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.h@15:777390eb5afd, 2015-11-22 (annotated)
- Committer:
- dreamselec
- Date:
- Sun Nov 22 20:29:08 2015 +0000
- Revision:
- 15:777390eb5afd
- Parent:
- 14:cf2f255b5560
- Child:
- 17:af373246bf80
For some reason cannot assign Commander's command and commandValue properties, to received string. The execution stop not that statement. Noticed using print statements.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dreamselec | 10:16ba52f8e025 | 1 | |
dreamselec | 2:7a55cb10259f | 2 | |
dreamselec | 9:dc8f155b71c8 | 3 | |
dreamselec | 4:4eebb4de22a7 | 4 | #ifndef _globals_h_ |
dreamselec | 4:4eebb4de22a7 | 5 | #define _globals_h_ |
dreamselec | 2:7a55cb10259f | 6 | |
dreamselec | 10:16ba52f8e025 | 7 | #include "Block.h" |
dreamselec | 10:16ba52f8e025 | 8 | #include "mbed.h" |
dreamselec | 10:16ba52f8e025 | 9 | //#include "MCP23017.h" |
dreamselec | 10:16ba52f8e025 | 10 | //#include "fpga.h" |
dreamselec | 10:16ba52f8e025 | 11 | |
dreamselec | 10:16ba52f8e025 | 12 | class FPGA; |
dreamselec | 10:16ba52f8e025 | 13 | class TCS3472_I2C; |
dreamselec | 10:16ba52f8e025 | 14 | class MCP23017; |
dreamselec | 10:16ba52f8e025 | 15 | class WattBob_TextLCD; |
dreamselec | 10:16ba52f8e025 | 16 | |
dreamselec | 4:4eebb4de22a7 | 17 | extern mbed::Serial pc; |
dreamselec | 10:16ba52f8e025 | 18 | extern MCP23017 *i2cport; |
dreamselec | 7:b6e31bfdb2af | 19 | extern int kDefaultBaudRate; |
dreamselec | 10:16ba52f8e025 | 20 | extern WattBob_TextLCD *lcd; |
dreamselec | 2:7a55cb10259f | 21 | //extern SerialBase gParity; |
dreamselec | 2:7a55cb10259f | 22 | extern int gStopBits; |
dreamselec |
8:e1da2ae62885 | 23 | extern bool connectedToPC; |
dreamselec | 10:16ba52f8e025 | 24 | extern bool runServoTest; |
dreamselec | 2:7a55cb10259f | 25 | |
dreamselec |
6:98fe30430194 | 26 | const int kCommandBufferSize = 80; |
dreamselec | 7:b6e31bfdb2af | 27 | const int kSmallBufferSize = 5; |
dreamselec | 2:7a55cb10259f | 28 | |
dreamselec | 2:7a55cb10259f | 29 | #define FOREVER for(;;) |
dreamselec | 2:7a55cb10259f | 30 | |
dreamselec |
6:98fe30430194 | 31 | const char CommandTypeValue [3] = {'!', '?', ':'}; |
dreamselec |
6:98fe30430194 | 32 | const char kCommandTerminator = ';'; |
dreamselec |
8:e1da2ae62885 | 33 | enum CommandTypeRaw { InvalidType = -1, Set = 0, Query = 1, Reply = 2 }; |
dreamselec |
6:98fe30430194 | 34 | |
dreamselec | 9:dc8f155b71c8 | 35 | const Block kDefaultHazBlock = Block(Block::Small); |
dreamselec | 9:dc8f155b71c8 | 36 | extern Block _HazBlock; |
dreamselec | 10:16ba52f8e025 | 37 | extern FPGA *fpga; |
dreamselec | 10:16ba52f8e025 | 38 | |
dreamselec | 10:16ba52f8e025 | 39 | extern TCS3472_I2C rgbSensor; |
dreamselec | 9:dc8f155b71c8 | 40 | |
dreamselec |
6:98fe30430194 | 41 | enum Servos {Stopping = 1, Sorting = 2}; |
dreamselec |
6:98fe30430194 | 42 | enum StoppingServoPositions {Stop = 0, Go = 1}; |
dreamselec | 10:16ba52f8e025 | 43 | enum SortingServoPositions {NonHaz = 1, Haz = 0}; |
dreamselec | 10:16ba52f8e025 | 44 | |
dreamselec | 10:16ba52f8e025 | 45 | int readSwitches(); |
dreamselec |
6:98fe30430194 | 46 | |
dreamselec |
8:e1da2ae62885 | 47 | void connectToPC(CommandTypeRaw typeRaw=Set); |
dreamselec |
8:e1da2ae62885 | 48 | void disconnectToPC(CommandTypeRaw typeRaw=Set); |
dreamselec |
8:e1da2ae62885 | 49 | void hazBlock(CommandTypeRaw typeRaw); |
dreamselec |
8:e1da2ae62885 | 50 | void getCurrentBlock(CommandTypeRaw typeRaw=Query); |
dreamselec |
8:e1da2ae62885 | 51 | |
dreamselec | 15:777390eb5afd | 52 | void setIntegrationTimeTo(float integrationTime); |
dreamselec |
8:e1da2ae62885 | 53 | void previewOnPC(bool on); |
dreamselec | 10:16ba52f8e025 | 54 | void readColourSensor (); |
dreamselec |
8:e1da2ae62885 | 55 | |
dreamselec |
8:e1da2ae62885 | 56 | void testServos(); |
dreamselec |
8:e1da2ae62885 | 57 | void resetServos(); |
dreamselec |
8:e1da2ae62885 | 58 | |
dreamselec |
8:e1da2ae62885 | 59 | void getPortInfo(); |
dreamselec |
8:e1da2ae62885 | 60 | void setPortBaudRate(int baudRate); |
dreamselec |
14:cf2f255b5560 | 61 | void setPortParity(int parity); |
dreamselec |
8:e1da2ae62885 | 62 | |
dreamselec |
8:e1da2ae62885 | 63 | |
dreamselec |
6:98fe30430194 | 64 | #endif |