Finn Quicke / Mbed 2 deprecated TDP3_OOP_ColourSensor

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Dependencies:   mbed

ColourSensor.cpp@0:23508e7103a4, 2019-03-18 (annotated)

Committer:
quickeman
Date:
Mon Mar 18 11:21:43 2019 +0000
Revision:
0:23508e7103a4
Version 2 of OOP Colour Sensor program.; ; Altered so solenoid is ON by default and only turns OFF when dropping disk.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
quickeman 0:23508e7103a4 1 // ColourSensor.cpp
quickeman 0:23508e7103a4 2
quickeman 0:23508e7103a4 3 #include "ColourSensor_H.h"
quickeman 0:23508e7103a4 4 #include "mbed.h"
quickeman 0:23508e7103a4 5
quickeman 0:23508e7103a4 6 ColourSensor::ColourSensor(PinName If, PinName Which, PinName Out):
quickeman 0:23508e7103a4 7 inIf(If), inWhich(Which), solenoid(Out) {
quickeman 0:23508e7103a4 8 // Class constructor for colour sensor & solenoid
quickeman 0:23508e7103a4 9 // Sets initial conditions of operation
quickeman 0:23508e7103a4 10
quickeman 0:23508e7103a4 11 initialConditions();
quickeman 0:23508e7103a4 12 }
quickeman 0:23508e7103a4 13
quickeman 0:23508e7103a4 14 void ColourSensor::initialConditions() {
quickeman 0:23508e7103a4 15 // set initial conditions & variables
quickeman 0:23508e7103a4 16 //printf("Setting Initial Conditions\n\r");
quickeman 0:23508e7103a4 17 detectedIf = 0;
quickeman 0:23508e7103a4 18 detectedIfOld = 0;
quickeman 0:23508e7103a4 19 newDetection = 0;
quickeman 0:23508e7103a4 20 diskHave = 0;
quickeman 0:23508e7103a4 21
quickeman 0:23508e7103a4 22 solenoidState = 0;
quickeman 0:23508e7103a4 23
quickeman 0:23508e7103a4 24 toggleA = 0;
quickeman 0:23508e7103a4 25 toggleB = 0;
quickeman 0:23508e7103a4 26 toggleConst = 1;
quickeman 0:23508e7103a4 27
quickeman 0:23508e7103a4 28 flagColour = 0;
quickeman 0:23508e7103a4 29
quickeman 0:23508e7103a4 30 solenoidSet(1);
quickeman 0:23508e7103a4 31 }
quickeman 0:23508e7103a4 32
quickeman 0:23508e7103a4 33 void ColourSensor::solenoidOn() {
quickeman 0:23508e7103a4 34 // Interrupt (software): Turn ON solenoid
quickeman 0:23508e7103a4 35 //printf("Turning solenoid back ON\n\r");
quickeman 0:23508e7103a4 36
quickeman 0:23508e7103a4 37 solenoidSet(1);
quickeman 0:23508e7103a4 38 }
quickeman 0:23508e7103a4 39
quickeman 0:23508e7103a4 40 void ColourSensor::solenoidSet(bool state) {
quickeman 0:23508e7103a4 41 // Turns solenoid on/off, sets solenoid's pull strength
quickeman 0:23508e7103a4 42 // state: pass 1 or 0 for solenoid ON or OFF respectively
quickeman 0:23508e7103a4 43
quickeman 0:23508e7103a4 44 solenoid.write(state);
quickeman 0:23508e7103a4 45 //printf("Solenoid has been set to %i\n\r", state);
quickeman 0:23508e7103a4 46
quickeman 0:23508e7103a4 47 solenoidState = state;
quickeman 0:23508e7103a4 48 }
quickeman 0:23508e7103a4 49
quickeman 0:23508e7103a4 50 void ColourSensor::readIf() {
quickeman 0:23508e7103a4 51 // Interrupt function (software): reads in colour detection state
quickeman 0:23508e7103a4 52
quickeman 0:23508e7103a4 53 // Update variables
quickeman 0:23508e7103a4 54 detectedIfOld = detectedIf;
quickeman 0:23508e7103a4 55 newDetection = 0;
quickeman 0:23508e7103a4 56
quickeman 0:23508e7103a4 57 //printf("Reading colour detection state\n\r");
quickeman 0:23508e7103a4 58
quickeman 0:23508e7103a4 59 detectedIf = !inIf.read();
quickeman 0:23508e7103a4 60
quickeman 0:23508e7103a4 61 if ((detectedIf && !detectedIfOld)) {
quickeman 0:23508e7103a4 62 // if colour is newly detected
quickeman 0:23508e7103a4 63 newDetection = 1;
quickeman 0:23508e7103a4 64 toggleA = 1;
quickeman 0:23508e7103a4 65 //printf("Colour newly detected\n\r");
quickeman 0:23508e7103a4 66 }
quickeman 0:23508e7103a4 67 }
quickeman 0:23508e7103a4 68
quickeman 0:23508e7103a4 69 void ColourSensor::readWhich() {
quickeman 0:23508e7103a4 70 //Interrupt function (software): reads in which colour is detected
quickeman 0:23508e7103a4 71
quickeman 0:23508e7103a4 72 detectedWhich = !inWhich.read();
quickeman 0:23508e7103a4 73
quickeman 0:23508e7103a4 74 //printf("Colour detected; code: %d\n\r", detectedWhich);
quickeman 0:23508e7103a4 75
quickeman 0:23508e7103a4 76 toggleB = 1;
quickeman 0:23508e7103a4 77 }
quickeman 0:23508e7103a4 78
quickeman 0:23508e7103a4 79 void ColourSensor::makeColourActive() {
quickeman 0:23508e7103a4 80 // Interrupt function (software): reactivates colour processing
quickeman 0:23508e7103a4 81 toggleConst = 1;
quickeman 0:23508e7103a4 82
quickeman 0:23508e7103a4 83 //printf("Colour processing Activated\n\r");
quickeman 0:23508e7103a4 84 }
quickeman 0:23508e7103a4 85
quickeman 0:23508e7103a4 86 void ColourSensor::process() {
quickeman 0:23508e7103a4 87 // Processes change of state in colour detection
quickeman 0:23508e7103a4 88 //printf("Colour process() called\n\r");
quickeman 0:23508e7103a4 89
quickeman 0:23508e7103a4 90 if (!diskHave && newDetection) {
quickeman 0:23508e7103a4 91 // If: No disk & colour newly detected
quickeman 0:23508e7103a4 92 //printf("Colour detected; collecting disk\n\r");
quickeman 0:23508e7103a4 93
quickeman 0:23508e7103a4 94 diskHave = 1;
quickeman 0:23508e7103a4 95 diskColour = detectedWhich;
quickeman 0:23508e7103a4 96 }
quickeman 0:23508e7103a4 97
quickeman 0:23508e7103a4 98 else if ((diskHave && newDetection) && (detectedWhich == diskColour)) {
quickeman 0:23508e7103a4 99 // If: Have disk & colour newly detected & disk colour is same as detected colour, temporarily turn off solenoid
quickeman 0:23508e7103a4 100 //printf("Correct colour detected; depositing disk\n\r");
quickeman 0:23508e7103a4 101
quickeman 0:23508e7103a4 102 solenoidSet(0);
quickeman 0:23508e7103a4 103 flagColour = 1;
quickeman 0:23508e7103a4 104 diskHave = 0;
quickeman 0:23508e7103a4 105 }
quickeman 0:23508e7103a4 106
quickeman 0:23508e7103a4 107 /*else if ((diskHave && newDetection) && (detectedWhich != diskColour)) {
quickeman 0:23508e7103a4 108 // If: Have disk & colour newly detected & disk colour is NOT same as detected colour, update variables
quickeman 0:23508e7103a4 109 //printf("Wrong colour detected; keeping disk\n\r");
quickeman 0:23508e7103a4 110 }*/
quickeman 0:23508e7103a4 111
quickeman 0:23508e7103a4 112 else {
quickeman 0:23508e7103a4 113 //printf("Cool (y)\n\r");
quickeman 0:23508e7103a4 114 }
quickeman 0:23508e7103a4 115
quickeman 0:23508e7103a4 116 // Temporarily disable colour processing
quickeman 0:23508e7103a4 117 //printf("Disabling colour processing\n\r");
quickeman 0:23508e7103a4 118 toggleConst = 0;
quickeman 0:23508e7103a4 119 }