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@23:db91aaa43a9e, 2015-11-28 (annotated)
- Committer:
- dreamselec
- Date:
- Sat Nov 28 23:28:22 2015 +0000
- Revision:
- 23:db91aaa43a9e
- Parent:
- 22:993821a4c396
- Child:
- 24:02c61793f90b
Added break beam test mode, also values and status of tests are now synced with PC.
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 | 10:16ba52f8e025 | 27 | TCS3472_I2C rgbSensor(p28, p27); |
dreamselec | 2:7a55cb10259f | 28 | Serial pc(USBTX, USBRX); |
dreamselec |
8:e1da2ae62885 | 29 | uint8_t rxBuffer[kSmallBufferSize + 1]; |
dreamselec |
8:e1da2ae62885 | 30 | int rxIndex = 0; |
dreamselec | 21:60c4fe94d79c | 31 | float percentageError[3]; |
dreamselec | 21:60c4fe94d79c | 32 | float adjustedValues[3]; |
dreamselec | 2:7a55cb10259f | 33 | |
dreamselec |
6:98fe30430194 | 34 | Commander _commander = Commander(); |
dreamselec |
6:98fe30430194 | 35 | Commander *commander = &_commander; |
dreamselec |
6:98fe30430194 | 36 | FPGA _fpga = FPGA(); |
dreamselec | 9:dc8f155b71c8 | 37 | extern FPGA *fpga = &_fpga; |
dreamselec |
6:98fe30430194 | 38 | |
dreamselec | 20:4e0f0944f28f | 39 | Block defualtHazBlock = Block(); |
dreamselec |
6:98fe30430194 | 40 | extern Block _HazBlock; |
dreamselec |
6:98fe30430194 | 41 | Block *HazBlock = &_HazBlock; |
dreamselec |
6:98fe30430194 | 42 | |
dreamselec |
18:44a1c1a30166 | 43 | extern PCModes currentMode; |
dreamselec |
18:44a1c1a30166 | 44 | |
dreamselec |
6:98fe30430194 | 45 | void initInternal(); |
dreamselec | 7:b6e31bfdb2af | 46 | void initPort(int baudRate=kDefaultBaudRate); |
dreamselec |
6:98fe30430194 | 47 | void printPCDetectedText(); |
dreamselec |
6:98fe30430194 | 48 | void Rx_interrupt(); |
dreamselec |
18:44a1c1a30166 | 49 | bool checkColour(int colourValues[]); |
dreamselec | 10:16ba52f8e025 | 50 | void runInServoTestMode(); |
dreamselec | 15:777390eb5afd | 51 | void displayWaitingLine(); |
dreamselec | 15:777390eb5afd | 52 | void displayPCStatus(); |
dreamselec |
18:44a1c1a30166 | 53 | bool waitForBlock(); |
dreamselec |
18:44a1c1a30166 | 54 | void sortBlock(); |
dreamselec |
23:db91aaa43a9e | 55 | void runInBreakBeamTestMode(); |
dreamselec |
23:db91aaa43a9e | 56 | void turnOffTopLEDs(); |
dreamselec |
23:db91aaa43a9e | 57 | void turnOffBottomLEDs(); |
dreamselec |
6:98fe30430194 | 58 | |
dreamselec |
6:98fe30430194 | 59 | int main() |
dreamselec |
6:98fe30430194 | 60 | { |
dreamselec |
23:db91aaa43a9e | 61 | initInternal(); |
dreamselec |
23:db91aaa43a9e | 62 | initPort(); |
dreamselec |
23:db91aaa43a9e | 63 | srand((unsigned)time(NULL)); |
dreamselec |
23:db91aaa43a9e | 64 | U_LEDS_OFF(); |
dreamselec |
23:db91aaa43a9e | 65 | lcd->cls(); |
dreamselec | 15:777390eb5afd | 66 | |
dreamselec |
23:db91aaa43a9e | 67 | rgbSensor.enablePowerAndRGBC(); |
dreamselec |
23:db91aaa43a9e | 68 | rgbSensor.setIntegrationTime(3); |
dreamselec |
6:98fe30430194 | 69 | |
dreamselec |
23:db91aaa43a9e | 70 | // Create a serial intereput for RxIrq so when PC is connected it sends '$' to tell MBED it's there. |
dreamselec |
23:db91aaa43a9e | 71 | // https://developer.mbed.org/cookbook/Serial-Interrupts |
dreamselec |
23:db91aaa43a9e | 72 | pc.attach(&Rx_interrupt, Serial::RxIrq); |
dreamselec |
6:98fe30430194 | 73 | |
dreamselec |
23:db91aaa43a9e | 74 | for (;;) { |
dreamselec |
23:db91aaa43a9e | 75 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 76 | i2cport->write_bit(1, 12); |
dreamselec |
23:db91aaa43a9e | 77 | lcd->printf("1: Start sorting."); |
dreamselec |
23:db91aaa43a9e | 78 | LCDSL(); |
dreamselec |
23:db91aaa43a9e | 79 | i2cport->write_bit(1,13); |
dreamselec |
23:db91aaa43a9e | 80 | lcd->printf("2: Connect to PC"); |
dreamselec | 15:777390eb5afd | 81 | |
dreamselec |
23:db91aaa43a9e | 82 | fpga->moveStoppingServo(Stop); |
dreamselec |
23:db91aaa43a9e | 83 | fpga->moveSortingServo(NonHaz); |
dreamselec | 10:16ba52f8e025 | 84 | |
dreamselec |
23:db91aaa43a9e | 85 | int selection = 0; |
dreamselec |
23:db91aaa43a9e | 86 | do { |
dreamselec |
23:db91aaa43a9e | 87 | myLED4 = selection; |
dreamselec |
23:db91aaa43a9e | 88 | selection = readSwitches(); |
dreamselec |
23:db91aaa43a9e | 89 | } while (selection != 1 && selection != 2 && connectedToPC == false); |
dreamselec |
23:db91aaa43a9e | 90 | D_LEDS_OFF(); |
dreamselec |
23:db91aaa43a9e | 91 | if (selection == 1) { |
dreamselec |
23:db91aaa43a9e | 92 | // User selected op 1: Start sorting autonomously. |
dreamselec |
23:db91aaa43a9e | 93 | i2cport->write_bit(1, 12); |
dreamselec |
23:db91aaa43a9e | 94 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 95 | LCDFL(); |
dreamselec |
23:db91aaa43a9e | 96 | lcd->printf("Starting sorting"); |
dreamselec |
23:db91aaa43a9e | 97 | wait(0.5); |
dreamselec |
23:db91aaa43a9e | 98 | D_LEDS_OFF(); |
dreamselec | 19:61b21ac4896e | 99 | |
dreamselec |
23:db91aaa43a9e | 100 | for(;;) { |
dreamselec |
23:db91aaa43a9e | 101 | displayWaitingLine(); |
dreamselec |
23:db91aaa43a9e | 102 | lcd->printf("for block."); |
dreamselec | 10:16ba52f8e025 | 103 | |
dreamselec |
23:db91aaa43a9e | 104 | i2cport->write_bit(1, 15); |
dreamselec | 10:16ba52f8e025 | 105 | |
dreamselec |
23:db91aaa43a9e | 106 | // Break and return to main menu i.e. Start Op, or Connect to PC. |
dreamselec |
23:db91aaa43a9e | 107 | if (waitForBlock() == false) { |
dreamselec |
23:db91aaa43a9e | 108 | D_LEDS_OFF(); |
dreamselec |
23:db91aaa43a9e | 109 | break; |
dreamselec |
23:db91aaa43a9e | 110 | } else { |
dreamselec |
23:db91aaa43a9e | 111 | sortBlock(); |
dreamselec |
23:db91aaa43a9e | 112 | } |
dreamselec |
23:db91aaa43a9e | 113 | } |
dreamselec |
23:db91aaa43a9e | 114 | } |
dreamselec |
23:db91aaa43a9e | 115 | |
dreamselec |
23:db91aaa43a9e | 116 | if (selection == 2 || connectedToPC == true) { |
dreamselec |
23:db91aaa43a9e | 117 | for (;;) { |
dreamselec |
23:db91aaa43a9e | 118 | displayPCStatus(); |
dreamselec | 10:16ba52f8e025 | 119 | |
dreamselec |
23:db91aaa43a9e | 120 | i2cport->write_bit(1, 15); |
dreamselec |
23:db91aaa43a9e | 121 | int abortOperation = false; |
dreamselec |
23:db91aaa43a9e | 122 | if (connectedToPC == false) |
dreamselec |
23:db91aaa43a9e | 123 | pc.printf(":<pc>connect;"); |
dreamselec |
23:db91aaa43a9e | 124 | while (connectedToPC == false && abortOperation == false) { |
dreamselec |
23:db91aaa43a9e | 125 | abortOperation = readSwitches() == 4; |
dreamselec |
23:db91aaa43a9e | 126 | } |
dreamselec | 19:61b21ac4896e | 127 | |
dreamselec |
23:db91aaa43a9e | 128 | if (abortOperation == true) { |
dreamselec |
23:db91aaa43a9e | 129 | D_LEDS_OFF(); |
dreamselec |
23:db91aaa43a9e | 130 | break; |
dreamselec |
23:db91aaa43a9e | 131 | } |
dreamselec |
18:44a1c1a30166 | 132 | |
dreamselec |
23:db91aaa43a9e | 133 | displayPCStatus(); |
dreamselec | 15:777390eb5afd | 134 | |
dreamselec |
23:db91aaa43a9e | 135 | while (abortOperation == false && connectedToPC == true) { |
dreamselec |
23:db91aaa43a9e | 136 | if (currentMode == Maintanence) { |
dreamselec |
23:db91aaa43a9e | 137 | if (runServoTest == true) |
dreamselec |
23:db91aaa43a9e | 138 | runInServoTestMode(); |
dreamselec |
23:db91aaa43a9e | 139 | else if (runBreakBeamTest == true) |
dreamselec |
23:db91aaa43a9e | 140 | runInBreakBeamTestMode(); |
dreamselec |
23:db91aaa43a9e | 141 | } else if (currentMode == Normal) { |
dreamselec |
23:db91aaa43a9e | 142 | displayPCStatus(); |
dreamselec |
23:db91aaa43a9e | 143 | while (currentMode == Normal) { |
dreamselec |
23:db91aaa43a9e | 144 | if (currentState == Pause) { |
dreamselec |
23:db91aaa43a9e | 145 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 146 | lcd->locate(0,0); |
dreamselec |
23:db91aaa43a9e | 147 | lcd->printf("Sorting Paused."); |
dreamselec |
23:db91aaa43a9e | 148 | lcd->locate(1,0); |
dreamselec |
23:db91aaa43a9e | 149 | lcd->printf("1: Start"); |
dreamselec |
23:db91aaa43a9e | 150 | int button = 0; |
dreamselec |
23:db91aaa43a9e | 151 | i2cport->write_bit(1, 12); |
dreamselec |
23:db91aaa43a9e | 152 | i2cport->write_bit(1, 15); |
dreamselec |
23:db91aaa43a9e | 153 | while (currentState == Pause && currentMode == Normal) { |
dreamselec |
23:db91aaa43a9e | 154 | button = readSwitches(); |
dreamselec |
23:db91aaa43a9e | 155 | if (button == 1) { |
dreamselec |
23:db91aaa43a9e | 156 | pc.printf("state:start\n"); |
dreamselec |
23:db91aaa43a9e | 157 | currentState = Start; |
dreamselec |
23:db91aaa43a9e | 158 | } else if (button == 4) { |
dreamselec |
23:db91aaa43a9e | 159 | currentMode = None; |
dreamselec |
23:db91aaa43a9e | 160 | // goto setModeNone; |
dreamselec |
23:db91aaa43a9e | 161 | break; |
dreamselec |
23:db91aaa43a9e | 162 | } |
dreamselec |
23:db91aaa43a9e | 163 | } |
dreamselec |
23:db91aaa43a9e | 164 | } |
dreamselec |
23:db91aaa43a9e | 165 | if (currentState == Start) { |
dreamselec |
23:db91aaa43a9e | 166 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 167 | lcd->locate(0,0); |
dreamselec |
23:db91aaa43a9e | 168 | lcd->printf("Sorting mode..."); |
dreamselec |
23:db91aaa43a9e | 169 | while (currentState == Start && currentMode == Normal) { |
dreamselec |
23:db91aaa43a9e | 170 | if (waitForBlock() == false) { |
dreamselec |
23:db91aaa43a9e | 171 | if (connectedToPC == true) { |
dreamselec |
23:db91aaa43a9e | 172 | // TODO: Tell PC to update UI if aborted from MBED. |
dreamselec |
23:db91aaa43a9e | 173 | pc.printf("state:pause\n"); |
dreamselec |
23:db91aaa43a9e | 174 | currentState = Pause; |
dreamselec |
23:db91aaa43a9e | 175 | continue; |
dreamselec |
23:db91aaa43a9e | 176 | } else if (connectedToPC == false) { |
dreamselec |
23:db91aaa43a9e | 177 | currentMode = None; |
dreamselec |
23:db91aaa43a9e | 178 | abortOperation = true; |
dreamselec |
23:db91aaa43a9e | 179 | } |
dreamselec |
23:db91aaa43a9e | 180 | } else { |
dreamselec |
23:db91aaa43a9e | 181 | sortBlock(); |
dreamselec |
23:db91aaa43a9e | 182 | } |
dreamselec |
23:db91aaa43a9e | 183 | } |
dreamselec |
23:db91aaa43a9e | 184 | } |
dreamselec |
23:db91aaa43a9e | 185 | } |
dreamselec |
23:db91aaa43a9e | 186 | } else if (currentMode == None) { |
dreamselec |
23:db91aaa43a9e | 187 | setModeNone: |
dreamselec |
23:db91aaa43a9e | 188 | D_LEDS_OFF(); |
dreamselec |
23:db91aaa43a9e | 189 | i2cport->write_bit(1,15); |
dreamselec |
23:db91aaa43a9e | 190 | displayPCStatus(); |
dreamselec |
23:db91aaa43a9e | 191 | while (currentMode == None && abortOperation == false && connectedToPC == true) { |
dreamselec |
23:db91aaa43a9e | 192 | if (i2cport->read_bit(11)) { |
dreamselec |
23:db91aaa43a9e | 193 | abortOperation = displayAbortDialog(); |
dreamselec |
23:db91aaa43a9e | 194 | // Cancel the Abort |
dreamselec |
23:db91aaa43a9e | 195 | if (abortOperation == false) { |
dreamselec |
23:db91aaa43a9e | 196 | displayPCStatus(); |
dreamselec |
23:db91aaa43a9e | 197 | i2cport->write_bit(1, 15); |
dreamselec |
23:db91aaa43a9e | 198 | } |
dreamselec |
23:db91aaa43a9e | 199 | } |
dreamselec |
23:db91aaa43a9e | 200 | } |
dreamselec |
23:db91aaa43a9e | 201 | } |
dreamselec |
23:db91aaa43a9e | 202 | } |
dreamselec | 15:777390eb5afd | 203 | |
dreamselec |
23:db91aaa43a9e | 204 | if (abortOperation == true ) { |
dreamselec |
23:db91aaa43a9e | 205 | connectedToPC = false; |
dreamselec |
23:db91aaa43a9e | 206 | D_LEDS_OFF(); |
dreamselec |
23:db91aaa43a9e | 207 | break; |
dreamselec |
23:db91aaa43a9e | 208 | } |
dreamselec |
23:db91aaa43a9e | 209 | } |
dreamselec |
23:db91aaa43a9e | 210 | } |
dreamselec | 19:61b21ac4896e | 211 | |
dreamselec |
23:db91aaa43a9e | 212 | } |
dreamselec |
18:44a1c1a30166 | 213 | } |
dreamselec |
8:e1da2ae62885 | 214 | |
dreamselec |
18:44a1c1a30166 | 215 | // Waits until detects block. |
dreamselec |
18:44a1c1a30166 | 216 | // true if block detected, false if cancelled/connected to PC. |
dreamselec | 19:61b21ac4896e | 217 | bool waitForBlock() |
dreamselec | 19:61b21ac4896e | 218 | { |
dreamselec |
23:db91aaa43a9e | 219 | myLED4 = 0; |
dreamselec |
23:db91aaa43a9e | 220 | myLED1 = 1; |
dreamselec |
23:db91aaa43a9e | 221 | if (connectedToPC == false) { |
dreamselec |
23:db91aaa43a9e | 222 | bool abortOperation = false; |
dreamselec |
23:db91aaa43a9e | 223 | int blockInserted = 0; |
dreamselec |
23:db91aaa43a9e | 224 | // Wait until a block is breaking the beam, or button 4 is pressed to abort. |
dreamselec |
23:db91aaa43a9e | 225 | do { |
dreamselec |
23:db91aaa43a9e | 226 | blockInserted = fpga->getBeamValue(Top); |
dreamselec |
23:db91aaa43a9e | 227 | myLED4 = blockInserted; |
dreamselec |
23:db91aaa43a9e | 228 | if (i2cport->read_bit(11)) { |
dreamselec |
23:db91aaa43a9e | 229 | abortOperation = displayAbortDialog(); |
dreamselec |
23:db91aaa43a9e | 230 | // Cancel the Abort |
dreamselec |
23:db91aaa43a9e | 231 | if (abortOperation == false) { |
dreamselec |
23:db91aaa43a9e | 232 | displayWaitingLine(); |
dreamselec |
23:db91aaa43a9e | 233 | lcd->printf("for block"); |
dreamselec |
23:db91aaa43a9e | 234 | i2cport->write_bit(1, 15); |
dreamselec |
23:db91aaa43a9e | 235 | } |
dreamselec |
23:db91aaa43a9e | 236 | } |
dreamselec |
23:db91aaa43a9e | 237 | } while (abortOperation == false && blockInserted != 1 && connectedToPC == false); |
dreamselec |
18:44a1c1a30166 | 238 | |
dreamselec |
23:db91aaa43a9e | 239 | if (abortOperation == true || connectedToPC == true) |
dreamselec |
23:db91aaa43a9e | 240 | return false; |
dreamselec |
23:db91aaa43a9e | 241 | else |
dreamselec |
23:db91aaa43a9e | 242 | return true; |
dreamselec |
23:db91aaa43a9e | 243 | } else if (connectedToPC == true) { |
dreamselec |
23:db91aaa43a9e | 244 | bool abortOperation = false; |
dreamselec |
23:db91aaa43a9e | 245 | int blockInserted = 0; |
dreamselec |
23:db91aaa43a9e | 246 | // Wait until a block is breaking the beam, or button 4 is pressed to abort. |
dreamselec |
23:db91aaa43a9e | 247 | do { |
dreamselec |
23:db91aaa43a9e | 248 | blockInserted = fpga->getBeamValue(Top); |
dreamselec |
23:db91aaa43a9e | 249 | myLED4 = blockInserted; |
dreamselec |
23:db91aaa43a9e | 250 | if (i2cport->read_bit(11)) { |
dreamselec |
23:db91aaa43a9e | 251 | abortOperation = displayAbortDialog(); |
dreamselec |
23:db91aaa43a9e | 252 | // Cancel the Abort |
dreamselec |
23:db91aaa43a9e | 253 | if (abortOperation == false) { |
dreamselec |
23:db91aaa43a9e | 254 | displayWaitingLine(); |
dreamselec |
23:db91aaa43a9e | 255 | lcd->printf("for block"); |
dreamselec |
23:db91aaa43a9e | 256 | i2cport->write_bit(1, 15); |
dreamselec |
23:db91aaa43a9e | 257 | } |
dreamselec |
23:db91aaa43a9e | 258 | } |
dreamselec |
23:db91aaa43a9e | 259 | } while (abortOperation == false && blockInserted != 1 && connectedToPC == true && currentState == Start && currentMode == Normal); |
dreamselec | 19:61b21ac4896e | 260 | |
dreamselec |
23:db91aaa43a9e | 261 | if (abortOperation == true || connectedToPC == false || currentState == Pause || currentMode == Maintanence) |
dreamselec |
23:db91aaa43a9e | 262 | return false; |
dreamselec |
23:db91aaa43a9e | 263 | else |
dreamselec |
23:db91aaa43a9e | 264 | return true; |
dreamselec |
23:db91aaa43a9e | 265 | } |
dreamselec |
18:44a1c1a30166 | 266 | } |
dreamselec |
14:cf2f255b5560 | 267 | |
dreamselec | 19:61b21ac4896e | 268 | void sortBlock() |
dreamselec | 19:61b21ac4896e | 269 | { |
dreamselec |
23:db91aaa43a9e | 270 | myLED1 = 0; |
dreamselec |
23:db91aaa43a9e | 271 | myLED2 = 1; |
dreamselec |
23:db91aaa43a9e | 272 | // Cannot Abort any longer. Block is inserted. |
dreamselec |
23:db91aaa43a9e | 273 | // Detach rx interrupt until block processed. |
dreamselec |
23:db91aaa43a9e | 274 | NVIC_DisableIRQ(UART1_IRQn); |
dreamselec |
23:db91aaa43a9e | 275 | fpga->moveSortingServo(Haz); |
dreamselec |
23:db91aaa43a9e | 276 | fpga->moveStoppingServo(Go); |
dreamselec | 21:60c4fe94d79c | 277 | |
dreamselec |
23:db91aaa43a9e | 278 | int colourValues[4]; |
dreamselec |
23:db91aaa43a9e | 279 | int averageColourValues[4] = {0, 0, 0, 0}; |
dreamselec |
23:db91aaa43a9e | 280 | for (int i = 0; i < 3; i++){ |
dreamselec |
23:db91aaa43a9e | 281 | rgbSensor.getAllColors(colourValues); |
dreamselec |
23:db91aaa43a9e | 282 | for (int j = 0; j < 4; j++){ |
dreamselec |
23:db91aaa43a9e | 283 | averageColourValues[j] += colourValues[j]; |
dreamselec |
23:db91aaa43a9e | 284 | } |
dreamselec |
23:db91aaa43a9e | 285 | } |
dreamselec |
23:db91aaa43a9e | 286 | for (int i = 0; i < 4; i++){ |
dreamselec |
23:db91aaa43a9e | 287 | averageColourValues[i] = averageColourValues[i] / 3; |
dreamselec |
23:db91aaa43a9e | 288 | } |
dreamselec |
18:44a1c1a30166 | 289 | |
dreamselec |
23:db91aaa43a9e | 290 | bool haz = false; |
dreamselec |
23:db91aaa43a9e | 291 | haz = checkColour(colourValues); |
dreamselec |
23:db91aaa43a9e | 292 | |
dreamselec |
23:db91aaa43a9e | 293 | if (!haz) { |
dreamselec |
23:db91aaa43a9e | 294 | fpga->moveSortingServo(NonHaz); |
dreamselec |
23:db91aaa43a9e | 295 | } |
dreamselec | 22:993821a4c396 | 296 | int blockSize; |
dreamselec |
23:db91aaa43a9e | 297 | while (fpga->checkForBlock() == 0) { } |
dreamselec |
23:db91aaa43a9e | 298 | blockSize = fpga->checkForSize(); |
dreamselec |
23:db91aaa43a9e | 299 | if (blockSize == HazBlock->size && haz) { |
dreamselec |
23:db91aaa43a9e | 300 | // fpga->moveSortingServo(Haz); |
dreamselec |
23:db91aaa43a9e | 301 | // fpga->moveStoppingServo(Go); |
dreamselec |
23:db91aaa43a9e | 302 | // blockSize = HazBlock->size; |
dreamselec |
23:db91aaa43a9e | 303 | while(fpga->getBeamValue(Bottom) == 1) {} |
dreamselec |
23:db91aaa43a9e | 304 | wait(kServoWait); |
dreamselec |
23:db91aaa43a9e | 305 | fpga->moveStoppingServo(Stop); |
dreamselec |
23:db91aaa43a9e | 306 | } else { |
dreamselec |
23:db91aaa43a9e | 307 | haz = false; |
dreamselec |
23:db91aaa43a9e | 308 | } |
dreamselec |
23:db91aaa43a9e | 309 | fpga->moveSortingServo(NonHaz); |
dreamselec |
23:db91aaa43a9e | 310 | while(fpga->checkForSize()) {} |
dreamselec | 20:4e0f0944f28f | 311 | |
dreamselec |
23:db91aaa43a9e | 312 | if (connectedToPC) { |
dreamselec |
23:db91aaa43a9e | 313 | for (int i = 0; i < 3; i++) { |
dreamselec |
23:db91aaa43a9e | 314 | pc.printf("DEBUG:Percentage Error: %.5f.\n", percentageError[i]); |
dreamselec |
23:db91aaa43a9e | 315 | if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[i] * 2) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[i] * 2)) |
dreamselec |
23:db91aaa43a9e | 316 | pc.printf("DEBUG:%i.\n", i); |
dreamselec |
23:db91aaa43a9e | 317 | } |
dreamselec |
23:db91aaa43a9e | 318 | pc.printf("BLOCK:Size:%i,Red:%.3f,Green:%.3f,Blue:%.3f,Haz:%i, Offsetred:%.3f, Offsetgreen:%.3f, Offsetblue:%.3f;", blockSize, adjustedValues[0], adjustedValues[1], adjustedValues[2], haz, percentageError[0], percentageError[1], percentageError[2]); |
dreamselec |
23:db91aaa43a9e | 319 | // pc.printf("VALUE:Size:%i,Red:%i,Green:%i,Blue:%i,Clear:%i\n:VALUE", blockSize, colourValues[0], colourValues[1], colourValues[2], colourValues[3], haz); |
dreamselec |
23:db91aaa43a9e | 320 | } |
dreamselec |
18:44a1c1a30166 | 321 | |
dreamselec |
23:db91aaa43a9e | 322 | // Re-Attach rx interrupt |
dreamselec |
23:db91aaa43a9e | 323 | NVIC_EnableIRQ(UART1_IRQn); |
dreamselec |
23:db91aaa43a9e | 324 | myLED3 = 0; |
dreamselec |
23:db91aaa43a9e | 325 | myLED4 = 1; |
dreamselec |
23:db91aaa43a9e | 326 | return; |
dreamselec |
6:98fe30430194 | 327 | } |
dreamselec |
6:98fe30430194 | 328 | |
dreamselec |
6:98fe30430194 | 329 | /// Called every-time it receives an char from PC. |
dreamselec | 10:16ba52f8e025 | 330 | void Rx_interrupt() |
dreamselec | 10:16ba52f8e025 | 331 | { |
dreamselec |
23:db91aaa43a9e | 332 | char interruptChar = pc.getc(); |
dreamselec |
23:db91aaa43a9e | 333 | // Uncomment to Echo to USB serial to watch data flow |
dreamselec |
23:db91aaa43a9e | 334 | // pc.putc(interruptChar); |
dreamselec |
6:98fe30430194 | 335 | |
dreamselec |
23:db91aaa43a9e | 336 | NVIC_DisableIRQ(UART1_IRQn); |
dreamselec |
8:e1da2ae62885 | 337 | |
dreamselec |
23:db91aaa43a9e | 338 | if (interruptChar == CommandTypeValue[Query]) { |
dreamselec |
23:db91aaa43a9e | 339 | commander->decodeCommand(Query); |
dreamselec |
23:db91aaa43a9e | 340 | } else if (interruptChar == CommandTypeValue[Set]) { |
dreamselec |
23:db91aaa43a9e | 341 | commander->decodeCommand(Set); |
dreamselec |
23:db91aaa43a9e | 342 | } else if (interruptChar== CommandTypeValue[Reply]) { |
dreamselec |
23:db91aaa43a9e | 343 | commander->decodeCommand(Reply); |
dreamselec |
23:db91aaa43a9e | 344 | } |
dreamselec |
8:e1da2ae62885 | 345 | |
dreamselec |
23:db91aaa43a9e | 346 | NVIC_EnableIRQ(UART1_IRQn); |
dreamselec |
6:98fe30430194 | 347 | } |
dreamselec | 3:843b830ee8bd | 348 | |
dreamselec | 4:4eebb4de22a7 | 349 | void initInternal() |
dreamselec | 4:4eebb4de22a7 | 350 | { |
dreamselec |
23:db91aaa43a9e | 351 | myLED1 = 1; |
dreamselec |
23:db91aaa43a9e | 352 | i2cport = new MCP23017(p9, p10, 0x40); |
dreamselec |
23:db91aaa43a9e | 353 | lcd = new WattBob_TextLCD(i2cport); |
dreamselec |
23:db91aaa43a9e | 354 | BACKLIGHT_ON(i2cport); |
dreamselec |
23:db91aaa43a9e | 355 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 356 | lcd->locate(0,0); |
dreamselec |
23:db91aaa43a9e | 357 | lcd->printf("Initilizing..."); |
dreamselec |
23:db91aaa43a9e | 358 | DefaultHazBlock(); |
dreamselec |
23:db91aaa43a9e | 359 | myLED2 = 1; |
dreamselec |
23:db91aaa43a9e | 360 | return; |
dreamselec | 3:843b830ee8bd | 361 | } |
dreamselec | 3:843b830ee8bd | 362 | |
dreamselec | 7:b6e31bfdb2af | 363 | void initPort(int baudRate) |
dreamselec | 4:4eebb4de22a7 | 364 | { |
dreamselec |
23:db91aaa43a9e | 365 | myLED3 = 1; |
dreamselec |
23:db91aaa43a9e | 366 | pc.baud(baudRate); |
dreamselec |
23:db91aaa43a9e | 367 | pc.format(8, SerialBase::None, gStopBits); |
dreamselec |
23:db91aaa43a9e | 368 | myLED4 = 1; |
dreamselec |
23:db91aaa43a9e | 369 | wait (0.1); |
dreamselec |
23:db91aaa43a9e | 370 | pc.printf(":<pc>connect;"); |
dreamselec |
23:db91aaa43a9e | 371 | return; |
dreamselec | 3:843b830ee8bd | 372 | } |
dreamselec | 3:843b830ee8bd | 373 | |
dreamselec |
18:44a1c1a30166 | 374 | bool checkColour(int colourValues[]) |
dreamselec | 15:777390eb5afd | 375 | { |
dreamselec |
23:db91aaa43a9e | 376 | myLED2 = 0; |
dreamselec |
23:db91aaa43a9e | 377 | myLED3 = 1; |
dreamselec |
23:db91aaa43a9e | 378 | bool isHazColour[3] = {false, false, false }; |
dreamselec |
23:db91aaa43a9e | 379 | memset(adjustedValues, 0, sizeof(adjustedValues)); |
dreamselec |
23:db91aaa43a9e | 380 | memset(percentageError, 0, sizeof(percentageError)); |
dreamselec | 15:777390eb5afd | 381 | |
dreamselec |
23:db91aaa43a9e | 382 | for (int i = 0; i < 3; i++) { |
dreamselec |
23:db91aaa43a9e | 383 | adjustedValues[i] = (float)colourValues[i]/(float)colourValues[3]; |
dreamselec |
23:db91aaa43a9e | 384 | percentageError[i] = (adjustedValues[i] - kAverageRedBlock[i]) / kAverageRedBlock[i]; |
dreamselec | 20:4e0f0944f28f | 385 | |
dreamselec |
23:db91aaa43a9e | 386 | if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[i] * 2) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[i] * 2)) { |
dreamselec |
23:db91aaa43a9e | 387 | isHazColour[i] = true; |
dreamselec |
23:db91aaa43a9e | 388 | } |
dreamselec |
23:db91aaa43a9e | 389 | } |
dreamselec | 15:777390eb5afd | 390 | |
dreamselec |
23:db91aaa43a9e | 391 | // for (int i = 0; i < 3; i++) { |
dreamselec |
23:db91aaa43a9e | 392 | // if (colourValues[i] < HazBlock->maxColour.components[i] && colourValues[i] > HazBlock->minColour.components[i]) { |
dreamselec |
23:db91aaa43a9e | 393 | // isHazColour[i] = true; |
dreamselec |
23:db91aaa43a9e | 394 | // } |
dreamselec |
23:db91aaa43a9e | 395 | // } |
dreamselec | 15:777390eb5afd | 396 | |
dreamselec |
23:db91aaa43a9e | 397 | bool isHazBlock = false; |
dreamselec | 15:777390eb5afd | 398 | |
dreamselec |
23:db91aaa43a9e | 399 | if (isHazColour[0] && isHazColour[1] && isHazColour[2]) { |
dreamselec |
23:db91aaa43a9e | 400 | isHazBlock = true; |
dreamselec |
23:db91aaa43a9e | 401 | } else { |
dreamselec |
23:db91aaa43a9e | 402 | isHazBlock = false; |
dreamselec |
23:db91aaa43a9e | 403 | } |
dreamselec |
23:db91aaa43a9e | 404 | |
dreamselec |
23:db91aaa43a9e | 405 | return isHazBlock; |
dreamselec | 3:843b830ee8bd | 406 | } |
dreamselec | 3:843b830ee8bd | 407 | |
dreamselec |
6:98fe30430194 | 408 | void printPCDetectedText() |
dreamselec | 4:4eebb4de22a7 | 409 | { |
dreamselec |
23:db91aaa43a9e | 410 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 411 | LCDFL(); |
dreamselec |
23:db91aaa43a9e | 412 | lcd->printf("Detected PC."); |
dreamselec |
23:db91aaa43a9e | 413 | LCDSL(); |
dreamselec |
23:db91aaa43a9e | 414 | lcd->printf("Connecting"); |
dreamselec |
23:db91aaa43a9e | 415 | initPort(); |
dreamselec | 10:16ba52f8e025 | 416 | } |
dreamselec | 10:16ba52f8e025 | 417 | |
dreamselec | 10:16ba52f8e025 | 418 | bool displayAbortDialog() |
dreamselec | 10:16ba52f8e025 | 419 | { |
dreamselec |
23:db91aaa43a9e | 420 | while (i2cport->read_bit(11) == 1) {} |
dreamselec |
23:db91aaa43a9e | 421 | i2cport->write_bit(1, 12); |
dreamselec | 10:16ba52f8e025 | 422 | |
dreamselec |
23:db91aaa43a9e | 423 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 424 | LCDFL(); |
dreamselec |
23:db91aaa43a9e | 425 | lcd->printf("Abort?"); |
dreamselec |
23:db91aaa43a9e | 426 | LCDSL(); |
dreamselec |
23:db91aaa43a9e | 427 | lcd->printf("1:Yes, 2,3,4:No"); |
dreamselec |
23:db91aaa43a9e | 428 | int reply = 0; |
dreamselec |
23:db91aaa43a9e | 429 | do { |
dreamselec |
23:db91aaa43a9e | 430 | reply = readSwitches(); |
dreamselec |
23:db91aaa43a9e | 431 | } while(reply == 0); |
dreamselec | 10:16ba52f8e025 | 432 | |
dreamselec |
23:db91aaa43a9e | 433 | D_LEDS_OFF(); |
dreamselec |
23:db91aaa43a9e | 434 | if (reply == 1) { |
dreamselec |
23:db91aaa43a9e | 435 | // while (i2cport->read_bit(8)) { } |
dreamselec |
23:db91aaa43a9e | 436 | return true; |
dreamselec |
23:db91aaa43a9e | 437 | } else { |
dreamselec |
23:db91aaa43a9e | 438 | // while (i2cport->read_bit(9) || i2cport->read_bit(10) || i2cport->read_bit(11)) { } |
dreamselec |
23:db91aaa43a9e | 439 | return false; |
dreamselec |
23:db91aaa43a9e | 440 | } |
dreamselec | 3:843b830ee8bd | 441 | } |
dreamselec | 3:843b830ee8bd | 442 | |
dreamselec | 15:777390eb5afd | 443 | void printServoInfoOnLCD() |
dreamselec | 15:777390eb5afd | 444 | { |
dreamselec |
23:db91aaa43a9e | 445 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 446 | lcd->locate(0,0); |
dreamselec |
23:db91aaa43a9e | 447 | if (fpga->stoppingServoPosition == Stop) |
dreamselec |
23:db91aaa43a9e | 448 | lcd->printf("1: Stopping servo: Stop"); |
dreamselec |
23:db91aaa43a9e | 449 | else if (fpga->stoppingServoPosition == Go) |
dreamselec |
23:db91aaa43a9e | 450 | lcd->printf("1: Stopping servo: Go"); |
dreamselec |
23:db91aaa43a9e | 451 | |
dreamselec |
23:db91aaa43a9e | 452 | lcd->locate(1,0); |
dreamselec |
23:db91aaa43a9e | 453 | if (fpga->sortingServoPosition == NonHaz) |
dreamselec |
23:db91aaa43a9e | 454 | lcd->printf("2: Sorting servo: NonHaz"); |
dreamselec |
23:db91aaa43a9e | 455 | else if (fpga->sortingServoPosition == Haz) |
dreamselec |
23:db91aaa43a9e | 456 | lcd->printf("2: Sorting serov: Haz"); |
dreamselec |
23:db91aaa43a9e | 457 | } |
dreamselec |
23:db91aaa43a9e | 458 | |
dreamselec |
23:db91aaa43a9e | 459 | void printServoInfoOnPC() { |
dreamselec |
23:db91aaa43a9e | 460 | if (fpga->stoppingServoPosition == Stop) |
dreamselec |
23:db91aaa43a9e | 461 | pc.printf(":<servos>1=Stop;"); |
dreamselec |
23:db91aaa43a9e | 462 | else if (fpga->stoppingServoPosition == Go) |
dreamselec |
23:db91aaa43a9e | 463 | pc.printf(":<servos>1=Go;"); |
dreamselec |
23:db91aaa43a9e | 464 | |
dreamselec |
23:db91aaa43a9e | 465 | if (fpga->sortingServoPosition == NonHaz) |
dreamselec |
23:db91aaa43a9e | 466 | pc.printf(":<servos>2=NonHaz;"); |
dreamselec |
23:db91aaa43a9e | 467 | else if (fpga->sortingServoPosition == Haz) |
dreamselec |
23:db91aaa43a9e | 468 | pc.printf(":<servos>2=Haz;"); |
dreamselec | 10:16ba52f8e025 | 469 | } |
dreamselec | 10:16ba52f8e025 | 470 | |
dreamselec | 15:777390eb5afd | 471 | void runInServoTestMode() |
dreamselec | 15:777390eb5afd | 472 | { |
dreamselec |
23:db91aaa43a9e | 473 | pc.printf("VALUES:Testing servos.\n Stopping servo:\n\tStop:%i, Go: %i\n Sorting servo:\n\tHaz:%i, NonHaz:%i\n:VALUES", Stop, Go, Haz, NonHaz); |
dreamselec |
23:db91aaa43a9e | 474 | printServoInfoOnPC(); |
dreamselec |
23:db91aaa43a9e | 475 | printServoInfoOnLCD(); |
dreamselec |
23:db91aaa43a9e | 476 | |
dreamselec |
23:db91aaa43a9e | 477 | i2cport->write_bit(1, 12); |
dreamselec |
23:db91aaa43a9e | 478 | i2cport->write_bit(1, 13); |
dreamselec |
23:db91aaa43a9e | 479 | i2cport->write_bit(1, 15); |
dreamselec |
23:db91aaa43a9e | 480 | int button = 0; |
dreamselec |
23:db91aaa43a9e | 481 | bool finished = false; |
dreamselec |
23:db91aaa43a9e | 482 | do { |
dreamselec |
23:db91aaa43a9e | 483 | button = readSwitches(); |
dreamselec |
23:db91aaa43a9e | 484 | if (button == 1) { |
dreamselec |
23:db91aaa43a9e | 485 | fpga->toggleStoppingServo(); |
dreamselec |
23:db91aaa43a9e | 486 | printServoInfoOnLCD(); |
dreamselec |
23:db91aaa43a9e | 487 | printServoInfoOnPC(); |
dreamselec |
23:db91aaa43a9e | 488 | wait(kServoWait); |
dreamselec |
23:db91aaa43a9e | 489 | } else if (button == 2) { |
dreamselec |
23:db91aaa43a9e | 490 | fpga->toggleSortingServo(); |
dreamselec |
23:db91aaa43a9e | 491 | printServoInfoOnLCD(); |
dreamselec |
23:db91aaa43a9e | 492 | printServoInfoOnPC(); |
dreamselec |
23:db91aaa43a9e | 493 | wait(kServoWait); |
dreamselec |
23:db91aaa43a9e | 494 | } |
dreamselec |
23:db91aaa43a9e | 495 | finished = button == 4; |
dreamselec |
23:db91aaa43a9e | 496 | button = 0; |
dreamselec |
23:db91aaa43a9e | 497 | } while (finished == false && runServoTest == true); |
dreamselec |
23:db91aaa43a9e | 498 | |
dreamselec |
23:db91aaa43a9e | 499 | D_LEDS_OFF(); |
dreamselec |
23:db91aaa43a9e | 500 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 501 | lcd->locate(0,0); |
dreamselec |
23:db91aaa43a9e | 502 | lcd->printf("Done servo test"); |
dreamselec |
23:db91aaa43a9e | 503 | if (runServoTest == true){ |
dreamselec |
23:db91aaa43a9e | 504 | pc.printf(":<servos>test=pause;"); |
dreamselec |
23:db91aaa43a9e | 505 | runServoTest = false; |
dreamselec |
23:db91aaa43a9e | 506 | } |
dreamselec |
23:db91aaa43a9e | 507 | wait(0.5); |
dreamselec |
23:db91aaa43a9e | 508 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 509 | return; |
dreamselec |
23:db91aaa43a9e | 510 | } |
dreamselec | 15:777390eb5afd | 511 | |
dreamselec |
23:db91aaa43a9e | 512 | void printBeamInfoOnLCD(){ |
dreamselec |
23:db91aaa43a9e | 513 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 514 | lcd->locate(0,0); |
dreamselec |
23:db91aaa43a9e | 515 | lcd->printf("Top:L1 Btm: L2"); |
dreamselec |
23:db91aaa43a9e | 516 | lcd->locate(1,0); |
dreamselec |
23:db91aaa43a9e | 517 | lcd->printf("On:High, Off:Low"); |
dreamselec |
23:db91aaa43a9e | 518 | } |
dreamselec |
23:db91aaa43a9e | 519 | |
dreamselec |
23:db91aaa43a9e | 520 | void printBeamInfoOnPC(int topBeam, int bottomBeam){ |
dreamselec |
23:db91aaa43a9e | 521 | pc.printf(":<break_beam>1=%i,2=%i;", topBeam, bottomBeam); |
dreamselec |
23:db91aaa43a9e | 522 | } |
dreamselec |
23:db91aaa43a9e | 523 | |
dreamselec |
23:db91aaa43a9e | 524 | void runInBreakBeamTestMode(){ |
dreamselec |
23:db91aaa43a9e | 525 | turnOffTopLEDs(); |
dreamselec |
23:db91aaa43a9e | 526 | i2cport->write_bit(1, 15); |
dreamselec |
23:db91aaa43a9e | 527 | |
dreamselec |
23:db91aaa43a9e | 528 | int topBeamValue = fpga->getBeamValue(1); |
dreamselec |
23:db91aaa43a9e | 529 | int bottomBeamValue = fpga->getBeamValue(2); |
dreamselec |
23:db91aaa43a9e | 530 | printBeamInfoOnPC(topBeamValue, bottomBeamValue); |
dreamselec |
23:db91aaa43a9e | 531 | printBeamInfoOnLCD(); |
dreamselec |
18:44a1c1a30166 | 532 | |
dreamselec |
23:db91aaa43a9e | 533 | int button = 0; |
dreamselec |
23:db91aaa43a9e | 534 | bool finished = false; |
dreamselec |
23:db91aaa43a9e | 535 | do{ |
dreamselec |
23:db91aaa43a9e | 536 | button = readSwitches(); |
dreamselec |
23:db91aaa43a9e | 537 | int currentTopBeamValue = fpga->getBeamValue(1); |
dreamselec |
23:db91aaa43a9e | 538 | int currentBottomBeamValue = fpga->getBeamValue(2); |
dreamselec |
23:db91aaa43a9e | 539 | myLED1 = currentTopBeamValue; |
dreamselec |
23:db91aaa43a9e | 540 | myLED2 = currentBottomBeamValue; |
dreamselec |
23:db91aaa43a9e | 541 | |
dreamselec |
23:db91aaa43a9e | 542 | if (currentTopBeamValue != topBeamValue || currentBottomBeamValue != bottomBeamValue ){ |
dreamselec |
23:db91aaa43a9e | 543 | topBeamValue = currentTopBeamValue; |
dreamselec |
23:db91aaa43a9e | 544 | bottomBeamValue = currentBottomBeamValue; |
dreamselec |
23:db91aaa43a9e | 545 | printBeamInfoOnPC(topBeamValue, bottomBeamValue); |
dreamselec |
23:db91aaa43a9e | 546 | } |
dreamselec |
23:db91aaa43a9e | 547 | finished = button == 4; |
dreamselec |
23:db91aaa43a9e | 548 | }while (runBreakBeamTest == true && finished == false); |
dreamselec |
23:db91aaa43a9e | 549 | |
dreamselec |
23:db91aaa43a9e | 550 | turnOffBottomLEDs(); |
dreamselec |
23:db91aaa43a9e | 551 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 552 | lcd->locate(0,0); |
dreamselec |
23:db91aaa43a9e | 553 | lcd->printf("Finished test"); |
dreamselec |
23:db91aaa43a9e | 554 | if (runBreakBeamTest == true){ |
dreamselec |
23:db91aaa43a9e | 555 | pc.printf(":<break_beam>test=pause;"); |
dreamselec |
23:db91aaa43a9e | 556 | runBreakBeamTest = false; |
dreamselec |
23:db91aaa43a9e | 557 | } |
dreamselec |
23:db91aaa43a9e | 558 | wait(0.5); |
dreamselec |
23:db91aaa43a9e | 559 | return; |
dreamselec | 2:7a55cb10259f | 560 | } |
dreamselec | 15:777390eb5afd | 561 | |
dreamselec | 15:777390eb5afd | 562 | void displayWaitingLine() |
dreamselec | 15:777390eb5afd | 563 | { |
dreamselec |
23:db91aaa43a9e | 564 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 565 | lcd->locate(0,0); |
dreamselec |
23:db91aaa43a9e | 566 | lcd->printf("Waiting..."); |
dreamselec |
23:db91aaa43a9e | 567 | lcd->locate(1,0); |
dreamselec | 15:777390eb5afd | 568 | } |
dreamselec | 15:777390eb5afd | 569 | |
dreamselec | 15:777390eb5afd | 570 | void displayPCStatus() |
dreamselec | 15:777390eb5afd | 571 | { |
dreamselec |
23:db91aaa43a9e | 572 | lcd->cls(); |
dreamselec |
23:db91aaa43a9e | 573 | lcd->locate(0,0); |
dreamselec |
23:db91aaa43a9e | 574 | if (connectedToPC) { |
dreamselec |
23:db91aaa43a9e | 575 | if (currentMode == Normal) |
dreamselec |
23:db91aaa43a9e | 576 | lcd->printf("Normal mode."); |
dreamselec |
23:db91aaa43a9e | 577 | else if (currentMode == Maintanence) |
dreamselec |
23:db91aaa43a9e | 578 | lcd->printf("Maintanence."); |
dreamselec |
23:db91aaa43a9e | 579 | else if (currentMode == None) |
dreamselec |
23:db91aaa43a9e | 580 | lcd->printf("Connected to PC"); |
dreamselec |
23:db91aaa43a9e | 581 | } else |
dreamselec |
23:db91aaa43a9e | 582 | lcd->printf("Waiting for PC.."); |
dreamselec | 15:777390eb5afd | 583 | |
dreamselec |
23:db91aaa43a9e | 584 | lcd->locate(1,0); |
dreamselec |
23:db91aaa43a9e | 585 | lcd->printf("4:Disconnect"); |
dreamselec |
23:db91aaa43a9e | 586 | D_LEDS_OFF(); |
dreamselec |
23:db91aaa43a9e | 587 | i2cport->write_bit(1,15); |
dreamselec |
18:44a1c1a30166 | 588 | } |
dreamselec |
23:db91aaa43a9e | 589 | |
dreamselec |
23:db91aaa43a9e | 590 | void turnOffTopLEDs(){ |
dreamselec |
23:db91aaa43a9e | 591 | myLED1 = 0; |
dreamselec |
23:db91aaa43a9e | 592 | myLED2 = 0; |
dreamselec |
23:db91aaa43a9e | 593 | myLED3 = 0; |
dreamselec |
23:db91aaa43a9e | 594 | myLED4 = 0; |
dreamselec |
23:db91aaa43a9e | 595 | } |
dreamselec |
23:db91aaa43a9e | 596 | |
dreamselec |
23:db91aaa43a9e | 597 | void turnOffBottomLEDs(){ |
dreamselec |
23:db91aaa43a9e | 598 | i2cport->write_bit(0, 12); |
dreamselec |
23:db91aaa43a9e | 599 | i2cport->write_bit(0, 13); |
dreamselec |
23:db91aaa43a9e | 600 | i2cport->write_bit(0, 14); |
dreamselec |
23:db91aaa43a9e | 601 | i2cport->write_bit(0, 15); |
dreamselec |
23:db91aaa43a9e | 602 | } |