Revision 0:23508e7103a4, committed 2019-03-18

Comitter:

quickeman

Date:

Mon Mar 18 11:21:43 2019 +0000

Commit message:

Version 2 of OOP Colour Sensor program.; ; Altered so solenoid is ON by default and only turns OFF when dropping disk.

Changed in this revision

--- /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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ColourSensor_H.h	Mon Mar 18 11:21:43 2019 +0000
@@ -0,0 +1,57 @@
+// ColourSensor_H.h
+
+#ifndef ColourSensor_H
+#define ColourSensor_H
+
+#include "mbed.h"
+
+// ColourSensor is used to detect the coloured disks and control the Solenoid
+/* Attributes:
+    - Pinouts of sensor inputs and solenoid output
+
+   Methods:
+    - solenoidSet
+    - readColSenIf
+    - readColSenWhich
+    - colourCheck
+    - makeColourActive
+*/
+
+class ColourSensor {
+    public:
+        void solenoidSet(bool state); // Setting solenoid state
+        void solenoidOn(); // Interrupt to turn ON solenoid 
+        void readIf(); // Read 'IF' sensor
+        void readWhich(); // Read 'WHICH' sensor
+        void process(); // Colour processing
+        void initialConditions(); // Sets initial conditions
+        
+        DigitalIn inIf;
+        DigitalIn inWhich;
+        DigitalOut solenoid;
+        
+        int firstLoop;
+        bool toggleA;
+        bool toggleB;
+        bool toggleConst; // Can be used to toggle colour processing
+        
+        bool flagColour;
+        
+        ColourSensor(PinName pin1, PinName pin2, PinName pin3);
+        
+        void makeColourActive();
+        
+        
+    private:
+        bool detectedIf; // Colour detected? Yes/No -> 1/0
+        bool detectedIfOld; // Comparison bool
+        bool newDetection; // Colour newly detected? (i.e. is now but wasn't before?) Yes/No -> 1/0
+        bool detectedWhich; // Colour detected: Red/Blue -> 1/0
+        bool diskHave; // Have disk? Yes/No -> 1/0
+        bool diskColour; // Colour of disk: Red/Blue -> 1/0
+        
+        bool solenoidState; // State of solenoid: On/Off -> 1/0
+        
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Mar 18 11:21:43 2019 +0000
@@ -0,0 +1,53 @@
+#include "mbed.h"
+#include "ColourSensor_H.h"
+
+Ticker detectColour;
+Timeout readColour;
+Timeout reactivateColour;
+Timeout solenoidBackOn;
+
+int main() {
+    //printf("Program has started\n\r");
+    
+    ColourSensor ColourSensor(PTC16, PTC13, PTE20);
+    
+    // Set call rate of colour detection function
+    detectColour.attach(callback(&ColourSensor, &ColourSensor::readIf), 0.5);
+    
+//    int firstLoop = 1;
+    
+    while (1) {
+        // main program loop
+        /*
+        if (firstLoop) {
+            printf("Main loop has started\n\r");
+            firstLoop--;
+        }
+        */
+        
+        if (ColourSensor.toggleConst && ColourSensor.toggleA) {
+            // Call readColSenWhich after x seconds
+            //printf("Toggle A\n\r");
+            
+            readColour.attach(callback(&ColourSensor, &ColourSensor::readWhich), 0.2);
+            
+            ColourSensor.toggleA = 0;
+        }
+        
+        if (ColourSensor.toggleConst && ColourSensor.toggleB) {
+            // Process colour sensor data
+            //printf("Toggle B\n\r");
+            
+            ColourSensor.process();
+            
+            if(ColourSensor.flagColour) {
+                // If dropped disk
+                solenoidBackOn.attach(callback(&ColourSensor, &ColourSensor::solenoidOn), 2.0);
+            }
+            
+            reactivateColour.attach(callback(&ColourSensor, &ColourSensor::makeColourActive), 2.0);
+            
+            ColourSensor.toggleB = 0;
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Mar 18 11:21:43 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file