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#include "mbed.h"
#include "MCP23017.h"
#include "WattBob_TextLCD.h"
#include "TCS3472_I2C.h"
#include "stdint.h"
#include "VL6180.h"
#include "rtos.h"
#define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(1,BL_BIT)
#define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(0,BL_BIT)
#define IDENTIFICATIONMODEL_ID 0x0000
MCP23017 *par_port;
WattBob_TextLCD *lcd;
TCS3472_I2C rgb_sensor(p9, p10);//9:data
VL6180 TOF_sensor(p28, p27);//28:data
DigitalIn Ain(p21);
DigitalIn Bin(p22);
DigitalIn Cin(p23);
DigitalIn Din(p24);
DigitalOut Servo1a(p5);
DigitalOut Servo1b(p6);
DigitalOut Servo2a(p11);
DigitalOut Servo2b(p12);
DigitalOut Servo3a(p13);
DigitalOut Servo3b(p14);
DigitalOut Servo4(p15);
DigitalOut Servo5(p16);
DigitalIn Ein(p20);
Serial pc(USBTX, USBRX);
Thread thread1;
Thread thread2;
Thread thread3;
Thread thread4;
Thread thread5;
Thread thread6;
Thread thread7;
Thread thread8;
void servo1_thread()
{
while (true)
{
Thread::signal_wait(0x001);
Servo1a = 0;
Servo1b = 1;
wait(0.2);
Servo1a = 1;
}
}
void servo2_thread()
{
while (true)
{
Thread::signal_wait(0x010);
Servo1a = 1;
Servo1b = 0;
wait(0.2);
Servo1a = 0;
}
}
void servo3_thread()
{
while (true)
{
Thread::signal_wait(0x011);
while(1)
{
Servo2a = 0;
Servo2b = 0;
wait(1);
Servo2a = 1;
Servo2b = 1;
wait(1);
}
}
}
void servo4_thread()
{
while (true)
{
Thread::signal_wait(0x011);
while(1)
{
Servo3a = 0;
Servo3b = 0;
wait(1);
Servo3a = 1;
Servo3b = 1;
wait(1);
}
}
}
void servo5_thread()
{
while (true)
{
Thread::signal_wait(0x100);
while(1)
{
Servo2a = 0;
Servo2b = 0;
wait(2);
Servo2a = 1;
Servo2b = 1;
wait(2);
}
}
}
void servo6_thread()
{
while (true)
{
Thread::signal_wait(0x100);
while(1)
{
Servo3a = 0;
Servo3b = 0;
wait(2);
Servo3a = 1;
Servo3b = 1;
wait(2);
}
}
}
void servo7_thread()
{
while (true)
{
Thread::signal_wait(0x101);
Servo5 = 0;
wait(0.5);
Servo5 = 1;
wait(0.5);
Servo5 = 0;
Servo4 = 0;
wait(0.5);
Servo4 = 1;
wait(0.5);
Servo4 = 0;
}
}
bool p = false;
void servo8_thread()
{
while (true)
{
if(Ein == 1)
{
pc.printf("s");
thread1.terminate( );
thread2.terminate( );
thread3.terminate( );
thread4.terminate( );
thread5.terminate( );
thread6.terminate( );
// thread7.signal_set(0x101);
// wait(6);
// thread7.terminate( );
p = true;
thread8.terminate( );
}
}
}
int main()
{
uint8_t dist;
TOF_sensor.VL6180_Init();
par_port = new MCP23017(p9, p10, 0x40);
par_port->config(0x0F00, 0x0F00, 0x0F00);
BACK_LIGHT_ON(par_port);
int rgb_readings[4];
rgb_sensor.enablePowerAndRGBC();
rgb_sensor.setIntegrationTime(100);
char c = '/';
while(1)
{
//Distance Sensor
while(1)
{
c = pc.getc();
if(c == 's')
{
dist = TOF_sensor.getDistance();
dist /= 10;
//wait(3);
//pc.printf("%d", dist);
if(dist>=11)
pc.printf("l");
if(dist<11)
pc.printf("s");
}
if(c == 'o')
break;
}
//Photoelectric Sensor
//Special Ain
bool n = false;
while(1)
{
c = pc.getc();
if(c == '1')
{
if(Ain==1&&Bin==0&&Cin==0&&Din==0)
pc.printf("1"), n = true;
if(Ain==1&&Bin==0&&Cin==0&&Din==1)
pc.printf("2"), n = false;
if(Ain==1&&Bin==0&&Cin==1&&Din==0)
pc.printf("3"), n = false;
if(Ain==1&&Bin==0&&Cin==1&&Din==1)
pc.printf("4"), n = false;
if(Ain==1&&Bin==1&&Cin==0&&Din==0)
pc.printf("5"), n = false;
if(Ain==1&&Bin==1&&Cin==0&&Din==1)
pc.printf("6"), n = false;
if(Ain==1&&Bin==1&&Cin==1&&Din==0)
pc.printf("7"), n = false;
if(Ain==1&&Bin==1&&Cin==1&&Din==1)
pc.printf("8"), n = false;
if(Ain==0&&Bin==0&&Cin==0&&Din==0)
pc.printf("9"), n = false;
if(Ain==0&&Bin==0&&Cin==0&&Din==1)
pc.printf("10"), n = false;
if(Ain==0&&Bin==0&&Cin==1&&Din==0)
pc.printf("11"), n = false;
if(Ain==0&&Bin==0&&Cin==1&&Din==1)
pc.printf("12"), n = false;
if(Ain==0&&Bin==1&&Cin==0&&Din==0)
pc.printf("13"), n = false;
if(Ain==0&&Bin==1&&Cin==0&&Din==1)
pc.printf("14"), n = false;
if(Ain==0&&Bin==1&&Cin==1&&Din==0)
pc.printf("15"), n = false;
if(Ain==0&&Bin==1&&Cin==1&&Din==1)
pc.printf("16");
}
if(c == '2')
break;
}
while(n == true)
{
thread1.start(servo1_thread);
thread2.start(servo2_thread);
thread3.start(servo3_thread);
thread4.start(servo4_thread);
thread5.start(servo5_thread);
thread6.start(servo6_thread);
thread7.start(servo7_thread);
c = pc.getc();
if(c == 'd')
{
dist = TOF_sensor.getDistance();
dist /= 10;
wait(3);
pc.printf("%d", dist);
}
if(c == 'c')
{
rgb_sensor.getAllColors(rgb_readings);
if(rgb_readings[1]>rgb_readings[2]&&rgb_readings[1]>rgb_readings[3])
{
pc.printf("r");
}
if(rgb_readings[2]>rgb_readings[1]&&rgb_readings[2]>rgb_readings[3])
{
pc.printf("g");
}
if(rgb_readings[3]>rgb_readings[1]&&rgb_readings[3]>rgb_readings[2])
{
pc.printf("b");
}
}
if(c == 'e')
{
thread5.start(servo5_thread);
thread6.start(servo6_thread);
thread5.signal_set(0x100);
thread6.signal_set(0x100);
}
if(c == 'h')
{
thread3.start(servo3_thread);
thread4.start(servo4_thread);
thread3.signal_set(0x011);
thread4.signal_set(0x011);
}
if(c == 'l')
{
thread1.signal_set(0x001);
}
if(c == 'r')
{
thread2.signal_set(0x010);
}
//if sensor detected
//Undo
if(c == 's')
{
//thread1.terminate( );
//thread2.terminate( );
thread3.terminate( );
thread4.terminate( );
thread5.terminate( );
thread6.terminate( );
//thread7.signal_set(0x101);
//wait(6);
//thread7.terminate( );
}
if(c == 'b')
{
thread1.terminate( );
thread2.terminate( );
thread3.terminate( );
thread4.terminate( );
thread5.terminate( );
thread6.terminate( );
n = false;
}
}
//Color Sensor
while(1)
{
c = pc.getc();
if(c == 'a')
{
rgb_sensor.getAllColors(rgb_readings);
if(rgb_readings[1]>rgb_readings[2]&&rgb_readings[1]>rgb_readings[3])
{
pc.printf("r");
//continue;
}
if(rgb_readings[2]>rgb_readings[1]&&rgb_readings[2]>rgb_readings[3])
{
pc.printf("g");
//continue;
}
if(rgb_readings[3]>rgb_readings[1]&&rgb_readings[3]>rgb_readings[2])
{
pc.printf("b");
//continue;
}
}
if(c == 'b')
{
break;
}
}
//Servo
while(1)
{
thread1.start(servo1_thread);
thread2.start(servo2_thread);
thread3.start(servo3_thread);
thread4.start(servo4_thread);
thread5.start(servo5_thread);
thread6.start(servo6_thread);
thread7.start(servo7_thread);
thread8.start(servo8_thread);
c = pc.getc();
if(c == 'e')
{
thread5.start(servo5_thread);
thread6.start(servo6_thread);
thread5.signal_set(0x100);
thread6.signal_set(0x100);
}
if(c == 'h')
{
thread3.start(servo3_thread);
thread4.start(servo4_thread);
thread3.signal_set(0x011);
thread4.signal_set(0x011);
}
if(c == 'l')
{
thread1.signal_set(0x001);
}
if(c == 'r')
{
thread2.signal_set(0x010);
}
if(p == true)
{
thread1.terminate( );
thread2.terminate( );
thread3.terminate( );
thread4.terminate( );
thread5.terminate( );
thread6.terminate( );
//n = false;
break;
}
//if sensor detected
//C_sharp sent 'f' if time is up
if(c == 'f')
{
//Rotate the servo to reset the ball
thread1.terminate( );
thread2.terminate( );
thread3.terminate( );
thread4.terminate( );
thread5.terminate( );
thread6.terminate( );
thread7.signal_set(0x101);
wait(6);
thread7.terminate( );
break;
}
}
}
}
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