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
main.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
dreamselec | 0:fe5cb0a8fc5a | 1 | #include "mbed.h" |
dreamselec | 0:fe5cb0a8fc5a | 2 | #include "WattBob_TextLCD.h" |
dreamselec | 0:fe5cb0a8fc5a | 3 | #include "TCS3472_I2C.h" |
dreamselec | 0:fe5cb0a8fc5a | 4 | #include "MCP23017.h" |
dreamselec | 0:fe5cb0a8fc5a | 5 | #include <string> |
dreamselec | 1:92a2a5ef65a8 | 6 | #include <time.h> |
dreamselec | 2:7a55cb10259f | 7 | //#include <future> |
dreamselec | 2:7a55cb10259f | 8 | #include "globals.h" |
dreamselec | 2:7a55cb10259f | 9 | #include "commander.h" |
dreamselec | 3:843b830ee8bd | 10 | #include "fpga.h" |
dreamselec | 0:fe5cb0a8fc5a | 11 | |
dreamselec | 0:fe5cb0a8fc5a | 12 | #define BACKLIGHT_ON(INTERFACE) INTERFACE->write_bit(1, 4); |
dreamselec | 0:fe5cb0a8fc5a | 13 | #define BACKLIGHT_OFF(INTERFACE) INTERFACE->write_bit(0, 4); |
dreamselec | 0:fe5cb0a8fc5a | 14 | |
dreamselec | 0:fe5cb0a8fc5a | 15 | #define LCDFL() lcd->locate(0,0); |
dreamselec | 0:fe5cb0a8fc5a | 16 | #define LCDSL() lcd->locate(1,0); |
dreamselec | 2:7a55cb10259f | 17 | #define D_LEDS_OFF() i2cport->write_bit(0, 12); i2cport->write_bit(0, 13); i2cport->write_bit(0, 14); i2cport->write_bit(0, 15); |
dreamselec | 2:7a55cb10259f | 18 | #define U_LEDS_OFF() myLED1 = 0; myLED2 = 0; myLED3 = 0; myLED4 = 0; |
dreamselec | 0:fe5cb0a8fc5a | 19 | |
dreamselec | 2:7a55cb10259f | 20 | DigitalOut myLED1(LED1); |
dreamselec | 2:7a55cb10259f | 21 | DigitalOut myLED2(LED2); |
dreamselec | 2:7a55cb10259f | 22 | DigitalOut myLED3(LED3); |
dreamselec | 2:7a55cb10259f | 23 | DigitalOut myLED4(LED4); |
dreamselec | 0:fe5cb0a8fc5a | 24 | |
dreamselec | 0:fe5cb0a8fc5a | 25 | MCP23017 *i2cport; |
dreamselec | 0:fe5cb0a8fc5a | 26 | WattBob_TextLCD *lcd; |
dreamselec | 0:fe5cb0a8fc5a | 27 | |
dreamselec | 10:16ba52f8e025 | 28 | TCS3472_I2C rgbSensor(p28, p27); |
dreamselec | 2:7a55cb10259f | 29 | Serial pc(USBTX, USBRX); |
dreamselec |
8:e1da2ae62885 | 30 | uint8_t rxBuffer[kSmallBufferSize + 1]; |
dreamselec |
8:e1da2ae62885 | 31 | int rxIndex = 0; |
dreamselec | 2:7a55cb10259f | 32 | |
dreamselec |
6:98fe30430194 | 33 | Commander _commander = Commander(); |
dreamselec |
6:98fe30430194 | 34 | Commander *commander = &_commander; |
dreamselec |
6:98fe30430194 | 35 | FPGA _fpga = FPGA(); |
dreamselec | 9:dc8f155b71c8 | 36 | extern FPGA *fpga = &_fpga; |
dreamselec |
6:98fe30430194 | 37 | |
dreamselec |
6:98fe30430194 | 38 | extern Block _HazBlock; |
dreamselec |
6:98fe30430194 | 39 | Block *HazBlock = &_HazBlock; |
dreamselec |
6:98fe30430194 | 40 | |
dreamselec | 3:843b830ee8bd | 41 | void detectPC(); |
dreamselec |
6:98fe30430194 | 42 | void initInternal(); |
dreamselec | 7:b6e31bfdb2af | 43 | void initPort(int baudRate=kDefaultBaudRate); |
dreamselec |
6:98fe30430194 | 44 | void printPCDetectedText(); |
dreamselec | 10:16ba52f8e025 | 45 | bool displayAbortDialog(); |
dreamselec |
6:98fe30430194 | 46 | void Rx_interrupt(); |
dreamselec | 10:16ba52f8e025 | 47 | void sortBlock(int colourValues[]); |
dreamselec | 10:16ba52f8e025 | 48 | void runInServoTestMode(); |
dreamselec |
6:98fe30430194 | 49 | |
dreamselec | 10:16ba52f8e025 | 50 | void displayWaitingLine(){ |
dreamselec | 10:16ba52f8e025 | 51 | lcd->cls(); |
dreamselec | 10:16ba52f8e025 | 52 | lcd->locate(0,0); |
dreamselec | 10:16ba52f8e025 | 53 | lcd->printf("Waiting..."); |
dreamselec | 10:16ba52f8e025 | 54 | lcd->locate(1,0); |
dreamselec | 10:16ba52f8e025 | 55 | } |
dreamselec |
6:98fe30430194 | 56 | |
dreamselec |
6:98fe30430194 | 57 | int main() |
dreamselec |
6:98fe30430194 | 58 | { |
dreamselec | 10:16ba52f8e025 | 59 | initInternal(); |
dreamselec | 10:16ba52f8e025 | 60 | initPort(); |
dreamselec | 10:16ba52f8e025 | 61 | srand((unsigned)time(NULL)); |
dreamselec | 10:16ba52f8e025 | 62 | U_LEDS_OFF(); |
dreamselec | 10:16ba52f8e025 | 63 | lcd->cls(); |
dreamselec | 10:16ba52f8e025 | 64 | myLED1 = 1; |
dreamselec | 10:16ba52f8e025 | 65 | |
dreamselec | 10:16ba52f8e025 | 66 | rgbSensor.enablePowerAndRGBC(); |
dreamselec | 10:16ba52f8e025 | 67 | rgbSensor.setIntegrationTime(100); |
dreamselec |
6:98fe30430194 | 68 | |
dreamselec | 10:16ba52f8e025 | 69 | // Create a serial intereput for RxIrq so when PC is connected it sends '$' to tell MBED it's there. |
dreamselec | 10:16ba52f8e025 | 70 | // https://developer.mbed.org/cookbook/Serial-Interrupts |
dreamselec | 10:16ba52f8e025 | 71 | pc.attach(&Rx_interrupt, Serial::RxIrq); |
dreamselec |
6:98fe30430194 | 72 | |
dreamselec | 10:16ba52f8e025 | 73 | for (;;) { |
dreamselec | 10:16ba52f8e025 | 74 | lcd->cls(); |
dreamselec | 10:16ba52f8e025 | 75 | i2cport->write_bit(1, 12); |
dreamselec | 10:16ba52f8e025 | 76 | lcd->printf("1: Start sorting."); |
dreamselec | 10:16ba52f8e025 | 77 | LCDSL(); |
dreamselec | 10:16ba52f8e025 | 78 | i2cport->write_bit(1,13); |
dreamselec | 10:16ba52f8e025 | 79 | lcd->printf("2: Connect to PC"); |
dreamselec | 10:16ba52f8e025 | 80 | |
dreamselec | 10:16ba52f8e025 | 81 | fpga->moveStoppingServo(Stop); |
dreamselec | 10:16ba52f8e025 | 82 | fpga->moveSortingServo(NonHaz); |
dreamselec | 10:16ba52f8e025 | 83 | |
dreamselec | 10:16ba52f8e025 | 84 | int selection = 0; |
dreamselec | 10:16ba52f8e025 | 85 | do { |
dreamselec | 10:16ba52f8e025 | 86 | myLED4 = selection; |
dreamselec | 10:16ba52f8e025 | 87 | selection = readSwitches(); |
dreamselec | 10:16ba52f8e025 | 88 | } while (selection != 1 && selection != 2 && connectedToPC == false); |
dreamselec | 10:16ba52f8e025 | 89 | D_LEDS_OFF(); |
dreamselec | 10:16ba52f8e025 | 90 | if (selection == 1) { |
dreamselec | 10:16ba52f8e025 | 91 | // User selected op 1: Start sorting autonomously. |
dreamselec | 10:16ba52f8e025 | 92 | i2cport->write_bit(1, 12); |
dreamselec | 10:16ba52f8e025 | 93 | lcd->cls(); |
dreamselec | 10:16ba52f8e025 | 94 | LCDFL(); |
dreamselec | 10:16ba52f8e025 | 95 | lcd->printf("Starting sorting"); |
dreamselec | 10:16ba52f8e025 | 96 | wait(0.5); |
dreamselec | 10:16ba52f8e025 | 97 | D_LEDS_OFF(); |
dreamselec | 10:16ba52f8e025 | 98 | |
dreamselec | 10:16ba52f8e025 | 99 | bool abortOperation = false; |
dreamselec | 10:16ba52f8e025 | 100 | for(;;) { |
dreamselec | 10:16ba52f8e025 | 101 | displayWaitingLine(); |
dreamselec |
14:cf2f255b5560 | 102 | lcd->locate(1, 0); |
dreamselec |
14:cf2f255b5560 | 103 | lcd->printf("for block."); |
dreamselec | 10:16ba52f8e025 | 104 | |
dreamselec | 10:16ba52f8e025 | 105 | i2cport->write_bit(1, 15); |
dreamselec | 10:16ba52f8e025 | 106 | int blockInserted = 0; |
dreamselec | 10:16ba52f8e025 | 107 | // Wait until a block is breaking the beam, or button 4 is pressed to abort. |
dreamselec | 10:16ba52f8e025 | 108 | do { |
dreamselec |
14:cf2f255b5560 | 109 | blockInserted = fpga->getBeamValue(Top); |
dreamselec | 10:16ba52f8e025 | 110 | myLED4 = blockInserted; |
dreamselec | 10:16ba52f8e025 | 111 | if (i2cport->read_bit(11)) { |
dreamselec | 10:16ba52f8e025 | 112 | abortOperation = displayAbortDialog(); |
dreamselec | 10:16ba52f8e025 | 113 | // Cancel the Abort |
dreamselec | 10:16ba52f8e025 | 114 | if (abortOperation == false) { |
dreamselec | 10:16ba52f8e025 | 115 | displayWaitingLine(); |
dreamselec |
14:cf2f255b5560 | 116 | lcd->printf("for block"); |
dreamselec | 10:16ba52f8e025 | 117 | i2cport->write_bit(1, 15); |
dreamselec | 10:16ba52f8e025 | 118 | } |
dreamselec | 10:16ba52f8e025 | 119 | } |
dreamselec | 10:16ba52f8e025 | 120 | } while (abortOperation == false && blockInserted != 1 && connectedToPC == false); |
dreamselec | 10:16ba52f8e025 | 121 | |
dreamselec | 10:16ba52f8e025 | 122 | // Break and return to main menu i.e. Start Op, or Connect to PC. |
dreamselec | 10:16ba52f8e025 | 123 | if (abortOperation == true || connectedToPC == true) { |
dreamselec | 10:16ba52f8e025 | 124 | D_LEDS_OFF(); |
dreamselec | 10:16ba52f8e025 | 125 | break; |
dreamselec | 10:16ba52f8e025 | 126 | } |
dreamselec | 10:16ba52f8e025 | 127 | |
dreamselec | 10:16ba52f8e025 | 128 | // Cannot Abort any longer. Block is inserted. |
dreamselec | 10:16ba52f8e025 | 129 | // Detach rx interrupt until block processed. |
dreamselec | 10:16ba52f8e025 | 130 | NVIC_DisableIRQ(UART1_IRQn); |
dreamselec |
6:98fe30430194 | 131 | |
dreamselec |
14:cf2f255b5560 | 132 | int canCheckForSize = fpga->checkForBlock(); |
dreamselec | 10:16ba52f8e025 | 133 | int blockSize = 0; |
dreamselec |
14:cf2f255b5560 | 134 | |
dreamselec |
14:cf2f255b5560 | 135 | while (canCheckForSize == 0) { |
dreamselec |
14:cf2f255b5560 | 136 | canCheckForSize = fpga->checkForBlock(); |
dreamselec |
14:cf2f255b5560 | 137 | } |
dreamselec |
14:cf2f255b5560 | 138 | |
dreamselec | 10:16ba52f8e025 | 139 | blockSize = fpga->checkForSize(); |
dreamselec | 10:16ba52f8e025 | 140 | myLED3 = blockSize; |
dreamselec |
6:98fe30430194 | 141 | |
dreamselec |
14:cf2f255b5560 | 142 | if (blockSize == Block::Small) { |
dreamselec | 10:16ba52f8e025 | 143 | // detectColour() |
dreamselec | 10:16ba52f8e025 | 144 | int colourValues[4]; |
dreamselec | 11:0fe833f8a1ab | 145 | // displayWaitingLine(); |
dreamselec | 11:0fe833f8a1ab | 146 | rgbSensor.getAllColors(colourValues); |
dreamselec | 11:0fe833f8a1ab | 147 | // lcd->cls(); |
dreamselec | 11:0fe833f8a1ab | 148 | // lcd->locate(0,0); |
dreamselec | 11:0fe833f8a1ab | 149 | // lcd->printf("Sorting"); |
dreamselec | 10:16ba52f8e025 | 150 | sortBlock(colourValues); |
dreamselec | 10:16ba52f8e025 | 151 | }else { |
dreamselec | 10:16ba52f8e025 | 152 | fpga->moveStoppingServo(Go); |
dreamselec | 10:16ba52f8e025 | 153 | while(fpga->checkForSize()){} |
dreamselec | 10:16ba52f8e025 | 154 | fpga->moveStoppingServo(Stop); |
dreamselec | 10:16ba52f8e025 | 155 | } |
dreamselec | 10:16ba52f8e025 | 156 | |
dreamselec | 10:16ba52f8e025 | 157 | myLED3 = 0; |
dreamselec | 10:16ba52f8e025 | 158 | // Re-Attach rx interrupt |
dreamselec | 10:16ba52f8e025 | 159 | NVIC_EnableIRQ(UART1_IRQn); |
dreamselec | 10:16ba52f8e025 | 160 | } |
dreamselec | 10:16ba52f8e025 | 161 | // if (abortOperation == true || connectedToPC == true){ break; } |
dreamselec | 10:16ba52f8e025 | 162 | } |
dreamselec |
8:e1da2ae62885 | 163 | |
dreamselec | 10:16ba52f8e025 | 164 | if (selection == 2 || connectedToPC == true) { |
dreamselec | 10:16ba52f8e025 | 165 | for (;;) { |
dreamselec | 9:dc8f155b71c8 | 166 | if (!connectedToPC) { |
dreamselec | 9:dc8f155b71c8 | 167 | i2cport->write_bit(1, 13); |
dreamselec | 9:dc8f155b71c8 | 168 | // Wait for PC to send '!<pc>connect;' command. |
dreamselec | 9:dc8f155b71c8 | 169 | lcd->cls(); |
dreamselec | 9:dc8f155b71c8 | 170 | LCDFL(); |
dreamselec | 9:dc8f155b71c8 | 171 | lcd->printf("Waiting for PC..."); |
dreamselec | 9:dc8f155b71c8 | 172 | wait(0.5); |
dreamselec | 9:dc8f155b71c8 | 173 | D_LEDS_OFF(); |
dreamselec | 9:dc8f155b71c8 | 174 | LCDSL(); |
dreamselec | 9:dc8f155b71c8 | 175 | lcd->printf("4: Main Menu"); |
dreamselec | 9:dc8f155b71c8 | 176 | } |
dreamselec | 10:16ba52f8e025 | 177 | i2cport->write_bit(1, 15); |
dreamselec | 10:16ba52f8e025 | 178 | int abortOperation = false; |
dreamselec | 10:16ba52f8e025 | 179 | while (connectedToPC == false && abortOperation == false) { |
dreamselec | 10:16ba52f8e025 | 180 | abortOperation = readSwitches() == 4; |
dreamselec | 10:16ba52f8e025 | 181 | } |
dreamselec |
14:cf2f255b5560 | 182 | |
dreamselec | 10:16ba52f8e025 | 183 | if (abortOperation == true) { |
dreamselec | 10:16ba52f8e025 | 184 | D_LEDS_OFF(); |
dreamselec | 10:16ba52f8e025 | 185 | break; |
dreamselec | 10:16ba52f8e025 | 186 | } |
dreamselec |
8:e1da2ae62885 | 187 | |
dreamselec | 10:16ba52f8e025 | 188 | while (abortOperation == false && connectedToPC == true) { |
dreamselec | 10:16ba52f8e025 | 189 | if (runServoTest == true){ |
dreamselec | 10:16ba52f8e025 | 190 | runInServoTestMode(); |
dreamselec | 10:16ba52f8e025 | 191 | lcd->cls(); |
dreamselec | 10:16ba52f8e025 | 192 | lcd->locate(0,0); |
dreamselec | 10:16ba52f8e025 | 193 | lcd->printf("Connected to PC"); |
dreamselec | 10:16ba52f8e025 | 194 | lcd->locate(1,0); |
dreamselec | 10:16ba52f8e025 | 195 | lcd->printf("4:Disconnect"); |
dreamselec | 10:16ba52f8e025 | 196 | i2cport->write_bit(1,15); |
dreamselec | 10:16ba52f8e025 | 197 | } |
dreamselec | 10:16ba52f8e025 | 198 | abortOperation = readSwitches() == 4; |
dreamselec | 10:16ba52f8e025 | 199 | } |
dreamselec |
6:98fe30430194 | 200 | |
dreamselec | 10:16ba52f8e025 | 201 | if (abortOperation == true ) { |
dreamselec | 10:16ba52f8e025 | 202 | connectedToPC = false; |
dreamselec | 10:16ba52f8e025 | 203 | D_LEDS_OFF(); |
dreamselec | 10:16ba52f8e025 | 204 | break; |
dreamselec | 10:16ba52f8e025 | 205 | } |
dreamselec | 10:16ba52f8e025 | 206 | } |
dreamselec | 10:16ba52f8e025 | 207 | } |
dreamselec | 10:16ba52f8e025 | 208 | |
dreamselec | 10:16ba52f8e025 | 209 | } |
dreamselec |
6:98fe30430194 | 210 | } |
dreamselec |
6:98fe30430194 | 211 | |
dreamselec |
6:98fe30430194 | 212 | /// Called every-time it receives an char from PC. |
dreamselec | 10:16ba52f8e025 | 213 | void Rx_interrupt() |
dreamselec | 10:16ba52f8e025 | 214 | { |
dreamselec | 10:16ba52f8e025 | 215 | char interruptChar = pc.getc(); |
dreamselec | 10:16ba52f8e025 | 216 | // Uncomment to Echo to USB serial to watch data flow |
dreamselec | 10:16ba52f8e025 | 217 | // pc.putc(interruptChar); |
dreamselec |
6:98fe30430194 | 218 | |
dreamselec | 10:16ba52f8e025 | 219 | NVIC_DisableIRQ(UART1_IRQn); |
dreamselec |
8:e1da2ae62885 | 220 | |
dreamselec | 10:16ba52f8e025 | 221 | if (interruptChar == CommandTypeValue[Query]) { |
dreamselec | 10:16ba52f8e025 | 222 | commander->decodeCommand(Query); |
dreamselec | 10:16ba52f8e025 | 223 | } else if (interruptChar == CommandTypeValue[Set]) { |
dreamselec | 10:16ba52f8e025 | 224 | commander->decodeCommand(Set); |
dreamselec | 10:16ba52f8e025 | 225 | } else if (interruptChar== CommandTypeValue[Reply]) { |
dreamselec | 10:16ba52f8e025 | 226 | commander->decodeCommand(Reply); |
dreamselec | 10:16ba52f8e025 | 227 | } |
dreamselec |
8:e1da2ae62885 | 228 | |
dreamselec | 10:16ba52f8e025 | 229 | NVIC_EnableIRQ(UART1_IRQn); |
dreamselec |
6:98fe30430194 | 230 | } |
dreamselec | 3:843b830ee8bd | 231 | |
dreamselec | 4:4eebb4de22a7 | 232 | void initInternal() |
dreamselec | 4:4eebb4de22a7 | 233 | { |
dreamselec | 10:16ba52f8e025 | 234 | i2cport = new MCP23017(p9, p10, 0x40); |
dreamselec | 10:16ba52f8e025 | 235 | lcd = new WattBob_TextLCD(i2cport); |
dreamselec | 10:16ba52f8e025 | 236 | myLED1 = 1; |
dreamselec | 10:16ba52f8e025 | 237 | BACKLIGHT_ON(i2cport); |
dreamselec | 10:16ba52f8e025 | 238 | lcd->cls(); |
dreamselec | 10:16ba52f8e025 | 239 | LCDFL(); |
dreamselec | 10:16ba52f8e025 | 240 | lcd->printf("Initilizing..."); |
dreamselec | 10:16ba52f8e025 | 241 | myLED2 = 1; |
dreamselec | 10:16ba52f8e025 | 242 | return; |
dreamselec | 3:843b830ee8bd | 243 | } |
dreamselec | 3:843b830ee8bd | 244 | |
dreamselec | 7:b6e31bfdb2af | 245 | void initPort(int baudRate) |
dreamselec | 4:4eebb4de22a7 | 246 | { |
dreamselec | 10:16ba52f8e025 | 247 | myLED3 = 1; |
dreamselec | 10:16ba52f8e025 | 248 | pc.baud(baudRate); |
dreamselec | 10:16ba52f8e025 | 249 | pc.format(8, SerialBase::None, gStopBits); |
dreamselec | 10:16ba52f8e025 | 250 | myLED4 = 1; |
dreamselec | 10:16ba52f8e025 | 251 | wait (0.1); |
dreamselec | 10:16ba52f8e025 | 252 | return; |
dreamselec | 3:843b830ee8bd | 253 | } |
dreamselec | 3:843b830ee8bd | 254 | |
dreamselec | 10:16ba52f8e025 | 255 | void sortBlock(int colourValues[]){ |
dreamselec | 10:16ba52f8e025 | 256 | bool isHazColour[4] = {false, false, false, false }; |
dreamselec | 10:16ba52f8e025 | 257 | |
dreamselec | 10:16ba52f8e025 | 258 | for (int i = 0; i < 4; i++){ |
dreamselec | 10:16ba52f8e025 | 259 | if (colourValues[i] < HazBlock->maxColour.components[i] && colourValues[i] > HazBlock->minColour.components[i]){ |
dreamselec | 10:16ba52f8e025 | 260 | isHazColour[i] = true; |
dreamselec | 10:16ba52f8e025 | 261 | } |
dreamselec |
6:98fe30430194 | 262 | } |
dreamselec | 10:16ba52f8e025 | 263 | |
dreamselec | 10:16ba52f8e025 | 264 | fpga->moveSortingServo(Haz); |
dreamselec | 10:16ba52f8e025 | 265 | fpga->moveStoppingServo(Go); |
dreamselec | 10:16ba52f8e025 | 266 | while(fpga->checkForBlock()) {} |
dreamselec | 10:16ba52f8e025 | 267 | fpga->moveStoppingServo(Stop); |
dreamselec | 10:16ba52f8e025 | 268 | wait(0.5); |
dreamselec | 10:16ba52f8e025 | 269 | fpga->moveSortingServo(NonHaz); |
dreamselec | 10:16ba52f8e025 | 270 | return; |
dreamselec | 10:16ba52f8e025 | 271 | |
dreamselec | 10:16ba52f8e025 | 272 | bool isHazBlock = false; |
dreamselec | 10:16ba52f8e025 | 273 | |
dreamselec | 10:16ba52f8e025 | 274 | if (isHazColour[0] && isHazColour[1] && isHazColour[2] && isHazColour[3]){ |
dreamselec | 10:16ba52f8e025 | 275 | fpga->moveSortingServo(Haz); |
dreamselec | 10:16ba52f8e025 | 276 | fpga->moveStoppingServo(Go); |
dreamselec | 10:16ba52f8e025 | 277 | while(fpga->checkForBlock()) {} |
dreamselec | 10:16ba52f8e025 | 278 | fpga->moveStoppingServo(Stop); |
dreamselec | 10:16ba52f8e025 | 279 | fpga->moveSortingServo(NonHaz); |
dreamselec | 10:16ba52f8e025 | 280 | }else { |
dreamselec | 10:16ba52f8e025 | 281 | fpga->moveStoppingServo(Go); |
dreamselec | 10:16ba52f8e025 | 282 | while(fpga->checkForBlock()) {} |
dreamselec | 10:16ba52f8e025 | 283 | fpga->moveStoppingServo(Stop); |
dreamselec | 10:16ba52f8e025 | 284 | } |
dreamselec | 3:843b830ee8bd | 285 | } |
dreamselec | 3:843b830ee8bd | 286 | |
dreamselec |
6:98fe30430194 | 287 | void printPCDetectedText() |
dreamselec | 4:4eebb4de22a7 | 288 | { |
dreamselec | 10:16ba52f8e025 | 289 | lcd->cls(); |
dreamselec | 10:16ba52f8e025 | 290 | LCDFL(); |
dreamselec | 10:16ba52f8e025 | 291 | lcd->printf("Detected PC."); |
dreamselec | 10:16ba52f8e025 | 292 | LCDSL(); |
dreamselec | 10:16ba52f8e025 | 293 | lcd->printf("Connecting"); |
dreamselec | 10:16ba52f8e025 | 294 | initPort(); |
dreamselec | 10:16ba52f8e025 | 295 | } |
dreamselec | 10:16ba52f8e025 | 296 | |
dreamselec | 10:16ba52f8e025 | 297 | bool displayAbortDialog() |
dreamselec | 10:16ba52f8e025 | 298 | { |
dreamselec | 10:16ba52f8e025 | 299 | while (i2cport->read_bit(11) == 1) {} |
dreamselec | 10:16ba52f8e025 | 300 | i2cport->write_bit(1, 12); |
dreamselec | 10:16ba52f8e025 | 301 | |
dreamselec | 10:16ba52f8e025 | 302 | lcd->cls(); |
dreamselec | 10:16ba52f8e025 | 303 | LCDFL(); |
dreamselec | 10:16ba52f8e025 | 304 | lcd->printf("Abort?"); |
dreamselec | 10:16ba52f8e025 | 305 | LCDSL(); |
dreamselec | 10:16ba52f8e025 | 306 | lcd->printf("1:YES, 2,3,4:NO"); |
dreamselec | 10:16ba52f8e025 | 307 | int reply = 0; |
dreamselec | 10:16ba52f8e025 | 308 | do { |
dreamselec | 10:16ba52f8e025 | 309 | reply = readSwitches(); |
dreamselec | 10:16ba52f8e025 | 310 | } while(reply == 0); |
dreamselec | 10:16ba52f8e025 | 311 | |
dreamselec | 10:16ba52f8e025 | 312 | D_LEDS_OFF(); |
dreamselec | 10:16ba52f8e025 | 313 | if (reply == 1) { |
dreamselec | 10:16ba52f8e025 | 314 | return true; |
dreamselec | 10:16ba52f8e025 | 315 | } else { |
dreamselec | 10:16ba52f8e025 | 316 | return false; |
dreamselec | 10:16ba52f8e025 | 317 | } |
dreamselec | 3:843b830ee8bd | 318 | } |
dreamselec | 3:843b830ee8bd | 319 | |
dreamselec | 10:16ba52f8e025 | 320 | void printServoInfoOnLCD(){ |
dreamselec | 10:16ba52f8e025 | 321 | lcd->cls(); |
dreamselec | 10:16ba52f8e025 | 322 | lcd->locate(0,0); |
dreamselec | 10:16ba52f8e025 | 323 | lcd->printf("1: Stop servo:%i", fpga->stoppingServoPosition); |
dreamselec | 10:16ba52f8e025 | 324 | lcd->locate(1,0); |
dreamselec | 10:16ba52f8e025 | 325 | lcd->printf("2: Sort servo:%i", fpga->sortingServoPosition); |
dreamselec | 10:16ba52f8e025 | 326 | } |
dreamselec | 10:16ba52f8e025 | 327 | |
dreamselec | 10:16ba52f8e025 | 328 | void runInServoTestMode(){ |
dreamselec | 10:16ba52f8e025 | 329 | pc.printf("Testing servos.\n Stopping servo:\n\tStop:%i, Go: %i\n Sorting servo:\n\tHaz:%i, NonHaz:%i", Stop, Go, Haz, NonHaz); |
dreamselec | 10:16ba52f8e025 | 330 | printServoInfoOnLCD(); |
dreamselec | 10:16ba52f8e025 | 331 | int finished = false; |
dreamselec | 9:dc8f155b71c8 | 332 | |
dreamselec | 10:16ba52f8e025 | 333 | i2cport->write_bit(1, 12); |
dreamselec | 10:16ba52f8e025 | 334 | i2cport->write_bit(1, 13); |
dreamselec | 10:16ba52f8e025 | 335 | i2cport->write_bit(1, 15); |
dreamselec | 10:16ba52f8e025 | 336 | int button = 0; |
dreamselec | 10:16ba52f8e025 | 337 | do { |
dreamselec | 10:16ba52f8e025 | 338 | button = readSwitches(); |
dreamselec | 10:16ba52f8e025 | 339 | if (button == 1){ |
dreamselec | 10:16ba52f8e025 | 340 | fpga->toggleStoppingServo(); |
dreamselec | 10:16ba52f8e025 | 341 | printServoInfoOnLCD(); |
dreamselec | 10:16ba52f8e025 | 342 | wait(0.5); |
dreamselec | 10:16ba52f8e025 | 343 | }else if (button == 2) { |
dreamselec | 10:16ba52f8e025 | 344 | fpga->toggleSortingServo(); |
dreamselec | 10:16ba52f8e025 | 345 | printServoInfoOnLCD(); |
dreamselec | 10:16ba52f8e025 | 346 | wait(0.5); |
dreamselec | 10:16ba52f8e025 | 347 | } |
dreamselec | 10:16ba52f8e025 | 348 | finished = button == 4; |
dreamselec | 10:16ba52f8e025 | 349 | button = 0; |
dreamselec | 10:16ba52f8e025 | 350 | } while (finished == false); |
dreamselec | 10:16ba52f8e025 | 351 | runServoTest = false; |
dreamselec | 10:16ba52f8e025 | 352 | D_LEDS_OFF(); |
dreamselec | 10:16ba52f8e025 | 353 | lcd->cls(); |
dreamselec | 10:16ba52f8e025 | 354 | lcd->locate(0,0); |
dreamselec | 10:16ba52f8e025 | 355 | lcd->printf("Done servo test"); |
dreamselec | 10:16ba52f8e025 | 356 | wait(0.5); |
dreamselec | 10:16ba52f8e025 | 357 | lcd->cls(); |
dreamselec | 10:16ba52f8e025 | 358 | return; |
dreamselec | 2:7a55cb10259f | 359 | } |