FRA221-2018
Code glove
Diff: main.cpp
- Revision:
- 0:b8ed5a8d189c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Dec 19 08:11:56 2018 +0000
@@ -0,0 +1,337 @@
+#include "mbed.h"
+#include "MPU6050.h"
+
+Serial pc(PA_2, PA_3);
+Serial bt(PA_9, PA_10);
+
+AnalogIn force(PA_7);
+MPU6050 AccGyro(PB_7, PB_6);
+AnalogIn flex[] = {(PA_0), (PA_1), (PA_4), (PA_5), (PA_6)};
+DigitalOut LED(LED1);
+float min[] = {1.000, 1.000, 1.000, 1.000, 1.000};
+float max[] = {0.000, 0.000, 0.000, 0.000, 0.000};
+float avg[] = {0.000, 0.000, 0.000, 0.000, 0.000};
+double Ax, Ay, Az, readd;
+double Gx, Gy, Gz;
+int memoryTime;
+uint16_t AccelReadings[3] = {0, 0, 0};
+uint16_t GyroReadings[3] = {0, 0, 0};
+short int step, step1, step2, step3, step4, step5, memm, stepOn = 0, memOn = 0, chargeOn = 0, stepOff = 0, memOff = 0, chargeOff = 0, num = 0, dataFinger, charge = 0;
+uint8_t DevId, elec = 0, sendData, mem = 0;
+bool shutDown;
+Timer t, minn, timeOn, timeOff, see;
+
+short int boolFlex(int a){
+ return (float)flex[a].read() >= avg[a];
+}
+float readFlex(int a){
+ return (float)flex[a].read();
+}
+short int finger(){
+ short int data = 0;
+ short int pos = 1;
+ for(int i = 4; i >= 0; i--){
+ data += boolFlex(i)*pos;
+ pos *= 2;
+ }
+ return data;
+}
+void updateIMU(){
+ AccGyro.readAccel(AccelReadings);
+ AccGyro.readGyro(GyroReadings);
+ Ax = (double)(int16_t)AccelReadings[0];
+ Ay = (double)(int16_t)AccelReadings[1];
+ Az = (double)(int16_t)AccelReadings[2];
+ Gx = (double)(int16_t)GyroReadings[0] / 131.0;
+ Gy = (double)(int16_t)GyroReadings[1] / 131.0;
+ Gz = (double)(int16_t)GyroReadings[2] / 131.0;
+}
+bool range(int a, int b, int c){
+ return a > b && a < c;
+}
+void ping(){
+ if(shutDown) shutDown = false;
+ else shutDown = true;
+}
+
+
+
+bool memFan = false, memAir = false, memKettle = false, memTv = false, memRadio = false;
+
+
+
+void onOff(uint8_t on, uint8_t off){
+ dataFinger = finger();
+ if(Ax > 1400){
+ if(dataFinger == 31 && stepOn != 1) stepOn = 1;
+ else if(dataFinger != 31 && dataFinger != 16 && stepOn == 1){
+ if(memOn == 0){
+ timeOn.reset();
+ memOn = 1;
+ }
+ else if(timeOn.read_ms() >= 1000){
+ stepOn = 0;
+ memOn = 0;
+ chargeOn = 0;
+ }
+ }
+ else if(dataFinger == 16 && stepOn == 1){
+ chargeOn += 1;
+ stepOn = 0;
+ mem = 0;
+ }
+ }
+ else if(timeOn.read_ms() > 2000){
+ stepOn = 0;
+ memOn = 0;
+ chargeOn = 0;
+ }
+ if(chargeOn >= 2){
+ bt.printf("%c", on);
+ pc.printf("%c\n", on);
+ chargeOn = 0;
+ }
+ if(dataFinger == 31){
+ if(Gz < -20) stepOff = 1;
+ else if(Gz > -20.00 && Gz < 20.00 && stepOff == 1){
+ if(memOff == 0){
+ timeOff.reset();
+ memOff = 1;
+ }
+ else if(timeOff.read_ms() >= 1000){
+ stepOff = 0;
+ memOff = 0;
+ chargeOff = 0;
+ }
+ }
+ else if(Gz > 20 && stepOff == 1){
+ chargeOff += 1;
+ stepOff = 0;
+ memOff = 0;
+ }
+ else if(timeOff.read_ms() > 2000){
+ stepOff = 0;
+ memOff = 0;
+ chargeOff = 0;
+ }
+ if(chargeOff >= 4){
+ bt.printf("%c", off);
+ pc.printf("%c\n", off);
+ chargeOff = 0;
+ }
+ }
+}
+
+void set0(){
+ stepOn = 0;
+ memOn = 0;
+ chargeOn = 0;
+ stepOff = 0;
+ memOff = 0;
+ chargeOff = 0;
+ step1 = 0;
+ step2 = 0;
+ step3 = 0;
+ step4 = 0;
+// step5 = 0;
+}
+
+
+
+int main() {
+ pc.baud(38400);
+ bt.baud(38400);
+ while((float)force.read() <= 0.8){ //calibrate flex
+ if(num >= 5) num = 0;
+ readd = readFlex(num);
+ if(readd <= min[num]) min[num] = readd;
+ if(readd >= max[num]) max[num] = readd;
+ num += 1;
+ }
+ for(int i = 0; i < 5; i++) avg[i] = (min[i] + max[i])/2;
+ pc.printf("\n\n\n%.2f\t%.2f\t%.2f\t%.2f\t%.2f\n", avg[0], avg[1], avg[2], avg[3], avg[4]);
+ DevId = AccGyro.getWhoAmI();
+ while(DevId != 0x71) DevId = AccGyro.getWhoAmI();
+ LED = 1;
+ AccGyro.setPowerCtl_1(0x00, 0x00, 0x00, 0x00, INT_8MHz_OSC); // Disable sleep mode
+ wait_ms(1);
+ AccGyro.setGyroConfig(GYRO_ST_OFF, GFS_2000dps); // Accelerometer elf-test trigger off.
+ wait_ms(1);
+ AccGyro.setAccelConfig(ACC_ST_OFF, AFS_16g); // Gyroscope self-test trigger off.
+ wait_ms(1);
+ InterruptIn force(PA_7);
+ shutDown = false;
+ minn.start();
+ see.start();
+ force.rise(&ping);
+// while(1){
+// updateIMU();
+// pc.printf("flex : %d\tAccel\tX: %.3f\tY: %.3f\tZ: %.3f\tGyro\tX: %.3f\tY: %.3f\tZ: %.3f\n", finger(), Ax, Ay, Az, Gx, Gy, Gz);
+// }
+// while(1){
+// updateIMU();
+// onOff('A', 'B');
+// pc.printf("step : %d\tmem : %d\tcharge : %d\tstep : %d\tmem : %d\tcharge : %d\n", stepOn, memOn, chargeOn, stepOff, memOff, chargeOff);
+// }
+ while(1){
+ if(!shutDown){
+ if(bt.readable()){
+ elec = (uint8_t)bt.getc()-48;
+ pc.printf("\t\t\t%d\n", elec);
+ }
+ updateIMU();
+ /*if(minn.read_ms() >= 60000 && elec != 0){
+ bt.printf("%c", elec + 83 S);
+ elec = 0;
+ }*/
+ while(elec == 0){
+ if(bt.readable()){
+ elec = (uint8_t)bt.getc()-48;
+ pc.printf("\t%d\n", elec);
+ }
+ updateIMU();
+ if(Ax > 1400){
+ if(step != 1) step = 1;
+ dataFinger = finger();
+ if(dataFinger == 8) sendData = 1;
+ else if(dataFinger == 12) sendData = 3;
+ else if(dataFinger == 14) sendData = 5;
+ else if(dataFinger == 15) sendData = 4;
+ else if(dataFinger == 0) sendData = 2;
+ else sendData = 6;
+ if(minn.read_ms() >= 10){
+ bt.printf("%c", sendData+48);
+ pc.printf("%d\n", sendData);
+ minn.reset();
+ }
+ }
+ else if(range(Ay, -1000, 1000) && Gy > 0 && sendData < 6){
+ if(step == 1) step = 2;
+ }
+ else if(Az > 1800 && step == 2){
+ while(minn.read_ms() < 10);
+ bt.printf("%c", 'a'+sendData);
+ pc.printf("%c\n", 'a'+sendData);
+ minn.reset();
+ elec = sendData;
+ step = 0;
+ sendData = 6;
+ set0();
+ while(1){
+ if(bt.readable()) elec = (uint8_t)bt.getc()-48;
+ if(elec != 0) break;
+ }
+ break;
+ pc.printf("yeah");
+ }
+ else{
+ if(step != 0){
+ step = 0;
+ }
+ }
+ if(step == 0 && minn.read_ms() >= 10){
+ sendData = 0;
+ bt.printf("%c", 'a');
+ pc.printf("%d\n", sendData);
+ minn.reset();
+ }
+ }
+ updateIMU();
+ if(elec == 1){ //fan
+ dataFinger = finger();
+ onOff('A', 'B');
+ if(Az < -800){
+ if(dataFinger == 31 && step1 != 1) step1 = 1;
+ else if(dataFinger == 16 && step1 == 1){
+ bt.printf("%c", 'D');
+ pc.printf("%c\n", 'D');
+ step1 = 2;
+ }
+ }
+ else if(Az > 1500){
+ if(dataFinger == 31 && step1 != 3) step1 = 3;
+ else if(dataFinger == 16 && step1 == 3){
+ bt.printf("%c", 'C');
+ pc.printf("%c\n", 'C');
+ step1 = 4;
+ }
+ }
+ else step1 = 0;
+ }
+ else if(elec == 2){ //air
+ dataFinger = finger();
+ onOff('E', 'F');
+ if(dataFinger == 28){
+ if(Gz > 50 && step2 !=1) step2 = 1;
+ else if(Gz < 10 && step2 == 1){
+ bt.printf("%c", 'H');
+ pc.printf("%c\n", 'H');
+ step2 = 2;
+ }
+ }
+ else if(dataFinger == 24){
+ if(Gz > 20 && step2 !=4) step2 = 4;
+ else if(Gz < 20 && step2 == 4){
+ bt.printf("%c", 'G');
+ pc.printf("%c\n", 'G');
+ step2 = 5;
+ }
+ }
+ else step2 = 0;
+ }
+ else if(elec == 3){ //kettle
+ dataFinger = finger();
+ onOff('I', 'J');
+ }
+ else if(elec == 4){ //tv
+ dataFinger = finger();
+ onOff('K', 'L');
+ if(dataFinger == 16){
+ if(Ay < -800 && step4 != 3) step4 = 3;
+ else if(Ay > 1000 && step4 == 3){
+ bt.printf("%c", 'M');
+ pc.printf("%c\n", 'M');
+ step4 = 4;
+ }
+ if(Ay > 1400 && step4 != 5) step4 = 5;
+ else if(Ay < -300 && step4 == 5){
+ bt.printf("%c", 'N');
+ pc.printf("%c\n", 'N');
+ step4 = 6;
+ }
+ }
+ }
+ else if(elec == 5){ //radio
+ dataFinger = finger();
+ onOff('O', 'P');
+ if(dataFinger == 16){
+ if(Gx > 20 && step5 != 1){
+ bt.printf("%c", 'U');
+ pc.printf("%c\n", 'U');
+ step5 = 1;
+ }
+
+ if(Ay < -800 && step5 != 3) step5 = 3;
+ else if(Ay > 1000 && step5 == 3){
+ bt.printf("%c", 'Q');
+ pc.printf("%c\n", 'Q');
+ step5 = 4;
+ }
+ if(Ay > 1400 && step5 != 5) step5 = 5;
+ else if(Ay < -300 && step5 == 5){
+ bt.printf("%c", 'R');
+ pc.printf("%c\n", 'R');
+ step5 = 6;
+ }
+ }
+ if(dataFinger == 24){
+ if(Gx < -20&& step5 != 2){
+ bt.printf("%c", 'T');
+ pc.printf("%c\n", 'T');
+ step5 = 2;
+ }
+ }
+ }
+ }
+ }
+}
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