Diff: ColourSensor.cpp

Revision:

0:23508e7103a4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ColourSensor.cpp	Mon Mar 18 11:21:43 2019 +0000
@@ -0,0 +1,119 @@
+// ColourSensor.cpp
+
+#include "ColourSensor_H.h"
+#include "mbed.h"
+
+ColourSensor::ColourSensor(PinName If, PinName Which, PinName Out):
+    inIf(If), inWhich(Which), solenoid(Out) {
+        // Class constructor for colour sensor & solenoid
+        // Sets initial conditions of operation
+        
+        initialConditions();
+}
+
+void ColourSensor::initialConditions() {
+    // set initial conditions & variables
+    //printf("Setting Initial Conditions\n\r");
+    detectedIf = 0;
+    detectedIfOld = 0;
+    newDetection = 0;
+    diskHave = 0;
+    
+    solenoidState = 0;
+    
+    toggleA = 0;
+    toggleB = 0;
+    toggleConst = 1;
+    
+    flagColour = 0;
+    
+    solenoidSet(1);
+}
+
+void ColourSensor::solenoidOn() {
+    // Interrupt (software): Turn ON solenoid
+    //printf("Turning solenoid back ON\n\r");
+    
+    solenoidSet(1);
+}
+
+void ColourSensor::solenoidSet(bool state) {
+    // Turns solenoid on/off, sets solenoid's pull strength
+    // state: pass 1 or 0 for solenoid ON or OFF respectively
+    
+    solenoid.write(state);
+    //printf("Solenoid has been set to %i\n\r", state);
+    
+    solenoidState = state;
+}
+
+void ColourSensor::readIf() {
+    // Interrupt function (software): reads in colour detection state
+    
+    // Update variables
+    detectedIfOld = detectedIf;
+    newDetection = 0;
+    
+    //printf("Reading colour detection state\n\r");
+    
+    detectedIf = !inIf.read();
+    
+    if ((detectedIf && !detectedIfOld)) {
+        // if colour is newly detected
+        newDetection = 1;
+        toggleA = 1;
+        //printf("Colour newly detected\n\r");
+    }
+}
+
+void ColourSensor::readWhich() {
+    //Interrupt function (software): reads in which colour is detected
+    
+    detectedWhich = !inWhich.read();
+    
+    //printf("Colour detected; code: %d\n\r", detectedWhich);
+
+    toggleB = 1;
+}
+
+void ColourSensor::makeColourActive() {
+    // Interrupt function (software): reactivates colour processing 
+    toggleConst = 1;
+    
+    //printf("Colour processing Activated\n\r");
+}
+
+void ColourSensor::process() {
+    // Processes change of state in colour detection
+    //printf("Colour process() called\n\r");
+    
+    if (!diskHave && newDetection) {
+        // If: No disk & colour newly detected
+        //printf("Colour detected; collecting disk\n\r");
+        
+        diskHave = 1;
+        diskColour = detectedWhich;
+    } 
+    
+    else if ((diskHave && newDetection) && (detectedWhich == diskColour)) {
+        // If: Have disk & colour newly detected & disk colour is same as detected colour, temporarily turn off solenoid
+        //printf("Correct colour detected; depositing disk\n\r");
+        
+        solenoidSet(0);
+        flagColour = 1;
+        diskHave = 0;
+    }
+    
+    /*else if ((diskHave && newDetection) && (detectedWhich != diskColour)) {
+        // If: Have disk & colour newly detected & disk colour is NOT same as detected colour, update variables
+        //printf("Wrong colour detected; keeping disk\n\r");
+    }*/
+    
+    else {
+        //printf("Cool (y)\n\r");
+    }
+    
+    // Temporarily disable colour processing
+    //printf("Disabling colour processing\n\r");
+    toggleConst = 0;
+}
\ No newline at end of file