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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
globals.cpp
- Committer:
- dreamselec
- Date:
- 2015-11-24
- Revision:
- 19:61b21ac4896e
- Parent:
- 18:44a1c1a30166
- Child:
- 20:4e0f0944f28f
File content as of revision 19:61b21ac4896e:
#include "globals.h" #include "Block.h" #include "fpga.h" #include "TCS3472_I2C.h" #include "MCP23017.h" #include "WattBob_TextLCD.h" int kDefaultBaudRate = 19200; int ColourSensorError = 25; //SerialBase gParity = SerialBase::None; int gStopBits = 1; Block _HazBlock = Block(kDefaultHazBlock); bool connectedToPC = false; bool runServoTest = false; PCModes currentMode = None; Controls currentState = Pause; int readSwitches() { if(i2cport->read_bit(8)) { while (i2cport->read_bit(8)) { } return 1; } else if (i2cport->read_bit(9)) { while (i2cport->read_bit(9)) { } return 2; } else if (i2cport->read_bit(10)) { while (i2cport->read_bit(10)) { } return 3; } else if (i2cport->read_bit(11)) { while (i2cport->read_bit(11)) { } return 4; } else { return 0; } } void connectToPC(CommandTypeRaw typeRaw) { connectedToPC = true; pc.printf("INFO:MBED connected to PC.\n"); } void disconnectToPC(CommandTypeRaw typeRaw) { pc.printf("INFO:MBED disconnected from PC.\n"); connectedToPC = false; currentMode = None; } void hazBlock(CommandTypeRaw typeRaw) { if (typeRaw == Set) { pc.printf("INFO:Setting new haz block.\n"); int lowerBeam = 0; int higherBeam = 0; char readyChar = '\0'; do { higherBeam = fpga->checkForSize(); } while (higherBeam != 1); int colourValue[4]; rgbSensor.getAllColors(colourValue); do { // readyChar = pc.getc(); lowerBeam = fpga->checkForBlock(); // TODO: Check beam reading // if (readyChar != 'y'){ // pc.printf("No block detected by beam\nTry again."); // } } while (lowerBeam != 1); higherBeam = fpga->checkForSize(); _HazBlock = Block(); if (higherBeam == 1) _HazBlock.size = Block::Big; else if (higherBeam == 0) _HazBlock.size = Block::Small; for (int i = 0; i < 4; i++) { _HazBlock.minColour.components[i] = colourValue[i] - ColourSensorError; _HazBlock.maxColour.components[i] = colourValue[i] + ColourSensorError; } fpga->moveSortingServo(Haz); fpga->moveStoppingServo(Go); while (fpga->checkForBlock()) {} fpga->moveStoppingServo(Stop); fpga->moveSortingServo(NonHaz); pc.printf( "HazBlock:\n \t Size:%i\n \t Real Colour:%i,%i,%i,%i\n \tMin Colour:%i,%i,%i,%i\n \t Max Colour:%i,%i,%i,%i\n ", _HazBlock.size, colourValue[0], colourValue[1], colourValue[2], colourValue[3], _HazBlock.minColour.components[Colour::Red], _HazBlock.minColour.components[Colour::Blue], _HazBlock.minColour.components[Colour::Green], _HazBlock.minColour.components[Colour::Alpha], _HazBlock.maxColour.components[Colour::Red], _HazBlock.maxColour.components[Colour::Blue], _HazBlock.maxColour.components[Colour::Green], _HazBlock.maxColour.components[Colour::Alpha]); } else if (typeRaw == Query) { pc.printf( "HazBlock:\n \t Size:%i\n \t Min Colour:%i,%i,%i,%i\n \t Max Colour:%i,%i,%i,%i\n ", _HazBlock.size, _HazBlock.minColour.components[Colour::Red], _HazBlock.minColour.components[Colour::Blue], _HazBlock.minColour.components[Colour::Green], _HazBlock.minColour.components[Colour::Alpha], _HazBlock.maxColour.components[Colour::Red], _HazBlock.maxColour.components[Colour::Blue], _HazBlock.maxColour.components[Colour::Green], _HazBlock.maxColour.components[Colour::Alpha]); } } void getCurrentBlock(CommandTypeRaw typeRaw) { pc.printf("DEBUG: Getting current block readings\n"); } void setIntegrationTimeTo(float integrationTime) { rgbSensor.setIntegrationTime(integrationTime); pc.printf("DEBUG: Setting integration-time to %i.\n", integrationTime); } void previewOnPC(bool on) { pc.printf("setting preview on pc to %i.\n", on); } void readColourSensor(){ int colourValue[4]; rgbSensor.getAllColors(colourValue); pc.printf( "Colour Reading:%i,%i,%i,%i\n", colourValue[0], colourValue[1], colourValue[2], colourValue[3]); } void testServos(Controls state) { if (state == Start){ pc.printf("INFO: Running servo test.\n"); runServoTest = true; }else if (state == Pause){ pc.printf("INFO: Finished running servo test.\n"); runServoTest = false; } } void resetServos() { pc.printf("resetting servos.\n"); } void getPortInfo() { pc.printf("getting port info.\n"); } void setPortBaudRate(int baudRate) { pc.baud(baudRate); wait(0.1); pc.printf("DEBUG: Setting port Baud Rate to: %i.\n", baudRate); } void setPortParity(int parity){ SerialBase::Parity _parity = static_cast<SerialBase::Parity>(parity); pc.format(8, _parity, 1); wait(0.1); pc.printf("DEBUG: Setting port parity to: %i.\n", parity); }