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@30:c0bc92d009fe, 2015-12-01 (annotated)

Committer:
dreamselec
Date:
Tue Dec 01 23:50:29 2015 +0000
Revision:
30:c0bc92d009fe
Parent:
29:9c0339e3c593
Child:
32:9a4046224b11
All functions appear to be ... functioning. Need to test set new haz block mode with hardware.

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 30:c0bc92d009fe 114 setNewHazBlock = true;
dreamselec 30:c0bc92d009fe 115 pc.printf("INFO: Setting new haz block.\n");
dreamselec 30:c0bc92d009fe 116 } else if (typeRaw == Query) {
dreamselec 30:c0bc92d009fe 117 pc.printf("VALUE:Hazardous Block:\n \tSize:%i \n \tMin Error:%.3f, %.3f, %.3f\n \t Max Error:%.3f, %.3f, %.3f\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 30:c0bc92d009fe 118 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 119 }
dreamselec 8:e1da2ae62885 120 }
dreamselec 8:e1da2ae62885 121
dreamselec 10:16ba52f8e025 122 void getCurrentBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 123 {
dreamselec 20:4e0f0944f28f 124 pc.printf("DEBUG: Getting current block readings\n");
dreamselec 8:e1da2ae62885 125 }
dreamselec 8:e1da2ae62885 126
dreamselec 15:777390eb5afd 127 void setIntegrationTimeTo(float integrationTime)
dreamselec 10:16ba52f8e025 128 {
dreamselec 25:792540d69c49 129 gIntegrationTime = integrationTime;
dreamselec 25:792540d69c49 130 rgbSensor.setIntegrationTime(gIntegrationTime);
dreamselec 30:c0bc92d009fe 131 pc.printf("DEBUG: Setting integration-time to %.2f.\n", gIntegrationTime);
dreamselec 8:e1da2ae62885 132 }
dreamselec 8:e1da2ae62885 133
dreamselec 10:16ba52f8e025 134 void previewOnPC(bool on)
dreamselec 10:16ba52f8e025 135 {
dreamselec 20:4e0f0944f28f 136 pc.printf("setting preview on pc to %i.\n", on);
dreamselec 8:e1da2ae62885 137 }
dreamselec 8:e1da2ae62885 138
dreamselec 25:792540d69c49 139 void testColourSensor(Controls state){
dreamselec 25:792540d69c49 140 if (state == Start){
dreamselec 25:792540d69c49 141 pc.printf("INFO: Running colour test.\n");
dreamselec 25:792540d69c49 142 runColourSensorTest = true;
dreamselec 25:792540d69c49 143 } else if (state == Pause){
dreamselec 25:792540d69c49 144 pc.printf("INFO: Finished colour test.\n");
dreamselec 25:792540d69c49 145 runColourSensorTest = false;
dreamselec 25:792540d69c49 146 }
dreamselec 25:792540d69c49 147 }
dreamselec 25:792540d69c49 148
dreamselec 20:4e0f0944f28f 149 void readColourSensor()
dreamselec 20:4e0f0944f28f 150 {
dreamselec 20:4e0f0944f28f 151 int colourValue[4];
dreamselec 20:4e0f0944f28f 152 rgbSensor.getAllColors(colourValue);
dreamselec 20:4e0f0944f28f 153 pc.printf( "VALEU:Colour Reading:%i,%i,%i,%i\n:VALUE", colourValue[0], colourValue[1], colourValue[2], colourValue[3]);
dreamselec 18:44a1c1a30166 154
dreamselec 8:e1da2ae62885 155 }
dreamselec 8:e1da2ae62885 156
dreamselec 17:af373246bf80 157 void testServos(Controls state)
dreamselec 10:16ba52f8e025 158 {
dreamselec 20:4e0f0944f28f 159 if (state == Start) {
dreamselec 20:4e0f0944f28f 160 pc.printf("INFO: Running servo test.\n");
dreamselec 20:4e0f0944f28f 161 runServoTest = true;
dreamselec 20:4e0f0944f28f 162 } else if (state == Pause) {
dreamselec 20:4e0f0944f28f 163 pc.printf("INFO: Finished running servo test.\n");
dreamselec 20:4e0f0944f28f 164 runServoTest = false;
dreamselec 20:4e0f0944f28f 165 }
dreamselec 8:e1da2ae62885 166 }
dreamselec 8:e1da2ae62885 167
dreamselec 10:16ba52f8e025 168 void resetServos()
dreamselec 10:16ba52f8e025 169 {
dreamselec 20:4e0f0944f28f 170 pc.printf("resetting servos.\n");
dreamselec 8:e1da2ae62885 171 }
dreamselec 8:e1da2ae62885 172
dreamselec 10:16ba52f8e025 173 void getPortInfo()
dreamselec 10:16ba52f8e025 174 {
dreamselec 20:4e0f0944f28f 175 pc.printf("getting port info.\n");
dreamselec 8:e1da2ae62885 176 }
dreamselec 8:e1da2ae62885 177
dreamselec 17:af373246bf80 178 void setPortBaudRate(int baudRate)
dreamselec 10:16ba52f8e025 179 {
dreamselec 20:4e0f0944f28f 180 pc.baud(baudRate);
dreamselec 20:4e0f0944f28f 181 wait(0.1);
dreamselec 20:4e0f0944f28f 182 pc.printf("DEBUG: Setting port Baud Rate to: %i.\n", baudRate);
dreamselec 10:16ba52f8e025 183 }
dreamselec 10:16ba52f8e025 184
dreamselec 20:4e0f0944f28f 185 void setPortParity(int parity)
dreamselec 20:4e0f0944f28f 186 {
dreamselec 20:4e0f0944f28f 187 SerialBase::Parity _parity = static_cast<SerialBase::Parity>(parity);
dreamselec 20:4e0f0944f28f 188 pc.format(8, _parity, 1);
dreamselec 20:4e0f0944f28f 189 wait(0.1);
dreamselec 20:4e0f0944f28f 190 pc.printf("DEBUG: Setting port parity to: %i.\n", parity);
dreamselec 14:cf2f255b5560 191 }
dreamselec 23:db91aaa43a9e 192
dreamselec 23:db91aaa43a9e 193 void testBreakBeams(Controls state){
dreamselec 23:db91aaa43a9e 194 if (state == Start){
dreamselec 23:db91aaa43a9e 195 pc.printf("INFO: Running break beam test.\n");
dreamselec 23:db91aaa43a9e 196 runBreakBeamTest = true;
dreamselec 23:db91aaa43a9e 197 }else if (state == Pause){
dreamselec 23:db91aaa43a9e 198 pc.printf("INFO: Exiting break beam test.\n");
dreamselec 23:db91aaa43a9e 199 runBreakBeamTest = false;
dreamselec 23:db91aaa43a9e 200 }
dreamselec 23:db91aaa43a9e 201 }