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@17:af373246bf80, 2015-11-23 (annotated)

Committer:
dreamselec
Date:
Mon Nov 23 23:13:39 2015 +0000
Revision:
17:af373246bf80
Parent:
15:777390eb5afd
Child:
18:44a1c1a30166
Added tags for parsing on PC. Added more commands.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dreamselec 2:7a55cb10259f 1 #include "globals.h"
dreamselec 9:dc8f155b71c8 2 #include "Block.h"
dreamselec 9:dc8f155b71c8 3 #include "fpga.h"
dreamselec 10:16ba52f8e025 4 #include "TCS3472_I2C.h"
dreamselec 10:16ba52f8e025 5 #include "MCP23017.h"
dreamselec 10:16ba52f8e025 6 #include "WattBob_TextLCD.h"
dreamselec 2:7a55cb10259f 7
dreamselec 7:b6e31bfdb2af 8 int kDefaultBaudRate = 19200;
dreamselec 10:16ba52f8e025 9 int ColourSensorError = 25;
dreamselec 2:7a55cb10259f 10 //SerialBase gParity = SerialBase::None;
dreamselec 2:7a55cb10259f 11 int gStopBits = 1;
dreamselec 3:843b830ee8bd 12
dreamselec 7:b6e31bfdb2af 13 Block _HazBlock = Block(kDefaultHazBlock);
dreamselec 8:e1da2ae62885 14
dreamselec 8:e1da2ae62885 15 bool connectedToPC = false;
dreamselec 10:16ba52f8e025 16 bool runServoTest = false;
dreamselec 17:af373246bf80 17 PCModes currentMode = None;
dreamselec 8:e1da2ae62885 18
dreamselec 10:16ba52f8e025 19 int readSwitches()
dreamselec 10:16ba52f8e025 20 {
dreamselec 10:16ba52f8e025 21
dreamselec 10:16ba52f8e025 22 if(i2cport->read_bit(8)) {
dreamselec 10:16ba52f8e025 23 return 1;
dreamselec 10:16ba52f8e025 24 } else if (i2cport->read_bit(9)) {
dreamselec 10:16ba52f8e025 25 return 2;
dreamselec 10:16ba52f8e025 26 } else if (i2cport->read_bit(10)) {
dreamselec 10:16ba52f8e025 27 return 3;
dreamselec 10:16ba52f8e025 28 } else if (i2cport->read_bit(11)) {
dreamselec 10:16ba52f8e025 29 return 4;
dreamselec 10:16ba52f8e025 30 } else {
dreamselec 10:16ba52f8e025 31 return 0;
dreamselec 10:16ba52f8e025 32 }
dreamselec 10:16ba52f8e025 33
dreamselec 8:e1da2ae62885 34 }
dreamselec 8:e1da2ae62885 35
dreamselec 10:16ba52f8e025 36 void connectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 37 {
dreamselec 10:16ba52f8e025 38 connectedToPC = true;
dreamselec 17:af373246bf80 39 pc.printf("INFO:MBED connected to PC.\n");
dreamselec 10:16ba52f8e025 40 }
dreamselec 10:16ba52f8e025 41
dreamselec 10:16ba52f8e025 42 void disconnectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 43 {
dreamselec 17:af373246bf80 44 pc.printf("INFO:MBED disconnected from PC.\n");
dreamselec 10:16ba52f8e025 45 connectedToPC = false;
dreamselec 17:af373246bf80 46 currentMode = None;
dreamselec 8:e1da2ae62885 47 }
dreamselec 8:e1da2ae62885 48
dreamselec 10:16ba52f8e025 49 void hazBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 50 {
dreamselec 10:16ba52f8e025 51 if (typeRaw == Set) {
dreamselec 11:0fe833f8a1ab 52 pc.printf("Setting new haz block.\n");
dreamselec 10:16ba52f8e025 53 // pc.printf("Send 'y' when block is inserted.\n");
dreamselec 10:16ba52f8e025 54 int lowerBeam = 0;
dreamselec 10:16ba52f8e025 55 int higherBeam = 0;
dreamselec 10:16ba52f8e025 56 char readyChar = '\0';
dreamselec 10:16ba52f8e025 57
dreamselec 10:16ba52f8e025 58 do { higherBeam = fpga->checkForSize();
dreamselec 10:16ba52f8e025 59 } while (higherBeam != 1);
dreamselec 10:16ba52f8e025 60
dreamselec 10:16ba52f8e025 61 int colourValue[4];
dreamselec 10:16ba52f8e025 62 rgbSensor.getAllColors(colourValue);
dreamselec 10:16ba52f8e025 63
dreamselec 10:16ba52f8e025 64 do {
dreamselec 10:16ba52f8e025 65 // readyChar = pc.getc();
dreamselec 10:16ba52f8e025 66 lowerBeam = fpga->checkForBlock();
dreamselec 10:16ba52f8e025 67 // TODO: Check beam reading
dreamselec 10:16ba52f8e025 68 // if (readyChar != 'y'){
dreamselec 10:16ba52f8e025 69 // pc.printf("No block detected by beam\nTry again.");
dreamselec 10:16ba52f8e025 70 // }
dreamselec 10:16ba52f8e025 71 } while (lowerBeam != 1);
dreamselec 10:16ba52f8e025 72 higherBeam = fpga->checkForSize();
dreamselec 10:16ba52f8e025 73
dreamselec 10:16ba52f8e025 74 _HazBlock = Block();
dreamselec 10:16ba52f8e025 75 if (higherBeam == 1)
dreamselec 10:16ba52f8e025 76 _HazBlock.size = Block::Big;
dreamselec 10:16ba52f8e025 77 else if (higherBeam == 0)
dreamselec 10:16ba52f8e025 78 _HazBlock.size = Block::Small;
dreamselec 10:16ba52f8e025 79 for (int i = 0; i < 4; i++) {
dreamselec 10:16ba52f8e025 80 _HazBlock.minColour.components[i] = colourValue[i] - ColourSensorError;
dreamselec 10:16ba52f8e025 81 _HazBlock.maxColour.components[i] = colourValue[i] + ColourSensorError;
dreamselec 10:16ba52f8e025 82 }
dreamselec 10:16ba52f8e025 83 fpga->moveSortingServo(Haz);
dreamselec 10:16ba52f8e025 84 fpga->moveStoppingServo(Go);
dreamselec 10:16ba52f8e025 85 while (fpga->checkForBlock()) {}
dreamselec 11:0fe833f8a1ab 86 fpga->moveStoppingServo(Stop);
dreamselec 10:16ba52f8e025 87 fpga->moveSortingServo(NonHaz);
dreamselec 9:dc8f155b71c8 88
dreamselec 10:16ba52f8e025 89 pc.printf( "HazBlock:\n \t Size:%i\n \t Real Colour:%i,%i,%i,%i\n \tMin Colour:%i,%i,%i,%i\n \t Max Colour:%i,%i,%i,%i\n ", _HazBlock.size, colourValue[0], colourValue[1], colourValue[2], colourValue[3], _HazBlock.minColour.components[Colour::Red], _HazBlock.minColour.components[Colour::Blue], _HazBlock.minColour.components[Colour::Green], _HazBlock.minColour.components[Colour::Alpha], _HazBlock.maxColour.components[Colour::Red], _HazBlock.maxColour.components[Colour::Blue], _HazBlock.maxColour.components[Colour::Green], _HazBlock.maxColour.components[Colour::Alpha]);
dreamselec 10:16ba52f8e025 90 } else if (typeRaw == Query) {
dreamselec 10:16ba52f8e025 91 pc.printf( "HazBlock:\n \t Size:%i\n \t Min Colour:%i,%i,%i,%i\n \t Max Colour:%i,%i,%i,%i\n ", _HazBlock.size, _HazBlock.minColour.components[Colour::Red], _HazBlock.minColour.components[Colour::Blue], _HazBlock.minColour.components[Colour::Green], _HazBlock.minColour.components[Colour::Alpha], _HazBlock.maxColour.components[Colour::Red], _HazBlock.maxColour.components[Colour::Blue], _HazBlock.maxColour.components[Colour::Green], _HazBlock.maxColour.components[Colour::Alpha]);
dreamselec 10:16ba52f8e025 92 }
dreamselec 8:e1da2ae62885 93 }
dreamselec 8:e1da2ae62885 94
dreamselec 10:16ba52f8e025 95 void getCurrentBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 96 {
dreamselec 17:af373246bf80 97 pc.printf("DEBUG: Getting current block readings\n");
dreamselec 8:e1da2ae62885 98 }
dreamselec 8:e1da2ae62885 99
dreamselec 15:777390eb5afd 100 void setIntegrationTimeTo(float integrationTime)
dreamselec 10:16ba52f8e025 101 {
dreamselec 10:16ba52f8e025 102 rgbSensor.setIntegrationTime(integrationTime);
dreamselec 17:af373246bf80 103 pc.printf("DEBUG: Setting integration-time to %i.\n", integrationTime);
dreamselec 8:e1da2ae62885 104 }
dreamselec 8:e1da2ae62885 105
dreamselec 10:16ba52f8e025 106 void previewOnPC(bool on)
dreamselec 10:16ba52f8e025 107 {
dreamselec 10:16ba52f8e025 108 pc.printf("setting preview on pc to %i.\n", on);
dreamselec 8:e1da2ae62885 109 }
dreamselec 8:e1da2ae62885 110
dreamselec 10:16ba52f8e025 111 void readColourSensor(){
dreamselec 10:16ba52f8e025 112 int colourValue[4];
dreamselec 10:16ba52f8e025 113 rgbSensor.getAllColors(colourValue);
dreamselec 10:16ba52f8e025 114 pc.printf( "Colour Reading:%i,%i,%i,%i\n", colourValue[0], colourValue[1], colourValue[2], colourValue[3]);
dreamselec 10:16ba52f8e025 115
dreamselec 8:e1da2ae62885 116 }
dreamselec 8:e1da2ae62885 117
dreamselec 10:16ba52f8e025 118
dreamselec 17:af373246bf80 119 void testServos(Controls state)
dreamselec 10:16ba52f8e025 120 {
dreamselec 17:af373246bf80 121 if (state == Start){
dreamselec 17:af373246bf80 122 pc.printf("INFO: Running servo test.\n");
dreamselec 10:16ba52f8e025 123 runServoTest = true;
dreamselec 17:af373246bf80 124 }else if (state == Pause){
dreamselec 17:af373246bf80 125 pc.printf("INFO: Finished running servo test.\n");
dreamselec 17:af373246bf80 126 runServoTest = false;
dreamselec 17:af373246bf80 127 }
dreamselec 8:e1da2ae62885 128 }
dreamselec 8:e1da2ae62885 129
dreamselec 10:16ba52f8e025 130 void resetServos()
dreamselec 10:16ba52f8e025 131 {
dreamselec 10:16ba52f8e025 132 pc.printf("resetting servos.\n");
dreamselec 8:e1da2ae62885 133 }
dreamselec 8:e1da2ae62885 134
dreamselec 10:16ba52f8e025 135 void getPortInfo()
dreamselec 10:16ba52f8e025 136 {
dreamselec 10:16ba52f8e025 137 pc.printf("getting port info.\n");
dreamselec 8:e1da2ae62885 138 }
dreamselec 8:e1da2ae62885 139
dreamselec 17:af373246bf80 140 void setPortBaudRate(int baudRate)
dreamselec 10:16ba52f8e025 141 {
dreamselec 14:cf2f255b5560 142 pc.baud(baudRate);
dreamselec 17:af373246bf80 143 wait(0.1);
dreamselec 17:af373246bf80 144 pc.printf("DEBUG: Setting port Baud Rate to: %i.\n", baudRate);
dreamselec 10:16ba52f8e025 145 }
dreamselec 10:16ba52f8e025 146
dreamselec 14:cf2f255b5560 147 void setPortParity(int parity){
dreamselec 14:cf2f255b5560 148 SerialBase::Parity _parity = static_cast<SerialBase::Parity>(parity);
dreamselec 14:cf2f255b5560 149 pc.format(8, _parity, 1);
dreamselec 17:af373246bf80 150 wait(0.1);
dreamselec 17:af373246bf80 151 pc.printf("DEBUG: Setting port parity to: %i.\n", parity);
dreamselec 14:cf2f255b5560 152 }