main.c

/*
 * File:   main.c
 * Author: Isabelle
 *
 * Created on February 4, 2017, 3:17 PM
 */
#include "configBits.h"
#include "declarations.h"
#include "functions.h"

//global variables
const char keys[] = "123A456B789C*0#D";
unsigned char time[7];
volatile unsigned char keypress = NULL;
int seconds = 0;
int S1mode = 0;
int S2mode = 0;
int S3mode = 0;
int soupSteps; //#of steps soup wheel has taken for current can
int sodaSteps; //#of steps soda wheel has taken for current can
int tabState = 0; //0:no, 1: yes
int labelState = 0; //1:no label, 0: label
int sodaAlign; //direction of soda wheel
int soupAlign; //direction of soup wheel
int soupI;  //#of sweeps of soup wheel for realignment
int sodaI;  //#of sweeps of soda wheel for realignment
int soupCnt; //continue sorting after current can?
int sodaCnt;
    

void interrupt handler(void) {   
    //** 1 SECOND TIMER THAT CALLS printRTC() using Timer0 **
    di();
    if(TMR0IF){
        TMR0IF = 0;
        seconds++;
        TMR0ON = 0;
    
        // Initialize timer again!
        T0CON = 0b00010111;
        TMR0H = 0b10000101;
        TMR0L = 0b10101110;
        T0CON = T0CON | 0b10000000;
    }
    
    if(TMR1IF){
        TMR1IF = 0;
        updateS1(S1mode);
        updateS2(S2mode);
        updateS3(S3mode);
        soupSteps ++;
        sodaSteps ++;
        
        if(((tabState == 0) && (sodaSteps == (sodaI*(sodaI+2)/2*100 + 480))) ||
           ((tabState == 1) && (sodaSteps == (sodaI*(sodaI+1)/2*100 + 325)))){
            if(sodaAlign == 1){sodaAlign = 2;}
            else{sodaAlign = 1;}  
            sodaI++;
        }
                
        if(soupSteps == (soupI*(soupI+1)/2*100 + 420)){
            if(soupAlign == 1){soupAlign = 2;}
            else{soupAlign = 1;}
            soupI ++;
        }   
        TMR1ON = 0;
        
        startTMR1();
    }  
}

void initialize(void){
    //OSCCON = 0b01110000; // Set internal oscillator to 8MHZ, and enforce internal oscillator operation
    OSCCON = 0xF0; //8MHz
    OSCTUNEbits.PLLEN = 1; // Enable PLL for the internal oscillator, Processor now runs at 32MHZ

    TRISA = 0b00101111;   //
    TRISB = 0b11110010; // Set Keypad Pins as input, rest are output
    TRISC = 0b00000000; // -,-,-,I2C, I2C, DC motor, -, -
                        //Set I2C pins as input, rest are output
    TRISD = 0x00;   //All output mode
    TRISE = 0b00000001;   //RE0 and RE1 output

    PR2 = 0xff; // load with PWM period value (fixed at 1.953 kHz)
    CCP1CON = 0b00001100; // setup for PWM mode 5:4 are PWM Duty Cycle LSB
    CCPR1L = 0x00; // eight high bits of duty cycle
    CCP2CON = 0b00001100; // setup for PWM mode 5:4 are PWM Duty Cycle LSB
    CCPR2L = 0x00; // eight high bits of duty cycle
    T2CON = 0b00000101; // Timer2 On, 1:1 Post, 4x prescale
    
    LATA = 0x00;
    LATB = 0x00;
    LATC = 0x00;
    LATD = 0x00;
    LATE = 0x00;
    
    initLCD();

    I2C_Master_Init(32000); //Initialize I2C Master with 100KHz clock
    
    //initialize ADC
    nRBPU = 0;
    //ADCON0 = 00000001;  //Enable ADC
    ADCON1 = 0b00001001;  //AN0 to AN5 used as analog input
    ADCON2 = 0b10001001;  //right justified, 
    CVRCON = 0x00; // Disable CCP reference voltage output
    CMCONbits.CIS = 0;
    ADFM = 1;
    
    TMR0IE = 1; // Enable Timer0 interrupts
    TMR1IE = 1; // Enable Timer1 interrupts
    //T0CON = 0b11011000; //ON, 8-bit, internal clock, rising edge, prescale, 010 prescale value
    PEIE = 1; // Set peripheral interrupt enable bit (YOU MUST DO THIS IF YOU
              // DIDN'T SET INTERRUPT PRIORITIES (i.e. if IPEN=0)
    ei(); // Enable all interrupts for now
}

int main(void) {
    LATA = 0;
    // <editor-fold defaultstate="collapsed" desc="initialization">
    initialize();   
    int standby = 1; //1=true, 0=false
    int s = 0;      //stepper motor counter
    int prevSodaIR; //value of previous soda can IR reading
    int prevSoupIR; //value of previous soup can IR reading
    
    int soupLoad = 1; //can waiting to be sorted?
    int sodaLoad = 1; //can waiting to be sorted?
       
    
    int soupSort; //sort soup  cans?
    int prevSoupLoad; //most recent soup can pass
    int sodaSort; //sort soup  cans?
    int prevSodaLoad; //most recent soup can pass
    
    int soupL;
    int soupNL ;
    int sodaT;
    int sodaNT;
    
    T0CON = 0b00010111;
    TMR0H = 0b10000101;
    TMR0L = 0b10101110;
    T0CONbits.TMR0ON = 1;
    startTMR1();
    // </editor-fold>
                 
    __delay_ms(10);       
            
    while(1){   
        if (standby == 1){            
            keypress = NULL;
            while(keypress == NULL){
                updateTime();
                homescreen();
                keyinterrupt();
            }                    
                                 
            if(keypress == 2){ //3: Start sorting
                // <editor-fold defaultstate="collapsed" desc="sort intitialize">
                standby = 0; //not standby      
                seconds = 0;  
                labelState = 0;
                soupSort = 0;                
                tabState = 0;
                sodaSort = 0;
                soupSteps = 0;
                sodaSteps = 0; 
                soupL = 0;
                soupNL = 0;
                sodaT = 0;
                sodaNT = 0;
                prevSoupIR = 0;
                prevSodaIR = 0;  
                
                lcd_clear();
                printf("Sorting cans...");
                lcd_newline();
                printf("Any key to stop");
                       
                while(soupSteps < 14){
                    S2mode = 2; //arm out
                }                
                S2mode = 4;
                calibrateWheels(); 
                if(s1 == 2 || s1 == 3){S1mode = 3;}
                else{S1mode = 5;}
                if(s3 == 2 || s3 == 3){S3mode = 3;}
                else{S3mode = 5;}
                PWM2(drumSpeed, 1); //CW
                PWM1(400);
                
                keypress = NULL;  
                // </editor-fold>                        
            }
            else if(keypress == 3){ //2:Logs
                displayLog(1);
                displayLog(2);
                displayLog(3);
                displayLog(4);
            }
            else if(keypress == 15 ) { //D: testing components
                standby = 2;   
                s = 1;
            }
            
        }
        else if(standby == 2){ //testing components
            // <editor-fold defaultstate="collapsed" desc="Testing Components">
                        
            lcd_clear();
            printf("testing PWM2 CW");
            PWM2(drumSpeed, 1);                     
            keycheck();
                        
            lcd_clear();
            printf("testing PWM2 CCW");
            PWM2(drumSpeed, 2);
            keycheck();
            
            PWM2off();
            
            lcd_clear();
            printf("testing S f");
            S1mode = 1;
            S2mode = 1;
            S3mode = 1;              
            keycheck();

            lcd_clear();
            printf("testing S b");                
            S1mode = 2;
            S2mode = 2;
            S3mode = 2;                            
            keycheck();
            
            lcd_clear();
            printf("testing S shake");                
            S1mode = 3;
            S2mode = 3;
            S3mode = 3;
            keycheck();
                        
            S1mode = 4;
            S2mode = 4;
            S3mode = 4;
            
            keypress = NULL;
            lcd_clear();
            printf("testing S1 pins");
            while(keypress!=3){ //A to stop
                //keypress = NULL;
                keyinterrupt();

                if (keypress == 2){S1_1 = 1;}
                else{S1_1 = 0;} 
                if (keypress == 6){S1_2 = 1;}
                else{S1_2 = 0;}
                if (keypress == 10){S1_3 = 1;}
                else{S1_3 = 0;}
                if (keypress == 14){S1_4 = 1;}
                else{S1_4 = 0;}     
                
                readADC(IR1);
                lcd_newline();
                printf("%x", ADRES);
            }

            keypress = NULL;
            lcd_clear();
            printf("testing S2 pins");
            while(keypress!=3){ //A to stop
                //keypress = NULL;
                keyinterrupt();

                if (keypress == 2){S2_1 = 1;}
                else{S2_1 = 0;} 
                if (keypress == 6){S2_2 = 1;}
                else{S2_2 = 0;}
                if (keypress == 10){S2_3 = 1;}
                else{S2_3 = 0;}
                if (keypress == 14){S2_4 = 1;}
                else{S2_4 = 0;}        
            }

            keypress = NULL;
            lcd_clear();
            printf("testing S3 pins");
            while(keypress!=3){ //A to stop
                //keypress = NULL;
                keyinterrupt();

                if (keypress == 2){S3_1 = 1;}
                else{S3_1 = 0;} 
                if (keypress == 6){S3_2 = 1;}
                else{S3_2 = 0;}
                if (keypress == 10){S3_3 = 1;}
                else{S3_3 = 0;}
                if (keypress == 14){S3_4 = 1;}
                else{S3_4 = 0;}      
                
                readADC(IR4);
                lcd_newline();
                printf("%x", ADRES);
            }
            
            S1mode = 0;
            S2mode = 0;
            S3mode = 0;

            lcd_clear();
            printf("testing PWM1");
            PWM1(400);
            keycheck();
            PWM1off();

            keypress = NULL;
            while(keypress==NULL){
                keypress = NULL;
                //__delay_ms(50);
                lcd_clear();
                printf("testing IR");
                lcd_newline();
                readADC(IR1);
                printf("%x ", ADRES);
                readADC(IR2);
                printf("%x ", ADRES);
                readADC(IR3);
                printf("%x ", ADRES);
                readADC(IR4);
                printf("%x ", ADRES);
                keyinterrupt();
                __delay_ms(100);
            }

            keypress = NULL;
            while(keypress==NULL){
                keypress = NULL;
                __delay_ms(50);
                lcd_clear();
                printf("label   tab");
                lcd_newline();
                readADC(label);
                printf("%x      ", ADRES);
                readADC(tab);
                printf("%x      ", ADRES);
                keyinterrupt();
            }

            standby = 1;
                                 
            /*if(keypress != NULL){
                s++;
            }*/
        // </editor-fold>    
        } 
        else{ //sorting mode  
            do{
                //lcd_clear();
                // <editor-fold defaultstate="collapsed" desc="soup can path">
                readADC(IR3);
                if(ADRES <= canThresh){
                    prevSoupLoad = seconds;
                    soupCnt = 1;
                    if (!soupSort){
                        soupSort = 1;
                        soupSteps = 0;
                        __delay_ms(150);
                    }
                }   

                //printf("soup: %x %d", ADRES, soupSteps);

                if (soupSort){    
                    if (soupSteps < 120){
                        readADC(label);                
                        if(ADRES<0x200){labelState = 1;} //no label 
                        //printf(" %x",ADRES);
                    }
                    else if (labelState == 1){ //no label
                        if(soupSteps < (120+70)){
                            S1mode = 1;
                            soupCnt = 0;
                        }
                        else if(soupSteps < (120+70+55)){
                            S1mode = 2;     
                            soupAlign = 2;
                            soupI = 1;
                        }
                        else{
                            S1mode = 4;  
                            //printf(" %d", soupAlign);
                            updateS1(soupAlign);
                            readADC(IR1);                        
                            //printf(" %x", ADRES);
                            if (ADRES < prevSoupIR && ADRES > wheelThresh){labelState = 101;}
                            prevSoupIR = ADRES;

                        }
                    }
                    else if(labelState == 0){ //label
                        if(soupSteps < (120+70)){
                            S1mode = 2;     
                            soupCnt = 0;
                        }
                        else if(soupSteps < (120+70+58)){
                            S1mode = 1;    
                            soupAlign = 1;
                            soupI = 1;
                        }
                        else{
                            S1mode = 4;
                            //printf(" %d", soupAlign);
                            updateS1(soupAlign);
                            readADC(IR1);                       
                            //printf(" %x", ADRES);
                            if(ADRES < prevSoupIR && ADRES > wheelThresh){labelState = 100;}
                            prevSoupIR = ADRES;
                        }
                    }
                    else{
                        if(labelState == 101){soupNL++;}
                        else if(labelState == 100){soupL++;}
                        soupSteps = 0;
                        prevSoupIR = 0;
                        labelState = 0;
                        if (soupCnt == 0) {soupSort = 0;}
                        
                        if(s1 == 2 || s1 == 3){S1mode = 3;}
                        else{S1mode = 5;}
                    }
                }
                
            // </editor-fold>           

                lcd_newline();
                // <editor-fold defaultstate="collapsed" desc="soda can path">
                readADC(IR2);            
                if(ADRES <= canThresh){
                    prevSodaLoad = seconds;
                    sodaCnt = 1;
                    if (!sodaSort){
                        sodaSort = 1;
                        sodaSteps = 0;                    
                        __delay_ms(150);
                    }
                }                          

                //printf("soda: %x %d", ADRES, sodaSteps);

                if (sodaSort){
                    if(sodaSteps < 48){
                        //wheel shake, arm steady
                        S2mode = 4;
                    }
                    else if (sodaSteps < (48+43)){      //go to sorting position
                        S3mode = 1; //motor outwards
                         //arm steady
                    }
                    else if (sodaSteps < (48+43+10)){ //bring arm in
                        S3mode = 4; //motor steady  
                        S2mode = 1; //arm in
                    }
                    else if (sodaSteps < (48+43+10+15)){ //test
                        S3mode = 4; //everything steady
                        S2mode = 0;
                        readADC(tab);                
                        if(ADRESH<=1){tabState = 1;} //tab
                        //printf(" %x",ADRESH);
                        s2 = 1;
                    }
                    /*else if (sodaSteps < (48+43+10+15+4)){ //bring arm in
                        S3mode = 4; //motor steady
                        S2mode = 1;    
                        readADC(tab);                
                        if(ADRESH<=1){tabState = 1;} //tab
                        //printf(" %x",ADRESH);
                    }*/
                    else if (sodaSteps < (48+43+10+15+20)){ //bring arm out
                        S3mode = 4; //motor steady
                        S2mode = 2;                         
                    }
                    else if (tabState == 1){ //tab
                        if(sodaSteps < (48+43+10+15+20+30)){ //sort                        
                            S3mode = 1;  //motor outwards
                            S2mode = 4;  //arm steady
                            sodaCnt = 0;                        
                        }
                        else if(sodaSteps < (48+43+10+15+20+30+55)){ //return                    
                            S3mode = 2;  //motor inwards
                            S2mode = 4;  //arm steady
                            sodaAlign = 2;
                            sodaI = 1;
                        }
                        else { //return
                            S2mode = 4;  //arm steady
                            S3mode = 4;                              
                            updateS3(sodaAlign);      
                            readADC(IR4);
                            if(ADRES <prevSodaIR && ADRES > wheelThresh){tabState = 101;}
                            prevSodaIR = ADRES;
                            //printf(" %x", ADRES);
                        }
                    }
                    else if(tabState == 0){ //no tab
                        if(sodaSteps < (48+43+10+15+20+(43+75))){ //sort                        
                            S3mode = 2;  //motor inwards
                            S2mode = 4;  //arm steady
                            sodaCnt = 0;
                        }
                        else if(sodaSteps < (48+43+10+15+20+(43+75)+65)){ //return                        
                            S3mode = 1;  //motor outwards
                            S2mode = 4;  //arm steady
                            sodaAlign = 1;
                            sodaI = 1;
                        }
                        else {
                            S3mode = 4;  //avoid updating
                            S2mode = 4;  //arm steady                                                        
                            updateS3(sodaAlign);
                            readADC(IR4);
                            if(ADRES <prevSodaIR && ADRES > wheelThresh){tabState = 100;}
                            prevSodaIR = ADRES;
                            //printf(" %x", ADRES);
                        }
                    }
                    else{
                        if(tabState==101){sodaT++;}
                        else if(tabState==100){sodaNT++;}
                        sodaSteps = 0;
                        tabState = 0;
                        prevSodaIR = 0;
                        if (sodaCnt == 0) {sodaSort = 0;}
                        
                        if(s3 == 2 || s3 == 3){S3mode = 3;}
                        else{S3mode = 5;}
                    }
                }
                // </editor-fold>
                
                if(seconds%7==1 && seconds <7){PWM2slow(750);}
                else if(seconds%7==2){PWM2slow(750);} 
                else if(seconds%7==5){PWM2(drumSpeed,2);}         //CCW
                else if(seconds%7 == 0){PWM2(drumSpeed, 1);} //CW

                keyinterrupt();
            }while(keypress==NULL &&
                   ((seconds -prevSoupLoad) < 13 || (seconds-prevSodaLoad) < 13)
                    && seconds < 180);   
            
            standby = 1;   
            PWM2off();
            PWM1off();
            S1mode = 0;
            S2mode = 0;
            S3mode = 0; 

            //updateTime();
            addRun(seconds, time[6], time[5], time[4], time[2], time[1], time[0], sodaT, sodaNT, soupL, soupNL);

            lcd_clear();
            printf("Sort done! A:No");
            lcd_newline();
            printf("View Logs? B:Yes");  
            keycheck();
            if(keypress == 7){
                displayLog(1);                                               
            }
        }
    }
    return;
}