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@26:bbcc25418ffa, 2015-11-30 (annotated)

Committer:
dreamselec
Date:
Mon Nov 30 21:29:51 2015 +0000
Revision:
26:bbcc25418ffa
Parent:
25:792540d69c49
Child:
27:2cb1bdb7ae3d
Small changes in program so it doesn't get stuck and PC receives correct commands. Also commented out hard-coded red values. currently use a buffer error variables which can be set to anything.

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 25:792540d69c49 13 float gIntegrationTime = 3;
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 26:bbcc25418ffa 18 Block defaultHazBlock = Block();
dreamselec 20:4e0f0944f28f 19 Block _HazBlock = Block();
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 26:bbcc25418ffa 27 int errorMultiplier = 2;
dreamselec 26:bbcc25418ffa 28
dreamselec 17:af373246bf80 29 PCModes currentMode = None;
dreamselec 18:44a1c1a30166 30 Controls currentState = Pause;
dreamselec 8:e1da2ae62885 31
dreamselec 20:4e0f0944f28f 32 void DefaultHazBlock(){
dreamselec 26:bbcc25418ffa 33
dreamselec 26:bbcc25418ffa 34 for (int i = 0; i < 3; i++){
dreamselec 26:bbcc25418ffa 35 currentMaxError[i] = kMaxError[i];
dreamselec 26:bbcc25418ffa 36 currentMinError[i] = kMinError[i];
dreamselec 26:bbcc25418ffa 37 }
dreamselec 20:4e0f0944f28f 38 Colour _minRedBlock = Colour();
dreamselec 20:4e0f0944f28f 39 Colour _maxRedBlock = Colour();
dreamselec 20:4e0f0944f28f 40 Colour _averageRedBlock = Colour();
dreamselec 20:4e0f0944f28f 41
dreamselec 20:4e0f0944f28f 42 for (int i = 0; i < 4; i++){
dreamselec 20:4e0f0944f28f 43 _minRedBlock.components[i] = kMinRedBlock[i];
dreamselec 20:4e0f0944f28f 44 _maxRedBlock.components[i] = kMaxRedBlock[i];
dreamselec 20:4e0f0944f28f 45 _averageRedBlock.components[i] = kAverageRedBlock[i];
dreamselec 20:4e0f0944f28f 46 }
dreamselec 20:4e0f0944f28f 47
dreamselec 26:bbcc25418ffa 48 // _HazBlock.minColour = Colour(_minRedBlock);
dreamselec 26:bbcc25418ffa 49 // _HazBlock.maxColour = Colour(_maxRedBlock);
dreamselec 26:bbcc25418ffa 50 // _HazBlock.averageColour = Colour(_averageRedBlock);
dreamselec 26:bbcc25418ffa 51 // _HazBlock.size = Block::Small;
dreamselec 26:bbcc25418ffa 52
dreamselec 26:bbcc25418ffa 53 defaultHazBlock.minColour = Colour(_minRedBlock);
dreamselec 26:bbcc25418ffa 54 defaultHazBlock.maxColour = Colour(_maxRedBlock);
dreamselec 26:bbcc25418ffa 55 defaultHazBlock.averageColour = Colour(_averageRedBlock);
dreamselec 26:bbcc25418ffa 56 defaultHazBlock.size = Block::Small;
dreamselec 20:4e0f0944f28f 57
dreamselec 26:bbcc25418ffa 58 _HazBlock = Block(defaultHazBlock);
dreamselec 26:bbcc25418ffa 59 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 60 }
dreamselec 26:bbcc25418ffa 61
dreamselec 26:bbcc25418ffa 62 void printColourDescription(Colour colour){
dreamselec 26:bbcc25418ffa 63 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 64 }
dreamselec 26:bbcc25418ffa 65
dreamselec 26:bbcc25418ffa 66 void printBlockDescription(Block block){
dreamselec 26:bbcc25418ffa 67 pc.printf("VALUE:Size: %i\n", block.size);
dreamselec 26:bbcc25418ffa 68 printColourDescription(block.minColour);
dreamselec 26:bbcc25418ffa 69 printColourDescription(block.averageColour);
dreamselec 26:bbcc25418ffa 70 printColourDescription(block.maxColour);
dreamselec 26:bbcc25418ffa 71 //TODO: print errors
dreamselec 26:bbcc25418ffa 72 pc.printf(":VALUE");
dreamselec 20:4e0f0944f28f 73 }
dreamselec 20:4e0f0944f28f 74
dreamselec 10:16ba52f8e025 75 int readSwitches()
dreamselec 10:16ba52f8e025 76 {
dreamselec 20:4e0f0944f28f 77 if(i2cport->read_bit(8)) {
dreamselec 20:4e0f0944f28f 78 while (i2cport->read_bit(8)) { }
dreamselec 20:4e0f0944f28f 79 return 1;
dreamselec 20:4e0f0944f28f 80 } else if (i2cport->read_bit(9)) {
dreamselec 20:4e0f0944f28f 81 while (i2cport->read_bit(9)) { }
dreamselec 20:4e0f0944f28f 82 return 2;
dreamselec 20:4e0f0944f28f 83 } else if (i2cport->read_bit(10)) {
dreamselec 20:4e0f0944f28f 84 while (i2cport->read_bit(10)) { }
dreamselec 20:4e0f0944f28f 85 return 3;
dreamselec 20:4e0f0944f28f 86 } else if (i2cport->read_bit(11)) {
dreamselec 20:4e0f0944f28f 87 while (i2cport->read_bit(11)) { }
dreamselec 20:4e0f0944f28f 88 return 4;
dreamselec 20:4e0f0944f28f 89 } else {
dreamselec 20:4e0f0944f28f 90 return 0;
dreamselec 20:4e0f0944f28f 91 }
dreamselec 10:16ba52f8e025 92
dreamselec 8:e1da2ae62885 93 }
dreamselec 8:e1da2ae62885 94
dreamselec 10:16ba52f8e025 95 void connectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 96 {
dreamselec 20:4e0f0944f28f 97 connectedToPC = true;
dreamselec 24:02c61793f90b 98 pc.printf("INFO:PC connected to MBED.\n");
dreamselec 10:16ba52f8e025 99 }
dreamselec 10:16ba52f8e025 100
dreamselec 10:16ba52f8e025 101 void disconnectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 102 {
dreamselec 24:02c61793f90b 103 pc.printf("INFO:PC disconnected to MBED.\n");
dreamselec 20:4e0f0944f28f 104 connectedToPC = false;
dreamselec 20:4e0f0944f28f 105 currentMode = None;
dreamselec 8:e1da2ae62885 106 }
dreamselec 8:e1da2ae62885 107
dreamselec 10:16ba52f8e025 108 void hazBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 109 {
dreamselec 20:4e0f0944f28f 110 if (typeRaw == Set) {
dreamselec 20:4e0f0944f28f 111 pc.printf("INFO:Setting new haz block.\n");
dreamselec 20:4e0f0944f28f 112 int lowerBeam = 0;
dreamselec 20:4e0f0944f28f 113 int higherBeam = 0;
dreamselec 20:4e0f0944f28f 114 char readyChar = '\0';
dreamselec 20:4e0f0944f28f 115
dreamselec 20:4e0f0944f28f 116 lcd->cls();
dreamselec 20:4e0f0944f28f 117 lcd->locate(0,0);
dreamselec 20:4e0f0944f28f 118 lcd->printf("New haz block");
dreamselec 18:44a1c1a30166 119
dreamselec 20:4e0f0944f28f 120 do {
dreamselec 20:4e0f0944f28f 121 higherBeam = fpga->getBeamValue(Top);
dreamselec 20:4e0f0944f28f 122 if (readSwitches() == 4) {
dreamselec 20:4e0f0944f28f 123 if (displayAbortDialog()) {
dreamselec 20:4e0f0944f28f 124 pc.printf("INFO: Operation aborted form MBED.\n");
dreamselec 20:4e0f0944f28f 125 displayPCStatus();
dreamselec 20:4e0f0944f28f 126 return;
dreamselec 20:4e0f0944f28f 127 } else {
dreamselec 20:4e0f0944f28f 128 lcd->cls();
dreamselec 20:4e0f0944f28f 129 lcd->locate(0,0);
dreamselec 20:4e0f0944f28f 130 lcd->printf("New haz block");
dreamselec 20:4e0f0944f28f 131 }
dreamselec 18:44a1c1a30166 132
dreamselec 20:4e0f0944f28f 133 }
dreamselec 20:4e0f0944f28f 134 } while (higherBeam != 1);
dreamselec 10:16ba52f8e025 135
dreamselec 20:4e0f0944f28f 136 int colourValue[4];
dreamselec 20:4e0f0944f28f 137 rgbSensor.getAllColors(colourValue);
dreamselec 20:4e0f0944f28f 138
dreamselec 20:4e0f0944f28f 139 do {
dreamselec 20:4e0f0944f28f 140 lowerBeam = fpga->checkForBlock();
dreamselec 20:4e0f0944f28f 141 } while (lowerBeam != 1);
dreamselec 20:4e0f0944f28f 142 higherBeam = fpga->checkForSize();
dreamselec 18:44a1c1a30166 143
dreamselec 20:4e0f0944f28f 144 _HazBlock = Block();
dreamselec 20:4e0f0944f28f 145 if (higherBeam == 1)
dreamselec 20:4e0f0944f28f 146 _HazBlock.size = Block::Big;
dreamselec 20:4e0f0944f28f 147 else if (higherBeam == 0)
dreamselec 20:4e0f0944f28f 148 _HazBlock.size = Block::Small;
dreamselec 20:4e0f0944f28f 149 for (int i = 0; i < 3; i++) {
dreamselec 20:4e0f0944f28f 150 _HazBlock.minColour.components[i] = colourValue[i]/colourValue[3] - ColourSensorError;
dreamselec 20:4e0f0944f28f 151 _HazBlock.maxColour.components[i] = colourValue[i]/colourValue[3] + ColourSensorError;
dreamselec 20:4e0f0944f28f 152 }
dreamselec 20:4e0f0944f28f 153 fpga->moveSortingServo(Haz);
dreamselec 20:4e0f0944f28f 154 fpga->moveStoppingServo(Go);
dreamselec 20:4e0f0944f28f 155 while (fpga->checkForBlock()) {}
dreamselec 20:4e0f0944f28f 156 fpga->moveStoppingServo(Stop);
dreamselec 20:4e0f0944f28f 157 fpga->moveSortingServo(NonHaz);
dreamselec 18:44a1c1a30166 158
dreamselec 26:bbcc25418ffa 159 //TODO: Fix format.
dreamselec 22:993821a4c396 160 pc.printf( "VALUE:HazBlock:\n \t Size:%i\n \tMin Colour:%i,%i,%i,%i\n \t Max Colour:%i,%i,%i,%i:VALUE", _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 20:4e0f0944f28f 161 } else if (typeRaw == Query) {
dreamselec 20:4e0f0944f28f 162 pc.printf( "VALUE:HazBlock:\n \t Size:%i\n \t Min Colour:%i,%i,%i,%i\n \t Max Colour:%i,%i,%i,%i: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 20:4e0f0944f28f 163 }
dreamselec 8:e1da2ae62885 164 }
dreamselec 8:e1da2ae62885 165
dreamselec 10:16ba52f8e025 166 void getCurrentBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 167 {
dreamselec 20:4e0f0944f28f 168 pc.printf("DEBUG: Getting current block readings\n");
dreamselec 8:e1da2ae62885 169 }
dreamselec 8:e1da2ae62885 170
dreamselec 15:777390eb5afd 171 void setIntegrationTimeTo(float integrationTime)
dreamselec 10:16ba52f8e025 172 {
dreamselec 25:792540d69c49 173 gIntegrationTime = integrationTime;
dreamselec 25:792540d69c49 174 rgbSensor.setIntegrationTime(gIntegrationTime);
dreamselec 25:792540d69c49 175 pc.printf("DEBUG: Setting integration-time to %i.\n", gIntegrationTime);
dreamselec 8:e1da2ae62885 176 }
dreamselec 8:e1da2ae62885 177
dreamselec 10:16ba52f8e025 178 void previewOnPC(bool on)
dreamselec 10:16ba52f8e025 179 {
dreamselec 20:4e0f0944f28f 180 pc.printf("setting preview on pc to %i.\n", on);
dreamselec 8:e1da2ae62885 181 }
dreamselec 8:e1da2ae62885 182
dreamselec 25:792540d69c49 183 void testColourSensor(Controls state){
dreamselec 25:792540d69c49 184 if (state == Start){
dreamselec 25:792540d69c49 185 pc.printf("INFO: Running colour test.\n");
dreamselec 25:792540d69c49 186 runColourSensorTest = true;
dreamselec 25:792540d69c49 187 } else if (state == Pause){
dreamselec 25:792540d69c49 188 pc.printf("INFO: Finished colour test.\n");
dreamselec 25:792540d69c49 189 runColourSensorTest = false;
dreamselec 25:792540d69c49 190 }
dreamselec 25:792540d69c49 191 }
dreamselec 25:792540d69c49 192
dreamselec 20:4e0f0944f28f 193 void readColourSensor()
dreamselec 20:4e0f0944f28f 194 {
dreamselec 20:4e0f0944f28f 195 int colourValue[4];
dreamselec 20:4e0f0944f28f 196 rgbSensor.getAllColors(colourValue);
dreamselec 20:4e0f0944f28f 197 pc.printf( "VALEU:Colour Reading:%i,%i,%i,%i\n:VALUE", colourValue[0], colourValue[1], colourValue[2], colourValue[3]);
dreamselec 18:44a1c1a30166 198
dreamselec 8:e1da2ae62885 199 }
dreamselec 8:e1da2ae62885 200
dreamselec 17:af373246bf80 201 void testServos(Controls state)
dreamselec 10:16ba52f8e025 202 {
dreamselec 20:4e0f0944f28f 203 if (state == Start) {
dreamselec 20:4e0f0944f28f 204 pc.printf("INFO: Running servo test.\n");
dreamselec 20:4e0f0944f28f 205 runServoTest = true;
dreamselec 20:4e0f0944f28f 206 } else if (state == Pause) {
dreamselec 20:4e0f0944f28f 207 pc.printf("INFO: Finished running servo test.\n");
dreamselec 20:4e0f0944f28f 208 runServoTest = false;
dreamselec 20:4e0f0944f28f 209 }
dreamselec 8:e1da2ae62885 210 }
dreamselec 8:e1da2ae62885 211
dreamselec 10:16ba52f8e025 212 void resetServos()
dreamselec 10:16ba52f8e025 213 {
dreamselec 20:4e0f0944f28f 214 pc.printf("resetting servos.\n");
dreamselec 8:e1da2ae62885 215 }
dreamselec 8:e1da2ae62885 216
dreamselec 10:16ba52f8e025 217 void getPortInfo()
dreamselec 10:16ba52f8e025 218 {
dreamselec 20:4e0f0944f28f 219 pc.printf("getting port info.\n");
dreamselec 8:e1da2ae62885 220 }
dreamselec 8:e1da2ae62885 221
dreamselec 17:af373246bf80 222 void setPortBaudRate(int baudRate)
dreamselec 10:16ba52f8e025 223 {
dreamselec 20:4e0f0944f28f 224 pc.baud(baudRate);
dreamselec 20:4e0f0944f28f 225 wait(0.1);
dreamselec 20:4e0f0944f28f 226 pc.printf("DEBUG: Setting port Baud Rate to: %i.\n", baudRate);
dreamselec 10:16ba52f8e025 227 }
dreamselec 10:16ba52f8e025 228
dreamselec 20:4e0f0944f28f 229 void setPortParity(int parity)
dreamselec 20:4e0f0944f28f 230 {
dreamselec 20:4e0f0944f28f 231 SerialBase::Parity _parity = static_cast<SerialBase::Parity>(parity);
dreamselec 20:4e0f0944f28f 232 pc.format(8, _parity, 1);
dreamselec 20:4e0f0944f28f 233 wait(0.1);
dreamselec 20:4e0f0944f28f 234 pc.printf("DEBUG: Setting port parity to: %i.\n", parity);
dreamselec 14:cf2f255b5560 235 }
dreamselec 23:db91aaa43a9e 236
dreamselec 23:db91aaa43a9e 237 void testBreakBeams(Controls state){
dreamselec 23:db91aaa43a9e 238 if (state == Start){
dreamselec 23:db91aaa43a9e 239 pc.printf("INFO: Running break beam test.\n");
dreamselec 23:db91aaa43a9e 240 runBreakBeamTest = true;
dreamselec 23:db91aaa43a9e 241 }else if (state == Pause){
dreamselec 23:db91aaa43a9e 242 pc.printf("INFO: Exiting break beam test.\n");
dreamselec 23:db91aaa43a9e 243 runBreakBeamTest = false;
dreamselec 23:db91aaa43a9e 244 }
dreamselec 23:db91aaa43a9e 245 }