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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:
- 2015-11-22
- Revision:
- 14:cf2f255b5560
- Parent:
- 11:0fe833f8a1ab
- Child:
- 15:777390eb5afd
File content as of revision 14:cf2f255b5560:
#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; Commander _commander = Commander(); Commander *commander = &_commander; FPGA _fpga = FPGA(); extern FPGA *fpga = &_fpga; extern Block _HazBlock; Block *HazBlock = &_HazBlock; void detectPC(); void initInternal(); void initPort(int baudRate=kDefaultBaudRate); void printPCDetectedText(); bool displayAbortDialog(); void Rx_interrupt(); void sortBlock(int colourValues[]); void runInServoTestMode(); void displayWaitingLine(){ lcd->cls(); lcd->locate(0,0); lcd->printf("Waiting..."); lcd->locate(1,0); } int main() { initInternal(); initPort(); srand((unsigned)time(NULL)); U_LEDS_OFF(); lcd->cls(); myLED1 = 1; rgbSensor.enablePowerAndRGBC(); rgbSensor.setIntegrationTime(100); // 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); 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(); bool abortOperation = false; for(;;) { displayWaitingLine(); lcd->locate(1, 0); lcd->printf("for block."); i2cport->write_bit(1, 15); 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); // Break and return to main menu i.e. Start Op, or Connect to PC. if (abortOperation == true || connectedToPC == true) { D_LEDS_OFF(); break; } // Cannot Abort any longer. Block is inserted. // Detach rx interrupt until block processed. NVIC_DisableIRQ(UART1_IRQn); int canCheckForSize = fpga->checkForBlock(); int blockSize = 0; while (canCheckForSize == 0) { canCheckForSize = fpga->checkForBlock(); } blockSize = fpga->checkForSize(); myLED3 = blockSize; if (blockSize == Block::Small) { // detectColour() int colourValues[4]; // displayWaitingLine(); rgbSensor.getAllColors(colourValues); // lcd->cls(); // lcd->locate(0,0); // lcd->printf("Sorting"); sortBlock(colourValues); }else { fpga->moveStoppingServo(Go); while(fpga->checkForSize()){} fpga->moveStoppingServo(Stop); } myLED3 = 0; // Re-Attach rx interrupt NVIC_EnableIRQ(UART1_IRQn); } // if (abortOperation == true || connectedToPC == true){ break; } } if (selection == 2 || connectedToPC == true) { for (;;) { if (!connectedToPC) { i2cport->write_bit(1, 13); // Wait for PC to send '!<pc>connect;' command. lcd->cls(); LCDFL(); lcd->printf("Waiting for PC..."); wait(0.5); D_LEDS_OFF(); LCDSL(); lcd->printf("4: Main Menu"); } i2cport->write_bit(1, 15); int abortOperation = false; while (connectedToPC == false && abortOperation == false) { abortOperation = readSwitches() == 4; } if (abortOperation == true) { D_LEDS_OFF(); break; } while (abortOperation == false && connectedToPC == true) { if (runServoTest == true){ runInServoTestMode(); lcd->cls(); lcd->locate(0,0); lcd->printf("Connected to PC"); lcd->locate(1,0); lcd->printf("4:Disconnect"); i2cport->write_bit(1,15); } abortOperation = readSwitches() == 4; } if (abortOperation == true ) { connectedToPC = false; D_LEDS_OFF(); break; } } } } } /// 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() { i2cport = new MCP23017(p9, p10, 0x40); lcd = new WattBob_TextLCD(i2cport); myLED1 = 1; BACKLIGHT_ON(i2cport); lcd->cls(); LCDFL(); lcd->printf("Initilizing..."); myLED2 = 1; return; } void initPort(int baudRate) { myLED3 = 1; pc.baud(baudRate); pc.format(8, SerialBase::None, gStopBits); myLED4 = 1; wait (0.1); return; } void sortBlock(int colourValues[]){ bool isHazColour[4] = {false, false, false, false }; for (int i = 0; i < 4; i++){ if (colourValues[i] < HazBlock->maxColour.components[i] && colourValues[i] > HazBlock->minColour.components[i]){ isHazColour[i] = true; } } fpga->moveSortingServo(Haz); fpga->moveStoppingServo(Go); while(fpga->checkForBlock()) {} fpga->moveStoppingServo(Stop); wait(0.5); fpga->moveSortingServo(NonHaz); return; bool isHazBlock = false; if (isHazColour[0] && isHazColour[1] && isHazColour[2] && isHazColour[3]){ fpga->moveSortingServo(Haz); fpga->moveStoppingServo(Go); while(fpga->checkForBlock()) {} fpga->moveStoppingServo(Stop); fpga->moveSortingServo(NonHaz); }else { fpga->moveStoppingServo(Go); while(fpga->checkForBlock()) {} fpga->moveStoppingServo(Stop); } } 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) { return true; } else { return false; } } void printServoInfoOnLCD(){ lcd->cls(); lcd->locate(0,0); lcd->printf("1: Stop servo:%i", fpga->stoppingServoPosition); lcd->locate(1,0); lcd->printf("2: Sort servo:%i", fpga->sortingServoPosition); } void runInServoTestMode(){ pc.printf("Testing servos.\n Stopping servo:\n\tStop:%i, Go: %i\n Sorting servo:\n\tHaz:%i, NonHaz:%i", Stop, Go, Haz, NonHaz); printServoInfoOnLCD(); int finished = false; i2cport->write_bit(1, 12); i2cport->write_bit(1, 13); i2cport->write_bit(1, 15); int button = 0; do { button = readSwitches(); if (button == 1){ fpga->toggleStoppingServo(); printServoInfoOnLCD(); wait(0.5); }else if (button == 2) { fpga->toggleSortingServo(); printServoInfoOnLCD(); wait(0.5); } finished = button == 4; button = 0; } while (finished == false); runServoTest = false; D_LEDS_OFF(); lcd->cls(); lcd->locate(0,0); lcd->printf("Done servo test"); wait(0.5); lcd->cls(); return; }