FRA221_2015 / Mbed 2 deprecated 10A_ClassProject_MegnaticGame

hmc5883l

Dependencies:   HMC5883L LCD4884 MFRC522 eeprom mbed

project.cpp@8:b12138d249ba, 2015-12-08 (annotated)

Committer:
1918june
Date:
Tue Dec 08 19:42:26 2015 +0000
Revision:
8:b12138d249ba
Parent:
5:4af4865f462b
Child:
9:b83b9198988d
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
1918june 0:930d2bc16788 1 #include "mbed.h"
1918june 0:930d2bc16788 2 #include "LCD4884.h"
1918june 0:930d2bc16788 3 #include "MFRC522.h"
1918june 0:930d2bc16788 4 #include "eeprom.h"
1918june 0:930d2bc16788 5 #include "string.h"
1918june 5:4af4865f462b 6 #include "HMC5883L.h"
1918june 0:930d2bc16788 7
1918june 0:930d2bc16788 8
1918june 0:930d2bc16788 9 // KL25Z Pin for MFRC522 reset
1918june 0:930d2bc16788 10 #define MF_RESET D9
1918june 0:930d2bc16788 11
1918june 0:930d2bc16788 12
1918june 0:930d2bc16788 13 EEPROM eeprom(I2C_SDA,I2C_SCL,0);
1918june 0:930d2bc16788 14 Serial pc(SERIAL_TX,SERIAL_RX);
1918june 0:930d2bc16788 15 LCD4884 lcd;
1918june 0:930d2bc16788 16 MFRC522 RFID(D11, D12, D13, D10, MF_RESET);
1918june 3:987e54d48f77 17 InterruptIn Sw1(PC_5);
1918june 5:4af4865f462b 18 AnalogIn Rnd(A2);
1918june 3:987e54d48f77 19 DigitalIn Switch1(PC_5);
1918june 3:987e54d48f77 20 DigitalIn Switch2(PC_6);
1918june 3:987e54d48f77 21 InterruptIn Sw2(PC_6);
1918june 5:4af4865f462b 22 HMC5883L compass1(D14,D15);
1918june 5:4af4865f462b 23 HMC5883L compass2(D3,D6);
1918june 5:4af4865f462b 24 HMC5883L compass3(D5,D7);
1918june 5:4af4865f462b 25 DigitalOut servoPin(D4); //servo
1918june 5:4af4865f462b 26 DigitalOut m1inA1(PB_13); //Motor 1
1918june 5:4af4865f462b 27 DigitalOut m1inA2(PB_14);
1918june 5:4af4865f462b 28 DigitalOut m1inB1(PB_15);
1918june 5:4af4865f462b 29 DigitalOut m1inB2(PB_1);
1918june 5:4af4865f462b 30 DigitalOut m2inA1(PB_5); //Motor 2
1918june 5:4af4865f462b 31 DigitalOut m2inA2(PB_4);
1918june 5:4af4865f462b 32 DigitalOut m2inB1(PB_10);
1918june 5:4af4865f462b 33 DigitalOut m2inB2(PA_8);
1918june 5:4af4865f462b 34 AnalogIn X(A0); // Joystick
1918june 5:4af4865f462b 35 AnalogIn Y(A1);
1918june 5:4af4865f462b 36 int16_t data[12] = {0};
1918june 3:987e54d48f77 37 uint8_t mode=0;
1918june 8:b12138d249ba 38 uint8_t selectitem=0,place=0;
1918june 5:4af4865f462b 39
1918june 5:4af4865f462b 40 void m1step1()
1918june 5:4af4865f462b 41 {
1918june 5:4af4865f462b 42 m1inA1 = 0;
1918june 5:4af4865f462b 43 m1inA2 = 1;
1918june 5:4af4865f462b 44 m1inB1 = 1;
1918june 5:4af4865f462b 45 m1inB2 = 0;
1918june 5:4af4865f462b 46 wait_ms(25);
1918june 5:4af4865f462b 47 }
1918june 5:4af4865f462b 48 void m1step2()
1918june 5:4af4865f462b 49 {
1918june 5:4af4865f462b 50 m1inA1 = 0;
1918june 5:4af4865f462b 51 m1inA2 = 1;
1918june 5:4af4865f462b 52 m1inB1 = 0;
1918june 5:4af4865f462b 53 m1inB2 = 1;
1918june 5:4af4865f462b 54 wait_ms(25);
1918june 5:4af4865f462b 55 }
1918june 5:4af4865f462b 56 void m1step3()
1918june 5:4af4865f462b 57 {
1918june 5:4af4865f462b 58 m1inA1 = 1;
1918june 5:4af4865f462b 59 m1inA2 = 0;
1918june 5:4af4865f462b 60 m1inB1 = 0;
1918june 5:4af4865f462b 61 m1inB2 = 1;
1918june 5:4af4865f462b 62 wait_ms(25);
1918june 5:4af4865f462b 63 }
1918june 5:4af4865f462b 64 void m1step4()
1918june 5:4af4865f462b 65 {
1918june 5:4af4865f462b 66 m1inA1 = 1;
1918june 5:4af4865f462b 67 m1inA2 = 0;
1918june 5:4af4865f462b 68 m1inB1 = 1;
1918june 5:4af4865f462b 69 m1inB2 = 0;
1918june 5:4af4865f462b 70 wait_ms(25);
1918june 5:4af4865f462b 71 }
1918june 5:4af4865f462b 72 void m1stopMotor()
1918june 5:4af4865f462b 73 {
1918june 5:4af4865f462b 74 m1inA1 = 0;
1918june 5:4af4865f462b 75 m1inA2 = 0;
1918june 5:4af4865f462b 76 m1inB1 = 0;
1918june 5:4af4865f462b 77 m1inB2 = 0;
1918june 5:4af4865f462b 78 }
1918june 5:4af4865f462b 79
1918june 5:4af4865f462b 80 void m2step1()
1918june 5:4af4865f462b 81 {
1918june 5:4af4865f462b 82 m2inA1 = 0;
1918june 5:4af4865f462b 83 m2inA2 = 1;
1918june 5:4af4865f462b 84 m2inB1 = 1;
1918june 5:4af4865f462b 85 m2inB2 = 0;
1918june 5:4af4865f462b 86 wait_ms(50);
1918june 0:930d2bc16788 87
1918june 5:4af4865f462b 88 }
1918june 5:4af4865f462b 89 void m2step2()
1918june 5:4af4865f462b 90 {
1918june 5:4af4865f462b 91 m2inA1 = 0;
1918june 5:4af4865f462b 92 m2inA2 = 1;
1918june 5:4af4865f462b 93 m2inB1 = 0;
1918june 5:4af4865f462b 94 m2inB2 = 1;
1918june 5:4af4865f462b 95 wait_ms(50);
1918june 5:4af4865f462b 96 }
1918june 5:4af4865f462b 97 void m2step3()
1918june 5:4af4865f462b 98 {
1918june 5:4af4865f462b 99 m2inA1 = 1;
1918june 5:4af4865f462b 100 m2inA2 = 0;
1918june 5:4af4865f462b 101 m2inB1 = 0;
1918june 5:4af4865f462b 102 m2inB2 = 1;
1918june 5:4af4865f462b 103 wait_ms(50);
1918june 5:4af4865f462b 104 }
1918june 5:4af4865f462b 105 void m2step4()
1918june 5:4af4865f462b 106 {
1918june 5:4af4865f462b 107 m2inA1 = 1;
1918june 5:4af4865f462b 108 m2inA2 = 0;
1918june 5:4af4865f462b 109 m2inB1 = 1;
1918june 5:4af4865f462b 110 m2inB2 = 0;
1918june 5:4af4865f462b 111 wait_ms(50);
1918june 5:4af4865f462b 112 }
1918june 5:4af4865f462b 113 void m2stopMotor()
1918june 5:4af4865f462b 114 {
1918june 5:4af4865f462b 115 m2inA1 = 0;
1918june 5:4af4865f462b 116 m2inA2 = 0;
1918june 5:4af4865f462b 117 m2inB1 = 0;
1918june 5:4af4865f462b 118 m2inB2 = 0;
1918june 5:4af4865f462b 119 }
1918june 5:4af4865f462b 120 //PUT
1918june 5:4af4865f462b 121 void Down()
1918june 5:4af4865f462b 122 {
1918june 5:4af4865f462b 123 m1step1();
1918june 5:4af4865f462b 124 m1step2();
1918june 5:4af4865f462b 125 m1step3();
1918june 5:4af4865f462b 126 m1step4();
1918june 5:4af4865f462b 127 }
1918june 5:4af4865f462b 128 void Up()
1918june 5:4af4865f462b 129 {
1918june 5:4af4865f462b 130 m1step3();
1918june 5:4af4865f462b 131 m1step2();
1918june 5:4af4865f462b 132 m1step1();
1918june 5:4af4865f462b 133 m1step4();
1918june 5:4af4865f462b 134 }
1918june 5:4af4865f462b 135 void Left()
1918june 5:4af4865f462b 136 {
1918june 5:4af4865f462b 137 m2step1();
1918june 5:4af4865f462b 138 m2step2();
1918june 5:4af4865f462b 139 m2step3();
1918june 5:4af4865f462b 140 m2step4();
1918june 5:4af4865f462b 141 }
1918june 5:4af4865f462b 142 void Right()
1918june 5:4af4865f462b 143 {
1918june 5:4af4865f462b 144 m2step3();
1918june 5:4af4865f462b 145 m2step2();
1918june 5:4af4865f462b 146 m2step1();
1918june 5:4af4865f462b 147 m2step4();
1918june 5:4af4865f462b 148 }
1918june 5:4af4865f462b 149 void DownRight()
1918june 5:4af4865f462b 150 {
1918june 5:4af4865f462b 151 m1step1();
1918june 5:4af4865f462b 152 m1step2();
1918june 5:4af4865f462b 153 m1step3();
1918june 5:4af4865f462b 154 m1step4();
1918june 5:4af4865f462b 155 m2step3();
1918june 5:4af4865f462b 156 m2step2();
1918june 5:4af4865f462b 157 m2step1();
1918june 5:4af4865f462b 158 m2step4();
1918june 5:4af4865f462b 159 }
1918june 5:4af4865f462b 160 void DownLeft()
1918june 5:4af4865f462b 161 {
1918june 5:4af4865f462b 162 m1step1();
1918june 5:4af4865f462b 163 m1step2();
1918june 5:4af4865f462b 164 m1step3();
1918june 5:4af4865f462b 165 m1step4();
1918june 5:4af4865f462b 166 m2step1();
1918june 5:4af4865f462b 167 m2step2();
1918june 5:4af4865f462b 168 m2step3();
1918june 5:4af4865f462b 169 m2step4();
1918june 5:4af4865f462b 170 }
1918june 5:4af4865f462b 171 void UpRight()
1918june 5:4af4865f462b 172 {
1918june 5:4af4865f462b 173 m1step3();
1918june 5:4af4865f462b 174 m1step2();
1918june 5:4af4865f462b 175 m1step1();
1918june 5:4af4865f462b 176 m1step4();
1918june 5:4af4865f462b 177 m2step3();
1918june 5:4af4865f462b 178 m2step2();
1918june 5:4af4865f462b 179 m2step1();
1918june 5:4af4865f462b 180 m2step4();
1918june 5:4af4865f462b 181 }
1918june 5:4af4865f462b 182 void UpLeft()
1918june 5:4af4865f462b 183 {
1918june 5:4af4865f462b 184 m1step3();
1918june 5:4af4865f462b 185 m1step2();
1918june 5:4af4865f462b 186 m1step1();
1918june 5:4af4865f462b 187 m1step4();
1918june 5:4af4865f462b 188 m2step1();
1918june 5:4af4865f462b 189 m2step2();
1918june 5:4af4865f462b 190 m2step3();
1918june 5:4af4865f462b 191 m2step4();
1918june 5:4af4865f462b 192 }
1918june 5:4af4865f462b 193 void calibrate()
1918june 5:4af4865f462b 194 {
1918june 5:4af4865f462b 195
1918june 5:4af4865f462b 196 }
1918june 5:4af4865f462b 197 float x,y;
1918june 5:4af4865f462b 198 void control()
1918june 5:4af4865f462b 199 {
1918june 5:4af4865f462b 200
1918june 5:4af4865f462b 201 x = X.read()*360;
1918june 5:4af4865f462b 202 y = Y.read()*360;
1918june 5:4af4865f462b 203 printf("X = %f.2\tY = %f.2\n",x,y);
1918june 5:4af4865f462b 204 if(x > 200) {
1918june 5:4af4865f462b 205 Up();
1918june 5:4af4865f462b 206 }
1918june 5:4af4865f462b 207 if(x < 160) {
1918june 5:4af4865f462b 208 Down();
1918june 5:4af4865f462b 209 }
1918june 5:4af4865f462b 210 if(y > 200) {
1918june 5:4af4865f462b 211 Right();
1918june 5:4af4865f462b 212 }
1918june 5:4af4865f462b 213 if(y < 160) {
1918june 5:4af4865f462b 214 Left();
1918june 5:4af4865f462b 215 }
1918june 5:4af4865f462b 216
1918june 5:4af4865f462b 217 }
1918june 5:4af4865f462b 218 void servodown()
1918june 5:4af4865f462b 219 {
1918june 5:4af4865f462b 220 for(int i=0; i<=6; i++) {
1918june 5:4af4865f462b 221 servoPin = 1;
1918june 5:4af4865f462b 222 wait_us(500);
1918june 5:4af4865f462b 223 servoPin = 0;
1918june 5:4af4865f462b 224 wait(1);
1918june 5:4af4865f462b 225 }
1918june 5:4af4865f462b 226 }
1918june 5:4af4865f462b 227 void servoup()
1918june 5:4af4865f462b 228 {
1918june 5:4af4865f462b 229 for(int i=0; i<=6; i++) {
1918june 5:4af4865f462b 230 servoPin = 1;
1918june 5:4af4865f462b 231 wait_us(2500);
1918june 5:4af4865f462b 232 servoPin = 0;
1918june 5:4af4865f462b 233 wait(1);
1918june 5:4af4865f462b 234 }
1918june 5:4af4865f462b 235 }
1918june 5:4af4865f462b 236 void read(int16_t data[9])
1918june 5:4af4865f462b 237 {
1918june 5:4af4865f462b 238 int16_t a[3],b[3],c[3];
1918june 5:4af4865f462b 239
1918june 5:4af4865f462b 240 int w=0;
1918june 5:4af4865f462b 241
1918june 5:4af4865f462b 242 compass1.getXYZ(a);
1918june 5:4af4865f462b 243 compass2.getXYZ(b);
1918june 5:4af4865f462b 244 compass3.getXYZ(c);
1918june 5:4af4865f462b 245 for(int i=0; i<3; i++) {
1918june 5:4af4865f462b 246 data[w]=a[i]/10;
1918june 5:4af4865f462b 247 w++;
1918june 5:4af4865f462b 248 }
1918june 5:4af4865f462b 249
1918june 5:4af4865f462b 250 for(int i=0; i<3; i++) {
1918june 5:4af4865f462b 251 data[w]=b[i]/10;
1918june 5:4af4865f462b 252 w++;
1918june 5:4af4865f462b 253 }
1918june 5:4af4865f462b 254 for(int i=0; i<3; i++) {
1918june 5:4af4865f462b 255 data[w]=c[i]/10;
1918june 5:4af4865f462b 256 w++;
1918june 5:4af4865f462b 257 }
1918june 5:4af4865f462b 258
1918june 5:4af4865f462b 259 }
1918june 5:4af4865f462b 260
1918june 5:4af4865f462b 261 void dataprint(int16_t data[9])
1918june 5:4af4865f462b 262 {
1918june 5:4af4865f462b 263 for(int c=0; c<9; c++) {
1918june 5:4af4865f462b 264 printf("%d ",data[c]);
1918june 5:4af4865f462b 265 // if((c+1)%3==0){printf("||");}
1918june 5:4af4865f462b 266 }
1918june 5:4af4865f462b 267 printf("\n");
1918june 5:4af4865f462b 268 }
1918june 3:987e54d48f77 269 void ItrSw1()
1918june 3:987e54d48f77 270 {
1918june 3:987e54d48f77 271 mode=1;
1918june 3:987e54d48f77 272 }
1918june 3:987e54d48f77 273
1918june 3:987e54d48f77 274 void ItrSw2()
1918june 3:987e54d48f77 275 {
1918june 3:987e54d48f77 276 mode=2;
1918june 3:987e54d48f77 277 }
1918june 3:987e54d48f77 278
1918june 3:987e54d48f77 279 void ItrSw3()
1918june 3:987e54d48f77 280 {
1918june 3:987e54d48f77 281 mode=0;
1918june 3:987e54d48f77 282 }
1918june 3:987e54d48f77 283 void printstring(int x,int y,string s,int n,int m)
1918june 3:987e54d48f77 284 {
1918june 2:38376c7c1685 285 int k=0;
1918june 2:38376c7c1685 286 lcd.LCD_set_XY(x,y);
1918june 3:987e54d48f77 287 while(k<n) {
1918june 3:987e54d48f77 288 lcd.LCD_write_char(s[k],m);
1918june 3:987e54d48f77 289 k++;
1918june 2:38376c7c1685 290 }
1918june 2:38376c7c1685 291 }
1918june 0:930d2bc16788 292
1918june 0:930d2bc16788 293 int main()
1918june 0:930d2bc16788 294 {
1918june 0:930d2bc16788 295 pc.baud(9600);
1918june 3:987e54d48f77 296 Sw1.rise(&ItrSw1);
1918june 3:987e54d48f77 297 Sw2.rise(&ItrSw2);
1918june 5:4af4865f462b 298 compass1.init();
1918june 5:4af4865f462b 299 compass2.init();
1918june 5:4af4865f462b 300 compass3.init();
1918june 3:987e54d48f77 301 string NameJune="Natthanicha",recieveNameJune,SurJune="Jamroonpan",recieveSurJune,IdJune="57340500023",recieveIdJune; //June start @ 1-36
1918june 3:987e54d48f77 302 string NameO="Sirawat",recieveNameO,SurO="Sok",recieveSurO,IdO="57340500071",recieveIdO;
1918june 3:987e54d48f77 303 uint8_t UID[8],recieveUID[8];
1918june 2:38376c7c1685 304 UID[0]=106;
1918june 2:38376c7c1685 305 UID[1]=224;
1918june 2:38376c7c1685 306 UID[2]=37;
1918june 2:38376c7c1685 307 UID[3]=231;
1918june 3:987e54d48f77 308 UID[4]=106;
1918june 3:987e54d48f77 309 UID[5]=76;
1918june 3:987e54d48f77 310 UID[6]=39;
1918june 3:987e54d48f77 311 UID[7]=231;
1918june 3:987e54d48f77 312
1918june 3:987e54d48f77 313 eeprom.write(1,&NameJune,11);
1918june 3:987e54d48f77 314 wait_us(1);
1918june 3:987e54d48f77 315 eeprom.write(12,&SurJune,10);
1918june 3:987e54d48f77 316 wait_us(1);
1918june 3:987e54d48f77 317 eeprom.write(22,&IdJune,11);
1918june 3:987e54d48f77 318 wait_us(1);
1918june 3:987e54d48f77 319 eeprom.write(41,&NameO,7);
1918june 3:987e54d48f77 320 wait_us(1);
1918june 3:987e54d48f77 321 eeprom.write(48,&SurO,3);
1918june 3:987e54d48f77 322 wait_us(1);
1918june 3:987e54d48f77 323 eeprom.write(51,&IdO,11);
1918june 3:987e54d48f77 324 wait_us(1);
1918june 3:987e54d48f77 325 eeprom.write(81,UID,8);
1918june 3:987e54d48f77 326 wait_us(1);
1918june 3:987e54d48f77 327 eeprom.read(1,&recieveNameJune,11);
1918june 3:987e54d48f77 328 eeprom.read(12,&recieveSurJune,10);
1918june 3:987e54d48f77 329 eeprom.read(22,&recieveIdJune,11);
1918june 3:987e54d48f77 330 eeprom.read(41,&recieveNameO,7);
1918june 3:987e54d48f77 331 eeprom.read(48,&recieveSurO,3);
1918june 3:987e54d48f77 332 eeprom.read(51,&recieveIdO,11);
1918june 3:987e54d48f77 333 eeprom.read(81,recieveUID,8);
1918june 3:987e54d48f77 334 //pc.printf("%s\n",recieveNameJune);
1918june 3:987e54d48f77 335 //pc.printf("%s\n",recieveSurJune);
1918june 3:987e54d48f77 336 //pc.printf("%s\n",recieveIdJune);
1918june 3:987e54d48f77 337 //pc.printf("%s\n",recieveNameO);
1918june 3:987e54d48f77 338 //pc.printf("%s\n",recieveSurO);
1918june 3:987e54d48f77 339 //pc.printf("%s\n",recieveIdO);
1918june 3:987e54d48f77 340 //pc.printf("%d %d %d %d %d %d %d %d\n",recieveUID[0],recieveUID[1],recieveUID[2],recieveUID[3],recieveUID[4],recieveUID[5],recieveUID[6],recieveUID[7]);
1918june 2:38376c7c1685 341 RFID.PCD_Init();
1918june 0:930d2bc16788 342 lcd.LCD_init();
1918june 0:930d2bc16788 343 lcd.backlight(ON);
1918june 2:38376c7c1685 344 wait(2);
1918june 0:930d2bc16788 345 lcd.LCD_clear();
1918june 3:987e54d48f77 346 while(1) {
1918june 4:b56a8a051fdd 347 lcd.LCD_write_string(0,0,"SCAN ID CARD",0);
1918june 0:930d2bc16788 348 if ( ! RFID.PICC_IsNewCardPresent()) // Look for new cards
1918june 0:930d2bc16788 349 continue;
1918june 0:930d2bc16788 350 if ( ! RFID.PICC_ReadCardSerial()) // Select one of the cards
1918june 4:b56a8a051fdd 351
1918june 0:930d2bc16788 352 continue;
1918june 0:930d2bc16788 353 pc.printf("Card UID: ");
1918june 0:930d2bc16788 354 for (uint8_t i = 0; i < RFID.uid.size; i++)
1918june 0:930d2bc16788 355 pc.printf(" %d", RFID.uid.uidByte[i]);
1918june 0:930d2bc16788 356 printf("\n\r");
1918june 3:987e54d48f77 357 if( RFID.uid.uidByte[0]==recieveUID[0] && RFID.uid.uidByte[1]==recieveUID[1] && RFID.uid.uidByte[2]==recieveUID[2] && RFID.uid.uidByte[3]==recieveUID[3] ) {
1918june 3:987e54d48f77 358 //จำ
1918june 3:987e54d48f77 359 pc.printf("%s\t%s\t%s\n",recieveNameJune,recieveSurJune,recieveIdJune);
1918june 4:b56a8a051fdd 360 lcd.LCD_clear();
1918june 3:987e54d48f77 361 string name,sur;
1918june 3:987e54d48f77 362 eeprom.read(1,&name,11);
1918june 3:987e54d48f77 363 eeprom.read(12,&sur,10);
1918june 3:987e54d48f77 364 printstring(0,0,name,11,0);
1918june 3:987e54d48f77 365 printstring(0,1,sur,10,0);
1918june 3:987e54d48f77 366 //lcd.LCD_clear();
1918june 3:987e54d48f77 367 }
1918june 3:987e54d48f77 368 if( RFID.uid.uidByte[0]==recieveUID[4] && RFID.uid.uidByte[1]==recieveUID[5] && RFID.uid.uidByte[2]==recieveUID[6] && RFID.uid.uidByte[3]==recieveUID[7] ) {
1918june 3:987e54d48f77 369 pc.printf("%s\t%s\t%s\n",recieveNameO,recieveSurO,recieveIdO);
1918june 2:38376c7c1685 370
1918june 5:4af4865f462b 371
1918june 3:987e54d48f77 372 string name,sur;
1918june 4:b56a8a051fdd 373 lcd.LCD_clear();
1918june 3:987e54d48f77 374 eeprom.read(41,&name,7);
1918june 3:987e54d48f77 375 eeprom.read(48,&sur,3);
1918june 3:987e54d48f77 376 printstring(0,0,name,7,0);
1918june 3:987e54d48f77 377 printstring(0,1,sur,3,0);
1918june 0:930d2bc16788 378 }
1918june 3:987e54d48f77 379 //wait(2);
1918june 3:987e54d48f77 380 //lcd.LCD_clear();
1918june 3:987e54d48f77 381 lcd.LCD_write_string(0,2,"1 select item",0);
1918june 3:987e54d48f77 382 lcd.LCD_write_string(0,3,"2 select place",0);
1918june 4:b56a8a051fdd 383 //lcd.LCD_write_string(40,5,"cancel",0);
1918june 3:987e54d48f77 384 while(1) {
1918june 3:987e54d48f77 385 if(mode==1) {
1918june 3:987e54d48f77 386 printf("1");
1918june 3:987e54d48f77 387 lcd.LCD_clear();
1918june 3:987e54d48f77 388 lcd.LCD_write_string(0,0,"mode 1",0);
1918june 3:987e54d48f77 389 lcd.LCD_write_string(0,1,"select item",0);
1918june 3:987e54d48f77 390 while(1) {
1918june 3:987e54d48f77 391 if(Switch1.read()==1) {
1918june 3:987e54d48f77 392 char str[10];
1918june 3:987e54d48f77 393 selectitem++;
1918june 3:987e54d48f77 394 if(selectitem > 9)
1918june 3:987e54d48f77 395 selectitem=1;
1918june 3:987e54d48f77 396 wait(0.2);
1918june 3:987e54d48f77 397 sprintf(str,"item : %d",selectitem);
1918june 3:987e54d48f77 398 printstring(3,2,str,8,0);
1918june 3:987e54d48f77 399 }
1918june 4:b56a8a051fdd 400 if(Switch2.read()==1 && selectitem !=0) {
1918june 4:b56a8a051fdd 401 mode=1;
1918june 3:987e54d48f77 402 char str[10];
1918june 3:987e54d48f77 403 place=((int) (Rnd.read()*1000))%4 +1;
1918june 3:987e54d48f77 404 wait(0.2);
1918june 3:987e54d48f77 405 sprintf(str,"place :%d",place);
1918june 3:987e54d48f77 406 printstring(3,3,str,8,0);
1918june 3:987e54d48f77 407 break;
1918june 3:987e54d48f77 408 }
1918june 3:987e54d48f77 409 }
1918june 5:4af4865f462b 410 wait(1);
1918june 5:4af4865f462b 411 while(1) { //
1918june 5:4af4865f462b 412 control();
1918june 5:4af4865f462b 413 if(Switch2.read()==1) {
1918june 5:4af4865f462b 414 mode=1;
1918june 5:4af4865f462b 415 servodown();//servo down
1918june 5:4af4865f462b 416 read(data);
1918june 5:4af4865f462b 417 dataprint(data);
1918june 5:4af4865f462b 418 wait_ms(500);
1918june 5:4af4865f462b 419 servoup();//servo up
1918june 5:4af4865f462b 420 }
1918june 3:987e54d48f77 421 }
1918june 3:987e54d48f77 422 }
1918june 3:987e54d48f77 423 if(mode==2) {//selectplace
1918june 3:987e54d48f77 424 printf("2");
1918june 3:987e54d48f77 425 lcd.LCD_clear();
1918june 3:987e54d48f77 426 lcd.LCD_write_string(0,0,"mode 2",0);
1918june 3:987e54d48f77 427 lcd.LCD_write_string(0,1,"select place",0);
1918june 3:987e54d48f77 428 while(1) {
1918june 3:987e54d48f77 429 if(Switch1.read()==1) {
1918june 4:b56a8a051fdd 430 mode=2;
1918june 3:987e54d48f77 431 char str[10];
1918june 3:987e54d48f77 432 place++;
1918june 3:987e54d48f77 433 if(place > 4)
1918june 3:987e54d48f77 434 place=1;
1918june 3:987e54d48f77 435 wait(0.2);
1918june 3:987e54d48f77 436 sprintf(str,"place : %d",place);
1918june 3:987e54d48f77 437 printstring(3,2,str,9,0);
1918june 3:987e54d48f77 438 }
1918june 4:b56a8a051fdd 439 if(Switch2.read()==1 && place!=0) {
1918june 3:987e54d48f77 440 char str[10];
1918june 3:987e54d48f77 441 selectitem=((int) (Rnd.read()*1000))%9 +1;
1918june 3:987e54d48f77 442 wait(0.2);
1918june 3:987e54d48f77 443 sprintf(str,"item : %d",selectitem);
1918june 3:987e54d48f77 444 printstring(3,3,str,8,0);
1918june 3:987e54d48f77 445 break;
1918june 3:987e54d48f77 446 }
1918june 4:b56a8a051fdd 447 }
1918june 5:4af4865f462b 448 wait(1);
1918june 5:4af4865f462b 449
1918june 4:b56a8a051fdd 450 }
1918june 2:38376c7c1685 451
1918june 5:4af4865f462b 452 printf("mode=%d\n",mode);
1918june 3:987e54d48f77 453
1918june 4:b56a8a051fdd 454 } //end while mode loop
1918june 4:b56a8a051fdd 455 }
1918june 3:987e54d48f77 456
1918june 3:987e54d48f77 457 }
1918june 4:b56a8a051fdd 458