Chandan Siyag / Mbed 2 deprecated AlooMBED

3rd year group project. Electronic and Electrical Engineering. Heriot-Watt University. This is the code for the mbed for the Automatic Little Object Organiser (ALOO).

Dependencies:   MCP23017 TCS3472_I2C WattBob_TextLCD mbed

globals.cpp@29:9c0339e3c593, 2015-12-01 (annotated)

Committer:
dreamselec
Date:
Tue Dec 01 22:56:08 2015 +0000
Revision:
29:9c0339e3c593
Parent:
28:7e4d29977d72
Child:
30:c0bc92d009fe
Set new haz block mode should work.

Added hardcoded other colour values.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dreamselec 2:7a55cb10259f 1 #include "globals.h"
dreamselec 9:dc8f155b71c8 2 #include "Block.h"
dreamselec 9:dc8f155b71c8 3 #include "fpga.h"
dreamselec 10:16ba52f8e025 4 #include "TCS3472_I2C.h"
dreamselec 10:16ba52f8e025 5 #include "MCP23017.h"
dreamselec 10:16ba52f8e025 6 #include "WattBob_TextLCD.h"
dreamselec 2:7a55cb10259f 7
dreamselec 7:b6e31bfdb2af 8 int kDefaultBaudRate = 19200;
dreamselec 20:4e0f0944f28f 9 //TODO: Not let it be constant.
dreamselec 20:4e0f0944f28f 10 int ColourSensorError = 0.5;
dreamselec 2:7a55cb10259f 11 //SerialBase gParity = SerialBase::None;
dreamselec 2:7a55cb10259f 12 int gStopBits = 1;
dreamselec 28:7e4d29977d72 13 float gIntegrationTime = 2.5;
dreamselec 25:792540d69c49 14 int gToggleServoNumber = 0;
dreamselec 26:bbcc25418ffa 15 float currentMinError[3] = {0,0,0};
dreamselec 26:bbcc25418ffa 16 float currentMaxError[3] = {0,0,0};
dreamselec 20:4e0f0944f28f 17
dreamselec 29:9c0339e3c593 18 Block defaultHazBlock = Block(Block::Small, Block::Red);
dreamselec 29:9c0339e3c593 19 Block _HazBlock = Block(defaultHazBlock);
dreamselec 8:e1da2ae62885 20
dreamselec 8:e1da2ae62885 21 bool connectedToPC = false;
dreamselec 10:16ba52f8e025 22 bool runServoTest = false;
dreamselec 23:db91aaa43a9e 23 bool runBreakBeamTest = false;
dreamselec 25:792540d69c49 24 bool runColourSensorTest = false;
dreamselec 25:792540d69c49 25 bool getColourSensorValue = false;
dreamselec 25:792540d69c49 26 bool getBlockColourValue = false;
dreamselec 29:9c0339e3c593 27 bool setNewHazBlock = false;
dreamselec 28:7e4d29977d72 28 bool pcModeChanged = false;
dreamselec 28:7e4d29977d72 29 int errorMultiplier = 1;
dreamselec 27:2cb1bdb7ae3d 30 int hazReadingCount = 1;
dreamselec 26:bbcc25418ffa 31
dreamselec 17:af373246bf80 32 PCModes currentMode = None;
dreamselec 18:44a1c1a30166 33 Controls currentState = Pause;
dreamselec 8:e1da2ae62885 34
dreamselec 20:4e0f0944f28f 35 void DefaultHazBlock(){
dreamselec 26:bbcc25418ffa 36
dreamselec 26:bbcc25418ffa 37 for (int i = 0; i < 3; i++){
dreamselec 29:9c0339e3c593 38 currentMaxError[i] = kMaxRedError[i];
dreamselec 29:9c0339e3c593 39 currentMinError[i] = kMinRedError[i];
dreamselec 26:bbcc25418ffa 40 }
dreamselec 20:4e0f0944f28f 41 Colour _minRedBlock = Colour();
dreamselec 20:4e0f0944f28f 42 Colour _maxRedBlock = Colour();
dreamselec 20:4e0f0944f28f 43 Colour _averageRedBlock = Colour();
dreamselec 20:4e0f0944f28f 44
dreamselec 20:4e0f0944f28f 45 for (int i = 0; i < 4; i++){
dreamselec 20:4e0f0944f28f 46 _minRedBlock.components[i] = kMinRedBlock[i];
dreamselec 20:4e0f0944f28f 47 _maxRedBlock.components[i] = kMaxRedBlock[i];
dreamselec 20:4e0f0944f28f 48 _averageRedBlock.components[i] = kAverageRedBlock[i];
dreamselec 20:4e0f0944f28f 49 }
dreamselec 20:4e0f0944f28f 50
dreamselec 26:bbcc25418ffa 51 // _HazBlock.minColour = Colour(_minRedBlock);
dreamselec 26:bbcc25418ffa 52 // _HazBlock.maxColour = Colour(_maxRedBlock);
dreamselec 26:bbcc25418ffa 53 // _HazBlock.averageColour = Colour(_averageRedBlock);
dreamselec 26:bbcc25418ffa 54 // _HazBlock.size = Block::Small;
dreamselec 26:bbcc25418ffa 55
dreamselec 26:bbcc25418ffa 56 defaultHazBlock.minColour = Colour(_minRedBlock);
dreamselec 26:bbcc25418ffa 57 defaultHazBlock.maxColour = Colour(_maxRedBlock);
dreamselec 26:bbcc25418ffa 58 defaultHazBlock.averageColour = Colour(_averageRedBlock);
dreamselec 26:bbcc25418ffa 59 defaultHazBlock.size = Block::Small;
dreamselec 20:4e0f0944f28f 60
dreamselec 26:bbcc25418ffa 61 _HazBlock = Block(defaultHazBlock);
dreamselec 27:2cb1bdb7ae3d 62 // pc.printf( "VALUE:HazBlock:\n \t Size:%i\n \t Min Colour:%f,%f,%f,%f\n \t Max Colour:%f,%f,%f,%f:VALUE", _HazBlock.size, _HazBlock.minColour.components[Colour::Red], _HazBlock.minColour.components[Colour::Blue], _HazBlock.minColour.components[Colour::Green], _HazBlock.minColour.components[Colour::Alpha], _HazBlock.maxColour.components[Colour::Red], _HazBlock.maxColour.components[Colour::Blue], _HazBlock.maxColour.components[Colour::Green], _HazBlock.maxColour.components[Colour::Alpha]);
dreamselec 26:bbcc25418ffa 63 }
dreamselec 26:bbcc25418ffa 64
dreamselec 26:bbcc25418ffa 65 void printColourDescription(Colour colour){
dreamselec 26:bbcc25418ffa 66 pc.printf("Red: %.3f, Green: %.3f, Blue: %.3f, Clear: %.3f\n", colour.components[0], colour.components[1], colour.components[2], colour.components[3]);
dreamselec 26:bbcc25418ffa 67 }
dreamselec 26:bbcc25418ffa 68
dreamselec 26:bbcc25418ffa 69 void printBlockDescription(Block block){
dreamselec 26:bbcc25418ffa 70 pc.printf("VALUE:Size: %i\n", block.size);
dreamselec 26:bbcc25418ffa 71 printColourDescription(block.minColour);
dreamselec 26:bbcc25418ffa 72 printColourDescription(block.averageColour);
dreamselec 26:bbcc25418ffa 73 printColourDescription(block.maxColour);
dreamselec 26:bbcc25418ffa 74 //TODO: print errors
dreamselec 26:bbcc25418ffa 75 pc.printf(":VALUE");
dreamselec 20:4e0f0944f28f 76 }
dreamselec 20:4e0f0944f28f 77
dreamselec 10:16ba52f8e025 78 int readSwitches()
dreamselec 10:16ba52f8e025 79 {
dreamselec 20:4e0f0944f28f 80 if(i2cport->read_bit(8)) {
dreamselec 20:4e0f0944f28f 81 while (i2cport->read_bit(8)) { }
dreamselec 20:4e0f0944f28f 82 return 1;
dreamselec 20:4e0f0944f28f 83 } else if (i2cport->read_bit(9)) {
dreamselec 20:4e0f0944f28f 84 while (i2cport->read_bit(9)) { }
dreamselec 20:4e0f0944f28f 85 return 2;
dreamselec 20:4e0f0944f28f 86 } else if (i2cport->read_bit(10)) {
dreamselec 20:4e0f0944f28f 87 while (i2cport->read_bit(10)) { }
dreamselec 20:4e0f0944f28f 88 return 3;
dreamselec 20:4e0f0944f28f 89 } else if (i2cport->read_bit(11)) {
dreamselec 20:4e0f0944f28f 90 while (i2cport->read_bit(11)) { }
dreamselec 20:4e0f0944f28f 91 return 4;
dreamselec 20:4e0f0944f28f 92 } else {
dreamselec 20:4e0f0944f28f 93 return 0;
dreamselec 20:4e0f0944f28f 94 }
dreamselec 10:16ba52f8e025 95
dreamselec 8:e1da2ae62885 96 }
dreamselec 8:e1da2ae62885 97
dreamselec 10:16ba52f8e025 98 void connectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 99 {
dreamselec 20:4e0f0944f28f 100 connectedToPC = true;
dreamselec 24:02c61793f90b 101 pc.printf("INFO:PC connected to MBED.\n");
dreamselec 10:16ba52f8e025 102 }
dreamselec 10:16ba52f8e025 103
dreamselec 10:16ba52f8e025 104 void disconnectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 105 {
dreamselec 24:02c61793f90b 106 pc.printf("INFO:PC disconnected to MBED.\n");
dreamselec 20:4e0f0944f28f 107 connectedToPC = false;
dreamselec 20:4e0f0944f28f 108 currentMode = None;
dreamselec 8:e1da2ae62885 109 }
dreamselec 8:e1da2ae62885 110
dreamselec 10:16ba52f8e025 111 void hazBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 112 {
dreamselec 20:4e0f0944f28f 113 if (typeRaw == Set) {
dreamselec 29:9c0339e3c593 114 trySetHazBlockAgain:
dreamselec 29:9c0339e3c593 115 pc.printf("NHZB:Size:%i,Colour:%i;", _HazBlock.size, _HazBlock.colour);
dreamselec 27:2cb1bdb7ae3d 116 fpga->moveSortingServo(Haz);
dreamselec 20:4e0f0944f28f 117 pc.printf("INFO:Setting new haz block.\n");
dreamselec 20:4e0f0944f28f 118 int lowerBeam = 0;
dreamselec 20:4e0f0944f28f 119 int higherBeam = 0;
dreamselec 29:9c0339e3c593 120 int colourValues[6][4];
dreamselec 29:9c0339e3c593 121 for (int i = 0; i < 6; i++){
dreamselec 29:9c0339e3c593 122 memset(colourValues[i], 0, sizeof(colourValues[6]));
dreamselec 29:9c0339e3c593 123 }
dreamselec 29:9c0339e3c593 124 int readingCount = 0;
dreamselec 20:4e0f0944f28f 125
dreamselec 20:4e0f0944f28f 126 lcd->cls();
dreamselec 20:4e0f0944f28f 127 lcd->locate(0,0);
dreamselec 20:4e0f0944f28f 128 lcd->printf("New haz block");
dreamselec 27:2cb1bdb7ae3d 129
dreamselec 20:4e0f0944f28f 130 do {
dreamselec 20:4e0f0944f28f 131 higherBeam = fpga->getBeamValue(Top);
dreamselec 20:4e0f0944f28f 132 if (readSwitches() == 4) {
dreamselec 20:4e0f0944f28f 133 if (displayAbortDialog()) {
dreamselec 27:2cb1bdb7ae3d 134 //TODO: tell pc
dreamselec 29:9c0339e3c593 135 pc.printf(":<mbed>haz-block=pause;");
dreamselec 20:4e0f0944f28f 136 pc.printf("INFO: Operation aborted form MBED.\n");
dreamselec 27:2cb1bdb7ae3d 137 fpga->moveSortingServo(NonHaz);
dreamselec 20:4e0f0944f28f 138 displayPCStatus();
dreamselec 20:4e0f0944f28f 139 return;
dreamselec 20:4e0f0944f28f 140 } else {
dreamselec 20:4e0f0944f28f 141 lcd->cls();
dreamselec 20:4e0f0944f28f 142 lcd->locate(0,0);
dreamselec 20:4e0f0944f28f 143 lcd->printf("New haz block");
dreamselec 20:4e0f0944f28f 144 }
dreamselec 29:9c0339e3c593 145 }
dreamselec 29:9c0339e3c593 146 } while (higherBeam != 1 && setNewHazBlock == true);
dreamselec 18:44a1c1a30166 147
dreamselec 29:9c0339e3c593 148 if (setNewHazBlock == false) {
dreamselec 29:9c0339e3c593 149 displayPCStatus();
dreamselec 29:9c0339e3c593 150 return;
dreamselec 29:9c0339e3c593 151 }
dreamselec 27:2cb1bdb7ae3d 152
dreamselec 20:4e0f0944f28f 153 do {
dreamselec 29:9c0339e3c593 154 rgbSensor.getAllColors(colourValues[readingCount]);
dreamselec 29:9c0339e3c593 155 readingCount++;
dreamselec 29:9c0339e3c593 156 } while (readingCount < 6 && fpga->getBeamValue(Top) == 1 && fpga->getBeamValue(Bottom) == 0);
dreamselec 29:9c0339e3c593 157
dreamselec 29:9c0339e3c593 158 lowerBeam = fpga->getBeamValue(Bottom);
dreamselec 29:9c0339e3c593 159 higherBeam = fpga->getBeamValue(Top);
dreamselec 29:9c0339e3c593 160 if (lowerBeam != 1){
dreamselec 29:9c0339e3c593 161 lowerBeam = fpga->getBeamValue(Top);
dreamselec 29:9c0339e3c593 162 while(lowerBeam != 1) { lowerBeam = fpga->getBeamValue(Bottom); }
dreamselec 29:9c0339e3c593 163 higherBeam = fpga->getBeamValue(Bottom);
dreamselec 29:9c0339e3c593 164 }
dreamselec 29:9c0339e3c593 165 Block::Size blockSize = higherBeam;
dreamselec 29:9c0339e3c593 166
dreamselec 29:9c0339e3c593 167 int totalComponents[3];
dreamselec 29:9c0339e3c593 168 memset(totalComponents, 0, sizeof(totalComponents));
dreamselec 29:9c0339e3c593 169 for (int k = 0; k < readingCount; k++){
dreamselec 29:9c0339e3c593 170 for (int i = 0; i < 4; i++){
dreamselec 29:9c0339e3c593 171 totalComponents[i] += colourValues[k][i];
dreamselec 29:9c0339e3c593 172 }
dreamselec 29:9c0339e3c593 173 }
dreamselec 29:9c0339e3c593 174 float averageComponents[3];
dreamselec 29:9c0339e3c593 175 memset(averageComponents, 0, sizeof(averageComponents));
dreamselec 29:9c0339e3c593 176
dreamselec 29:9c0339e3c593 177 for (int i = 0; i < 4; i++){
dreamselec 29:9c0339e3c593 178 averageComponents = (float)totalComponents[i] / (float)readingCount;
dreamselec 29:9c0339e3c593 179 }
dreamselec 29:9c0339e3c593 180
dreamselec 29:9c0339e3c593 181 for (int i = 0; i < 3; i++){
dreamselec 29:9c0339e3c593 182 adjustedValues[i] = averageComponents[i] / averageComponents[i];
dreamselec 29:9c0339e3c593 183 }
dreamselec 29:9c0339e3c593 184
dreamselec 29:9c0339e3c593 185 Block::BlockColour detectedColour = Block::Wrong;
dreamselec 29:9c0339e3c593 186 bool matchesColour[3] = {false, false, false};
dreamselec 29:9c0339e3c593 187
dreamselec 29:9c0339e3c593 188 for (int k = 0; k < 7; k++){
dreamselec 29:9c0339e3c593 189 for (int i = 0; i < 3; i++) {
dreamselec 29:9c0339e3c593 190 percentageError[i] = (adjustedValues[i] - kAverageValues[HazBlock->colour][i]) / kAverageValues[HazBlock->colour][i];
dreamselec 18:44a1c1a30166 191
dreamselec 29:9c0339e3c593 192 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 29:9c0339e3c593 193 matchesColour[i] = true;
dreamselec 29:9c0339e3c593 194 }
dreamselec 29:9c0339e3c593 195 if (matchesColour[0] && matchesColour[1] && matchesColour[2]){
dreamselec 29:9c0339e3c593 196 detectedColour = k;
dreamselec 29:9c0339e3c593 197 break;
dreamselec 29:9c0339e3c593 198 }
dreamselec 29:9c0339e3c593 199 }
dreamselec 20:4e0f0944f28f 200 }
dreamselec 29:9c0339e3c593 201
dreamselec 29:9c0339e3c593 202 if (detectedColour != Block::Wrong){
dreamselec 29:9c0339e3c593 203 pc.printf("ERROR: Could not detect colour.\n");
dreamselec 29:9c0339e3c593 204 lcd->cls();
dreamselec 29:9c0339e3c593 205 lcd->printf("1: Try again");
dreamselec 29:9c0339e3c593 206 lcd->locate(1,0);
dreamselec 29:9c0339e3c593 207 lcd->printf("2: Revert to last");
dreamselec 29:9c0339e3c593 208 int button = 0;
dreamselec 29:9c0339e3c593 209 do {
dreamselec 29:9c0339e3c593 210 button = readSwitches();
dreamselec 29:9c0339e3c593 211 if (button == 1){
dreamselec 29:9c0339e3c593 212 goto trySetHazBlockAgain;
dreamselec 29:9c0339e3c593 213 }
dreamselec 29:9c0339e3c593 214 } while (button != 2);
dreamselec 29:9c0339e3c593 215 }
dreamselec 29:9c0339e3c593 216
dreamselec 29:9c0339e3c593 217 // Point and literal might not sync...
dreamselec 29:9c0339e3c593 218 _HazBlock.size = blockSize;
dreamselec 29:9c0339e3c593 219 _HazBlock.colour = detectedColour;
dreamselec 29:9c0339e3c593 220
dreamselec 29:9c0339e3c593 221 pc.printf("NHZB:Size:%i,Colour:%i;", _HazBlock.size, _HazBlock.colour);
dreamselec 29:9c0339e3c593 222
dreamselec 29:9c0339e3c593 223
dreamselec 29:9c0339e3c593 224 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 29:9c0339e3c593 225 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 20:4e0f0944f28f 226 fpga->moveSortingServo(NonHaz);
dreamselec 20:4e0f0944f28f 227 } else if (typeRaw == Query) {
dreamselec 29:9c0339e3c593 228 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 29:9c0339e3c593 229 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 20:4e0f0944f28f 230 }
dreamselec 8:e1da2ae62885 231 }
dreamselec 8:e1da2ae62885 232
dreamselec 10:16ba52f8e025 233 void getCurrentBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 234 {
dreamselec 20:4e0f0944f28f 235 pc.printf("DEBUG: Getting current block readings\n");
dreamselec 8:e1da2ae62885 236 }
dreamselec 8:e1da2ae62885 237
dreamselec 15:777390eb5afd 238 void setIntegrationTimeTo(float integrationTime)
dreamselec 10:16ba52f8e025 239 {
dreamselec 25:792540d69c49 240 gIntegrationTime = integrationTime;
dreamselec 25:792540d69c49 241 rgbSensor.setIntegrationTime(gIntegrationTime);
dreamselec 25:792540d69c49 242 pc.printf("DEBUG: Setting integration-time to %i.\n", gIntegrationTime);
dreamselec 8:e1da2ae62885 243 }
dreamselec 8:e1da2ae62885 244
dreamselec 10:16ba52f8e025 245 void previewOnPC(bool on)
dreamselec 10:16ba52f8e025 246 {
dreamselec 20:4e0f0944f28f 247 pc.printf("setting preview on pc to %i.\n", on);
dreamselec 8:e1da2ae62885 248 }
dreamselec 8:e1da2ae62885 249
dreamselec 25:792540d69c49 250 void testColourSensor(Controls state){
dreamselec 25:792540d69c49 251 if (state == Start){
dreamselec 25:792540d69c49 252 pc.printf("INFO: Running colour test.\n");
dreamselec 25:792540d69c49 253 runColourSensorTest = true;
dreamselec 25:792540d69c49 254 } else if (state == Pause){
dreamselec 25:792540d69c49 255 pc.printf("INFO: Finished colour test.\n");
dreamselec 25:792540d69c49 256 runColourSensorTest = false;
dreamselec 25:792540d69c49 257 }
dreamselec 25:792540d69c49 258 }
dreamselec 25:792540d69c49 259
dreamselec 20:4e0f0944f28f 260 void readColourSensor()
dreamselec 20:4e0f0944f28f 261 {
dreamselec 20:4e0f0944f28f 262 int colourValue[4];
dreamselec 20:4e0f0944f28f 263 rgbSensor.getAllColors(colourValue);
dreamselec 20:4e0f0944f28f 264 pc.printf( "VALEU:Colour Reading:%i,%i,%i,%i\n:VALUE", colourValue[0], colourValue[1], colourValue[2], colourValue[3]);
dreamselec 18:44a1c1a30166 265
dreamselec 8:e1da2ae62885 266 }
dreamselec 8:e1da2ae62885 267
dreamselec 17:af373246bf80 268 void testServos(Controls state)
dreamselec 10:16ba52f8e025 269 {
dreamselec 20:4e0f0944f28f 270 if (state == Start) {
dreamselec 20:4e0f0944f28f 271 pc.printf("INFO: Running servo test.\n");
dreamselec 20:4e0f0944f28f 272 runServoTest = true;
dreamselec 20:4e0f0944f28f 273 } else if (state == Pause) {
dreamselec 20:4e0f0944f28f 274 pc.printf("INFO: Finished running servo test.\n");
dreamselec 20:4e0f0944f28f 275 runServoTest = false;
dreamselec 20:4e0f0944f28f 276 }
dreamselec 8:e1da2ae62885 277 }
dreamselec 8:e1da2ae62885 278
dreamselec 10:16ba52f8e025 279 void resetServos()
dreamselec 10:16ba52f8e025 280 {
dreamselec 20:4e0f0944f28f 281 pc.printf("resetting servos.\n");
dreamselec 8:e1da2ae62885 282 }
dreamselec 8:e1da2ae62885 283
dreamselec 10:16ba52f8e025 284 void getPortInfo()
dreamselec 10:16ba52f8e025 285 {
dreamselec 20:4e0f0944f28f 286 pc.printf("getting port info.\n");
dreamselec 8:e1da2ae62885 287 }
dreamselec 8:e1da2ae62885 288
dreamselec 17:af373246bf80 289 void setPortBaudRate(int baudRate)
dreamselec 10:16ba52f8e025 290 {
dreamselec 20:4e0f0944f28f 291 pc.baud(baudRate);
dreamselec 20:4e0f0944f28f 292 wait(0.1);
dreamselec 20:4e0f0944f28f 293 pc.printf("DEBUG: Setting port Baud Rate to: %i.\n", baudRate);
dreamselec 10:16ba52f8e025 294 }
dreamselec 10:16ba52f8e025 295
dreamselec 20:4e0f0944f28f 296 void setPortParity(int parity)
dreamselec 20:4e0f0944f28f 297 {
dreamselec 20:4e0f0944f28f 298 SerialBase::Parity _parity = static_cast<SerialBase::Parity>(parity);
dreamselec 20:4e0f0944f28f 299 pc.format(8, _parity, 1);
dreamselec 20:4e0f0944f28f 300 wait(0.1);
dreamselec 20:4e0f0944f28f 301 pc.printf("DEBUG: Setting port parity to: %i.\n", parity);
dreamselec 14:cf2f255b5560 302 }
dreamselec 23:db91aaa43a9e 303
dreamselec 23:db91aaa43a9e 304 void testBreakBeams(Controls state){
dreamselec 23:db91aaa43a9e 305 if (state == Start){
dreamselec 23:db91aaa43a9e 306 pc.printf("INFO: Running break beam test.\n");
dreamselec 23:db91aaa43a9e 307 runBreakBeamTest = true;
dreamselec 23:db91aaa43a9e 308 }else if (state == Pause){
dreamselec 23:db91aaa43a9e 309 pc.printf("INFO: Exiting break beam test.\n");
dreamselec 23:db91aaa43a9e 310 runBreakBeamTest = false;
dreamselec 23:db91aaa43a9e 311 }
dreamselec 23:db91aaa43a9e 312 }