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@14:cf2f255b5560, 2015-11-22 (annotated)

Committer:
dreamselec
Date:
Sun Nov 22 17:53:36 2015 +0000
Revision:
14:cf2f255b5560
Parent:
11:0fe833f8a1ab
Child:
15:777390eb5afd
Changed sorting algorithm for colour sensor next to top beam.

Added filled some commands rather than just printing.

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 8:e1da2ae62885 17
dreamselec 10:16ba52f8e025 18 int readSwitches()
dreamselec 10:16ba52f8e025 19 {
dreamselec 10:16ba52f8e025 20
dreamselec 10:16ba52f8e025 21 if(i2cport->read_bit(8)) {
dreamselec 10:16ba52f8e025 22 return 1;
dreamselec 10:16ba52f8e025 23 } else if (i2cport->read_bit(9)) {
dreamselec 10:16ba52f8e025 24 return 2;
dreamselec 10:16ba52f8e025 25 } else if (i2cport->read_bit(10)) {
dreamselec 10:16ba52f8e025 26 return 3;
dreamselec 10:16ba52f8e025 27 } else if (i2cport->read_bit(11)) {
dreamselec 10:16ba52f8e025 28 return 4;
dreamselec 10:16ba52f8e025 29 } else {
dreamselec 10:16ba52f8e025 30 return 0;
dreamselec 10:16ba52f8e025 31 }
dreamselec 10:16ba52f8e025 32
dreamselec 8:e1da2ae62885 33 }
dreamselec 8:e1da2ae62885 34
dreamselec 10:16ba52f8e025 35 void connectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 36 {
dreamselec 10:16ba52f8e025 37 connectedToPC = true;
dreamselec 14:cf2f255b5560 38 pc.printf("MBED connected to PC\n");
dreamselec 10:16ba52f8e025 39 }
dreamselec 10:16ba52f8e025 40
dreamselec 10:16ba52f8e025 41 void disconnectToPC(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 42 {
dreamselec 10:16ba52f8e025 43 connectedToPC = false;
dreamselec 14:cf2f255b5560 44 pc.printf("MBED disconnected from PC\n");
dreamselec 8:e1da2ae62885 45 }
dreamselec 8:e1da2ae62885 46
dreamselec 10:16ba52f8e025 47 void hazBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 48 {
dreamselec 10:16ba52f8e025 49 if (typeRaw == Set) {
dreamselec 11:0fe833f8a1ab 50 pc.printf("Setting new haz block.\n");
dreamselec 10:16ba52f8e025 51 // pc.printf("Send 'y' when block is inserted.\n");
dreamselec 10:16ba52f8e025 52 int lowerBeam = 0;
dreamselec 10:16ba52f8e025 53 int higherBeam = 0;
dreamselec 10:16ba52f8e025 54 char readyChar = '\0';
dreamselec 10:16ba52f8e025 55
dreamselec 10:16ba52f8e025 56 do { higherBeam = fpga->checkForSize();
dreamselec 10:16ba52f8e025 57 } while (higherBeam != 1);
dreamselec 10:16ba52f8e025 58
dreamselec 10:16ba52f8e025 59 int colourValue[4];
dreamselec 10:16ba52f8e025 60 rgbSensor.getAllColors(colourValue);
dreamselec 10:16ba52f8e025 61
dreamselec 10:16ba52f8e025 62 do {
dreamselec 10:16ba52f8e025 63 // readyChar = pc.getc();
dreamselec 10:16ba52f8e025 64 lowerBeam = fpga->checkForBlock();
dreamselec 10:16ba52f8e025 65 // TODO: Check beam reading
dreamselec 10:16ba52f8e025 66 // if (readyChar != 'y'){
dreamselec 10:16ba52f8e025 67 // pc.printf("No block detected by beam\nTry again.");
dreamselec 10:16ba52f8e025 68 // }
dreamselec 10:16ba52f8e025 69 } while (lowerBeam != 1);
dreamselec 10:16ba52f8e025 70 higherBeam = fpga->checkForSize();
dreamselec 10:16ba52f8e025 71
dreamselec 10:16ba52f8e025 72 _HazBlock = Block();
dreamselec 10:16ba52f8e025 73 if (higherBeam == 1)
dreamselec 10:16ba52f8e025 74 _HazBlock.size = Block::Big;
dreamselec 10:16ba52f8e025 75 else if (higherBeam == 0)
dreamselec 10:16ba52f8e025 76 _HazBlock.size = Block::Small;
dreamselec 10:16ba52f8e025 77 for (int i = 0; i < 4; i++) {
dreamselec 10:16ba52f8e025 78 _HazBlock.minColour.components[i] = colourValue[i] - ColourSensorError;
dreamselec 10:16ba52f8e025 79 _HazBlock.maxColour.components[i] = colourValue[i] + ColourSensorError;
dreamselec 10:16ba52f8e025 80 }
dreamselec 10:16ba52f8e025 81 fpga->moveSortingServo(Haz);
dreamselec 10:16ba52f8e025 82 fpga->moveStoppingServo(Go);
dreamselec 10:16ba52f8e025 83 while (fpga->checkForBlock()) {}
dreamselec 11:0fe833f8a1ab 84 fpga->moveStoppingServo(Stop);
dreamselec 10:16ba52f8e025 85 fpga->moveSortingServo(NonHaz);
dreamselec 9:dc8f155b71c8 86
dreamselec 10:16ba52f8e025 87 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 88 } else if (typeRaw == Query) {
dreamselec 10:16ba52f8e025 89 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 90 }
dreamselec 8:e1da2ae62885 91 }
dreamselec 8:e1da2ae62885 92
dreamselec 10:16ba52f8e025 93 void getCurrentBlock(CommandTypeRaw typeRaw)
dreamselec 10:16ba52f8e025 94 {
dreamselec 10:16ba52f8e025 95 pc.printf("getting current block readings\n");
dreamselec 8:e1da2ae62885 96 }
dreamselec 8:e1da2ae62885 97
dreamselec 14:cf2f255b5560 98 void setIntegrationTime(float integrationTime)
dreamselec 10:16ba52f8e025 99 {
dreamselec 10:16ba52f8e025 100 rgbSensor.setIntegrationTime(integrationTime);
dreamselec 10:16ba52f8e025 101 pc.printf("setting i-time to %i.\n", integrationTime);
dreamselec 8:e1da2ae62885 102 }
dreamselec 8:e1da2ae62885 103
dreamselec 10:16ba52f8e025 104 void previewOnPC(bool on)
dreamselec 10:16ba52f8e025 105 {
dreamselec 10:16ba52f8e025 106 pc.printf("setting preview on pc to %i.\n", on);
dreamselec 8:e1da2ae62885 107 }
dreamselec 8:e1da2ae62885 108
dreamselec 10:16ba52f8e025 109 void readColourSensor(){
dreamselec 10:16ba52f8e025 110 int colourValue[4];
dreamselec 10:16ba52f8e025 111 rgbSensor.getAllColors(colourValue);
dreamselec 10:16ba52f8e025 112 pc.printf( "Colour Reading:%i,%i,%i,%i\n", colourValue[0], colourValue[1], colourValue[2], colourValue[3]);
dreamselec 10:16ba52f8e025 113
dreamselec 8:e1da2ae62885 114 }
dreamselec 8:e1da2ae62885 115
dreamselec 10:16ba52f8e025 116
dreamselec 10:16ba52f8e025 117 void testServos()
dreamselec 10:16ba52f8e025 118 {
dreamselec 10:16ba52f8e025 119 runServoTest = true;
dreamselec 8:e1da2ae62885 120 }
dreamselec 8:e1da2ae62885 121
dreamselec 10:16ba52f8e025 122 void resetServos()
dreamselec 10:16ba52f8e025 123 {
dreamselec 10:16ba52f8e025 124 pc.printf("resetting servos.\n");
dreamselec 8:e1da2ae62885 125 }
dreamselec 8:e1da2ae62885 126
dreamselec 10:16ba52f8e025 127 void getPortInfo()
dreamselec 10:16ba52f8e025 128 {
dreamselec 10:16ba52f8e025 129 pc.printf("getting port info.\n");
dreamselec 8:e1da2ae62885 130 }
dreamselec 8:e1da2ae62885 131
dreamselec 14:cf2f255b5560 132 void setPortBaudRate(int baudRate=kDefaultBaudRate)
dreamselec 10:16ba52f8e025 133 {
dreamselec 14:cf2f255b5560 134 pc.baud(baudRate);
dreamselec 14:cf2f255b5560 135 pc.printf("Setting port Baud Rate to: %i\n", baudRate);
dreamselec 10:16ba52f8e025 136 }
dreamselec 10:16ba52f8e025 137
dreamselec 14:cf2f255b5560 138 void setPortParity(int parity){
dreamselec 14:cf2f255b5560 139 SerialBase::Parity _parity = static_cast<SerialBase::Parity>(parity);
dreamselec 14:cf2f255b5560 140 pc.format(8, _parity, 1);
dreamselec 14:cf2f255b5560 141 pc.printf("Setting port parity to: %i\n", parity);
dreamselec 14:cf2f255b5560 142 }