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:
- 2015-12-17
- Revision:
- 32:9a4046224b11
- Parent:
- 30:c0bc92d009fe
File content as of revision 32:9a4046224b11:
// // globals.cpp // Created by Chandan Siyag on 13/11/2015. #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 = 0.5; //SerialBase gParity = SerialBase::None, 2 = Even, 3 = Odd int gStopBits = 1; float gIntegrationTime = 2.5; int gToggleServoNumber = 0; float currentMinError[3] = {0,0,0}; float currentMaxError[3] = {0,0,0}; // Intialise gloabl variables Block defaultHazBlock = Block(Block::Small, Block::Red); Block _HazBlock = Block(defaultHazBlock); // Default gloabl variables values bool connectedToPC = false; bool runServoTest = false; bool runBreakBeamTest = false; bool runColourSensorTest = false; bool getColourSensorValue = false; bool getBlockColourValue = false; bool setNewHazBlock = false; bool pcModeChanged = false; int errorMultiplier = 1; int hazReadingCount = 1; PCModes currentMode = None; Controls currentState = Pause; /// Sets up the default hazardous block void DefaultHazBlock(){ for (int i = 0; i < 3; i++){ currentMaxError[i] = kMaxRedError[i]; currentMinError[i] = kMinRedError[i]; } Colour _minRedBlock = Colour(); Colour _maxRedBlock = Colour(); Colour _averageRedBlock = Colour(); for (int i = 0; i < 4; i++){ _minRedBlock.components[i] = kMinRedBlock[i]; _maxRedBlock.components[i] = kMaxRedBlock[i]; _averageRedBlock.components[i] = kAverageRedBlock[i]; } defaultHazBlock.minColour = Colour(_minRedBlock); defaultHazBlock.maxColour = Colour(_maxRedBlock); defaultHazBlock.averageColour = Colour(_averageRedBlock); defaultHazBlock.size = Block::Small; _HazBlock = Block(defaultHazBlock); } /// Sends the supplied colours description to the PC void printColourDescription(Colour colour){ pc.printf("Red: %.3f, Green: %.3f, Blue: %.3f, Clear: %.3f\n", colour.components[0], colour.components[1], colour.components[2], colour.components[3]); } /// Sends the block infomation to the PC. void printBlockDescription(Block block){ pc.printf("VALUE:Size: %i\n", block.size); printColourDescription(block.minColour); printColourDescription(block.averageColour); printColourDescription(block.maxColour); //TODO: print errors pc.printf(":VALUE"); } /// Reads the switches on the MBED pressed. /// Finishes on the Key-Up 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; } } /// Sets connecteToPC property to true when PC asks MBED to connect to itself. void connectToPC(CommandTypeRaw typeRaw) { connectedToPC = true; pc.printf("INFO:PC connected to MBED.\n"); } /// Called when PC tells MBED to disconnect. void disconnectToPC(CommandTypeRaw typeRaw) { pc.printf("INFO:PC disconnected to MBED.\n"); connectedToPC = false; currentMode = None; } /// Sends all the information about the hazardous block to the PC. /// Or sets the new hazardous block depending on the command type i.e. Set or Query void hazBlock(CommandTypeRaw typeRaw) { if (typeRaw == Set) { setNewHazBlock = true; pc.printf("INFO: Setting new haz block.\n"); } else if (typeRaw == Query) { pc.printf("VALUE:Hazardous Block:\n \tSize:%i \n \tMin Error:%.3f, %.3f, %.3f\n \t Max Error:%.3f, %.3f, %.3f\n:VALUE", _HazBlock.size, kMinError[_HazBlock.colour][1], kMinError[_HazBlock.colour][1], kMinError[_HazBlock.colour][2], kMaxError[_HazBlock.colour][0], kMaxError[_HazBlock.colour][1], kMaxError[_HazBlock.colour][2]); pc.printf("VALUE:\tAverage Colour:%.3f, %.3f, %.3f, %.3f\n:VALUE", kAverageValues[_HazBlock.colour][0], kAverageValues[_HazBlock.colour][1], kAverageValues[_HazBlock.colour][2], kAverageValues[_HazBlock.colour][3]); } } /// Placeholder function, not used anymore since it's done with hazBlock(!) /// Is supposed to send information about next block. void getCurrentBlock(CommandTypeRaw typeRaw) { pc.printf("DEBUG: Getting current block readings\n"); } /// Sets colour sensor Integration time set by the PC. void setIntegrationTimeTo(float integrationTime) { gIntegrationTime = integrationTime; rgbSensor.setIntegrationTime(gIntegrationTime); pc.printf("DEBUG: Setting integration-time to %.2f.\n", gIntegrationTime); } /// Placeholder function. Done with colour sensor test mode. /// Is supposed to send current colour sensor information at regular intervals. void previewOnPC(bool on) { pc.printf("setting preview on pc to %i.\n", on); } /// Start/stop colour sensor test mode. void testColourSensor(Controls state){ if (state == Start){ pc.printf("INFO: Running colour test.\n"); runColourSensorTest = true; } else if (state == Pause){ pc.printf("INFO: Finished colour test.\n"); runColourSensorTest = false; } } /// Sends current colour sensor values. void readColourSensor() { int colourValue[4]; rgbSensor.getAllColors(colourValue); pc.printf( "VALUE:Colour Reading:%i,%i,%i,%i\n:VALUE", colourValue[0], colourValue[1], colourValue[2], colourValue[3]); } /// Enter/exit servo test mode. 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; } } /// Placeholder function. Servos now are always set to the default position i.e Non Hazardous (upright). void resetServos() { pc.printf("resetting servos.\n"); } /// Placeholder functions. The port info is sent every time port is opened, and updated every time anything changes. void getPortInfo() { pc.printf("getting port info.\n"); } /// Set the port baud rate to what PC told it to. void setPortBaudRate(int baudRate) { pc.baud(baudRate); wait(0.1); pc.printf("DEBUG: Setting port Baud Rate to: %i.\n", baudRate); } /// Sets port parity according to the PC. 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); } /// Start/pause break beam test mode. void testBreakBeams(Controls state){ if (state == Start){ pc.printf("INFO: Running break beam test.\n"); runBreakBeamTest = true; }else if (state == Pause){ pc.printf("INFO: Exiting break beam test.\n"); runBreakBeamTest = false; } }