 610 }
dreamselec 27:2cb1bdb7ae3d 611 myLED1 = currentTopBeamValue;
dreamselec 27:2cb1bdb7ae3d 612 myLED2 = currentBottomBeamValue;
dreamselec 23:db91aaa43a9e 613
dreamselec 27:2cb1bdb7ae3d 614 if (currentTopBeamValue != topBeamValue || currentBottomBeamValue != bottomBeamValue ) {
dreamselec 27:2cb1bdb7ae3d 615 topBeamValue = currentTopBeamValue;
dreamselec 27:2cb1bdb7ae3d 616 bottomBeamValue = currentBottomBeamValue;
dreamselec 27:2cb1bdb7ae3d 617 printBeamInfoOnPC(topBeamValue, bottomBeamValue);
dreamselec 27:2cb1bdb7ae3d 618 }
dreamselec 27:2cb1bdb7ae3d 619 finished = button == 4;
dreamselec 27:2cb1bdb7ae3d 620 } while (runBreakBeamTest == true && finished == false);
dreamselec 23:db91aaa43a9e 621
dreamselec 27:2cb1bdb7ae3d 622 turnOffBottomLEDs();
dreamselec 27:2cb1bdb7ae3d 623 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 624 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 625 lcd->printf("Finished test");
dreamselec 27:2cb1bdb7ae3d 626 if (runBreakBeamTest == true) {
dreamselec 27:2cb1bdb7ae3d 627 pc.printf(":<break_beam>test=pause;");
dreamselec 27:2cb1bdb7ae3d 628 runBreakBeamTest = false;
dreamselec 27:2cb1bdb7ae3d 629 }
dreamselec 27:2cb1bdb7ae3d 630 wait(0.5);
dreamselec 27:2cb1bdb7ae3d 631 return;
dreamselec 2:7a55cb10259f 632 }
dreamselec 15:777390eb5afd 633
dreamselec 27:2cb1bdb7ae3d 634 void printColourSensorInfoOnLCD(int colourValues[])
dreamselec 27:2cb1bdb7ae3d 635 {
dreamselec 27:2cb1bdb7ae3d 636 float weightedValues[4];
dreamselec 27:2cb1bdb7ae3d 637
dreamselec 27:2cb1bdb7ae3d 638 for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 639 weightedValues[i] = (float)colourValues[i] / (float)colourValues[3];
dreamselec 27:2cb1bdb7ae3d 640 }
dreamselec 27:2cb1bdb7ae3d 641 //TODO: Print values on LCD
dreamselec 27:2cb1bdb7ae3d 642 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 643 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 644 lcd->printf("Colour sensor");
dreamselec 27:2cb1bdb7ae3d 645 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 646 lcd->printf("Test mode");
dreamselec 25:792540d69c49 647 }
dreamselec 25:792540d69c49 648
dreamselec 27:2cb1bdb7ae3d 649 void printColourSensorInfoOnPC(int colourValues[])
dreamselec 27:2cb1bdb7ae3d 650 {
dreamselec 27:2cb1bdb7ae3d 651 pc.printf(":<colour_sensor>red=%i,green=%i,blue=%i,clear=%i;", colourValues[0], colourValues[1], colourValues[2], colourValues[3]);
dreamselec 25:792540d69c49 652 }
dreamselec 25:792540d69c49 653
dreamselec 27:2cb1bdb7ae3d 654 void runInColourSensorTestMode()
dreamselec 27:2cb1bdb7ae3d 655 {
dreamselec 27:2cb1bdb7ae3d 656 turnOffTopLEDs();
dreamselec 27:2cb1bdb7ae3d 657 i2cport->write_bit(1, 15);
dreamselec 27:2cb1bdb7ae3d 658 i2cport->write_bit(1, 12);
dreamselec 27:2cb1bdb7ae3d 659 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 660 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 661 lcd->printf("Colour Sensor");
dreamselec 27:2cb1bdb7ae3d 662 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 663 lcd->printf("Test Mode");
dreamselec 27:2cb1bdb7ae3d 664 pc.printf("!<colour_sensor>i-time=%.3f", gIntegrationTime);
dreamselec 27:2cb1bdb7ae3d 665
dreamselec 27:2cb1bdb7ae3d 666 int button = 0;
dreamselec 27:2cb1bdb7ae3d 667 bool finished = false;
dreamselec 27:2cb1bdb7ae3d 668
dreamselec 27:2cb1bdb7ae3d 669 do {
dreamselec 27:2cb1bdb7ae3d 670 button = readSwitches();
dreamselec 27:2cb1bdb7ae3d 671
dreamselec 27:2cb1bdb7ae3d 672 if (getColourSensorValue == true) {
dreamselec 27:2cb1bdb7ae3d 673 int colourValues[4];
dreamselec 27:2cb1bdb7ae3d 674 rgbSensor.getAllColors(colourValues);
dreamselec 27:2cb1bdb7ae3d 675 printColourSensorInfoOnPC(colourValues);
dreamselec 27:2cb1bdb7ae3d 676 printColourSensorInfoOnLCD(colourValues);
dreamselec 27:2cb1bdb7ae3d 677 getColourSensorValue = false;
dreamselec 27:2cb1bdb7ae3d 678 } else if (getBlockColourValue == true) {
dreamselec 27:2cb1bdb7ae3d 679 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 680 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 681 lcd->printf("Drop block");
dreamselec 27:2cb1bdb7ae3d 682
dreamselec 27:2cb1bdb7ae3d 683
dreamselec 27:2cb1bdb7ae3d 684 turnOffTopLEDs();
dreamselec 27:2cb1bdb7ae3d 685
dreamselec 27:2cb1bdb7ae3d 686 while(fpga->getBeamValue(Top) == 0) {
dreamselec 27:2cb1bdb7ae3d 687 myLED1 = fpga->getBeamValue(Top);
dreamselec 27:2cb1bdb7ae3d 688 myLED2 = fpga->getBeamValue(Bottom);
dreamselec 27:2cb1bdb7ae3d 689 }
dreamselec 27:2cb1bdb7ae3d 690
dreamselec 27:2cb1bdb7ae3d 691 myLED3 = 1;
dreamselec 27:2cb1bdb7ae3d 692 int colourValues[3][4];
dreamselec 27:2cb1bdb7ae3d 693 for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 694 memset(colourValues[i], 0, sizeof(colourValues));
dreamselec 27:2cb1bdb7ae3d 695 }
dreamselec 27:2cb1bdb7ae3d 696 int valueCount = 0;
dreamselec 27:2cb1bdb7ae3d 697
dreamselec 27:2cb1bdb7ae3d 698 do {
dreamselec 27:2cb1bdb7ae3d 699 rgbSensor.getAllColors(colourValues[valueCount]);
dreamselec 28:7e4d29977d72 700 valueCount++;
dreamselec 27:2cb1bdb7ae3d 701 } while (fpga->getBeamValue(Top) == 1 && valueCount < 3);
dreamselec 27:2cb1bdb7ae3d 702
dreamselec 27:2cb1bdb7ae3d 703 turnOffTopLEDs();
dreamselec 27:2cb1bdb7ae3d 704 myLED4 = 1;
dreamselec 27:2cb1bdb7ae3d 705
dreamselec 27:2cb1bdb7ae3d 706 int averageValues[4] = {0, 0, 0, 0};
dreamselec 27:2cb1bdb7ae3d 707 for (int i = 0; i < 3; i++) {
dreamselec 27:2cb1bdb7ae3d 708 averageValues[0] += colourValues[i][0];
dreamselec 27:2cb1bdb7ae3d 709 averageValues[1] += colourValues[i][1];
dreamselec 27:2cb1bdb7ae3d 710 averageValues[2] += colourValues[i][2];
dreamselec 27:2cb1bdb7ae3d 711 averageValues[3] += colourValues[i][3];
dreamselec 27:2cb1bdb7ae3d 712 }
dreamselec 27:2cb1bdb7ae3d 713 averageValues[0] = averageValues[0] / valueCount;
dreamselec 27:2cb1bdb7ae3d 714 averageValues[1] = averageValues[1] / valueCount;
dreamselec 27:2cb1bdb7ae3d 715 averageValues[2] = averageValues[2] / valueCount;
dreamselec 27:2cb1bdb7ae3d 716 averageValues[3] = averageValues[3] / valueCount;
dreamselec 27:2cb1bdb7ae3d 717 myLED4 = 0;
dreamselec 27:2cb1bdb7ae3d 718
dreamselec 27:2cb1bdb7ae3d 719 printColourSensorInfoOnPC(averageValues);
dreamselec 27:2cb1bdb7ae3d 720 printColourSensorInfoOnLCD(averageValues);
dreamselec 27:2cb1bdb7ae3d 721
dreamselec 27:2cb1bdb7ae3d 722 getBlockColourValue = false;
dreamselec 27:2cb1bdb7ae3d 723 } else if (button == 1) {
dreamselec 27:2cb1bdb7ae3d 724 getColourSensorValue = true;
dreamselec 27:2cb1bdb7ae3d 725 button = 0;
dreamselec 27:2cb1bdb7ae3d 726 }
dreamselec 27:2cb1bdb7ae3d 727
dreamselec 27:2cb1bdb7ae3d 728 finished = button == 4;
dreamselec 25:792540d69c49 729 // button = 0;
dreamselec 27:2cb1bdb7ae3d 730 } while (finished == false && runColourSensorTest == true);
dreamselec 27:2cb1bdb7ae3d 731
dreamselec 27:2cb1bdb7ae3d 732 turnOffBottomLEDs();
dreamselec 27:2cb1bdb7ae3d 733 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 734 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 735 lcd->printf("Finished test");
dreamselec 27:2cb1bdb7ae3d 736 if (runColourSensorTest == true) {
dreamselec 27:2cb1bdb7ae3d 737 pc.printf(":<colour_sensor>test=pause;");
dreamselec 27:2cb1bdb7ae3d 738 runColourSensorTest = false;
dreamselec 27:2cb1bdb7ae3d 739 }
dreamselec 27:2cb1bdb7ae3d 740 wait(0.5);
dreamselec 27:2cb1bdb7ae3d 741 return;
dreamselec 25:792540d69c49 742 }
dreamselec 25:792540d69c49 743
dreamselec 15:777390eb5afd 744 void displayWaitingLine()
dreamselec 15:777390eb5afd 745 {
dreamselec 27:2cb1bdb7ae3d 746 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 747 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 748 lcd->printf("Waiting...");
dreamselec 27:2cb1bdb7ae3d 749 lcd->locate(1,0);
dreamselec 15:777390eb5afd 750 }
dreamselec 15:777390eb5afd 751
dreamselec 15:777390eb5afd 752 void displayPCStatus()
dreamselec 15:777390eb5afd 753 {
dreamselec 27:2cb1bdb7ae3d 754 lcd->cls();
dreamselec 27:2cb1bdb7ae3d 755 lcd->locate(0,0);
dreamselec 27:2cb1bdb7ae3d 756 if (connectedToPC == true) {
dreamselec 27:2cb1bdb7ae3d 757 if (currentMode == Normal)
dreamselec 27:2cb1bdb7ae3d 758 lcd->printf("Normal mode.");
dreamselec 27:2cb1bdb7ae3d 759 else if (currentMode == Maintanence)
dreamselec 27:2cb1bdb7ae3d 760 lcd->printf("Maintanence.");
dreamselec 27:2cb1bdb7ae3d 761 else if (currentMode == None)
dreamselec 27:2cb1bdb7ae3d 762 lcd->printf("Connected to PC");
dreamselec 27:2cb1bdb7ae3d 763 } else
dreamselec 27:2cb1bdb7ae3d 764 lcd->printf("Waiting for PC..");
dreamselec 15:777390eb5afd 765
dreamselec 27:2cb1bdb7ae3d 766 lcd->locate(1,0);
dreamselec 27:2cb1bdb7ae3d 767 lcd->printf("4:Disconnect");
dreamselec 27:2cb1bdb7ae3d 768 D_LEDS_OFF();
dreamselec 27:2cb1bdb7ae3d 769 i2cport->write_bit(1,15);
dreamselec 18:44a1c1a30166 770 }
dreamselec 23:db91aaa43a9e 771
dreamselec 27:2cb1bdb7ae3d 772 void turnOffTopLEDs()
dreamselec 27:2cb1bdb7ae3d 773 {
dreamselec 27:2cb1bdb7ae3d 774 myLED1 = 0;
dreamselec 27:2cb1bdb7ae3d 775 myLED2 = 0;
dreamselec 27:2cb1bdb7ae3d 776 myLED3 = 0;
dreamselec 27:2cb1bdb7ae3d 777 myLED4 = 0;
dreamselec 23:db91aaa43a9e 778 }
dreamselec 23:db91aaa43a9e 779
dreamselec 27:2cb1bdb7ae3d 780 void turnOffBottomLEDs()
dreamselec 27:2cb1bdb7ae3d 781 {
dreamselec 27:2cb1bdb7ae3d 782 i2cport->write_bit(0, 12);
dreamselec 27:2cb1bdb7ae3d 783 i2cport->write_bit(0, 13);
dreamselec 27:2cb1bdb7ae3d 784 i2cport->write_bit(0, 14);
dreamselec 27:2cb1bdb7ae3d 785 i2cport->write_bit(0, 15);
dreamselec 23:db91aaa43a9e 786 }