(DA) Internet of Things and Smart Electronics- ELE3006M2122
Coursework
main.cpp
- Committer:
- sesa514652
- Date:
- 2022-02-04
- Revision:
- 44:5d8fab3e055f
- Parent:
- 43:c58a59e081eb
- Child:
- 45:f1db729741f7
File content as of revision 44:5d8fab3e055f:
/**
*.....Kory Hamill
*.....IOT Smart Electronics Coursework
*.....Acknowlegements Libary Makers
*.....18689004
*/
/**
* Section of code to bring in the #includes
* TO DO :
* Debounce Issue
* Second Button Press B menu take from switch of A to own switch
*/
#include "mbed.h"
//#include "Joystick.h" Not used in project
#include "N5110.h"
#include "hcsr04.h"
#include "Piezo.h"
#include "string"
#include "array"
#include <iostream>
#include <numeric>
using namespace std;
/**
*...This Section of the code is used to bring in volatile Varible's, These can be wrote to throught the code.
*...The Varibles are used to track button press's on the board.
*/
volatile int g_ButtonAPress;
volatile int g_ButtonBPress;
volatile int LoopCountScan1;
volatile int LoopCountScan2;
volatile int LoopCountScan3;
volatile int LoopCountScan4;
volatile int LoopCountScan5;
volatile int LoopCountScan6;
volatile int g_buttonA_flag = 0;
volatile int g_buttonB_flag = 0;
volatile int g_buttonX_flag = 0;
volatile int g_buttonY_flag = 0;
volatile int g_buttonStart_flag = 0;
volatile int g_buttonBack_flag = 0;
volatile int g_buttonLeft_flag = 0;
volatile int g_buttonRight_flag = 0;
volatile int wallTotal;
volatile int boxTotal;
volatile int cartonTotal;
volatile int triangleTotal;
/**
*..Bring in 5 arrays of 5 for each of the 5 required scans.
*..array Ref starts at 0,
*/
volatile int Scan1[5];
/* no longer required
volatile int Scan2[5];
volatile int Scan3[5];
volatile int Scan4[5];
volatile int Scan5[5];
volatile int wall[5];
*/
/**
*... Section of code to assign names to IO pins on the K64f
*/
InterruptIn buttonA(PTB9);
InterruptIn buttonB(PTD0);
InterruptIn buttonX(PTC17);
InterruptIn buttonY(PTC12);
InterruptIn buttonStart(PTC5);
InterruptIn buttonBack(PTB19);
InterruptIn buttonLeft(PTB18);
InterruptIn buttonRight(PTB3);
//Joystick joystick(PTB10,PTB11,PTC16); Not used in project
HCSR04 sensor(D14, D15);
Piezo Buzzer(PTC10);
N5110 lcd(PTC9,PTC0,PTC7,PTD2,PTD1,PTC11);
/**
*...For used with the LCD Screen. rows,cols
*/
int sprite[8][5] = {
{ 0,0,1,0,0 },
{ 0,1,1,1,0 },
{ 0,0,1,0,0 },
{ 0,1,1,1,0 },
{ 1,1,1,1,1 },
{ 1,1,1,1,1 },
{ 1,1,0,1,1 },
{ 1,1,0,1,1 },
};
/**
*...Section for starting the board and seeting up interrupt routines
*...Along with other functions to be called later
*/
void init_K64F(); // Start K64fBoard
void buttonA_isr(); // Button A interrupt service routine
void buttonB_isr(); // Button B interrupt service routine
void buttonX_isr(); // Button X interrupt service routine
void buttonY_isr(); // Button Y interrupt service routine
void buttonStart_isr(); // Button Start interrupt service routine
void buttonBack_isr(); // Button Back interrupt service routine
void buttonLeft_isr(); // Button Left interrupt service routine
void buttonRight_isr(); // Button Right interrupt service routine
void inputScan1();
void inputScan2();
void inputScan3();
void inputScan4();
void inputScan5();
void inputScan6();
void wallDecision();
void boxDecision();
void cartonDecision();
void triangleDecision();
int NoContinueExit();
int buttonCountA();
int buttonCountB();
void printShape();
EventQueue queue; /**< Required to get around issues with printing onto LCD and the Printf */
/** Code which was never used
*
*.. was for initial learning of C++
//volatile int g_buttonA_counter = 0; // Global counter
//Test function after research C++ lanuage 05/01/22
int cube(int num){
return num*num;
};
// Menu Items
int page1;
int page2;
int page3;
string Listitem1 = "Game"; //
string Listitem2 = "Measure"; //
string Listitem3 = "Detect"; //
/ Test of the interup an operating the buzzer this kills the board
void buzzme(){
Buzzer.play(200,120);
wait_ms(5);
Buzzer.play(200,120);;
}
int Scan1[5];
int Scan2[5];
int Scan1Input(){;
Scan1[0] = sensor.distance();
Scan1[1] = sensor.distance();;
Scan1[2] = sensor.distance();;
Scan1[3] = sensor.distance();;
Scan1[4] = sensor.distance();;
return Scan1[0,1,2,3,4];}
//void returnme(){
//int num;
// return num*num;
// };
*/
/*
bool Equal(int ar1[],int ar2[], int n, int m){
if(n!=m)
return false;
sort(ar1,ar1 +n);
sort(ar2,ar2 +m);
for (int i=0;i<n; i++)
if(ar1[i]!=ar2[i])
return false;
return true;
}*/
/* Problems with this and Being exact and repeatable
bool MatchMade(int arr1[], int arr2[], int n, int m)
{
// If lengths of array are not equal means
// array are not equal
if (n != m)
return false;
// Sort both arrays
sort(arr1, arr1 + n);
sort(arr2, arr2 + m);
// Linearly compare elements
for (int i = 0; i < n; i++)
if (arr1[i] != arr2[i])
return false;
// If all elements were same.
return true;
*/
int main()
{
/**
*.. Intialise joystick and Lcd
*/
// joystick.init(); not used in project
lcd.init();
lcd.setContrast(0.5);
/**
*.. Issues were found with the LCd and printf while using interrupts, to get around
*.. this issue these queue's to the event thread were added.
*/
Thread eventThread;
eventThread.start(callback(&queue, &EventQueue::dispatch_forever));
buttonA.rise(queue.event(&buttonA_isr));
buttonB.rise(queue.event(&buttonB_isr));
buttonX.rise(queue.event(&buttonX_isr));
buttonY.rise(queue.event(&buttonY_isr));
buttonStart.rise(queue.event(&buttonStart_isr));
buttonBack.rise(queue.event(&buttonBack_isr));
buttonLeft.rise(queue.event(&buttonLeft_isr));
buttonRight.rise(queue.event(&buttonRight_isr));
/**
*..Buttons were connected to IO pins which required a pull down resistor to be active.
*/
buttonA.mode(PullDown);
buttonB.mode(PullDown);
buttonX.mode(PullDown);
buttonY.mode(PullDown);
buttonStart.mode(PullDown);
buttonBack.mode(PullDown);
buttonLeft.mode(PullDown);
buttonRight.mode(PullDown);
/**
*.. Section of code not used in main program.
*
Buzzer.period(10.0f);
//Buzzer.pulsewidth(1);
Test Struct after research 05/01/22
struct ObjectDefine{
int qwer;
float Distance;
char te;
double dubs;
string namestruct;
// string ;
};
// Test Class 06/01/22
class myClass{
public:
string nameclass ;
double dubss;
int inty;
};
myClass Class1;
Class1.nameclass ="firstclass";
ObjectDefine Object1;
Object1.qwer = 12;
Object1.Distance = 34;
Object1.te = 'A';
Object1.dubs = 23;
Object1.namestruct = "name";
*/
/*
int ar1[]= {2,3,4,5};
int ar2[] = {2,3,4,5};
int n = sizeof(ar1);
int m = sizeof(ar2);
if(Equal(ar1,ar2,n,m)){
printf("TRUEEEEEEEEEEEEEEEEEEE\n");}
else {printf("Falseeeeeeeeeeeeeeeeeeeeeeeeeeeddddddddd\n");}
*/
printf("I SHOULD HAVE BEEN PRINTED !!!!!");
while(1) {
/**
*.. It was found Cout was not working as expected.
cout << "Test value collection";
Scan1Input();
cout << Scan1[0];cout <<"/n";
cout << Scan1[1];"/n";
cout << Scan1[2];"/n";
cout << Scan1[3];"/n";
cout << Scan1[4];"/n";
cout << Scan1[5];"/n";
cout << Scan1[6];"/n";
cout << Scan1[7];"/n";
cout << Scan1[8];"/n";
cout << Scan1[9];"/n";
*//* Removing from coolterm printout
printf("Debug : LoopCount1 : %i\n",LoopCountScan1);
printf("Debug : LoopCount2 : %i\n",LoopCountScan2);
printf("Debug : LoopCount3 : %i\n",LoopCountScan3);
printf("Debug : LoopCount4 : %i\n",LoopCountScan4);
printf("Debug : LoopCount5 : %i\n",LoopCountScan5);
printf("press count = %i\n",g_ButtonAPress);
*/
printf("Scan1 1 : %d cm\n", Scan1[0]);
printf("Scan1 2 : %d cm\n", Scan1[1]);
printf("Scan1 3 : %d cm\n", Scan1[2]);
printf("Scan1 4 : %d cm\n", Scan1[3]);
printf("Scan1 5 : %d cm\n", Scan1[4]);
/* NO longer Reuired Section
printf("Scan2 1 : %d cm\n", Scan2[0]);
printf("Scan2 2 : %d cm\n", Scan2[1]);
printf("Scan2 3 : %d cm\n", Scan2[2]);
printf("Scan2 4 : %d cm\n", Scan2[3]);
printf("Scan2 5 : %d cm\n", Scan2[4]);
printf("Scan3 1 : %d cm\n", Scan3[0]);
printf("Scan3 2 : %d cm\n", Scan3[1]);
printf("Scan3 3 : %d cm\n", Scan3[2]);
printf("Scan3 4 : %d cm\n", Scan3[3]);
printf("Scan3 5 : %d cm\n", Scan3[4]);
printf("Scan4 1 : %d cm\n", Scan4[0]);
printf("Scan4 2 : %d cm\n", Scan4[1]);
printf("Scan4 3 : %d cm\n", Scan4[2]);
printf("Scan4 4 : %d cm\n", Scan4[3]);
printf("Scan4 5 : %d cm\n", Scan4[4]);
printf("Scan5 1 : %d cm\n", Scan5[0]);
printf("Scan5 2 : %d cm\n", Scan5[1]);
printf("Scan5 3 : %d cm\n", Scan5[2]);
printf("Scan5 4 : %d cm\n", Scan5[3]);
printf("Scan5 5 : %d cm\n", Scan5[4]);
*/
printf("I always Get printed \n");
// cout << Scan1[2];
// cout << Scan1[6];
printf("I Should Be printed always \n");
/**
*..Code section on Comparing data Cout was causing issue
*
if (Scan1[1] > Scan1[2]){
cout <<'+';
}else if (Scan1[1]=Scan1[2]){
cout <<'=';}
else {
cout <<'-';}
if (Scan1[2] > Scan1[3]){
cout <<'+';
}else if (Scan1[2]=Scan1[3]){
cout <<'=';}
else {
cout <<'-';}
if (Scan1[3] > Scan1[4]){
cout <<'+';
}else if (Scan1[3]=Scan1[4]){
cout <<'=';}
else {
cout <<'-';}
if (Scan1[4] > Scan1[5]){
cout <<'+';
}else if (Scan1[4]=Scan1[5]){
cout <<'=';}
else {
cout <<'-';}
if (Scan1[5] > Scan1[6]){
cout <<'+';
}else if (Scan1[5]=Scan1[6]){
cout <<'=';}
else {
cout <<'-';}
if (Scan1[6] > Scan1[7]){
cout <<'+';
}else if (Scan1[6]=Scan1[7]){
cout <<'=';}
else {
cout <<'-';}
if (Scan1[7] > Scan1[8]){
cout <<'+';
}else if (Scan1[7]=Scan1[8]){
cout <<'=';}
else {
cout <<'-';}
if (Scan1[8] > Scan1[9]){
cout <<'+';
}else if (Scan1[8]=Scan1[9]){
cout <<'=';}
else {
cout <<'-';}
if (Scan1[9] > Scan1[10]){
cout <<'+';
}else if (Scan1[9]=Scan1[10]){
cout <<'=';}
else {
cout <<'-';}
*/
/////////////////////////////////////////////////////////////////////////////////////////////////////
/**
*..Initial state when starting the Board.
*/
switch(g_ButtonAPress) {
default:
lcd.clear();
lcd.printString("Main Menu",0,0);
lcd.drawLine(0,10,80,10,2);
lcd.printString("Press A",0,2);
lcd.printString("New Scan",0,3);
lcd.printString("Press B",0,4);
lcd.printString("Decicde",0,5);
LoopCountScan1 =0;
LoopCountScan2 =0;
LoopCountScan3 =0;
LoopCountScan4 =0;
LoopCountScan5 =0;
LoopCountScan6 =0;
/* Code Section No longer required
*
for(int i=0; i<5; i++){
printf("hello Scan: %i The value of : %i \n",i, Scan1[i]);
if (Scan1[i]>95){
Decide[i]= '+';
printf("no wall%c/n",Decide[i]);}
else if (Scan1[i]<85){
Decide[i]= '-';
printf("OBJECT ABOUT%c/n",Decide[i]);}
else if (Scan1[i]>85<95){
Decide[i]= '=';
printf("No Object %c/n",Decide[i]);}
}
*/
/** IF Statement to decide on shape to draw
*.. This section of code compares the each array element with the one proceding it and makes a logical decision if higher lower or equal.
*/
/*
if (Scan1[0] > Scan1[1])
{
printf("+");
Decide[0]= 'x';
printf( "chosen 1 %c\n",Decide[0]);
}
else if (Scan1[0] == Scan1[1])
{
printf("=");
Decide[0]='=';
printf( "chosen2 %c\n",Decide[0]);
}
else if (Scan1[0] < Scan1[1])
{
printf("-");
Decide[0]='-';
printf( "chosen3 %c\n",Decide[0]);
}
if (Scan1[1] > Scan1[2])
{
printf("+");
Decide[1]= 'x';
printf( "chosen 1 %c\n",Decide[1]);
}
else if (Scan1[1] == Scan1[2])
{
printf("=");
Decide[1]='=';
printf( "chosen2 %c\n",Decide[1]);
}
else if (Scan1[1] < Scan1[2])
{
printf("-");
Decide[1]='-';
printf( "chosen3 %c\n",Decide[1]);
}
if (Scan1[2] > Scan1[3])
{
printf("+");
Decide[2]= 'x';
printf( "chosen 1 %c\n",Decide[2]);
}
else if (Scan1[2] == Scan1[3])
{
printf("=");
Decide[2]='=';
printf( "chosen2 %c\n",Decide[2]);
}
else if (Scan1[2] < Scan1[3])
{
printf("-");
Decide[2]='-';
printf( "chosen3 %c\n",Decide[2]);
}
if (Scan1[3] > Scan1[4])
{
printf("+");
Decide[3]= 'x';
printf( "chosen 1 %c\n",Decide[3]);
}
else if (Scan1[3] == Scan1[4])
{
printf("=");
Decide[3]='=';
printf( "chosen2 %c\n",Decide[3]);
}
else if (Scan1[3] < Scan1[4])
{
printf("-");
Decide[3]='-';
printf( "chosen3 %c\n",Decide[3]);
}
if (Scan2[0] > Scan2[1])
{
printf("+");
Decide2[0]= 'x';
printf( "chosen 1 %c\n",Decide2[0]);
}
else if (Scan2[0] == Scan2[1])
{
printf("=");
Decide2[0]='=';
printf( "chosen2 %c\n",Decide2[0]);
}
else if (Scan2[0] < Scan2[1])
{
printf("-");
Decide2[0]='-';
printf( "chosen3 %c\n",Decide2[0]);
}
if (Scan2[1] > Scan2[2])
{
printf("+");
Decide2[1]= 'x';
printf( "chosen 1 %c\n",Decide2[1]);
}
else if (Scan2[1] == Scan2[2])
{
printf("=");
Decide2[1]='=';
printf( "chosen2 %c\n",Decide2[1]);
}
else if (Scan2[1] < Scan2[2])
{
printf("-");
Decide2[1]='-';
printf( "chosen3 %c\n",Decide2[1]);
}
if (Scan2[2] > Scan2[3])
{
printf("+");
Decide2[2]= 'x';
printf( "chosen 1 %c\n",Decide2[2]);
}
else if (Scan2[2] == Scan2[3])
{
printf("=");
Decide2[2]='=';
printf( "chosen2 %c\n",Decide2[2]);
}
else if (Scan2[2] < Scan2[3])
{
printf("-");
Decide2[2]='-';
printf( "chosen3 %c\n",Decide2[2]);
}
if (Scan2[3] > Scan2[4])
{
printf("+");
Decide2[3]= 'x';
printf( "chosen 1 %c\n",Decide2[3]);
}
else if (Scan2[3] == Scan2[4])
{
printf("=");
Decide2[3]='=';
printf( "chosen2 %c\n",Decide2[3]);
}
else if (Scan2[3] < Scan2[4])
{
printf("-");
Decide2[3]='-';
printf( "chosen3 %c\n",Decide2[3]);
}
if (Scan3[0] > Scan3[1])
{
printf("+");
Decide3[0]= 'x';
printf( "chosen 1 %c\n",Decide3[0]);
}
else if (Scan3[0] == Scan3[1])
{
printf("=");
Decide3[0]='=';
printf( "chosen2 %c\n",Decide3[0]);
}
else if (Scan3[0] < Scan3[1])
{
printf("-");
Decide3[0]='-';
printf( "chosen3 %c\n",Decide3[0]);
}
if (Scan3[1] > Scan3[2])
{
printf("+");
Decide3[1]= 'x';
printf( "chosen 1 %c\n",Decide3[1]);
}
else if (Scan3[1] == Scan3[2])
{
printf("=");
Decide3[1]='=';
printf( "chosen2 %c\n",Decide3[1]);
}
else if (Scan3[1] < Scan3[2])
{
printf("-");
Decide3[1]='-';
printf( "chosen3 %c\n",Decide3[1]);
}
if (Scan3[2] > Scan3[3])
{
printf("+");
Decide3[2]= 'x';
printf( "chosen 1 %c\n",Decide3[2]);
}
else if (Scan3[2] == Scan3[3])
{
printf("=");
Decide3[2]='=';
printf( "chosen2 %c\n",Decide3[2]);
}
else if (Scan3[2] < Scan3[3])
{
printf("-");
Decide3[2]='-';
printf( "chosen3 %c\n",Decide3[2]);
}
if (Scan3[3] > Scan3[4])
{
printf("+");
Decide3[3]= 'x';
printf( "chosen 1 %c\n",Decide3[3]);
}
else if (Scan3[3] == Scan3[4])
{
printf("=");
Decide3[3]='=';
printf( "chosen2 %c\n",Decide3[3]);
}
else if (Scan3[3] < Scan3[4])
{
printf("-");
Decide3[3]='-';
printf( "chosen3 %c\n",Decide3[3]);
}
if (Scan4[0] > Scan4[1])
{
printf("+");
Decide4[0]= 'x';
printf( "chosen 1 %c\n",Decide4[0]);
}
else if (Scan4[0] == Scan4[1])
{
printf("=");
Decide4[0]='=';
printf( "chosen2 %c\n",Decide4[0]);
}
else if (Scan4[0] < Scan4[1])
{
printf("-");
Decide4[0]='-';
printf( "chosen3 %c\n",Decide4[0]);
}
if (Scan4[1] > Scan4[2])
{
printf("+");
Decide4[1]= 'x';
printf( "chosen 1 %c\n",Decide4[1]);
}
else if (Scan4[1] == Scan4[2])
{
printf("=");
Decide4[1]='=';
printf( "chosen2 %c\n",Decide4[1]);
}
else if (Scan4[1] < Scan4[2])
{
printf("-");
Decide4[1]='-';
printf( "chosen3 %c\n",Decide4[1]);
}
if (Scan4[2] > Scan4[3])
{
printf("+");
Decide4[2]= 'x';
printf( "chosen 1 %c\n",Decide4[2]);
}
else if (Scan4[2] == Scan4[3])
{
printf("=");
Decide4[2]='=';
printf( "chosen2 %c\n",Decide4[2]);
}
else if (Scan4[2] < Scan4[3])
{
printf("-");
Decide4[2]='-';
printf( "chosen3 %c\n",Decide4[2]);
}
if (Scan4[3] > Scan4[4])
{
printf("+");
Decide4[3]= 'x';
printf( "chosen 1 %c\n",Decide4[3]);
}
else if (Scan4[3] == Scan4[4])
{
printf("=");
Decide4[3]='=';
printf( "chosen2 %c\n",Decide4[3]);
}
else if (Scan4[3] < Scan4[4])
{
printf("-");
Decide4[3]='-';
printf( "chosen3 %c\n",Decide4[3]);
}
if (Scan5[0] > Scan5[1])
{
printf("+");
Decide5[0]= 'x';
printf( "chosen 1 %c\n",Decide5[0]);
}
else if (Scan5[0] == Scan5[1])
{
printf("=");
Decide5[0]='=';
printf( "chosen2 %c\n",Decide5[0]);
}
else if (Scan5[0] < Scan5[1])
{
printf("-");
Decide5[0]='-';
printf( "chosen3 %c\n",Decide5[0]);
}
if (Scan5[1] > Scan5[2])
{
printf("+");
Decide5[1]= 'x';
printf( "chosen 1 %c\n",Decide5[1]);
}
else if (Scan5[1] == Scan5[2])
{
printf("=");
Decide5[1]='=';
printf( "chosen2 %c\n",Decide5[1]);
}
else if (Scan5[1] < Scan5[2])
{
printf("-");
Decide5[1]='-';
printf( "chosen3 %c\n",Decide5[1]);
}
if (Scan5[2] > Scan5[3])
{
printf("+");
Decide5[2]= 'x';
printf( "chosen 1 %c\n",Decide5[2]);
}
else if (Scan5[2] == Scan5[3])
{
printf("=");
Decide5[2]='=';
printf( "chosen2 %c\n",Decide5[2]);
}
else if (Scan5[2] < Scan5[3])
{
printf("-");
Decide5[2]='-';
printf( "chosen3 %c\n",Decide5[2]);
}
if (Scan5[3] > Scan5[4])
{
printf("+");
Decide5[3]= 'x';
printf( "chosen 1 %c\n",Decide5[3]);
}
else if (Scan5[3] == Scan5[4])
{
printf("=");
Decide5[3]='=';
printf( "chosen2 %c\n",Decide5[3]);
}
else if (Scan5[3] < Scan5[4])
{
printf("-");
Decide5[3]='-';
printf( "chosen3 %c\n",Decide5[3]);
} */
lcd.refresh();
wait_ms(50);
break;
//////////////////////////////////////////////////////////////////////////////////////////////////
/**
*.. When Button A is pressed this section of code is ran to collect data points of the object.
*..Scanning takes marks the LCD with locationof points which data has been collected for.
*/
case 1:
g_ButtonAPress =1;
/*
*..Section used for power saving, if the user has not continued after 5 scans
*/
if(LoopCountScan1==100) {
g_ButtonAPress=0;
LoopCountScan1=0;
break;
} else;
inputScan1();
break;
/*
wait_ms(5); // required to stop Black screen issue}
inputScan2();
wait_ms(5); // required to stop Black screen issue}
inputScan3();
wait_ms(5); // required to stop Black screen issue}
inputScan4();
wait_ms(5);
inputScan5();
g_ButtonAPress=0;
*/
////////////////////////////////////////////////////////////////////////////
case 2:
g_ButtonAPress= 2;
if(LoopCountScan2==100) {
g_ButtonAPress=0;
LoopCountScan2=0;
break;
} else;
/*int secondScan[10];
secondScan[5] = sensor.distance();
printf("Distance : %d cm", secondScan[5]);
lcd.clear();
lcd.printString("2nd Scan up down",0,0);
lcd.drawLine(0,10,80,10,2); */
inputScan2();
break;
////////////////////////////////////////////////////////////////////
case 3:
g_ButtonAPress= 3;
if(LoopCountScan3==100) {
g_ButtonAPress=0;
LoopCountScan3=0;
break;
} else;
/* lcd.clear();
lcd.printString("Menu 3",0,0);
int us = sensor.distance();
printf("Distance : %d cm",us);
lcd.refresh();
wait_ms(50); //required to stop Black screen issue*/
inputScan3();
break;
/////////////////////////////////////////////////////////////////////////
case 4:
g_ButtonAPress= 4;
if(LoopCountScan4==100) {
g_ButtonAPress=0;
LoopCountScan4=0;
break;
} else;
/* lcd.clear();
lcd.printString("Menu 3",0,0);
int us = sensor.distance();
printf("Distance : %d cm",us);
lcd.refresh();
wait_ms(50); //required to stop Black screen issue*/
inputScan4();
break;
///////////////////////////////////////////////////////////////////
case 5:
g_ButtonAPress= 5;
if(LoopCountScan5==100) {
g_ButtonAPress=0;
LoopCountScan5=0;
break;
} else;
/* lcd.clear();
lcd.printString("Menu 3",0,0);
int us = sensor.distance();
printf("Distance : %d cm",us);
lcd.refresh();
wait_ms(50); //required to stop Black screen issue*/
inputScan5();
break;
/////////////////////////////////////////////////////////////////
case 6:
g_ButtonAPress=6;
if(LoopCountScan6==20) {
g_ButtonAPress=0;
LoopCountScan6=0;
break;
} else;
inputScan6();
break;
/*
int button_counter;
if (g_buttonA_flag){
button_counter = button_counter +1;
//case (test)
g_buttonA_flag = 0; // if it has, clear the flag
// send message over serial port - can observe in CoolTerm etc.
printf("Button A pressed %f\n", button_counter);
}
if (g_buttonB_flag){
g_buttonB_flag = 0; // if it has, clear the flag
// send message over serial port - can observe in CoolTerm etc.
printf("Button B pressed\n");
}
if (g_buttonX_flag){
g_buttonX_flag = 0; // if it has, clear the flag
// swap direction when button has been pressed
// (could just use ! but want this to be explicit to aid understanding)
if (direction == UP) {
direction = DOWN;
}
else {
direction = UP;
}
// send message over serial port - can observe in CoolTerm etc.
printf("Button X pressed\n");
lcd.clear();
lcd.printString("Button Pressed!",0,0);
lcd.refresh();
wait(1);
}
if (g_buttonY_flag){
g_buttonY_flag = 0; // if it has, clear the flag
// send message over serial port - can observe in CoolTerm etc.
printf("Button Y pressed\n");
}
Buzzer.play(200,120);
wait_ms(5);
Buzzer.play(200,120);
long distanced = sensor.distance();
if (distanced >= 400 || distanced <= 2)
{
printf("Out of range");
//Calling dummy function 05/01/22
int answer = cube(2);
printf("%f\n",answer);
wait(1.0);
}
else
{
printf("Distance : %d cm",distanced);
wait(1.0); // 1 sec
}
lcd.drawCircle(WIDTH/2,HEIGHT/2,distanced,FILL_BLACK);
//lcd.refresh must be used to update the lcd Display
lcd.refresh();
wait(5.0);
//these are default settings so not strictly needed
lcd.normalMode(); // normal colour mode
lcd.setBrightness(0.5); // put LED backlight on 50%
lcd.clear();
lcd.printString("Hello, World!",0,0);
Vector2D coord = joystick.get_coord();
lcd.refresh();
printf("Coord = %f,%f\n",coord.x,coord.y);
char buffer[14];
Vector2D mapped_coord = joystick.get_mapped_coord();
printf("Mapped coord = %f,%f\n",mapped_coord.x,mapped_coord.y);
int length = sprintf(buffer,"T = %2f",coord.x);
//it is important the format specifier ensures the length will fit in the buffer
if (length <= 14) // if string will fit on display (assuming printing at x=0)
lcd.printString(buffer,0,1); // display on screen
lcd.refresh();
lcd.clear();
//times by 50 to try get the point moving across screen
float x50 = mapped_coord.x*5;
float y50 = mapped_coord.y*8;
//to see what the values are
printf(" *50 = %f,%f\n",x50,y50);
//example of how to draw circles
lcd.printChar('o',WIDTH/2,HEIGHT/2);
lcd.refresh();
float mag = joystick.get_mag();
float angle = joystick.get_angle();
printf("Mag = %f Angle = %f\n",mag,angle);
Direction d = joystick.get_direction();
printf("Direction = %i\n",d);
if (joystick.button_pressed() ) {
printf("Button Pressed\n");
wait(5);
}
}
}
*/
}
}
}
int buttonCountA()
{
g_ButtonAPress++;
if (g_ButtonAPress>5) {
g_ButtonAPress= 0;
}
return g_ButtonAPress;
}
int buttonCountB()
{
g_ButtonBPress++;
if (g_ButtonBPress>3) {
g_ButtonBPress= 0;
}
return g_ButtonBPress;
}
int NoContinueExitScan1()
{
LoopCountScan1++;
if (LoopCountScan1>100) {
LoopCountScan1= 0;
}
return LoopCountScan1;
}
int NoContinueExitScan2()
{
LoopCountScan2++;
if (LoopCountScan2>100) {
LoopCountScan2= 0;
}
return LoopCountScan2;
}
int NoContinueExitScan3()
{
LoopCountScan3++;
if (LoopCountScan3>100) {
LoopCountScan3= 0;
}
return LoopCountScan3;
}
int NoContinueExitScan4()
{
LoopCountScan4++;
if (LoopCountScan4>100) {
LoopCountScan4= 0;
}
return LoopCountScan4;
}
int NoContinueExitScan5()
{
LoopCountScan5++;
if (LoopCountScan5>100) {
LoopCountScan5= 0;
}
return LoopCountScan5;
}
int NoContinueExitScan6()
{
LoopCountScan6++;
if (LoopCountScan6>100) {
LoopCountScan6= 0;
}
return LoopCountScan6;
}
//Button A event-triggered interrupt
void buttonA_isr()
{
long distanced = sensor.distance();
buttonCountA();
g_buttonA_flag = 1; // set flag in ISR
printf("press count = %i\n",g_ButtonAPress);
// lcd.clear();
//lcd.printString("Button A Pressed",0,0);
// lcd.refresh(); // set flag in ISR
}
//Button B event-triggered interrupt
void buttonB_isr()
{
buttonCountB();
g_buttonB_flag = 1; // set flag in ISR
lcd.clear();
g_ButtonAPress = 6; // This is is a work around due to time constraints
lcd.printString("Button B Pressed",0,0);
lcd.refresh(); // set flag in ISR
printf("press count = %i\n",g_ButtonBPress);
}
//Button X event-triggered interrupt
void buttonX_isr()
{
g_buttonX_flag = 1; // set flag in ISR
lcd.clear();
lcd.printString("Button X Pressed",0,0);
lcd.refresh(); // set flag in ISR
}
//Button Y event-triggered interrupt
void buttonY_isr()
{
g_buttonY_flag = 1; // set flag in ISR
lcd.clear();
lcd.printString("Button Y Pressed",0,0);
lcd.refresh(); // set flag in ISR
}
//Button Start event-triggered interrupt
void buttonStart_isr()
{
g_buttonStart_flag = 1; // set flag in ISR
lcd.clear();
/////////////////////////////////////////////////
/*
* For loop required to assign array values to that of the scan value
*/ /* not required due to repeatablity issues
int arr1[5] ;
for(int i=0; i<5; i++){
arr1[i] =Scan1[i];}
int arr2[] = { 90, 90, 90, 90, 90 };
int n = sizeof(arr1) / sizeof(int);
int m = sizeof(arr2) / sizeof(int);
*/
// if(MatchMade(arr1, arr2, n, m))
// printf("You are a wall");
// else
// printf("Not THis Object"); //////////////////////////////////
lcd.printString("Button Start Pressed",0,0);
lcd.refresh(); // set flag in ISR
}
//Button Back event-triggered interrupt
void buttonBack_isr()
{
g_buttonBack_flag = 1; // set flag in ISR
lcd.clear();
lcd.printString("Button Back Pressed",0,0);
lcd.refresh(); // set flag in ISR
}
//Button Left event-triggered interrupt
void buttonLeft_isr()
{
g_buttonLeft_flag = 1; // set flag in ISR
lcd.clear();
lcd.printString("Button Left Pressed",0,0);
lcd.refresh(); // set flag in ISR
}
//Button Right event-triggered interrupt
void buttonRight_isr()
{
g_buttonRight_flag = 1; // set flag in ISR
lcd.clear();
lcd.printString("Button Right Pressed",0,0);
lcd.refresh(); // set flag in ISR
}
/**
*..Void for 1st scan
**/
void inputScan1()
{
lcd.clear();
lcd.printString("First Scan",0,0);
lcd.refresh();
NoContinueExitScan1();
Buzzer.play(300,120);
lcd.printString("X",0,1);
lcd.refresh();
Scan1[0] = sensor.distance();
wait_ms(5);
/* NO Longer Required Section
Buzzer.play(200,120); lcd.printString("X",0,2);lcd.refresh(); Scan1[1] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",0,3);lcd.refresh(); Scan1[2] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",0,4);lcd.refresh(); Scan1[3] = sensor.distance();;
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",0,5);lcd.refresh(); Scan1[4] = sensor.distance();;
wait_ms(5); */
lcd.printString("Scan 1 Done",0,0);
lcd.refresh();
}
/**
*..Void for 2nd scan
**/
void inputScan2()
{
lcd.clear();
lcd.printString("Second Scan",0,0);
lcd.refresh();
NoContinueExitScan2();
lcd.printString("X",0,1); //No longer Required Line,lcd.printString("X",0,2),lcd.printString("X",0,3),lcd.printString("X",0,4),lcd.printString("X",0,5); lcd.refresh();
Buzzer.play(300,120);
lcd.printString("X",15,1);
lcd.refresh();
Scan1[1] = sensor.distance();
wait_ms(5);/*
Buzzer.play(200,120); lcd.printString("X",15,2);lcd.refresh(); Scan2[1] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",15,3);lcd.refresh(); Scan2[2] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",15,4);lcd.refresh(); Scan2[3] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",15,5);lcd.refresh(); Scan2[4] = sensor.distance();*/
lcd.printString("Scan 2 Done",0,0);
lcd.refresh();
}
/**
*..Void for 3rd scan
**/
void inputScan3()
{
lcd.clear();
lcd.printString("Third Scan",0,0);
lcd.refresh();
NoContinueExitScan3();
lcd.printString("X",0,1);//No Longer required line,lcd.printString("X",0,2),lcd.printString("X",0,3),lcd.printString("X",0,4),lcd.printString("X",0,5); lcd.refresh();
lcd.printString("X",15,1);//No Longer required line,lcd.printString("X",15,2),lcd.printString("X",15,3),lcd.printString("X",15,4),lcd.printString("X",15,5); lcd.refresh();
Buzzer.play(300,120);
lcd.printString("X",30,1);
lcd.refresh();
Scan1[2] = sensor.distance();
wait_ms(5);/*
Buzzer.play(200,120); lcd.printString("X",30,2);lcd.refresh(); Scan3[1] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",30,3);lcd.refresh(); Scan3[2] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",30,4);lcd.refresh(); Scan3[3] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",30,5);lcd.refresh(); Scan3[4] = sensor.distance(); */
lcd.printString("Scan 3 Done",0,0);
lcd.refresh();
}
/**
*..Void for 4th scan
**/
void inputScan4()
{
lcd.clear();
lcd.printString("Fourth Scan",0,0);
lcd.refresh();
NoContinueExitScan4();
lcd.printString("X",0,1);//No Longer required line,lcd.printString("X",0,2),lcd.printString("X",0,3),lcd.printString("X",0,4),lcd.printString("X",0,5); lcd.refresh();
lcd.printString("X",15,1);//No Longer required line,lcd.printString("X",15,2),lcd.printString("X",15,3),lcd.printString("X",15,4),lcd.printString("X",15,5); lcd.refresh();
lcd.printString("X",30,1);//No Longer required line,lcd.printString("X",30,2),lcd.printString("X",30,3),lcd.printString("X",30,4),lcd.printString("X",30,5); lcd.refresh();
Buzzer.play(300,120);
lcd.printString("X",45,1);
lcd.refresh();
Scan1[3] = sensor.distance();
wait_ms(5);/*
Buzzer.play(200,120); lcd.printString("X",45,2);lcd.refresh(); Scan4[1] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",45,3);lcd.refresh(); Scan4[2] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",45,4);lcd.refresh(); Scan4[3] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",45,5);lcd.refresh(); Scan4[4] = sensor.distance(); */
lcd.printString("Scan 4 Done",0,0);
lcd.refresh();
}
/**
*..Void for 5th scan
**/
void inputScan5()
{
lcd.clear();
lcd.printString("Fifth Scan",0,0);
lcd.refresh();
NoContinueExitScan5();
lcd.printString("X",0,1);//No Longer required line,lcd.printString("X",0,2),lcd.printString("X",0,3),lcd.printString("X",0,4),lcd.printString("X",0,5); lcd.refresh();
lcd.printString("X",15,1);//No Longer required line,lcd.printString("X",15,2),lcd.printString("X",15,3),lcd.printString("X",15,4),lcd.printString("X",15,5); lcd.refresh();
lcd.printString("X",30,1);//No Longer required line,lcd.printString("X",30,2),lcd.printString("X",30,3),lcd.printString("X",30,4),lcd.printString("X",30,5); lcd.refresh();
lcd.printString("X",45,1);//No Longer required line,lcd.printString("X",45,2),lcd.printString("X",45,3),lcd.printString("X",45,4),lcd.printString("X",45,5); lcd.refresh();
Buzzer.play(300,120);
lcd.printString("X",60,1);
lcd.refresh();
Scan1[4] = sensor.distance();
wait_ms(5); /*
Buzzer.play(200,120); lcd.printString("X",60,2);lcd.refresh(); Scan5[1] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",60,3);lcd.refresh(); Scan5[2] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",60,4);lcd.refresh(); Scan5[3] = sensor.distance();
wait_ms(5);
Buzzer.play(200,120); lcd.printString("X",60,5);lcd.refresh(); Scan5[4] = sensor.distance(); */
lcd.printString("Scan 5 Done",0,0);
lcd.refresh();
}
/**
*..Second Menu after B object decision if the value is plus or minus 5 of the model value on the scan a value of 1 is atributated, a match is a 0 total.
**/
void inputScan6()
{
lcd.clear();
lcd.printString("Decide",0,0);
lcd.refresh();
NoContinueExitScan6();
int box[5]= {111,38,38,111,111};// compared to the wall if the box is present this sequence should be recorded
int carton[5] = {19,19,19,19,19}; // compared to the wall if the carton is present this sequence should be recorded
int wall [5] = {111,111,111,111,111}; // compared to the wall if the wall is present this sequence should be recorded
int triangle[5]= {111,38,19,38,111}; // compared to the wall if the triangle is present this sequence should be recorded
int isBox[5];
int isCarton[5];
int isWall[5];
int isTriangle[5];
//int wallTotal;
//int cartonTotal;
//int boxTotal;
for (int i=0; i<5; i++) {
isBox[i] =abs(Scan1[i]-box[i]);
printf("DeBUGGING isBOX : %i\n", isBox[i]);
if (isBox[i]<=5) {
isBox[i]=0;
} else if (isBox[i]>5) {
isBox[i]=1;
}
printf("DeBUGGING isBOX : %i\n", isBox[i]);
boxTotal = accumulate(begin(isBox), end(isBox), 0, plus<int>());
//printf("DEBUGGING BOX total %i\n", boxTotal);
isCarton[i] =abs(Scan1[i]-carton[i]);
printf("DeBUGGING isCarton : %i\n", isCarton[i]);
if (isCarton[i]<=5) {
isCarton[i]=0;
} else if (isCarton[i]>5) {
isCarton[i]=1;
}
printf("DeBUGGING isCarton : %i\n", isCarton[i]);
cartonTotal = accumulate(begin(isCarton), end(isCarton), 0, plus<int>());
//printf("DEBUGGING CARTON total %i\n", cartonTotal);
isWall[i] =abs(Scan1[i]-wall[i]); // calculation comparing the scan value with the model
printf("DeBUGGING isWall : %i\n", isWall[i]);
if (isWall[i]<=5) { // if the difference is less than 5 denote 0
isWall[i]=0;
} else if (isWall[i]>5) { //if the distance is greater than 5 denote 1
isWall[i]=1;
}
printf("DeBUGGING isWall : %i\n", isWall[i]);
wallTotal = accumulate(begin(isWall), end(isWall), 0, plus<int>()); // sum of array
//printf("DEBUGGING Wall total %i\n", wallTotal);
isTriangle[i] =abs(Scan1[i]-triangle[i]);
printf("DeBUGGING isTriangle : %i\n", isTriangle[i]);
if (isTriangle[i]<=5) {
isTriangle[i]=0;
} else if (isTriangle[i]>5) {
isTriangle[i]=1;
}
printf("DeBUGGING isTriangle : %i\n", isTriangle[i]);
triangleTotal = accumulate(begin(isTriangle), end(isTriangle), 0, plus<int>());
printShape();
}
}
/**
*..Void for Deciding and printing shape
**/
void printShape()
{
if(wallTotal == 0) {
wallDecision();
return;
} else if(boxTotal == 0) {
boxDecision();
return;
} else if (cartonTotal == 0) {
cartonDecision();
return;
} else if (triangleTotal == 0) {
triangleDecision();
return;
}
}
/**
*.. Void for What to do while the Wall is in sight
*/
void wallDecision()
{
printf("We Have a wall\n");
lcd.clear();
lcd.printString("Decide",0,0);
lcd.printString("Wall",0,2);
lcd.refresh();
}
/**
*.. Void for What to do while the Box is in sight
*/
void boxDecision()
{
printf("We Have Box\n");
lcd.printString("Decide",0,0);
lcd.printString("Box",0,2);
lcd.refresh();
}
/**
*.. Void for What to do while the Carton is in sight
*/
void cartonDecision()
{
printf("We Have Carton\n");
lcd.printString("Decide",0,0);
lcd.printString("Carton",0,2);
lcd.refresh();
}
void triangleDecision()
{
printf("We Have Triangle\n");
lcd.printString("Decide",0,0);
lcd.printString("Triangle",0,2);
lcd.refresh();
}