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

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?

UserRevisionLine numberNew 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 }