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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
- Committer:
- dreamselec
- Date:
- 2015-11-29
- Revision:
- 24:02c61793f90b
- Parent:
- 23:db91aaa43a9e
- Child:
- 25:792540d69c49
File content as of revision 24:02c61793f90b:
#include "mbed.h" #include "WattBob_TextLCD.h" #include "TCS3472_I2C.h" #include "MCP23017.h" #include <string> #include <time.h> //#include <future> #include "globals.h" #include "commander.h" #include "fpga.h" #define BACKLIGHT_ON(INTERFACE) INTERFACE->write_bit(1, 4); #define BACKLIGHT_OFF(INTERFACE) INTERFACE->write_bit(0, 4); #define LCDFL() lcd->locate(0,0); #define LCDSL() lcd->locate(1,0); #define D_LEDS_OFF() i2cport->write_bit(0, 12); i2cport->write_bit(0, 13); i2cport->write_bit(0, 14); i2cport->write_bit(0, 15); #define U_LEDS_OFF() myLED1 = 0; myLED2 = 0; myLED3 = 0; myLED4 = 0; DigitalOut myLED1(LED1); DigitalOut myLED2(LED2); DigitalOut myLED3(LED3); DigitalOut myLED4(LED4); MCP23017 *i2cport; WattBob_TextLCD *lcd; TCS3472_I2C rgbSensor(p28, p27); Serial pc(USBTX, USBRX); uint8_t rxBuffer[kSmallBufferSize + 1]; int rxIndex = 0; float percentageError[3]; float adjustedValues[3]; Commander _commander = Commander(); Commander *commander = &_commander; FPGA _fpga = FPGA(); extern FPGA *fpga = &_fpga; Block defualtHazBlock = Block(); extern Block _HazBlock; Block *HazBlock = &_HazBlock; extern PCModes currentMode; void initInternal(); void initPort(int baudRate=kDefaultBaudRate); void printPCDetectedText(); void Rx_interrupt(); bool checkColour(int colourValues[]); void runInServoTestMode(); void displayWaitingLine(); void displayPCStatus(); bool waitForBlock(); void sortBlock(); void runInBreakBeamTestMode(); void turnOffTopLEDs(); void turnOffBottomLEDs(); int main() { initInternal(); initPort(); srand((unsigned)time(NULL)); U_LEDS_OFF(); lcd->cls(); rgbSensor.enablePowerAndRGBC(); rgbSensor.setIntegrationTime(3); // Create a serial intereput for RxIrq so when PC is connected it sends '$' to tell MBED it's there. // https://developer.mbed.org/cookbook/Serial-Interrupts pc.attach(&Rx_interrupt, Serial::RxIrq); for (;;) { lcd->cls(); i2cport->write_bit(1, 12); lcd->printf("1: Start sorting."); LCDSL(); i2cport->write_bit(1,13); lcd->printf("2: Connect to PC"); fpga->moveStoppingServo(Stop); fpga->moveSortingServo(NonHaz); pc.printf(":<pc>connect;"); // wait(0.03); int selection = 0; do { myLED4 = selection; selection = readSwitches(); } while (selection != 1 && selection != 2 && connectedToPC == false); D_LEDS_OFF(); if (selection == 1) { // User selected op 1: Start sorting autonomously. i2cport->write_bit(1, 12); lcd->cls(); LCDFL(); lcd->printf("Starting sorting"); wait(0.5); D_LEDS_OFF(); for(;;) { displayWaitingLine(); lcd->printf("for block."); i2cport->write_bit(1, 15); // Break and return to main menu i.e. Start Op, or Connect to PC. if (waitForBlock() == false) { D_LEDS_OFF(); break; } else { sortBlock(); } } } if (selection == 2 || connectedToPC == true) { for (;;) { displayPCStatus(); i2cport->write_bit(1, 15); int abortOperation = false; if (connectedToPC == false) pc.printf(":<pc>connect;"); while (connectedToPC == false && abortOperation == false) { abortOperation = readSwitches() == 4; } if (abortOperation == true) { D_LEDS_OFF(); break; } displayPCStatus(); while (abortOperation == false && connectedToPC == true) { if (currentMode == Maintanence) { displayPCStatus(); while (currentMode == Maintanence){ if (runServoTest == true) runInServoTestMode(); else if (runBreakBeamTest == true) runInBreakBeamTestMode(); } } else if (currentMode == Normal) { displayPCStatus(); while (currentMode == Normal) { if (currentState == Pause) { lcd->cls(); lcd->locate(0,0); lcd->printf("Sorting Paused."); lcd->locate(1,0); lcd->printf("1: Start"); int button = 0; i2cport->write_bit(1, 12); i2cport->write_bit(1, 15); while (currentState == Pause && currentMode == Normal) { button = readSwitches(); if (button == 1) { pc.printf("state:start\n"); currentState = Start; } else if (button == 4) { currentMode = None; // goto setModeNone; break; } } } if (currentState == Start) { lcd->cls(); lcd->locate(0,0); lcd->printf("Sorting mode..."); while (currentState == Start && currentMode == Normal) { if (waitForBlock() == false) { if (connectedToPC == true) { // TODO: Tell PC to update UI if aborted from MBED. pc.printf("state:pause\n"); currentState = Pause; continue; } else if (connectedToPC == false) { currentMode = None; abortOperation = true; } } else { sortBlock(); } } } } } else if (currentMode == None) { setModeNone: D_LEDS_OFF(); i2cport->write_bit(1,15); displayPCStatus(); while (currentMode == None && abortOperation == false && connectedToPC == true) { if (i2cport->read_bit(11)) { abortOperation = displayAbortDialog(); // Cancel the Abort if (abortOperation == false) { displayPCStatus(); i2cport->write_bit(1, 15); } } } } } if (abortOperation == true ) { connectedToPC = false; D_LEDS_OFF(); break; } } } } } // Waits until detects block. // true if block detected, false if cancelled/connected to PC. bool waitForBlock() { myLED4 = 0; myLED1 = 1; if (connectedToPC == false) { bool abortOperation = false; int blockInserted = 0; // Wait until a block is breaking the beam, or button 4 is pressed to abort. do { blockInserted = fpga->getBeamValue(Top); myLED4 = blockInserted; if (i2cport->read_bit(11)) { abortOperation = displayAbortDialog(); // Cancel the Abort if (abortOperation == false) { displayWaitingLine(); lcd->printf("for block"); i2cport->write_bit(1, 15); } } } while (abortOperation == false && blockInserted != 1 && connectedToPC == false); if (abortOperation == true || connectedToPC == true) return false; else return true; } else if (connectedToPC == true) { bool abortOperation = false; int blockInserted = 0; // Wait until a block is breaking the beam, or button 4 is pressed to abort. do { blockInserted = fpga->getBeamValue(Top); myLED4 = blockInserted; if (i2cport->read_bit(11)) { abortOperation = displayAbortDialog(); // Cancel the Abort if (abortOperation == false) { displayWaitingLine(); lcd->printf("for block"); i2cport->write_bit(1, 15); } } } while (abortOperation == false && blockInserted != 1 && connectedToPC == true && currentState == Start && currentMode == Normal); if (abortOperation == true || connectedToPC == false || currentState == Pause || currentMode == Maintanence) return false; else return true; } } void sortBlock() { myLED1 = 0; myLED2 = 1; // Cannot Abort any longer. Block is inserted. // Detach rx interrupt until block processed. NVIC_DisableIRQ(UART1_IRQn); fpga->moveSortingServo(Haz); fpga->moveStoppingServo(Go); int colourValues[4]; int averageColourValues[4] = {0, 0, 0, 0}; for (int i = 0; i < 3; i++){ rgbSensor.getAllColors(colourValues); for (int j = 0; j < 4; j++){ averageColourValues[j] += colourValues[j]; } } for (int i = 0; i < 4; i++){ averageColourValues[i] = averageColourValues[i] / 3; } bool haz = false; haz = checkColour(colourValues); if (!haz) { fpga->moveSortingServo(NonHaz); } int blockSize; while (fpga->checkForBlock() == 0) { } blockSize = fpga->checkForSize(); if (blockSize == HazBlock->size && haz) { // fpga->moveSortingServo(Haz); // fpga->moveStoppingServo(Go); // blockSize = HazBlock->size; while(fpga->getBeamValue(Bottom) == 1) {} wait(kServoWait); fpga->moveStoppingServo(Stop); } else { haz = false; } fpga->moveSortingServo(NonHaz); while(fpga->checkForSize()) {} if (connectedToPC) { for (int i = 0; i < 3; i++) { pc.printf("DEBUG:Percentage Error: %.5f.\n", percentageError[i]); if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[i] * 2) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[i] * 2)) pc.printf("DEBUG:%i.\n", i); } 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]); // 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); } // Re-Attach rx interrupt NVIC_EnableIRQ(UART1_IRQn); myLED3 = 0; myLED4 = 1; return; } /// Called every-time it receives an char from PC. void Rx_interrupt() { char interruptChar = pc.getc(); // Uncomment to Echo to USB serial to watch data flow // pc.putc(interruptChar); NVIC_DisableIRQ(UART1_IRQn); if (interruptChar == CommandTypeValue[Query]) { commander->decodeCommand(Query); } else if (interruptChar == CommandTypeValue[Set]) { commander->decodeCommand(Set); } else if (interruptChar== CommandTypeValue[Reply]) { commander->decodeCommand(Reply); } NVIC_EnableIRQ(UART1_IRQn); } void initInternal() { myLED1 = 1; i2cport = new MCP23017(p9, p10, 0x40); lcd = new WattBob_TextLCD(i2cport); BACKLIGHT_ON(i2cport); lcd->cls(); lcd->locate(0,0); lcd->printf("Initilizing..."); DefaultHazBlock(); myLED2 = 1; return; } void initPort(int baudRate) { myLED3 = 1; pc.baud(baudRate); pc.format(8, SerialBase::None, gStopBits); myLED4 = 1; wait (0.1); return; } bool checkColour(int colourValues[]) { myLED2 = 0; myLED3 = 1; bool isHazColour[3] = {false, false, false }; memset(adjustedValues, 0, sizeof(adjustedValues)); memset(percentageError, 0, sizeof(percentageError)); for (int i = 0; i < 3; i++) { adjustedValues[i] = (float)colourValues[i]/(float)colourValues[3]; percentageError[i] = (adjustedValues[i] - kAverageRedBlock[i]) / kAverageRedBlock[i]; if ((percentageError[i] < 0 && std::abs(percentageError[i]) < kMinError[i] * 2) || percentageError[i] == 0 || (percentageError[i] > 0 && percentageError[i] < kMaxError[i] * 2)) { isHazColour[i] = true; } } // for (int i = 0; i < 3; i++) { // if (colourValues[i] < HazBlock->maxColour.components[i] && colourValues[i] > HazBlock->minColour.components[i]) { // isHazColour[i] = true; // } // } bool isHazBlock = false; if (isHazColour[0] && isHazColour[1] && isHazColour[2]) { isHazBlock = true; } else { isHazBlock = false; } return isHazBlock; } void printPCDetectedText() { lcd->cls(); LCDFL(); lcd->printf("Detected PC."); LCDSL(); lcd->printf("Connecting"); initPort(); } bool displayAbortDialog() { while (i2cport->read_bit(11) == 1) {} i2cport->write_bit(1, 12); lcd->cls(); LCDFL(); lcd->printf("Abort?"); LCDSL(); lcd->printf("1:Yes, 2,3,4:No"); int reply = 0; do { reply = readSwitches(); } while(reply == 0); D_LEDS_OFF(); if (reply == 1) { // while (i2cport->read_bit(8)) { } return true; } else { // while (i2cport->read_bit(9) || i2cport->read_bit(10) || i2cport->read_bit(11)) { } return false; } } void printServoInfoOnLCD() { lcd->cls(); lcd->locate(0,0); if (fpga->stoppingServoPosition == Stop) lcd->printf("1: Top: Stop"); else if (fpga->stoppingServoPosition == Go) lcd->printf("1: Top: Go"); lcd->locate(1,0); if (fpga->sortingServoPosition == NonHaz) lcd->printf("2: Bottom: NonHaz"); else if (fpga->sortingServoPosition == Haz) lcd->printf("2: Bottom: Haz"); } void printServoInfoOnPC() { if (fpga->stoppingServoPosition == Stop) pc.printf(":<servos>1=Stop;"); else if (fpga->stoppingServoPosition == Go) pc.printf(":<servos>1=Go;"); if (fpga->sortingServoPosition == NonHaz) pc.printf(":<servos>2=NonHaz;"); else if (fpga->sortingServoPosition == Haz) pc.printf(":<servos>2=Haz;"); } void runInServoTestMode() { 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); printServoInfoOnPC(); printServoInfoOnLCD(); i2cport->write_bit(1, 12); i2cport->write_bit(1, 13); i2cport->write_bit(1, 15); int button = 0; bool finished = false; do { button = readSwitches(); if (button == 1) { fpga->toggleStoppingServo(); printServoInfoOnLCD(); printServoInfoOnPC(); wait(kServoWait); } else if (button == 2) { fpga->toggleSortingServo(); printServoInfoOnLCD(); printServoInfoOnPC(); wait(kServoWait); } finished = button == 4; button = 0; } while (finished == false && runServoTest == true); D_LEDS_OFF(); lcd->cls(); lcd->locate(0,0); lcd->printf("Done servo test"); if (runServoTest == true){ pc.printf(":<servos>test=pause;"); runServoTest = false; } wait(0.5); lcd->cls(); return; } void printBeamInfoOnLCD(){ lcd->cls(); lcd->locate(0,0); lcd->printf("Top:L1 Btm: L2"); lcd->locate(1,0); lcd->printf("On:High, Off:Low"); } void printBeamInfoOnPC(int topBeam, int bottomBeam){ pc.printf(":<break_beam>1=%i,2=%i;", topBeam, bottomBeam); } void runInBreakBeamTestMode(){ turnOffTopLEDs(); i2cport->write_bit(1, 15); int topBeamValue = fpga->getBeamValue(1); int bottomBeamValue = fpga->getBeamValue(2); printBeamInfoOnPC(topBeamValue, bottomBeamValue); printBeamInfoOnLCD(); int button = 0; bool finished = false; do{ button = readSwitches(); int currentTopBeamValue = fpga->getBeamValue(1); int currentBottomBeamValue = fpga->getBeamValue(2); // For debugging, hold down both 1 and 3 or 2 and 3 if (i2cport->read_bit(10) == 1){ currentTopBeamValue = i2cport->read_bit(8) && i2cport->read_bit(10); currentBottomBeamValue = i2cport->read_bit(9) && i2cport->read_bit(10); } myLED1 = currentTopBeamValue; myLED2 = currentBottomBeamValue; if (currentTopBeamValue != topBeamValue || currentBottomBeamValue != bottomBeamValue ){ topBeamValue = currentTopBeamValue; bottomBeamValue = currentBottomBeamValue; printBeamInfoOnPC(topBeamValue, bottomBeamValue); } finished = button == 4; }while (runBreakBeamTest == true && finished == false); turnOffBottomLEDs(); lcd->cls(); lcd->locate(0,0); lcd->printf("Finished test"); if (runBreakBeamTest == true){ pc.printf(":<break_beam>test=pause;"); runBreakBeamTest = false; } wait(0.5); return; } void displayWaitingLine() { lcd->cls(); lcd->locate(0,0); lcd->printf("Waiting..."); lcd->locate(1,0); } void displayPCStatus() { lcd->cls(); lcd->locate(0,0); if (connectedToPC) { if (currentMode == Normal) lcd->printf("Normal mode."); else if (currentMode == Maintanence) lcd->printf("Maintanence."); else if (currentMode == None) lcd->printf("Connected to PC"); } else lcd->printf("Waiting for PC.."); lcd->locate(1,0); lcd->printf("4:Disconnect"); D_LEDS_OFF(); i2cport->write_bit(1,15); } void turnOffTopLEDs(){ myLED1 = 0; myLED2 = 0; myLED3 = 0; myLED4 = 0; } void turnOffBottomLEDs(){ i2cport->write_bit(0, 12); i2cport->write_bit(0, 13); i2cport->write_bit(0, 14); i2cport->write_bit(0, 15); }