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@32:9a4046224b11, 2015-12-17 (annotated)
- Committer:
- dreamselec
- Date:
- Thu Dec 17 17:23:24 2015 +0100
- Revision:
- 32:9a4046224b11
- Parent:
- 31:16e056b9f9e0
Comments and clean up.
Who changed what in which revision?
User | Revision | Line number | New 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 | 30:c0bc92d009fe | 36 | bool isBetweenHazValues[3] = { false, false, false }; |
dreamselec | 2:7a55cb10259f | 37 | |
dreamselec |
6:98fe30430194 | 38 | Commander _commander = Commander(); |
dreamselec |
6:98fe30430194 | 39 | Commander *commander = &_commander; |
dreamselec |
6:98fe30430194 | 40 | FPGA _fpga = FPGA(); |
dreamselec | 9:dc8f155b71c8 | 41 | extern FPGA *fpga = &_fpga; |
dreamselec |
6:98fe30430194 | 42 | |
dreamselec | 20:4e0f0944f28f | 43 | Block defualtHazBlock = Block(); |
dreamselec |
6:98fe30430194 | 44 | extern Block _HazBlock; |
dreamselec |
6:98fe30430194 | 45 | Block *HazBlock = &_HazBlock; |
dreamselec |
6:98fe30430194 | 46 | |
dreamselec |
18:44a1c1a30166 | 47 | extern PCModes currentMode; |
dreamselec |
18:44a1c1a30166 | 48 | |
dreamselec |
32:9a4046224b11 | 49 | /// Forward declared functions |
dreamselec |
6:98fe30430194 | 50 | void initInternal(); |
dreamselec | 7:b6e31bfdb2af | 51 | void initPort(int baudRate=kDefaultBaudRate); |
dreamselec |
6:98fe30430194 | 52 | void printPCDetectedText(); |
dreamselec |
6:98fe30430194 | 53 | void Rx_interrupt(); |
dreamselec |
18:44a1c1a30166 | 54 | bool checkColour(int colourValues[]); |
dreamselec | 10:16ba52f8e025 | 55 | void runInServoTestMode(); |
dreamselec | 15:777390eb5afd | 56 | void displayWaitingLine(); |
dreamselec | 15:777390eb5afd | 57 | void displayPCStatus(); |
dreamselec |
18:44a1c1a30166 | 58 | bool waitForBlock(); |
dreamselec |
18:44a1c1a30166 | 59 | void sortBlock(); |
dreamselec |
23:db91aaa43a9e | 60 | void runInBreakBeamTestMode(); |
dreamselec |
23:db91aaa43a9e | 61 | void turnOffTopLEDs(); |
dreamselec |
23:db91aaa43a9e | 62 | void turnOffBottomLEDs(); |
dreamselec | 25:792540d69c49 | 63 | void runInColourSensorTestMode(); |
dreamselec | 30:c0bc92d009fe | 64 | void newHazBlockMode(); |
dreamselec |
6:98fe30430194 | 65 | |
dreamselec |
32:9a4046224b11 | 66 | |
dreamselec |
32:9a4046224b11 | 67 | /// The main program function. Simply put just a infinite for loop. Not so simply put multiple infinite for loops |
dreamselec |
6:98fe30430194 | 68 | int main() |
dreamselec |
6:98fe30430194 | 69 | { |
dreamselec |
32:9a4046224b11 | 70 | // Initialization |
dreamselec | 27:2cb1bdb7ae3d | 71 | initInternal(); |
dreamselec | 27:2cb1bdb7ae3d | 72 | initPort(); |
dreamselec | 27:2cb1bdb7ae3d | 73 | |
dreamselec | 27:2cb1bdb7ae3d | 74 | for (;;) { |
dreamselec |
32:9a4046224b11 | 75 | // Show option if PC not detected. |
dreamselec | 27:2cb1bdb7ae3d | 76 | if (connectedToPC == false) { |
dreamselec | 28:7e4d29977d72 | 77 | pc.printf("DEBUG: PC did not responded.\n"); |
dreamselec | 27:2cb1bdb7ae3d | 78 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 79 | i2cport->write_bit(1, 12); |
dreamselec | 27:2cb1bdb7ae3d | 80 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 81 | lcd->printf("1: Start sorting."); |
dreamselec | 27:2cb1bdb7ae3d | 82 | lcd->locate(1,0); |
dreamselec | 27:2cb1bdb7ae3d | 83 | i2cport->write_bit(1,13); |
dreamselec | 27:2cb1bdb7ae3d | 84 | lcd->printf("2: Connect to PC"); |
dreamselec | 27:2cb1bdb7ae3d | 85 | } |
dreamselec | 27:2cb1bdb7ae3d | 86 | |
dreamselec | 27:2cb1bdb7ae3d | 87 | int selection = 0; |
dreamselec | 27:2cb1bdb7ae3d | 88 | do { |
dreamselec | 27:2cb1bdb7ae3d | 89 | myLED4 = selection; |
dreamselec | 27:2cb1bdb7ae3d | 90 | selection = readSwitches(); |
dreamselec | 27:2cb1bdb7ae3d | 91 | } while (selection != 1 && selection != 2 && connectedToPC == false); |
dreamselec |
32:9a4046224b11 | 92 | turnOffBottomLEDs(); |
dreamselec |
32:9a4046224b11 | 93 | |
dreamselec | 27:2cb1bdb7ae3d | 94 | if (selection == 1) { |
dreamselec | 27:2cb1bdb7ae3d | 95 | // User selected op 1: Start sorting autonomously. |
dreamselec | 27:2cb1bdb7ae3d | 96 | i2cport->write_bit(1, 12); |
dreamselec | 27:2cb1bdb7ae3d | 97 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 98 | LCDFL(); |
dreamselec | 27:2cb1bdb7ae3d | 99 | lcd->printf("Starting sorting"); |
dreamselec | 27:2cb1bdb7ae3d | 100 | wait(0.5); |
dreamselec | 27:2cb1bdb7ae3d | 101 | D_LEDS_OFF(); |
dreamselec | 19:61b21ac4896e | 102 | |
dreamselec | 27:2cb1bdb7ae3d | 103 | for(;;) { |
dreamselec | 27:2cb1bdb7ae3d | 104 | if (blockCount > 0) { |
dreamselec | 27:2cb1bdb7ae3d | 105 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 106 | displayWaitingLine(); |
dreamselec | 27:2cb1bdb7ae3d | 107 | lcd->locate(1,0); |
dreamselec | 27:2cb1bdb7ae3d | 108 | if (lastBlockHaz == true) |
dreamselec | 27:2cb1bdb7ae3d | 109 | lcd->printf("Hazardous"); |
dreamselec | 27:2cb1bdb7ae3d | 110 | else if (lastBlockHaz == false) |
dreamselec | 27:2cb1bdb7ae3d | 111 | lcd->printf("Non-Hazardous"); |
dreamselec | 27:2cb1bdb7ae3d | 112 | } else { |
dreamselec | 27:2cb1bdb7ae3d | 113 | displayWaitingLine(); |
dreamselec | 27:2cb1bdb7ae3d | 114 | } |
dreamselec | 10:16ba52f8e025 | 115 | |
dreamselec | 27:2cb1bdb7ae3d | 116 | i2cport->write_bit(1, 15); |
dreamselec |
23:db91aaa43a9e | 117 | |
dreamselec | 27:2cb1bdb7ae3d | 118 | // Break and return to main menu i.e. Start Op, or Connect to PC. |
dreamselec | 27:2cb1bdb7ae3d | 119 | if (waitForBlock() == false) { |
dreamselec | 27:2cb1bdb7ae3d | 120 | D_LEDS_OFF(); |
dreamselec | 27:2cb1bdb7ae3d | 121 | break; |
dreamselec | 27:2cb1bdb7ae3d | 122 | } else { |
dreamselec | 27:2cb1bdb7ae3d | 123 | sortBlock(); |
dreamselec | 27:2cb1bdb7ae3d | 124 | } |
dreamselec | 27:2cb1bdb7ae3d | 125 | } |
dreamselec | 27:2cb1bdb7ae3d | 126 | } |
dreamselec | 10:16ba52f8e025 | 127 | |
dreamselec |
32:9a4046224b11 | 128 | // Connect to PC |
dreamselec | 27:2cb1bdb7ae3d | 129 | if (selection == 2 || connectedToPC == true) { |
dreamselec | 27:2cb1bdb7ae3d | 130 | wait(0.1); |
dreamselec | 27:2cb1bdb7ae3d | 131 | for (;;) { |
dreamselec | 27:2cb1bdb7ae3d | 132 | displayPCStatus(); |
dreamselec | 19:61b21ac4896e | 133 | |
dreamselec | 27:2cb1bdb7ae3d | 134 | i2cport->write_bit(1, 15); |
dreamselec | 27:2cb1bdb7ae3d | 135 | int abortOperation = false; |
dreamselec |
32:9a4046224b11 | 136 | // Probe for PC since it's not already connected. |
dreamselec | 27:2cb1bdb7ae3d | 137 | if (connectedToPC == false) |
dreamselec | 27:2cb1bdb7ae3d | 138 | pc.printf(":<pc>connect;"); |
dreamselec | 27:2cb1bdb7ae3d | 139 | while (connectedToPC == false && abortOperation == false) { |
dreamselec | 27:2cb1bdb7ae3d | 140 | abortOperation = readSwitches() == 4; |
dreamselec | 27:2cb1bdb7ae3d | 141 | } |
dreamselec |
18:44a1c1a30166 | 142 | |
dreamselec | 27:2cb1bdb7ae3d | 143 | if (abortOperation == true) { |
dreamselec | 27:2cb1bdb7ae3d | 144 | D_LEDS_OFF(); |
dreamselec | 27:2cb1bdb7ae3d | 145 | break; |
dreamselec | 27:2cb1bdb7ae3d | 146 | } |
dreamselec | 27:2cb1bdb7ae3d | 147 | |
dreamselec | 27:2cb1bdb7ae3d | 148 | displayPCStatus(); |
dreamselec | 15:777390eb5afd | 149 | |
dreamselec | 27:2cb1bdb7ae3d | 150 | while (abortOperation == false && connectedToPC == true) { |
dreamselec |
32:9a4046224b11 | 151 | // Maintenance mode states |
dreamselec | 27:2cb1bdb7ae3d | 152 | if (currentMode == Maintanence) { |
dreamselec | 27:2cb1bdb7ae3d | 153 | displayPCStatus(); |
dreamselec | 27:2cb1bdb7ae3d | 154 | while (currentMode == Maintanence) { |
dreamselec | 27:2cb1bdb7ae3d | 155 | if (runServoTest == true) |
dreamselec | 27:2cb1bdb7ae3d | 156 | runInServoTestMode(); |
dreamselec | 27:2cb1bdb7ae3d | 157 | else if (runBreakBeamTest == true) |
dreamselec | 27:2cb1bdb7ae3d | 158 | runInBreakBeamTestMode(); |
dreamselec | 27:2cb1bdb7ae3d | 159 | else if (runColourSensorTest == true) |
dreamselec | 27:2cb1bdb7ae3d | 160 | runInColourSensorTestMode(); |
dreamselec | 30:c0bc92d009fe | 161 | else if (setNewHazBlock == true) |
dreamselec | 31:16e056b9f9e0 | 162 | newHazBlockMode(); |
dreamselec | 27:2cb1bdb7ae3d | 163 | if (i2cport->read_bit(11) == 1) { |
dreamselec | 27:2cb1bdb7ae3d | 164 | if (displayAbortDialog() == true) { |
dreamselec | 27:2cb1bdb7ae3d | 165 | currentMode = None; |
dreamselec | 27:2cb1bdb7ae3d | 166 | pc.printf(":<mbed>mode=none;"); |
dreamselec | 27:2cb1bdb7ae3d | 167 | } else { |
dreamselec | 27:2cb1bdb7ae3d | 168 | displayPCStatus(); |
dreamselec | 27:2cb1bdb7ae3d | 169 | } |
dreamselec | 27:2cb1bdb7ae3d | 170 | } |
dreamselec | 27:2cb1bdb7ae3d | 171 | } |
dreamselec | 27:2cb1bdb7ae3d | 172 | } else if (currentMode == Normal) { |
dreamselec | 27:2cb1bdb7ae3d | 173 | displayPCStatus(); |
dreamselec | 27:2cb1bdb7ae3d | 174 | while (currentMode == Normal) { |
dreamselec | 27:2cb1bdb7ae3d | 175 | if (currentState == Pause) { |
dreamselec | 27:2cb1bdb7ae3d | 176 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 177 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 178 | lcd->printf("Sorting Paused."); |
dreamselec | 27:2cb1bdb7ae3d | 179 | lcd->locate(1,0); |
dreamselec | 27:2cb1bdb7ae3d | 180 | lcd->printf("1: Start"); |
dreamselec | 27:2cb1bdb7ae3d | 181 | int button = 0; |
dreamselec | 27:2cb1bdb7ae3d | 182 | i2cport->write_bit(1, 12); |
dreamselec | 27:2cb1bdb7ae3d | 183 | i2cport->write_bit(1, 15); |
dreamselec | 27:2cb1bdb7ae3d | 184 | while (currentState == Pause && currentMode == Normal) { |
dreamselec | 27:2cb1bdb7ae3d | 185 | button = readSwitches(); |
dreamselec | 27:2cb1bdb7ae3d | 186 | if (button == 1) { |
dreamselec | 27:2cb1bdb7ae3d | 187 | pc.printf(":<mbed>sort=start;"); |
dreamselec | 27:2cb1bdb7ae3d | 188 | currentState = Start; |
dreamselec | 27:2cb1bdb7ae3d | 189 | } else if (button == 4) { |
dreamselec | 27:2cb1bdb7ae3d | 190 | currentMode = None; |
dreamselec | 27:2cb1bdb7ae3d | 191 | pc.printf(":<mbed>mode=none;"); |
dreamselec | 27:2cb1bdb7ae3d | 192 | break; |
dreamselec | 27:2cb1bdb7ae3d | 193 | } |
dreamselec | 27:2cb1bdb7ae3d | 194 | } |
dreamselec | 27:2cb1bdb7ae3d | 195 | } |
dreamselec | 27:2cb1bdb7ae3d | 196 | if (currentState == Start) { |
dreamselec | 27:2cb1bdb7ae3d | 197 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 198 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 199 | lcd->printf("Sorting mode..."); |
dreamselec | 27:2cb1bdb7ae3d | 200 | while (currentState == Start && currentMode == Normal) { |
dreamselec | 27:2cb1bdb7ae3d | 201 | if (waitForBlock() == false) { |
dreamselec |
32:9a4046224b11 | 202 | // Sorting paused from MBED button, tell PC about it. |
dreamselec | 28:7e4d29977d72 | 203 | if (connectedToPC == true && currentState != Pause && currentMode == Normal) { |
dreamselec | 27:2cb1bdb7ae3d | 204 | pc.printf(":<mbed>sort=pause;"); |
dreamselec | 27:2cb1bdb7ae3d | 205 | currentState = Pause; |
dreamselec | 27:2cb1bdb7ae3d | 206 | continue; |
dreamselec | 31:16e056b9f9e0 | 207 | } else if (connectedToPC == true && currentMode == None) { |
dreamselec | 31:16e056b9f9e0 | 208 | goto setModeNone; |
dreamselec | 31:16e056b9f9e0 | 209 | } else if (connectedToPC == false) { |
dreamselec | 27:2cb1bdb7ae3d | 210 | currentMode = None; |
dreamselec | 28:7e4d29977d72 | 211 | currentState = Pause; |
dreamselec | 27:2cb1bdb7ae3d | 212 | abortOperation = true; |
dreamselec | 27:2cb1bdb7ae3d | 213 | } |
dreamselec | 27:2cb1bdb7ae3d | 214 | } else { |
dreamselec | 27:2cb1bdb7ae3d | 215 | sortBlock(); |
dreamselec | 27:2cb1bdb7ae3d | 216 | } |
dreamselec | 27:2cb1bdb7ae3d | 217 | } |
dreamselec | 27:2cb1bdb7ae3d | 218 | } |
dreamselec | 27:2cb1bdb7ae3d | 219 | } |
dreamselec | 27:2cb1bdb7ae3d | 220 | } else if (currentMode == None) { |
dreamselec | 27:2cb1bdb7ae3d | 221 | setModeNone: |
dreamselec |
32:9a4046224b11 | 222 | turnOffBottomLEDs(); |
dreamselec | 27:2cb1bdb7ae3d | 223 | i2cport->write_bit(1,15); |
dreamselec | 27:2cb1bdb7ae3d | 224 | displayPCStatus(); |
dreamselec | 27:2cb1bdb7ae3d | 225 | while (currentMode == None && abortOperation == false && connectedToPC == true) { |
dreamselec | 27:2cb1bdb7ae3d | 226 | if (i2cport->read_bit(11)) { |
dreamselec | 27:2cb1bdb7ae3d | 227 | abortOperation = displayAbortDialog(); |
dreamselec | 27:2cb1bdb7ae3d | 228 | // Cancel the Abort |
dreamselec | 27:2cb1bdb7ae3d | 229 | if (abortOperation == false) { |
dreamselec | 27:2cb1bdb7ae3d | 230 | displayPCStatus(); |
dreamselec | 27:2cb1bdb7ae3d | 231 | i2cport->write_bit(1, 15); |
dreamselec | 27:2cb1bdb7ae3d | 232 | } |
dreamselec | 27:2cb1bdb7ae3d | 233 | } |
dreamselec | 27:2cb1bdb7ae3d | 234 | } |
dreamselec | 27:2cb1bdb7ae3d | 235 | } |
dreamselec | 27:2cb1bdb7ae3d | 236 | } |
dreamselec |
32:9a4046224b11 | 237 | // Return to Main Menu |
dreamselec | 27:2cb1bdb7ae3d | 238 | if (abortOperation == true ) { |
dreamselec | 27:2cb1bdb7ae3d | 239 | connectedToPC = false; |
dreamselec | 27:2cb1bdb7ae3d | 240 | D_LEDS_OFF(); |
dreamselec | 27:2cb1bdb7ae3d | 241 | break; |
dreamselec | 27:2cb1bdb7ae3d | 242 | } |
dreamselec | 27:2cb1bdb7ae3d | 243 | } |
dreamselec | 27:2cb1bdb7ae3d | 244 | } |
dreamselec | 19:61b21ac4896e | 245 | |
dreamselec | 27:2cb1bdb7ae3d | 246 | } |
dreamselec |
18:44a1c1a30166 | 247 | } |
dreamselec |
8:e1da2ae62885 | 248 | |
dreamselec |
18:44a1c1a30166 | 249 | // Waits until detects block. |
dreamselec |
18:44a1c1a30166 | 250 | // true if block detected, false if cancelled/connected to PC. |
dreamselec | 19:61b21ac4896e | 251 | bool waitForBlock() |
dreamselec | 19:61b21ac4896e | 252 | { |
dreamselec | 27:2cb1bdb7ae3d | 253 | myLED4 = 0; |
dreamselec | 27:2cb1bdb7ae3d | 254 | myLED1 = 1; |
dreamselec | 27:2cb1bdb7ae3d | 255 | if (connectedToPC == false) { |
dreamselec | 27:2cb1bdb7ae3d | 256 | bool abortOperation = false; |
dreamselec | 27:2cb1bdb7ae3d | 257 | int blockInserted = 0; |
dreamselec | 27:2cb1bdb7ae3d | 258 | // Wait until a block is breaking the beam, or button 4 is pressed to abort. |
dreamselec | 27:2cb1bdb7ae3d | 259 | do { |
dreamselec | 27:2cb1bdb7ae3d | 260 | blockInserted = fpga->getBeamValue(Top); |
dreamselec | 27:2cb1bdb7ae3d | 261 | myLED4 = blockInserted; |
dreamselec | 27:2cb1bdb7ae3d | 262 | if (i2cport->read_bit(11)) { |
dreamselec | 27:2cb1bdb7ae3d | 263 | abortOperation = displayAbortDialog(); |
dreamselec | 27:2cb1bdb7ae3d | 264 | // Cancel the Abort |
dreamselec | 27:2cb1bdb7ae3d | 265 | if (abortOperation == false) { |
dreamselec | 27:2cb1bdb7ae3d | 266 | displayWaitingLine(); |
dreamselec | 27:2cb1bdb7ae3d | 267 | } |
dreamselec | 27:2cb1bdb7ae3d | 268 | } |
dreamselec | 27:2cb1bdb7ae3d | 269 | } while (abortOperation == false && blockInserted != 1 && connectedToPC == false); |
dreamselec |
18:44a1c1a30166 | 270 | |
dreamselec | 27:2cb1bdb7ae3d | 271 | if (abortOperation == true || connectedToPC == true) |
dreamselec | 27:2cb1bdb7ae3d | 272 | return false; |
dreamselec | 27:2cb1bdb7ae3d | 273 | else |
dreamselec | 27:2cb1bdb7ae3d | 274 | return true; |
dreamselec | 27:2cb1bdb7ae3d | 275 | } else if (connectedToPC == true) { |
dreamselec | 27:2cb1bdb7ae3d | 276 | bool abortOperation = false; |
dreamselec | 27:2cb1bdb7ae3d | 277 | int blockInserted = 0; |
dreamselec | 27:2cb1bdb7ae3d | 278 | // Wait until a block is breaking the beam, or button 4 is pressed to abort. |
dreamselec | 28:7e4d29977d72 | 279 | pc.printf("INFO: Waiting for block.\n"); |
dreamselec | 27:2cb1bdb7ae3d | 280 | do { |
dreamselec | 27:2cb1bdb7ae3d | 281 | blockInserted = fpga->getBeamValue(Top); |
dreamselec | 27:2cb1bdb7ae3d | 282 | myLED4 = blockInserted; |
dreamselec | 28:7e4d29977d72 | 283 | if (readSwitches() == 4) { |
dreamselec | 27:2cb1bdb7ae3d | 284 | abortOperation = displayAbortDialog(); |
dreamselec | 27:2cb1bdb7ae3d | 285 | // Cancel the Abort |
dreamselec | 27:2cb1bdb7ae3d | 286 | if (abortOperation == false) { |
dreamselec | 27:2cb1bdb7ae3d | 287 | displayWaitingLine(); |
dreamselec | 27:2cb1bdb7ae3d | 288 | lcd->printf("for block"); |
dreamselec | 27:2cb1bdb7ae3d | 289 | i2cport->write_bit(1, 15); |
dreamselec | 27:2cb1bdb7ae3d | 290 | } |
dreamselec | 27:2cb1bdb7ae3d | 291 | } |
dreamselec | 27:2cb1bdb7ae3d | 292 | } while (abortOperation == false && blockInserted != 1 && connectedToPC == true && currentState == Start && currentMode == Normal); |
dreamselec | 19:61b21ac4896e | 293 | |
dreamselec | 28:7e4d29977d72 | 294 | if (abortOperation == true || connectedToPC == false || currentState == Pause || currentMode != Normal) |
dreamselec | 27:2cb1bdb7ae3d | 295 | return false; |
dreamselec | 27:2cb1bdb7ae3d | 296 | else |
dreamselec | 27:2cb1bdb7ae3d | 297 | return true; |
dreamselec | 27:2cb1bdb7ae3d | 298 | } |
dreamselec | 27:2cb1bdb7ae3d | 299 | return false; |
dreamselec |
18:44a1c1a30166 | 300 | } |
dreamselec |
14:cf2f255b5560 | 301 | |
dreamselec |
32:9a4046224b11 | 302 | // Sort current block; called just after block is detected. |
dreamselec | 19:61b21ac4896e | 303 | void sortBlock() |
dreamselec | 19:61b21ac4896e | 304 | { |
dreamselec | 28:7e4d29977d72 | 305 | pc.printf("BLOCK: Sorting block"); |
dreamselec | 27:2cb1bdb7ae3d | 306 | myLED1 = 0; |
dreamselec | 27:2cb1bdb7ae3d | 307 | myLED2 = 1; |
dreamselec |
32:9a4046224b11 | 308 | // Cannot Abort any longer. |
dreamselec | 27:2cb1bdb7ae3d | 309 | // Detach rx interrupt until block processed. |
dreamselec | 27:2cb1bdb7ae3d | 310 | NVIC_DisableIRQ(UART1_IRQn); |
dreamselec |
32:9a4046224b11 | 311 | |
dreamselec | 27:2cb1bdb7ae3d | 312 | fpga->moveSortingServo(Haz); |
dreamselec | 27:2cb1bdb7ae3d | 313 | fpga->moveStoppingServo(Go); |
dreamselec | 21:60c4fe94d79c | 314 | |
dreamselec |
32:9a4046224b11 | 315 | // Take 3 readings and use the average. |
dreamselec | 27:2cb1bdb7ae3d | 316 | int colourValues[4]; |
dreamselec | 27:2cb1bdb7ae3d | 317 | int averageColourValues[4] = {0, 0, 0, 0}; |
dreamselec | 27:2cb1bdb7ae3d | 318 | int numberOfReadings = 3; |
dreamselec | 27:2cb1bdb7ae3d | 319 | for (int i = 0; i < 4; i++) { |
dreamselec | 27:2cb1bdb7ae3d | 320 | rgbSensor.getAllColors(colourValues); |
dreamselec | 27:2cb1bdb7ae3d | 321 | for (int j = 0; j < 4; j++) { |
dreamselec | 27:2cb1bdb7ae3d | 322 | averageColourValues[j] += colourValues[j]; |
dreamselec | 27:2cb1bdb7ae3d | 323 | } |
dreamselec | 27:2cb1bdb7ae3d | 324 | } |
dreamselec | 27:2cb1bdb7ae3d | 325 | for (int i = 0; i < 4; i++) { |
dreamselec | 27:2cb1bdb7ae3d | 326 | averageColourValues[i] = averageColourValues[i] / numberOfReadings; |
dreamselec | 27:2cb1bdb7ae3d | 327 | } |
dreamselec |
18:44a1c1a30166 | 328 | |
dreamselec | 27:2cb1bdb7ae3d | 329 | lastBlockHaz = false; |
dreamselec | 27:2cb1bdb7ae3d | 330 | lastBlockHaz = checkColour(averageColourValues); |
dreamselec | 27:2cb1bdb7ae3d | 331 | |
dreamselec |
32:9a4046224b11 | 332 | // Tell FPGA to move servo, optimises the process. |
dreamselec | 27:2cb1bdb7ae3d | 333 | if (!lastBlockHaz) { |
dreamselec | 27:2cb1bdb7ae3d | 334 | fpga->moveSortingServo(NonHaz); |
dreamselec | 27:2cb1bdb7ae3d | 335 | } |
dreamselec |
23:db91aaa43a9e | 336 | |
dreamselec | 27:2cb1bdb7ae3d | 337 | myLED3 = 1; |
dreamselec | 27:2cb1bdb7ae3d | 338 | int blockSize; |
dreamselec | 27:2cb1bdb7ae3d | 339 | while (fpga->checkForBlock() == 0) { } |
dreamselec | 27:2cb1bdb7ae3d | 340 | blockSize = fpga->checkForSize(); |
dreamselec |
32:9a4046224b11 | 341 | // Size and colour fit the criteria of the hazardous block. |
dreamselec | 27:2cb1bdb7ae3d | 342 | if (blockSize == HazBlock->size && lastBlockHaz) { |
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 |
32:9a4046224b11 | 352 | // Print detailed information about the block on the PC. |
dreamselec | 27:2cb1bdb7ae3d | 353 | if (connectedToPC) { |
dreamselec | 27:2cb1bdb7ae3d | 354 | for (int i = 0; i < 3; i++) { |
dreamselec |
29:9c0339e3c593 | 355 | pc.printf("DEBUG:Percentage Error: %.5f. Passed?: %i\n", percentageError[i], isBetweenHazValues[i]); |
dreamselec | 27:2cb1bdb7ae3d | 356 | } |
dreamselec | 27:2cb1bdb7ae3d | 357 | 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 | 358 | } |
dreamselec |
18:44a1c1a30166 | 359 | |
dreamselec | 27:2cb1bdb7ae3d | 360 | // Re-Attach rx interrupt |
dreamselec | 27:2cb1bdb7ae3d | 361 | NVIC_EnableIRQ(UART1_IRQn); |
dreamselec | 27:2cb1bdb7ae3d | 362 | |
dreamselec | 27:2cb1bdb7ae3d | 363 | blockCount++; |
dreamselec | 27:2cb1bdb7ae3d | 364 | myLED3 = 0; |
dreamselec | 27:2cb1bdb7ae3d | 365 | myLED4 = 1; |
dreamselec | 27:2cb1bdb7ae3d | 366 | return; |
dreamselec |
6:98fe30430194 | 367 | } |
dreamselec |
6:98fe30430194 | 368 | |
dreamselec |
32:9a4046224b11 | 369 | /// PC Read interrupt |
dreamselec |
6:98fe30430194 | 370 | /// Called every-time it receives an char from PC. |
dreamselec | 10:16ba52f8e025 | 371 | void Rx_interrupt() |
dreamselec | 10:16ba52f8e025 | 372 | { |
dreamselec | 28:7e4d29977d72 | 373 | recievingResponse = true; |
dreamselec | 27:2cb1bdb7ae3d | 374 | char interruptChar = pc.getc(); |
dreamselec |
32:9a4046224b11 | 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 |
32:9a4046224b11 | 380 | // Only start parsing command if it start with three command types, otherwise ignore. |
dreamselec | 27:2cb1bdb7ae3d | 381 | if (interruptChar == CommandTypeValue[Query]) { |
dreamselec | 27:2cb1bdb7ae3d | 382 | commander->decodeCommand(Query); |
dreamselec | 27:2cb1bdb7ae3d | 383 | } else if (interruptChar == CommandTypeValue[Set]) { |
dreamselec | 27:2cb1bdb7ae3d | 384 | commander->decodeCommand(Set); |
dreamselec | 27:2cb1bdb7ae3d | 385 | } else if (interruptChar== CommandTypeValue[Reply]) { |
dreamselec | 27:2cb1bdb7ae3d | 386 | commander->decodeCommand(Reply); |
dreamselec | 27:2cb1bdb7ae3d | 387 | } |
dreamselec |
8:e1da2ae62885 | 388 | |
dreamselec | 27:2cb1bdb7ae3d | 389 | NVIC_EnableIRQ(UART1_IRQn); |
dreamselec | 28:7e4d29977d72 | 390 | recievingResponse = false; |
dreamselec |
6:98fe30430194 | 391 | } |
dreamselec | 3:843b830ee8bd | 392 | |
dreamselec |
32:9a4046224b11 | 393 | /// Initialize internal parts. |
dreamselec |
32:9a4046224b11 | 394 | /// Colour sensor, LCD, and Servos |
dreamselec | 4:4eebb4de22a7 | 395 | void initInternal() |
dreamselec | 4:4eebb4de22a7 | 396 | { |
dreamselec | 27:2cb1bdb7ae3d | 397 | myLED1 = 1; |
dreamselec | 27:2cb1bdb7ae3d | 398 | i2cport = new MCP23017(p9, p10, 0x40); |
dreamselec | 27:2cb1bdb7ae3d | 399 | lcd = new WattBob_TextLCD(i2cport); |
dreamselec | 27:2cb1bdb7ae3d | 400 | BACKLIGHT_ON(i2cport); |
dreamselec | 27:2cb1bdb7ae3d | 401 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 402 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 403 | lcd->printf("Initilizing..."); |
dreamselec |
29:9c0339e3c593 | 404 | // DefaultHazBlock(); |
dreamselec | 28:7e4d29977d72 | 405 | rgbSensor.enablePowerAndRGBC(); |
dreamselec | 28:7e4d29977d72 | 406 | rgbSensor.setIntegrationTime(gIntegrationTime); |
dreamselec | 28:7e4d29977d72 | 407 | srand((unsigned)time(NULL)); |
dreamselec | 27:2cb1bdb7ae3d | 408 | myLED2 = 1; |
dreamselec | 28:7e4d29977d72 | 409 | fpga->moveStoppingServo(Stop); |
dreamselec | 28:7e4d29977d72 | 410 | fpga->moveSortingServo(NonHaz); |
dreamselec | 27:2cb1bdb7ae3d | 411 | return; |
dreamselec | 3:843b830ee8bd | 412 | } |
dreamselec | 3:843b830ee8bd | 413 | |
dreamselec |
32:9a4046224b11 | 414 | /// Initilise the serial port |
dreamselec | 7:b6e31bfdb2af | 415 | void initPort(int baudRate) |
dreamselec | 4:4eebb4de22a7 | 416 | { |
dreamselec | 27:2cb1bdb7ae3d | 417 | myLED3 = 1; |
dreamselec | 27:2cb1bdb7ae3d | 418 | pc.baud(baudRate); |
dreamselec | 27:2cb1bdb7ae3d | 419 | pc.format(8, SerialBase::None, gStopBits); |
dreamselec | 28:7e4d29977d72 | 420 | pc.attach(&Rx_interrupt, Serial::RxIrq); |
dreamselec | 31:16e056b9f9e0 | 421 | myLED4 = 1; |
dreamselec | 28:7e4d29977d72 | 422 | pc.printf(":<pc>connect;"); |
dreamselec | 28:7e4d29977d72 | 423 | // wait (0.3); |
dreamselec | 28:7e4d29977d72 | 424 | // while(recievingResponse == true) {} |
dreamselec | 28:7e4d29977d72 | 425 | turnOffTopLEDs(); |
dreamselec | 27:2cb1bdb7ae3d | 426 | return; |
dreamselec | 3:843b830ee8bd | 427 | } |
dreamselec | 3:843b830ee8bd | 428 | |
dreamselec |
32:9a4046224b11 | 429 | /// Check if the passed colour values fit the hazardous block values. |
dreamselec |
18:44a1c1a30166 | 430 | bool checkColour(int colourValues[]) |
dreamselec | 15:777390eb5afd | 431 | { |
dreamselec | 31:16e056b9f9e0 | 432 | for (int i = 0; i < 3; i++) { |
dreamselec | 31:16e056b9f9e0 | 433 | isBetweenHazValues[i] = false; |
dreamselec | 30:c0bc92d009fe | 434 | } |
dreamselec | 27:2cb1bdb7ae3d | 435 | memset(adjustedValues, 0, sizeof(adjustedValues)); |
dreamselec | 27:2cb1bdb7ae3d | 436 | memset(percentageError, 0, sizeof(percentageError)); |
dreamselec | 27:2cb1bdb7ae3d | 437 | |
dreamselec |
29:9c0339e3c593 | 438 | for (int i = 0; i < 3; i++) { |
dreamselec | 31:16e056b9f9e0 | 439 | adjustedValues[i] = (float)colourValues[i]/(float)colourValues[3]; |
dreamselec | 31:16e056b9f9e0 | 440 | percentageError[i] = (adjustedValues[i] - kAverageValues[HazBlock->colour][i]) / kAverageValues[HazBlock->colour][i]; |
dreamselec | 15:777390eb5afd | 441 | |
dreamselec | 31:16e056b9f9e0 | 442 | if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[HazBlock->colour][i] * errorMultiplier) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[HazBlock->colour][i] * errorMultiplier)) { |
dreamselec | 31:16e056b9f9e0 | 443 | isBetweenHazValues[i] = true; |
dreamselec |
29:9c0339e3c593 | 444 | } |
dreamselec | 31:16e056b9f9e0 | 445 | } |
dreamselec | 27:2cb1bdb7ae3d | 446 | |
dreamselec | 27:2cb1bdb7ae3d | 447 | bool isHazBlock = false; |
dreamselec | 15:777390eb5afd | 448 | |
dreamselec |
29:9c0339e3c593 | 449 | if (isBetweenHazValues[0] && isBetweenHazValues[1] && isBetweenHazValues[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 |
32:9a4046224b11 | 458 | /// Setting new hazardous block mode, from maintenance mode. |
dreamselec | 31:16e056b9f9e0 | 459 | void newHazBlockMode() |
dreamselec | 31:16e056b9f9e0 | 460 | { |
dreamselec | 31:16e056b9f9e0 | 461 | trySetHazBlockAgain: |
dreamselec | 31:16e056b9f9e0 | 462 | pc.printf("NHZB:Size:%i,Colour:%i;", _HazBlock.size, _HazBlock.colour); |
dreamselec | 31:16e056b9f9e0 | 463 | fpga->moveSortingServo(Haz); |
dreamselec |
32:9a4046224b11 | 464 | |
dreamselec | 31:16e056b9f9e0 | 465 | int lowerBeam = 0; |
dreamselec | 31:16e056b9f9e0 | 466 | int higherBeam = 0; |
dreamselec | 31:16e056b9f9e0 | 467 | int colourValues[6][4]; |
dreamselec | 31:16e056b9f9e0 | 468 | for (int i = 0; i < 6; i++) { |
dreamselec | 31:16e056b9f9e0 | 469 | memset(colourValues[i], 0, sizeof(colourValues[6])); |
dreamselec | 31:16e056b9f9e0 | 470 | } |
dreamselec | 31:16e056b9f9e0 | 471 | int readingCount = 0; |
dreamselec | 31:16e056b9f9e0 | 472 | |
dreamselec | 31:16e056b9f9e0 | 473 | lcd->cls(); |
dreamselec | 31:16e056b9f9e0 | 474 | lcd->locate(0,0); |
dreamselec | 31:16e056b9f9e0 | 475 | lcd->printf("New haz block"); |
dreamselec | 30:c0bc92d009fe | 476 | |
dreamselec | 31:16e056b9f9e0 | 477 | do { |
dreamselec | 31:16e056b9f9e0 | 478 | higherBeam = fpga->getBeamValue(Top); |
dreamselec | 31:16e056b9f9e0 | 479 | if (readSwitches() == 4) { |
dreamselec | 31:16e056b9f9e0 | 480 | if (displayAbortDialog()) { |
dreamselec | 31:16e056b9f9e0 | 481 | pc.printf(":<mbed>haz-block=pause;"); |
dreamselec | 31:16e056b9f9e0 | 482 | pc.printf("INFO: Operation aborted form MBED.\n"); |
dreamselec | 31:16e056b9f9e0 | 483 | fpga->moveSortingServo(NonHaz); |
dreamselec | 31:16e056b9f9e0 | 484 | displayPCStatus(); |
dreamselec | 31:16e056b9f9e0 | 485 | return; |
dreamselec | 31:16e056b9f9e0 | 486 | } else { |
dreamselec | 31:16e056b9f9e0 | 487 | lcd->cls(); |
dreamselec | 31:16e056b9f9e0 | 488 | lcd->locate(0,0); |
dreamselec | 31:16e056b9f9e0 | 489 | lcd->printf("New haz block"); |
dreamselec | 30:c0bc92d009fe | 490 | } |
dreamselec | 30:c0bc92d009fe | 491 | } |
dreamselec | 31:16e056b9f9e0 | 492 | } while (higherBeam != 1 && setNewHazBlock == true && connectedToPC == true && currentMode == Maintanence); |
dreamselec | 31:16e056b9f9e0 | 493 | |
dreamselec | 31:16e056b9f9e0 | 494 | if (setNewHazBlock == false) { |
dreamselec | 31:16e056b9f9e0 | 495 | displayPCStatus(); |
dreamselec | 31:16e056b9f9e0 | 496 | return; |
dreamselec | 31:16e056b9f9e0 | 497 | } |
dreamselec | 31:16e056b9f9e0 | 498 | |
dreamselec | 31:16e056b9f9e0 | 499 | do { |
dreamselec | 31:16e056b9f9e0 | 500 | rgbSensor.getAllColors(colourValues[readingCount]); |
dreamselec | 31:16e056b9f9e0 | 501 | readingCount++; |
dreamselec | 31:16e056b9f9e0 | 502 | } while (readingCount < 6 && fpga->getBeamValue(Top) == 1 && fpga->getBeamValue(Bottom) == 0); |
dreamselec | 30:c0bc92d009fe | 503 | |
dreamselec | 31:16e056b9f9e0 | 504 | lowerBeam = fpga->getBeamValue(Bottom); |
dreamselec | 31:16e056b9f9e0 | 505 | higherBeam = fpga->getBeamValue(Top); |
dreamselec | 31:16e056b9f9e0 | 506 | pc.printf("DEBUG: Number of readings: %i\n", readingCount); |
dreamselec | 31:16e056b9f9e0 | 507 | if (lowerBeam != 1) { |
dreamselec | 31:16e056b9f9e0 | 508 | lowerBeam = fpga->getBeamValue(Top); |
dreamselec | 31:16e056b9f9e0 | 509 | while(lowerBeam != 1) { |
dreamselec | 31:16e056b9f9e0 | 510 | lowerBeam = fpga->getBeamValue(Bottom); |
dreamselec | 30:c0bc92d009fe | 511 | } |
dreamselec | 31:16e056b9f9e0 | 512 | higherBeam = fpga->getBeamValue(Bottom); |
dreamselec | 31:16e056b9f9e0 | 513 | } |
dreamselec | 31:16e056b9f9e0 | 514 | int blockSize = higherBeam; |
dreamselec | 30:c0bc92d009fe | 515 | |
dreamselec | 31:16e056b9f9e0 | 516 | int totalComponents[4]; |
dreamselec | 31:16e056b9f9e0 | 517 | memset(totalComponents, 0, sizeof(totalComponents)); |
dreamselec | 31:16e056b9f9e0 | 518 | for (int k = 0; k < readingCount; k++) { |
dreamselec | 31:16e056b9f9e0 | 519 | for (int i = 0; i < 4; i++) { |
dreamselec | 31:16e056b9f9e0 | 520 | totalComponents[i] += colourValues[k][i]; |
dreamselec | 30:c0bc92d009fe | 521 | } |
dreamselec | 31:16e056b9f9e0 | 522 | } |
dreamselec | 31:16e056b9f9e0 | 523 | pc.printf("VALUE: Total: %i, %i, %i, %i \n:VALUE", totalComponents[0], totalComponents[1], totalComponents[2], totalComponents[3]); |
dreamselec | 31:16e056b9f9e0 | 524 | |
dreamselec | 31:16e056b9f9e0 | 525 | float averageComponents[4]; |
dreamselec | 31:16e056b9f9e0 | 526 | memset(averageComponents, 0, sizeof(averageComponents)); |
dreamselec | 31:16e056b9f9e0 | 527 | for (int i = 0; i < 4; i++) { |
dreamselec | 31:16e056b9f9e0 | 528 | averageComponents[i] = ((float)totalComponents[i] / (float)readingCount); |
dreamselec | 31:16e056b9f9e0 | 529 | } |
dreamselec | 31:16e056b9f9e0 | 530 | pc.printf("VALUE: Average: %i, %i, %i, %i \n:VALUE", averageComponents[0], averageComponents[1], averageComponents[2], averageComponents[3]); |
dreamselec | 31:16e056b9f9e0 | 531 | |
dreamselec | 31:16e056b9f9e0 | 532 | float adjustedValues[3]; |
dreamselec | 31:16e056b9f9e0 | 533 | memset(adjustedValues, 0, sizeof(adjustedValues)); |
dreamselec | 31:16e056b9f9e0 | 534 | for (int i = 0; i < 3; i++) { |
dreamselec | 31:16e056b9f9e0 | 535 | adjustedValues[i] = averageComponents[i] / averageComponents[3]; |
dreamselec | 31:16e056b9f9e0 | 536 | } |
dreamselec | 31:16e056b9f9e0 | 537 | pc.printf("VALUE: Adjusted: %.3f, %.3f, %.3f \n:VALUE", adjustedValues[0], adjustedValues[1], adjustedValues[2]); |
dreamselec | 31:16e056b9f9e0 | 538 | |
dreamselec | 31:16e056b9f9e0 | 539 | Block::BlockColour detectedColour = Block::Wrong; |
dreamselec | 31:16e056b9f9e0 | 540 | bool matchesColour[3] = {false, false, false}; |
dreamselec | 31:16e056b9f9e0 | 541 | |
dreamselec | 31:16e056b9f9e0 | 542 | float percentageError[3]; |
dreamselec | 31:16e056b9f9e0 | 543 | memset(percentageError, 0, sizeof(percentageError)); |
dreamselec | 31:16e056b9f9e0 | 544 | for (int k = 0; k < 7; k++) { |
dreamselec | 31:16e056b9f9e0 | 545 | pc.printf("DEBUG: Colour: %i\n", k); |
dreamselec | 31:16e056b9f9e0 | 546 | for (int i = 0; i < 3; i++) { |
dreamselec | 31:16e056b9f9e0 | 547 | percentageError[i] = (adjustedValues[i] - kAverageValues[k][i]) / kAverageValues[k][i]; |
dreamselec | 31:16e056b9f9e0 | 548 | pc.printf("DEBUG: Percenage error: %.5f\n", percentageError[i]); |
dreamselec | 30:c0bc92d009fe | 549 | |
dreamselec | 31:16e056b9f9e0 | 550 | if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[k][i] * errorMultiplier) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[k][i] * errorMultiplier)) { |
dreamselec | 31:16e056b9f9e0 | 551 | pc.printf("DEBUG: Pass\n"); |
dreamselec | 31:16e056b9f9e0 | 552 | matchesColour[i] = true; |
dreamselec | 31:16e056b9f9e0 | 553 | } |
dreamselec | 30:c0bc92d009fe | 554 | } |
dreamselec | 31:16e056b9f9e0 | 555 | if (matchesColour[0] && matchesColour[1] && matchesColour[2]) { |
dreamselec | 31:16e056b9f9e0 | 556 | detectedColour = static_cast<Block::BlockColour>(k); |
dreamselec | 31:16e056b9f9e0 | 557 | pc.printf("DEBUG: Found match as: %i", detectedColour); |
dreamselec | 31:16e056b9f9e0 | 558 | break; |
dreamselec | 31:16e056b9f9e0 | 559 | } else { |
dreamselec | 31:16e056b9f9e0 | 560 | matchesColour[0] = false; |
dreamselec | 31:16e056b9f9e0 | 561 | matchesColour[1] = false; |
dreamselec | 31:16e056b9f9e0 | 562 | matchesColour[2] = false; |
dreamselec | 31:16e056b9f9e0 | 563 | } |
dreamselec | 31:16e056b9f9e0 | 564 | } |
dreamselec | 30:c0bc92d009fe | 565 | |
dreamselec | 31:16e056b9f9e0 | 566 | if (detectedColour == Block::Wrong) { |
dreamselec | 31:16e056b9f9e0 | 567 | pc.printf("ERROR: Could not detect colour.\n"); |
dreamselec | 31:16e056b9f9e0 | 568 | lcd->cls(); |
dreamselec | 31:16e056b9f9e0 | 569 | lcd->printf("1: Try again"); |
dreamselec | 31:16e056b9f9e0 | 570 | lcd->locate(1,0); |
dreamselec | 31:16e056b9f9e0 | 571 | lcd->printf("2: Revert to last"); |
dreamselec | 31:16e056b9f9e0 | 572 | int button = 0; |
dreamselec | 31:16e056b9f9e0 | 573 | do { |
dreamselec | 31:16e056b9f9e0 | 574 | button = readSwitches(); |
dreamselec | 31:16e056b9f9e0 | 575 | if (button == 1 || setNewHazBlock == true) { |
dreamselec | 31:16e056b9f9e0 | 576 | goto trySetHazBlockAgain; |
dreamselec | 31:16e056b9f9e0 | 577 | } |
dreamselec | 31:16e056b9f9e0 | 578 | } while (button != 2); |
dreamselec | 31:16e056b9f9e0 | 579 | } |
dreamselec | 30:c0bc92d009fe | 580 | |
dreamselec | 31:16e056b9f9e0 | 581 | _HazBlock.size = static_cast<Block::Size>(blockSize); |
dreamselec | 31:16e056b9f9e0 | 582 | _HazBlock.colour = detectedColour; |
dreamselec | 30:c0bc92d009fe | 583 | |
dreamselec | 31:16e056b9f9e0 | 584 | pc.printf("NHZB:Size:%i,Colour:%i;", _HazBlock.size, _HazBlock.colour); |
dreamselec | 30:c0bc92d009fe | 585 | |
dreamselec | 30:c0bc92d009fe | 586 | |
dreamselec | 31:16e056b9f9e0 | 587 | pc.printf("VALUE:Hazardous Block:\n \tSize:%i \n \tMin Error:%i, %i, %i\n \t Max Error:%i, %i, %i\n:VALUE", _HazBlock.size, kMinError[_HazBlock.colour][1], kMinError[_HazBlock.colour][1], kMinError[_HazBlock.colour][2], kMaxError[_HazBlock.colour][0], kMaxError[_HazBlock.colour][1], kMaxError[_HazBlock.colour][2]); |
dreamselec | 31:16e056b9f9e0 | 588 | pc.printf("VALUE:\tAverage Colour:%.3f, %.3f, %.3f, %.3f\n:VALUE", kAverageValues[_HazBlock.colour][0], kAverageValues[_HazBlock.colour][1], kAverageValues[_HazBlock.colour][2], kAverageValues[_HazBlock.colour][3]); |
dreamselec | 31:16e056b9f9e0 | 589 | fpga->moveSortingServo(NonHaz); |
dreamselec | 30:c0bc92d009fe | 590 | } |
dreamselec | 30:c0bc92d009fe | 591 | |
dreamselec |
32:9a4046224b11 | 592 | /// Prints info on LCD about PC |
dreamselec |
6:98fe30430194 | 593 | void printPCDetectedText() |
dreamselec | 4:4eebb4de22a7 | 594 | { |
dreamselec | 27:2cb1bdb7ae3d | 595 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 596 | LCDFL(); |
dreamselec | 27:2cb1bdb7ae3d | 597 | lcd->printf("Detected PC."); |
dreamselec | 27:2cb1bdb7ae3d | 598 | LCDSL(); |
dreamselec | 27:2cb1bdb7ae3d | 599 | lcd->printf("Connecting"); |
dreamselec | 27:2cb1bdb7ae3d | 600 | initPort(); |
dreamselec | 10:16ba52f8e025 | 601 | } |
dreamselec | 10:16ba52f8e025 | 602 | |
dreamselec |
32:9a4046224b11 | 603 | /// Return true if user aborts using the dialog. Requires confimation. |
dreamselec | 10:16ba52f8e025 | 604 | bool displayAbortDialog() |
dreamselec | 10:16ba52f8e025 | 605 | { |
dreamselec | 27:2cb1bdb7ae3d | 606 | while (i2cport->read_bit(11) == 1) {} |
dreamselec | 27:2cb1bdb7ae3d | 607 | i2cport->write_bit(1, 12); |
dreamselec | 10:16ba52f8e025 | 608 | |
dreamselec | 27:2cb1bdb7ae3d | 609 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 610 | LCDFL(); |
dreamselec | 27:2cb1bdb7ae3d | 611 | lcd->printf("Abort?"); |
dreamselec | 27:2cb1bdb7ae3d | 612 | LCDSL(); |
dreamselec | 27:2cb1bdb7ae3d | 613 | lcd->printf("1:Yes, 2,3,4:No"); |
dreamselec | 27:2cb1bdb7ae3d | 614 | int reply = 0; |
dreamselec | 27:2cb1bdb7ae3d | 615 | do { |
dreamselec | 27:2cb1bdb7ae3d | 616 | reply = readSwitches(); |
dreamselec | 27:2cb1bdb7ae3d | 617 | } while(reply == 0); |
dreamselec | 10:16ba52f8e025 | 618 | |
dreamselec | 27:2cb1bdb7ae3d | 619 | D_LEDS_OFF(); |
dreamselec | 27:2cb1bdb7ae3d | 620 | if (reply == 1) { |
dreamselec | 27:2cb1bdb7ae3d | 621 | return true; |
dreamselec | 27:2cb1bdb7ae3d | 622 | } else { |
dreamselec | 27:2cb1bdb7ae3d | 623 | return false; |
dreamselec | 27:2cb1bdb7ae3d | 624 | } |
dreamselec | 3:843b830ee8bd | 625 | } |
dreamselec | 3:843b830ee8bd | 626 | |
dreamselec |
32:9a4046224b11 | 627 | /// Prints servo info on the LCD in the test mode |
dreamselec | 15:777390eb5afd | 628 | void printServoInfoOnLCD() |
dreamselec | 15:777390eb5afd | 629 | { |
dreamselec | 27:2cb1bdb7ae3d | 630 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 631 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 632 | if (fpga->stoppingServoPosition == Stop) |
dreamselec | 27:2cb1bdb7ae3d | 633 | lcd->printf("1:Top: Go"); |
dreamselec | 27:2cb1bdb7ae3d | 634 | else if (fpga->stoppingServoPosition == Go) |
dreamselec | 27:2cb1bdb7ae3d | 635 | lcd->printf("1:Top: Stop"); |
dreamselec |
23:db91aaa43a9e | 636 | |
dreamselec | 27:2cb1bdb7ae3d | 637 | lcd->locate(1,0); |
dreamselec | 27:2cb1bdb7ae3d | 638 | if (fpga->sortingServoPosition == NonHaz) |
dreamselec | 27:2cb1bdb7ae3d | 639 | lcd->printf("2:Bottom: Haz"); |
dreamselec | 27:2cb1bdb7ae3d | 640 | else if (fpga->sortingServoPosition == Haz) |
dreamselec | 27:2cb1bdb7ae3d | 641 | lcd->printf("2:Bottom: NonHaz"); |
dreamselec |
23:db91aaa43a9e | 642 | } |
dreamselec |
23:db91aaa43a9e | 643 | |
dreamselec |
32:9a4046224b11 | 644 | /// Sends servo test mode info on the pc |
dreamselec | 27:2cb1bdb7ae3d | 645 | void printServoInfoOnPC() |
dreamselec | 27:2cb1bdb7ae3d | 646 | { |
dreamselec | 27:2cb1bdb7ae3d | 647 | if (fpga->stoppingServoPosition == Stop) |
dreamselec | 27:2cb1bdb7ae3d | 648 | pc.printf(":<servos>1=Stop;"); |
dreamselec | 27:2cb1bdb7ae3d | 649 | else if (fpga->stoppingServoPosition == Go) |
dreamselec | 27:2cb1bdb7ae3d | 650 | pc.printf(":<servos>1=Go;"); |
dreamselec |
23:db91aaa43a9e | 651 | |
dreamselec | 27:2cb1bdb7ae3d | 652 | if (fpga->sortingServoPosition == NonHaz) |
dreamselec | 27:2cb1bdb7ae3d | 653 | pc.printf(":<servos>2=NonHaz;"); |
dreamselec | 27:2cb1bdb7ae3d | 654 | else if (fpga->sortingServoPosition == Haz) |
dreamselec | 27:2cb1bdb7ae3d | 655 | pc.printf(":<servos>2=Haz;"); |
dreamselec | 10:16ba52f8e025 | 656 | } |
dreamselec | 10:16ba52f8e025 | 657 | |
dreamselec |
32:9a4046224b11 | 658 | /// Runs the servo test mode |
dreamselec | 15:777390eb5afd | 659 | void runInServoTestMode() |
dreamselec | 15:777390eb5afd | 660 | { |
dreamselec | 27:2cb1bdb7ae3d | 661 | 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 | 662 | printServoInfoOnPC(); |
dreamselec | 27:2cb1bdb7ae3d | 663 | printServoInfoOnLCD(); |
dreamselec | 27:2cb1bdb7ae3d | 664 | |
dreamselec | 27:2cb1bdb7ae3d | 665 | i2cport->write_bit(1, 12); |
dreamselec | 27:2cb1bdb7ae3d | 666 | i2cport->write_bit(1, 13); |
dreamselec | 27:2cb1bdb7ae3d | 667 | i2cport->write_bit(1, 15); |
dreamselec | 27:2cb1bdb7ae3d | 668 | int button = 0; |
dreamselec | 27:2cb1bdb7ae3d | 669 | bool finished = false; |
dreamselec | 27:2cb1bdb7ae3d | 670 | do { |
dreamselec | 27:2cb1bdb7ae3d | 671 | button = readSwitches(); |
dreamselec | 27:2cb1bdb7ae3d | 672 | |
dreamselec | 27:2cb1bdb7ae3d | 673 | // gToggleServoNumber: 1 = Toggle top servo, 2 = Toggle bottom servo, 3 = Toggle both servos |
dreamselec | 27:2cb1bdb7ae3d | 674 | if (gToggleServoNumber == 1) { |
dreamselec | 27:2cb1bdb7ae3d | 675 | button = 1; |
dreamselec | 27:2cb1bdb7ae3d | 676 | gToggleServoNumber = 0; |
dreamselec | 27:2cb1bdb7ae3d | 677 | } else if (gToggleServoNumber == 2) { |
dreamselec | 27:2cb1bdb7ae3d | 678 | button = 2; |
dreamselec | 27:2cb1bdb7ae3d | 679 | gToggleServoNumber = 0; |
dreamselec | 27:2cb1bdb7ae3d | 680 | } |
dreamselec |
23:db91aaa43a9e | 681 | |
dreamselec | 27:2cb1bdb7ae3d | 682 | if (button == 1) { |
dreamselec | 27:2cb1bdb7ae3d | 683 | fpga->toggleStoppingServo(); |
dreamselec | 27:2cb1bdb7ae3d | 684 | printServoInfoOnLCD(); |
dreamselec | 27:2cb1bdb7ae3d | 685 | printServoInfoOnPC(); |
dreamselec | 27:2cb1bdb7ae3d | 686 | wait(kServoWait); |
dreamselec | 27:2cb1bdb7ae3d | 687 | } else if (button == 2) { |
dreamselec | 27:2cb1bdb7ae3d | 688 | fpga->toggleSortingServo(); |
dreamselec | 27:2cb1bdb7ae3d | 689 | printServoInfoOnLCD(); |
dreamselec | 27:2cb1bdb7ae3d | 690 | printServoInfoOnPC(); |
dreamselec | 27:2cb1bdb7ae3d | 691 | wait(kServoWait); |
dreamselec | 27:2cb1bdb7ae3d | 692 | } |
dreamselec |
23:db91aaa43a9e | 693 | |
dreamselec | 27:2cb1bdb7ae3d | 694 | finished = button == 4; |
dreamselec | 27:2cb1bdb7ae3d | 695 | button = 0; |
dreamselec | 27:2cb1bdb7ae3d | 696 | } while (finished == false && runServoTest == true); |
dreamselec | 27:2cb1bdb7ae3d | 697 | |
dreamselec | 27:2cb1bdb7ae3d | 698 | D_LEDS_OFF(); |
dreamselec | 27:2cb1bdb7ae3d | 699 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 700 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 701 | lcd->printf("Done servo test"); |
dreamselec | 28:7e4d29977d72 | 702 | fpga->moveSortingServo(NonHaz); |
dreamselec | 27:2cb1bdb7ae3d | 703 | if (runServoTest == true) { |
dreamselec | 27:2cb1bdb7ae3d | 704 | pc.printf(":<servos>test=pause;"); |
dreamselec | 27:2cb1bdb7ae3d | 705 | runServoTest = false; |
dreamselec | 27:2cb1bdb7ae3d | 706 | } |
dreamselec | 27:2cb1bdb7ae3d | 707 | wait(0.5); |
dreamselec | 27:2cb1bdb7ae3d | 708 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 709 | return; |
dreamselec |
23:db91aaa43a9e | 710 | } |
dreamselec | 15:777390eb5afd | 711 | |
dreamselec |
32:9a4046224b11 | 712 | /// Print break bream test mode info on the LCDs |
dreamselec | 27:2cb1bdb7ae3d | 713 | void printBeamInfoOnLCD() |
dreamselec | 27:2cb1bdb7ae3d | 714 | { |
dreamselec | 27:2cb1bdb7ae3d | 715 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 716 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 717 | lcd->printf("Top:L1 Btm: L2"); |
dreamselec | 27:2cb1bdb7ae3d | 718 | lcd->locate(1,0); |
dreamselec | 27:2cb1bdb7ae3d | 719 | lcd->printf("On:High, Off:Low"); |
dreamselec |
23:db91aaa43a9e | 720 | } |
dreamselec |
23:db91aaa43a9e | 721 | |
dreamselec |
32:9a4046224b11 | 722 | /// Sends break bream test info to the PC |
dreamselec | 27:2cb1bdb7ae3d | 723 | void printBeamInfoOnPC(int topBeam, int bottomBeam) |
dreamselec | 27:2cb1bdb7ae3d | 724 | { |
dreamselec | 27:2cb1bdb7ae3d | 725 | pc.printf(":<break_beam>2=%i,1=%i;", topBeam, bottomBeam); |
dreamselec |
23:db91aaa43a9e | 726 | } |
dreamselec |
23:db91aaa43a9e | 727 | |
dreamselec |
32:9a4046224b11 | 728 | /// Runs the break beam test |
dreamselec | 27:2cb1bdb7ae3d | 729 | void runInBreakBeamTestMode() |
dreamselec | 27:2cb1bdb7ae3d | 730 | { |
dreamselec | 27:2cb1bdb7ae3d | 731 | turnOffTopLEDs(); |
dreamselec | 27:2cb1bdb7ae3d | 732 | i2cport->write_bit(1, 15); |
dreamselec |
23:db91aaa43a9e | 733 | |
dreamselec | 27:2cb1bdb7ae3d | 734 | int topBeamValue = fpga->getBeamValue(1); |
dreamselec | 27:2cb1bdb7ae3d | 735 | int bottomBeamValue = fpga->getBeamValue(2); |
dreamselec | 27:2cb1bdb7ae3d | 736 | printBeamInfoOnPC(topBeamValue, bottomBeamValue); |
dreamselec | 27:2cb1bdb7ae3d | 737 | printBeamInfoOnLCD(); |
dreamselec | 27:2cb1bdb7ae3d | 738 | |
dreamselec | 27:2cb1bdb7ae3d | 739 | int button = 0; |
dreamselec | 27:2cb1bdb7ae3d | 740 | bool finished = false; |
dreamselec | 27:2cb1bdb7ae3d | 741 | do { |
dreamselec | 27:2cb1bdb7ae3d | 742 | button = readSwitches(); |
dreamselec | 27:2cb1bdb7ae3d | 743 | int currentTopBeamValue = fpga->getBeamValue(1); |
dreamselec | 27:2cb1bdb7ae3d | 744 | int currentBottomBeamValue = fpga->getBeamValue(2); |
dreamselec |
18:44a1c1a30166 | 745 | |
dreamselec | 27:2cb1bdb7ae3d | 746 | // For debugging, hold down both 1 and 3 or 2 and 3 |
dreamselec | 27:2cb1bdb7ae3d | 747 | if (i2cport->read_bit(10) == 1) { |
dreamselec | 27:2cb1bdb7ae3d | 748 | currentTopBeamValue = i2cport->read_bit(8) && i2cport->read_bit(10); |
dreamselec | 27:2cb1bdb7ae3d | 749 | currentBottomBeamValue = i2cport->read_bit(9) && i2cport->read_bit(10); |
dreamselec | 27:2cb1bdb7ae3d | 750 | } |
dreamselec | 27:2cb1bdb7ae3d | 751 | myLED1 = currentTopBeamValue; |
dreamselec | 27:2cb1bdb7ae3d | 752 | myLED2 = currentBottomBeamValue; |
dreamselec |
23:db91aaa43a9e | 753 | |
dreamselec | 27:2cb1bdb7ae3d | 754 | if (currentTopBeamValue != topBeamValue || currentBottomBeamValue != bottomBeamValue ) { |
dreamselec | 27:2cb1bdb7ae3d | 755 | topBeamValue = currentTopBeamValue; |
dreamselec | 27:2cb1bdb7ae3d | 756 | bottomBeamValue = currentBottomBeamValue; |
dreamselec | 27:2cb1bdb7ae3d | 757 | printBeamInfoOnPC(topBeamValue, bottomBeamValue); |
dreamselec | 27:2cb1bdb7ae3d | 758 | } |
dreamselec | 27:2cb1bdb7ae3d | 759 | finished = button == 4; |
dreamselec | 27:2cb1bdb7ae3d | 760 | } while (runBreakBeamTest == true && finished == false); |
dreamselec |
23:db91aaa43a9e | 761 | |
dreamselec | 27:2cb1bdb7ae3d | 762 | turnOffBottomLEDs(); |
dreamselec | 27:2cb1bdb7ae3d | 763 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 764 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 765 | lcd->printf("Finished test"); |
dreamselec | 27:2cb1bdb7ae3d | 766 | if (runBreakBeamTest == true) { |
dreamselec | 27:2cb1bdb7ae3d | 767 | pc.printf(":<break_beam>test=pause;"); |
dreamselec | 27:2cb1bdb7ae3d | 768 | runBreakBeamTest = false; |
dreamselec | 27:2cb1bdb7ae3d | 769 | } |
dreamselec | 27:2cb1bdb7ae3d | 770 | wait(0.5); |
dreamselec | 27:2cb1bdb7ae3d | 771 | return; |
dreamselec | 2:7a55cb10259f | 772 | } |
dreamselec | 15:777390eb5afd | 773 | |
dreamselec |
32:9a4046224b11 | 774 | /// Prints colour sensor test info on the LCD |
dreamselec | 27:2cb1bdb7ae3d | 775 | void printColourSensorInfoOnLCD(int colourValues[]) |
dreamselec | 27:2cb1bdb7ae3d | 776 | { |
dreamselec | 27:2cb1bdb7ae3d | 777 | float weightedValues[4]; |
dreamselec | 27:2cb1bdb7ae3d | 778 | |
dreamselec | 27:2cb1bdb7ae3d | 779 | for (int i = 0; i < 3; i++) { |
dreamselec | 27:2cb1bdb7ae3d | 780 | weightedValues[i] = (float)colourValues[i] / (float)colourValues[3]; |
dreamselec | 27:2cb1bdb7ae3d | 781 | } |
dreamselec | 27:2cb1bdb7ae3d | 782 | //TODO: Print values on LCD |
dreamselec | 27:2cb1bdb7ae3d | 783 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 784 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 785 | lcd->printf("Colour sensor"); |
dreamselec | 27:2cb1bdb7ae3d | 786 | lcd->locate(1,0); |
dreamselec | 27:2cb1bdb7ae3d | 787 | lcd->printf("Test mode"); |
dreamselec | 25:792540d69c49 | 788 | } |
dreamselec | 25:792540d69c49 | 789 | |
dreamselec |
32:9a4046224b11 | 790 | /// Sends colour sensor values to the PC |
dreamselec | 27:2cb1bdb7ae3d | 791 | void printColourSensorInfoOnPC(int colourValues[]) |
dreamselec | 27:2cb1bdb7ae3d | 792 | { |
dreamselec | 27:2cb1bdb7ae3d | 793 | pc.printf(":<colour_sensor>red=%i,green=%i,blue=%i,clear=%i;", colourValues[0], colourValues[1], colourValues[2], colourValues[3]); |
dreamselec | 25:792540d69c49 | 794 | } |
dreamselec | 25:792540d69c49 | 795 | |
dreamselec |
32:9a4046224b11 | 796 | /// Runs the colour sensor test mode |
dreamselec | 27:2cb1bdb7ae3d | 797 | void runInColourSensorTestMode() |
dreamselec | 27:2cb1bdb7ae3d | 798 | { |
dreamselec | 27:2cb1bdb7ae3d | 799 | turnOffTopLEDs(); |
dreamselec | 27:2cb1bdb7ae3d | 800 | i2cport->write_bit(1, 15); |
dreamselec | 27:2cb1bdb7ae3d | 801 | i2cport->write_bit(1, 12); |
dreamselec | 27:2cb1bdb7ae3d | 802 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 803 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 804 | lcd->printf("Colour Sensor"); |
dreamselec | 27:2cb1bdb7ae3d | 805 | lcd->locate(1,0); |
dreamselec | 27:2cb1bdb7ae3d | 806 | lcd->printf("Test Mode"); |
dreamselec | 27:2cb1bdb7ae3d | 807 | pc.printf("!<colour_sensor>i-time=%.3f", gIntegrationTime); |
dreamselec | 27:2cb1bdb7ae3d | 808 | |
dreamselec | 27:2cb1bdb7ae3d | 809 | int button = 0; |
dreamselec | 27:2cb1bdb7ae3d | 810 | bool finished = false; |
dreamselec | 27:2cb1bdb7ae3d | 811 | |
dreamselec | 27:2cb1bdb7ae3d | 812 | do { |
dreamselec | 27:2cb1bdb7ae3d | 813 | button = readSwitches(); |
dreamselec | 27:2cb1bdb7ae3d | 814 | |
dreamselec | 27:2cb1bdb7ae3d | 815 | if (getColourSensorValue == true) { |
dreamselec | 27:2cb1bdb7ae3d | 816 | int colourValues[4]; |
dreamselec | 27:2cb1bdb7ae3d | 817 | rgbSensor.getAllColors(colourValues); |
dreamselec | 27:2cb1bdb7ae3d | 818 | printColourSensorInfoOnPC(colourValues); |
dreamselec | 27:2cb1bdb7ae3d | 819 | printColourSensorInfoOnLCD(colourValues); |
dreamselec | 27:2cb1bdb7ae3d | 820 | getColourSensorValue = false; |
dreamselec | 27:2cb1bdb7ae3d | 821 | } else if (getBlockColourValue == true) { |
dreamselec | 27:2cb1bdb7ae3d | 822 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 823 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 824 | lcd->printf("Drop block"); |
dreamselec | 27:2cb1bdb7ae3d | 825 | |
dreamselec | 27:2cb1bdb7ae3d | 826 | |
dreamselec | 27:2cb1bdb7ae3d | 827 | turnOffTopLEDs(); |
dreamselec | 27:2cb1bdb7ae3d | 828 | |
dreamselec | 27:2cb1bdb7ae3d | 829 | while(fpga->getBeamValue(Top) == 0) { |
dreamselec | 27:2cb1bdb7ae3d | 830 | myLED1 = fpga->getBeamValue(Top); |
dreamselec | 27:2cb1bdb7ae3d | 831 | myLED2 = fpga->getBeamValue(Bottom); |
dreamselec | 27:2cb1bdb7ae3d | 832 | } |
dreamselec | 27:2cb1bdb7ae3d | 833 | |
dreamselec | 27:2cb1bdb7ae3d | 834 | myLED3 = 1; |
dreamselec | 27:2cb1bdb7ae3d | 835 | int colourValues[3][4]; |
dreamselec | 27:2cb1bdb7ae3d | 836 | for (int i = 0; i < 3; i++) { |
dreamselec | 27:2cb1bdb7ae3d | 837 | memset(colourValues[i], 0, sizeof(colourValues)); |
dreamselec | 27:2cb1bdb7ae3d | 838 | } |
dreamselec | 27:2cb1bdb7ae3d | 839 | int valueCount = 0; |
dreamselec | 27:2cb1bdb7ae3d | 840 | |
dreamselec | 27:2cb1bdb7ae3d | 841 | do { |
dreamselec | 27:2cb1bdb7ae3d | 842 | rgbSensor.getAllColors(colourValues[valueCount]); |
dreamselec | 28:7e4d29977d72 | 843 | valueCount++; |
dreamselec | 27:2cb1bdb7ae3d | 844 | } while (fpga->getBeamValue(Top) == 1 && valueCount < 3); |
dreamselec | 27:2cb1bdb7ae3d | 845 | |
dreamselec | 27:2cb1bdb7ae3d | 846 | turnOffTopLEDs(); |
dreamselec | 27:2cb1bdb7ae3d | 847 | myLED4 = 1; |
dreamselec | 27:2cb1bdb7ae3d | 848 | |
dreamselec | 27:2cb1bdb7ae3d | 849 | int averageValues[4] = {0, 0, 0, 0}; |
dreamselec | 27:2cb1bdb7ae3d | 850 | for (int i = 0; i < 3; i++) { |
dreamselec | 27:2cb1bdb7ae3d | 851 | averageValues[0] += colourValues[i][0]; |
dreamselec | 27:2cb1bdb7ae3d | 852 | averageValues[1] += colourValues[i][1]; |
dreamselec | 27:2cb1bdb7ae3d | 853 | averageValues[2] += colourValues[i][2]; |
dreamselec | 27:2cb1bdb7ae3d | 854 | averageValues[3] += colourValues[i][3]; |
dreamselec | 27:2cb1bdb7ae3d | 855 | } |
dreamselec | 27:2cb1bdb7ae3d | 856 | averageValues[0] = averageValues[0] / valueCount; |
dreamselec | 27:2cb1bdb7ae3d | 857 | averageValues[1] = averageValues[1] / valueCount; |
dreamselec | 27:2cb1bdb7ae3d | 858 | averageValues[2] = averageValues[2] / valueCount; |
dreamselec | 27:2cb1bdb7ae3d | 859 | averageValues[3] = averageValues[3] / valueCount; |
dreamselec | 27:2cb1bdb7ae3d | 860 | myLED4 = 0; |
dreamselec | 27:2cb1bdb7ae3d | 861 | |
dreamselec | 27:2cb1bdb7ae3d | 862 | printColourSensorInfoOnPC(averageValues); |
dreamselec | 27:2cb1bdb7ae3d | 863 | printColourSensorInfoOnLCD(averageValues); |
dreamselec | 27:2cb1bdb7ae3d | 864 | |
dreamselec | 27:2cb1bdb7ae3d | 865 | getBlockColourValue = false; |
dreamselec | 27:2cb1bdb7ae3d | 866 | } else if (button == 1) { |
dreamselec | 27:2cb1bdb7ae3d | 867 | getColourSensorValue = true; |
dreamselec | 27:2cb1bdb7ae3d | 868 | button = 0; |
dreamselec | 27:2cb1bdb7ae3d | 869 | } |
dreamselec | 27:2cb1bdb7ae3d | 870 | |
dreamselec | 27:2cb1bdb7ae3d | 871 | finished = button == 4; |
dreamselec | 25:792540d69c49 | 872 | // button = 0; |
dreamselec | 27:2cb1bdb7ae3d | 873 | } while (finished == false && runColourSensorTest == true); |
dreamselec | 27:2cb1bdb7ae3d | 874 | |
dreamselec | 27:2cb1bdb7ae3d | 875 | turnOffBottomLEDs(); |
dreamselec | 27:2cb1bdb7ae3d | 876 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 877 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 878 | lcd->printf("Finished test"); |
dreamselec | 27:2cb1bdb7ae3d | 879 | if (runColourSensorTest == true) { |
dreamselec | 27:2cb1bdb7ae3d | 880 | pc.printf(":<colour_sensor>test=pause;"); |
dreamselec | 27:2cb1bdb7ae3d | 881 | runColourSensorTest = false; |
dreamselec | 27:2cb1bdb7ae3d | 882 | } |
dreamselec | 27:2cb1bdb7ae3d | 883 | wait(0.5); |
dreamselec | 27:2cb1bdb7ae3d | 884 | return; |
dreamselec | 25:792540d69c49 | 885 | } |
dreamselec | 25:792540d69c49 | 886 | |
dreamselec |
32:9a4046224b11 | 887 | /// Displays 'Waiting...' on the LCD. Used several times so simpler to create a funciton |
dreamselec | 15:777390eb5afd | 888 | void displayWaitingLine() |
dreamselec | 15:777390eb5afd | 889 | { |
dreamselec | 27:2cb1bdb7ae3d | 890 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 891 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 892 | lcd->printf("Waiting..."); |
dreamselec | 27:2cb1bdb7ae3d | 893 | lcd->locate(1,0); |
dreamselec | 15:777390eb5afd | 894 | } |
dreamselec | 15:777390eb5afd | 895 | |
dreamselec |
32:9a4046224b11 | 896 | /// Displays current PC status on the LCD. |
dreamselec | 15:777390eb5afd | 897 | void displayPCStatus() |
dreamselec | 15:777390eb5afd | 898 | { |
dreamselec | 27:2cb1bdb7ae3d | 899 | lcd->cls(); |
dreamselec | 27:2cb1bdb7ae3d | 900 | lcd->locate(0,0); |
dreamselec | 27:2cb1bdb7ae3d | 901 | if (connectedToPC == true) { |
dreamselec | 27:2cb1bdb7ae3d | 902 | if (currentMode == Normal) |
dreamselec | 27:2cb1bdb7ae3d | 903 | lcd->printf("Normal mode."); |
dreamselec | 27:2cb1bdb7ae3d | 904 | else if (currentMode == Maintanence) |
dreamselec | 27:2cb1bdb7ae3d | 905 | lcd->printf("Maintanence."); |
dreamselec | 27:2cb1bdb7ae3d | 906 | else if (currentMode == None) |
dreamselec | 27:2cb1bdb7ae3d | 907 | lcd->printf("Connected to PC"); |
dreamselec | 27:2cb1bdb7ae3d | 908 | } else |
dreamselec | 27:2cb1bdb7ae3d | 909 | lcd->printf("Waiting for PC.."); |
dreamselec | 15:777390eb5afd | 910 | |
dreamselec | 27:2cb1bdb7ae3d | 911 | lcd->locate(1,0); |
dreamselec | 27:2cb1bdb7ae3d | 912 | lcd->printf("4:Disconnect"); |
dreamselec | 27:2cb1bdb7ae3d | 913 | D_LEDS_OFF(); |
dreamselec | 27:2cb1bdb7ae3d | 914 | i2cport->write_bit(1,15); |
dreamselec |
18:44a1c1a30166 | 915 | } |
dreamselec |
23:db91aaa43a9e | 916 | |
dreamselec |
32:9a4046224b11 | 917 | /// Turns off all the top LEDs |
dreamselec | 27:2cb1bdb7ae3d | 918 | void turnOffTopLEDs() |
dreamselec | 27:2cb1bdb7ae3d | 919 | { |
dreamselec | 27:2cb1bdb7ae3d | 920 | myLED1 = 0; |
dreamselec | 27:2cb1bdb7ae3d | 921 | myLED2 = 0; |
dreamselec | 27:2cb1bdb7ae3d | 922 | myLED3 = 0; |
dreamselec | 27:2cb1bdb7ae3d | 923 | myLED4 = 0; |
dreamselec |
23:db91aaa43a9e | 924 | } |
dreamselec |
23:db91aaa43a9e | 925 | |
dreamselec |
32:9a4046224b11 | 926 | /// Turns off all the bottom swithc LEDs |
dreamselec | 27:2cb1bdb7ae3d | 927 | void turnOffBottomLEDs() |
dreamselec | 27:2cb1bdb7ae3d | 928 | { |
dreamselec | 27:2cb1bdb7ae3d | 929 | i2cport->write_bit(0, 12); |
dreamselec | 27:2cb1bdb7ae3d | 930 | i2cport->write_bit(0, 13); |
dreamselec | 27:2cb1bdb7ae3d | 931 | i2cport->write_bit(0, 14); |
dreamselec | 27:2cb1bdb7ae3d | 932 | i2cport->write_bit(0, 15); |
dreamselec |
23:db91aaa43a9e | 933 | } |