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@26:bbcc25418ffa, 2015-11-30 (annotated)
- Committer:
- dreamselec
- Date:
- Mon Nov 30 21:29:51 2015 +0000
- Revision:
- 26:bbcc25418ffa
- Parent:
- 25:792540d69c49
- Child:
- 27:2cb1bdb7ae3d
Small changes in program so it doesn't get stuck and PC receives correct commands. Also commented out hard-coded red values. currently use a buffer error variables which can be set to anything.
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 |
23:db91aaa43a9e | 25 | extern bool runBreakBeamTest; |
dreamselec | 25:792540d69c49 | 26 | extern bool runColourSensorTest; |
dreamselec | 25:792540d69c49 | 27 | extern bool getColourSensorValue; |
dreamselec | 25:792540d69c49 | 28 | extern bool getBlockColourValue; |
dreamselec | 25:792540d69c49 | 29 | extern float gIntegrationTime; |
dreamselec | 25:792540d69c49 | 30 | extern int gToggleServoNumber; |
dreamselec | 26:bbcc25418ffa | 31 | extern int errorMultiplier; |
dreamselec | 2:7a55cb10259f | 32 | |
dreamselec |
6:98fe30430194 | 33 | const int kCommandBufferSize = 80; |
dreamselec | 7:b6e31bfdb2af | 34 | const int kSmallBufferSize = 5; |
dreamselec | 20:4e0f0944f28f | 35 | const float kServoWait = 0.25; |
dreamselec | 2:7a55cb10259f | 36 | |
dreamselec | 26:bbcc25418ffa | 37 | extern float currentMinError[3]; |
dreamselec | 26:bbcc25418ffa | 38 | extern float currentMaxError[3]; |
dreamselec | 26:bbcc25418ffa | 39 | |
dreamselec | 2:7a55cb10259f | 40 | #define FOREVER for(;;) |
dreamselec | 2:7a55cb10259f | 41 | |
dreamselec |
6:98fe30430194 | 42 | const char CommandTypeValue [3] = {'!', '?', ':'}; |
dreamselec |
6:98fe30430194 | 43 | const char kCommandTerminator = ';'; |
dreamselec |
8:e1da2ae62885 | 44 | enum CommandTypeRaw { InvalidType = -1, Set = 0, Query = 1, Reply = 2 }; |
dreamselec |
6:98fe30430194 | 45 | |
dreamselec | 20:4e0f0944f28f | 46 | const float kMinRedBlock[4] = {4.812, 2.286, 1.316, 1}; |
dreamselec | 26:bbcc25418ffa | 47 | const float kMaxRedBlock[4] = {5.474, 3.105, 1.429, 1}; |
dreamselec | 20:4e0f0944f28f | 48 | const float kAverageRedBlock[4] = {5.25134482758621, 2.85965517241379, 1.35858620689655, 1}; |
dreamselec | 20:4e0f0944f28f | 49 | const float kMinError[3] = { 0.0836632980714298, 0.200602918123719, 0.0313459732480518}; |
dreamselec | 20:4e0f0944f28f | 50 | const float kMaxError[3] = { 0.0423996480376129, 0.0857952490051849, 0.051828726617427}; |
dreamselec | 20:4e0f0944f28f | 51 | |
dreamselec | 20:4e0f0944f28f | 52 | extern Block defaultHazBlock; |
dreamselec | 9:dc8f155b71c8 | 53 | extern Block _HazBlock; |
dreamselec | 10:16ba52f8e025 | 54 | extern FPGA *fpga; |
dreamselec | 10:16ba52f8e025 | 55 | |
dreamselec | 10:16ba52f8e025 | 56 | extern TCS3472_I2C rgbSensor; |
dreamselec | 9:dc8f155b71c8 | 57 | |
dreamselec |
6:98fe30430194 | 58 | enum Servos {Stopping = 1, Sorting = 2}; |
dreamselec |
6:98fe30430194 | 59 | enum StoppingServoPositions {Stop = 0, Go = 1}; |
dreamselec | 20:4e0f0944f28f | 60 | enum SortingServoPositions {NonHaz = 0, Haz = 1}; |
dreamselec | 17:af373246bf80 | 61 | enum Controls { Start = 0, Pause = 1}; |
dreamselec | 17:af373246bf80 | 62 | enum PCModes { None = -1, Normal = 0, Maintanence = 1}; |
dreamselec | 17:af373246bf80 | 63 | |
dreamselec | 17:af373246bf80 | 64 | extern PCModes currentMode; |
dreamselec |
18:44a1c1a30166 | 65 | extern Controls currentState; |
dreamselec | 20:4e0f0944f28f | 66 | void DefaultHazBlock(); |
dreamselec | 10:16ba52f8e025 | 67 | |
dreamselec | 10:16ba52f8e025 | 68 | int readSwitches(); |
dreamselec | 20:4e0f0944f28f | 69 | bool displayAbortDialog(); |
dreamselec | 20:4e0f0944f28f | 70 | void displayPCStatus(); |
dreamselec |
6:98fe30430194 | 71 | |
dreamselec |
8:e1da2ae62885 | 72 | void connectToPC(CommandTypeRaw typeRaw=Set); |
dreamselec |
8:e1da2ae62885 | 73 | void disconnectToPC(CommandTypeRaw typeRaw=Set); |
dreamselec |
8:e1da2ae62885 | 74 | void hazBlock(CommandTypeRaw typeRaw); |
dreamselec |
8:e1da2ae62885 | 75 | void getCurrentBlock(CommandTypeRaw typeRaw=Query); |
dreamselec |
8:e1da2ae62885 | 76 | |
dreamselec | 15:777390eb5afd | 77 | void setIntegrationTimeTo(float integrationTime); |
dreamselec |
8:e1da2ae62885 | 78 | void previewOnPC(bool on); |
dreamselec | 25:792540d69c49 | 79 | void testColourSensor(Controls state); |
dreamselec |
8:e1da2ae62885 | 80 | |
dreamselec | 17:af373246bf80 | 81 | void testServos(Controls state); |
dreamselec |
8:e1da2ae62885 | 82 | void resetServos(); |
dreamselec |
8:e1da2ae62885 | 83 | |
dreamselec |
8:e1da2ae62885 | 84 | void getPortInfo(); |
dreamselec |
8:e1da2ae62885 | 85 | void setPortBaudRate(int baudRate); |
dreamselec |
14:cf2f255b5560 | 86 | void setPortParity(int parity); |
dreamselec |
8:e1da2ae62885 | 87 | |
dreamselec |
23:db91aaa43a9e | 88 | void testBreakBeams(Controls state); |
dreamselec |
8:e1da2ae62885 | 89 | |
dreamselec | 26:bbcc25418ffa | 90 | void printColourDescription(Colour colour); |
dreamselec | 26:bbcc25418ffa | 91 | void printBlockDescription(Block block); |
dreamselec |
6:98fe30430194 | 92 | #endif |