Ghost Mouse
/
ghost_mouse
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Dependencies: mbed
main.cpp@19:0dd0fe82c3e7, 2017-04-05 (annotated)
- Committer:
- jennabarton
- Date:
- Wed Apr 05 02:43:57 2017 +0000
- Revision:
- 19:0dd0fe82c3e7
- Parent:
- 18:d7a681bc22e5
- Child:
- 20:550a57fb9344
square for movement
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| daviwang | 0:1c15cf9cc4f9 | 1 | #include "mbed.h" |
| jennabarton | 16:6b4a71e6f75a | 2 | #include <RawSerial.h> |
| daviwang | 0:1c15cf9cc4f9 | 3 | |
| jennabarton | 8:d27efcac2dd7 | 4 | //****************************************************************** |
| jennabarton | 8:d27efcac2dd7 | 5 | // All variables defined below |
| jennabarton | 8:d27efcac2dd7 | 6 | //****************************************************************** |
| jennabarton | 8:d27efcac2dd7 | 7 | |
| jennabarton | 8:d27efcac2dd7 | 8 | //communication |
| daviwang | 0:1c15cf9cc4f9 | 9 | DigitalOut myled(LED1); |
| jennabarton | 16:6b4a71e6f75a | 10 | RawSerial pc(USBTX, USBRX); |
| jennabarton | 16:6b4a71e6f75a | 11 | RawSerial keyOut(p13, p14); |
| daviwang | 1:2e895e5272ab | 12 | I2C camera1(p9, p10); |
| daviwang | 1:2e895e5272ab | 13 | |
| jennabarton | 16:6b4a71e6f75a | 14 | |
| jennabarton | 2:f501e506d62b | 15 | //initial camera data |
| daviwang | 1:2e895e5272ab | 16 | int IRsensorAddress = 0xB0; |
| daviwang | 1:2e895e5272ab | 17 | int slaveAddress; |
| daviwang | 1:2e895e5272ab | 18 | char data_buf[16]; |
| jennabarton | 2:f501e506d62b | 19 | char s; |
| daviwang | 1:2e895e5272ab | 20 | int i; |
| daviwang | 1:2e895e5272ab | 21 | |
| jennabarton | 2:f501e506d62b | 22 | //point variables |
| jennabarton | 2:f501e506d62b | 23 | int point1x = 0; |
| jennabarton | 2:f501e506d62b | 24 | int point1y = 0; |
| jennabarton | 2:f501e506d62b | 25 | int point2x = 0; |
| jennabarton | 2:f501e506d62b | 26 | int point2y = 0; |
| jennabarton | 2:f501e506d62b | 27 | int point3x = 0; |
| jennabarton | 2:f501e506d62b | 28 | int point3y = 0; |
| jennabarton | 2:f501e506d62b | 29 | int point4x = 0; |
| jennabarton | 2:f501e506d62b | 30 | int point4y = 0; |
| jennabarton | 2:f501e506d62b | 31 | |
| daviwang | 1:2e895e5272ab | 32 | //sensitivity |
| daviwang | 1:2e895e5272ab | 33 | //Level 5: p0 = 0x96, p1 = 0xFE, p2 = 0xFE, p3 = 0x05 |
| jennabarton | 8:d27efcac2dd7 | 34 | //highest sensitivity to more accurately detect points |
| daviwang | 1:2e895e5272ab | 35 | int sen0 = 0x96; |
| daviwang | 1:2e895e5272ab | 36 | int sen1 = 0xFE; |
| daviwang | 1:2e895e5272ab | 37 | int sen2 = 0xFE; |
| daviwang | 1:2e895e5272ab | 38 | int sen3 = 0x00; |
| daviwang | 1:2e895e5272ab | 39 | |
| jennabarton | 12:e127fa20d609 | 40 | //previous point values |
| jennabarton | 12:e127fa20d609 | 41 | int prevX = 1023; |
| jennabarton | 12:e127fa20d609 | 42 | int prevY = 1023; |
| jennabarton | 12:e127fa20d609 | 43 | |
| jennabarton | 8:d27efcac2dd7 | 44 | //matrices of x and y coordinates from the first camera |
| jennabarton | 2:f501e506d62b | 45 | int onex[4]; |
| jennabarton | 2:f501e506d62b | 46 | int oney[4]; |
| daviwang | 1:2e895e5272ab | 47 | |
| jennabarton | 12:e127fa20d609 | 48 | //matrices of x and y coordinates from prev point |
| jennabarton | 12:e127fa20d609 | 49 | int prevx[4]; |
| jennabarton | 12:e127fa20d609 | 50 | int prevy[4]; |
| jennabarton | 12:e127fa20d609 | 51 | |
| jennabarton | 12:e127fa20d609 | 52 | //movement |
| jennabarton | 16:6b4a71e6f75a | 53 | int deadzone = 1; |
| jennabarton | 18:d7a681bc22e5 | 54 | int mouseMoveMult = 1; |
| jennabarton | 12:e127fa20d609 | 55 | |
| jennabarton | 12:e127fa20d609 | 56 | //counts for clicks |
| jennabarton | 12:e127fa20d609 | 57 | int clickDeadzone = 10; |
| jennabarton | 12:e127fa20d609 | 58 | int fingerDownCount = 0; |
| jennabarton | 12:e127fa20d609 | 59 | int fingerUpCount = 0; |
| jennabarton | 12:e127fa20d609 | 60 | int minLeftClickDur = 4; |
| jennabarton | 12:e127fa20d609 | 61 | int minRightClickDur = 10; |
| jennabarton | 12:e127fa20d609 | 62 | int delayForClick = 2; |
| jennabarton | 12:e127fa20d609 | 63 | int instabilityLimit = 3; |
| jennabarton | 12:e127fa20d609 | 64 | int instabilityCount = 0; |
| jennabarton | 13:4f2181174071 | 65 | |
| jennabarton | 13:4f2181174071 | 66 | |
| jennabarton | 14:568d4dac4fb6 | 67 | //MOUSE STATE |
| jennabarton | 14:568d4dac4fb6 | 68 | //implemented for ticker behavior |
| jennabarton | 14:568d4dac4fb6 | 69 | //ticker depends on these values to update the state/location of the mouse |
| jennabarton | 14:568d4dac4fb6 | 70 | Ticker mouseStateTicker; |
| jennabarton | 16:6b4a71e6f75a | 71 | short updatex[4]; |
| jennabarton | 16:6b4a71e6f75a | 72 | short updatey[4]; |
| jennabarton | 14:568d4dac4fb6 | 73 | bool toLeftClick = false; |
| jennabarton | 14:568d4dac4fb6 | 74 | bool toRightClick = false; |
| jennabarton | 14:568d4dac4fb6 | 75 | |
| jennabarton | 16:6b4a71e6f75a | 76 | //LED |
| jennabarton | 16:6b4a71e6f75a | 77 | DigitalOut myled2(LED2); |
| jennabarton | 14:568d4dac4fb6 | 78 | |
| jennabarton | 14:568d4dac4fb6 | 79 | |
| jennabarton | 13:4f2181174071 | 80 | |
| jennabarton | 8:d27efcac2dd7 | 81 | //****************************************************************** |
| jennabarton | 8:d27efcac2dd7 | 82 | // All methods defined below |
| jennabarton | 8:d27efcac2dd7 | 83 | //****************************************************************** |
| daviwang | 1:2e895e5272ab | 84 | |
| jennabarton | 12:e127fa20d609 | 85 | //takes in values for the movement in the x and y direction |
| jennabarton | 12:e127fa20d609 | 86 | //also can indicate whether you want to "click" |
| jennabarton | 12:e127fa20d609 | 87 | //NOTE: hard coded wait of 0.1 |
| jennabarton | 16:6b4a71e6f75a | 88 | void mouseCommand(char buttons, short x, short y) { |
| jennabarton | 16:6b4a71e6f75a | 89 | x = mouseMoveMult*x; |
| jennabarton | 19:0dd0fe82c3e7 | 90 | x = x*abs(x); |
| jennabarton | 19:0dd0fe82c3e7 | 91 | //x = x*sqrt((float)abs(x)); |
| jennabarton | 16:6b4a71e6f75a | 92 | y = mouseMoveMult*y; |
| jennabarton | 19:0dd0fe82c3e7 | 93 | y = y*abs(y); |
| jennabarton | 19:0dd0fe82c3e7 | 94 | //y = y*sqrt((float)abs(y)); |
| jennabarton | 16:6b4a71e6f75a | 95 | |
| jennabarton | 10:d67a15ba5748 | 96 | keyOut.putc(0xFD); |
| jennabarton | 10:d67a15ba5748 | 97 | keyOut.putc(0x00); |
| jennabarton | 10:d67a15ba5748 | 98 | keyOut.putc(0x03); |
| jennabarton | 10:d67a15ba5748 | 99 | keyOut.putc(buttons); |
| jennabarton | 10:d67a15ba5748 | 100 | keyOut.putc(x); |
| jennabarton | 10:d67a15ba5748 | 101 | keyOut.putc(y); |
| jennabarton | 10:d67a15ba5748 | 102 | keyOut.putc(0x00); |
| jennabarton | 10:d67a15ba5748 | 103 | keyOut.putc(0x00); |
| jennabarton | 10:d67a15ba5748 | 104 | keyOut.putc(0x00); |
| jennabarton | 10:d67a15ba5748 | 105 | |
| jennabarton | 10:d67a15ba5748 | 106 | //delay for pushing data |
| jennabarton | 15:54cee979f202 | 107 | //wait(0.1); //how large does this need to be? |
| jennabarton | 10:d67a15ba5748 | 108 | } |
| jennabarton | 10:d67a15ba5748 | 109 | |
| jennabarton | 4:1f443e7a0122 | 110 | |
| jennabarton | 14:568d4dac4fb6 | 111 | |
| jennabarton | 16:6b4a71e6f75a | 112 | |
| jennabarton | 14:568d4dac4fb6 | 113 | //the interrupt to update mouse state |
| jennabarton | 14:568d4dac4fb6 | 114 | //run every 100 us |
| jennabarton | 14:568d4dac4fb6 | 115 | void updateMouseState(){ |
| jennabarton | 14:568d4dac4fb6 | 116 | |
| jennabarton | 16:6b4a71e6f75a | 117 | myled2 = 1 - myled2; |
| jennabarton | 16:6b4a71e6f75a | 118 | |
| jennabarton | 16:6b4a71e6f75a | 119 | |
| jennabarton | 14:568d4dac4fb6 | 120 | //move mouse |
| jennabarton | 14:568d4dac4fb6 | 121 | //handles only single finger actions |
| jennabarton | 15:54cee979f202 | 122 | //TODO: uncomment |
| jennabarton | 16:6b4a71e6f75a | 123 | mouseCommand(0, updatex[0], updatey[0]); |
| jennabarton | 14:568d4dac4fb6 | 124 | |
| jennabarton | 14:568d4dac4fb6 | 125 | //clear out changes |
| jennabarton | 14:568d4dac4fb6 | 126 | updatex[0] = 0; |
| jennabarton | 14:568d4dac4fb6 | 127 | updatey[0] = 0; |
| jennabarton | 14:568d4dac4fb6 | 128 | |
| jennabarton | 14:568d4dac4fb6 | 129 | //click |
| jennabarton | 15:54cee979f202 | 130 | //TODO: uncomment |
| jennabarton | 15:54cee979f202 | 131 | // if(toLeftClick){ |
| jennabarton | 15:54cee979f202 | 132 | // //send command to |
| jennabarton | 15:54cee979f202 | 133 | // mouseCommand(0x01, 0 , 0); |
| jennabarton | 15:54cee979f202 | 134 | // |
| jennabarton | 15:54cee979f202 | 135 | // } else if (toRightClick){ |
| jennabarton | 15:54cee979f202 | 136 | // mouseCommand(0x02, 0 , 0); |
| jennabarton | 15:54cee979f202 | 137 | // } |
| jennabarton | 14:568d4dac4fb6 | 138 | |
| jennabarton | 14:568d4dac4fb6 | 139 | //fip clicking to false |
| jennabarton | 14:568d4dac4fb6 | 140 | toLeftClick = false; |
| jennabarton | 14:568d4dac4fb6 | 141 | toRightClick = false; |
| jennabarton | 14:568d4dac4fb6 | 142 | |
| jennabarton | 14:568d4dac4fb6 | 143 | } |
| jennabarton | 14:568d4dac4fb6 | 144 | |
| jennabarton | 14:568d4dac4fb6 | 145 | |
| jennabarton | 12:e127fa20d609 | 146 | //moves mouse on screen from one finger input |
| jennabarton | 12:e127fa20d609 | 147 | //param |
| jennabarton | 12:e127fa20d609 | 148 | // current point (currx, curry) |
| jennabarton | 12:e127fa20d609 | 149 | // previous point (prevx, prevy) |
| jennabarton | 14:568d4dac4fb6 | 150 | //TODO: implement additional param to indicate which finger you are looking at |
| jennabarton | 14:568d4dac4fb6 | 151 | // current implementation defaults to zero (finger one) |
| jennabarton | 12:e127fa20d609 | 152 | void oneFingerResponse(int currx, int curry, int prevx, int prevy){ |
| jennabarton | 12:e127fa20d609 | 153 | //look at delta btwn prev val and current |
| jennabarton | 12:e127fa20d609 | 154 | //TODO: moving average |
| jennabarton | 12:e127fa20d609 | 155 | if((prevx != 1023 || prevy != 1023) && (currx != 1023 && curry != 1023)){ |
| jennabarton | 17:08d6d9badb3f | 156 | short diffX = currx - prevx; |
| jennabarton | 17:08d6d9badb3f | 157 | short diffY = -1*(curry - prevy); |
| jennabarton | 12:e127fa20d609 | 158 | |
| jennabarton | 12:e127fa20d609 | 159 | //fix diffX |
| jennabarton | 12:e127fa20d609 | 160 | if(diffX > deadzone){ |
| jennabarton | 12:e127fa20d609 | 161 | diffX -= deadzone; |
| jennabarton | 12:e127fa20d609 | 162 | } else if (diffX < -1*deadzone){ |
| jennabarton | 12:e127fa20d609 | 163 | diffX += deadzone; |
| jennabarton | 12:e127fa20d609 | 164 | } else{ |
| jennabarton | 12:e127fa20d609 | 165 | diffX = 0; |
| jennabarton | 12:e127fa20d609 | 166 | } |
| jennabarton | 12:e127fa20d609 | 167 | //fix diffY |
| jennabarton | 12:e127fa20d609 | 168 | if(diffY > deadzone){ |
| jennabarton | 12:e127fa20d609 | 169 | diffY -= deadzone; |
| jennabarton | 17:08d6d9badb3f | 170 | } else if (diffY < -1*deadzone){ |
| jennabarton | 12:e127fa20d609 | 171 | diffY += deadzone; |
| jennabarton | 12:e127fa20d609 | 172 | } else{ |
| jennabarton | 12:e127fa20d609 | 173 | diffY = 0; |
| jennabarton | 12:e127fa20d609 | 174 | } |
| jennabarton | 12:e127fa20d609 | 175 | |
| jennabarton | 14:568d4dac4fb6 | 176 | |
| jennabarton | 14:568d4dac4fb6 | 177 | //mouseCommand(0, (char) diffX, (char) diffY); |
| jennabarton | 14:568d4dac4fb6 | 178 | //TODO: this is defaulting to first finger - need to fix this |
| jennabarton | 14:568d4dac4fb6 | 179 | //update target position to move x and y |
| jennabarton | 14:568d4dac4fb6 | 180 | updatex[0] = diffX; |
| jennabarton | 14:568d4dac4fb6 | 181 | updatey[0] = diffY; |
| jennabarton | 16:6b4a71e6f75a | 182 | |
| jennabarton | 17:08d6d9badb3f | 183 | |
| jennabarton | 16:6b4a71e6f75a | 184 | // pc.printf("updating x to : %d", diffX); |
| jennabarton | 16:6b4a71e6f75a | 185 | // pc.printf("\t updating y to : %d \n", diffY); |
| jennabarton | 16:6b4a71e6f75a | 186 | |
| jennabarton | 16:6b4a71e6f75a | 187 | // pc.printf("updating x to : %d", updatex[0]); |
| jennabarton | 16:6b4a71e6f75a | 188 | // pc.printf("\t updating y to : %d \n", updatex[0]); |
| jennabarton | 16:6b4a71e6f75a | 189 | |
| jennabarton | 12:e127fa20d609 | 190 | } |
| jennabarton | 12:e127fa20d609 | 191 | } |
| jennabarton | 12:e127fa20d609 | 192 | |
| jennabarton | 12:e127fa20d609 | 193 | |
| jennabarton | 12:e127fa20d609 | 194 | //writes two bytes to the camera |
| jennabarton | 12:e127fa20d609 | 195 | void write2bytes(char data1, char data2){ |
| jennabarton | 12:e127fa20d609 | 196 | char out[2]; |
| jennabarton | 12:e127fa20d609 | 197 | out[0] = data1; |
| jennabarton | 12:e127fa20d609 | 198 | out[1] = data2; |
| jennabarton | 12:e127fa20d609 | 199 | camera1.write(slaveAddress, out, 2); |
| jennabarton | 12:e127fa20d609 | 200 | wait(0.01); |
| jennabarton | 12:e127fa20d609 | 201 | } |
| jennabarton | 12:e127fa20d609 | 202 | |
| jennabarton | 12:e127fa20d609 | 203 | |
| jennabarton | 12:e127fa20d609 | 204 | |
| jennabarton | 8:d27efcac2dd7 | 205 | // Initialize WiiMote Camera |
| daviwang | 1:2e895e5272ab | 206 | void initCamera(void){ |
| daviwang | 1:2e895e5272ab | 207 | write2bytes(0x30, 0x01); |
| daviwang | 1:2e895e5272ab | 208 | write2bytes(0x00, 0x02); |
| daviwang | 1:2e895e5272ab | 209 | write2bytes(0x00, 0x00); |
| daviwang | 1:2e895e5272ab | 210 | write2bytes(0x71, 0x01); |
| daviwang | 1:2e895e5272ab | 211 | write2bytes(0x07, 0x00); |
| daviwang | 1:2e895e5272ab | 212 | write2bytes(sen1, 0x1A); |
| daviwang | 1:2e895e5272ab | 213 | write2bytes(sen2, sen3); |
| daviwang | 1:2e895e5272ab | 214 | write2bytes(0x33, 0x03); |
| daviwang | 1:2e895e5272ab | 215 | write2bytes(0x30, 0x08); |
| jennabarton | 3:7b0c215eb6a7 | 216 | //wait(0.1); |
| daviwang | 1:2e895e5272ab | 217 | |
| daviwang | 1:2e895e5272ab | 218 | } |
| daviwang | 0:1c15cf9cc4f9 | 219 | |
| jennabarton | 12:e127fa20d609 | 220 | |
| jennabarton | 12:e127fa20d609 | 221 | //update counts for click |
| jennabarton | 12:e127fa20d609 | 222 | void updateClickState(int currx, int curry, int prevx, int prevy){ |
| jennabarton | 12:e127fa20d609 | 223 | bool xStable = false; |
| jennabarton | 12:e127fa20d609 | 224 | bool yStable = false; |
| jennabarton | 12:e127fa20d609 | 225 | |
| jennabarton | 12:e127fa20d609 | 226 | //TODO: update to handle cases where just one is 1023 |
| jennabarton | 12:e127fa20d609 | 227 | if(currx != 1023 || curry != 1023){ |
| jennabarton | 12:e127fa20d609 | 228 | //check x stability |
| jennabarton | 12:e127fa20d609 | 229 | if( currx > prevx ){ |
| jennabarton | 12:e127fa20d609 | 230 | if(currx-prevx < clickDeadzone){ |
| jennabarton | 12:e127fa20d609 | 231 | //barely moved in x dir |
| jennabarton | 12:e127fa20d609 | 232 | xStable = true; |
| jennabarton | 12:e127fa20d609 | 233 | } |
| jennabarton | 12:e127fa20d609 | 234 | } else if( currx < prevx) { |
| jennabarton | 12:e127fa20d609 | 235 | if(prevx-currx < clickDeadzone){ |
| jennabarton | 12:e127fa20d609 | 236 | //barely moved in x dir |
| jennabarton | 12:e127fa20d609 | 237 | xStable = true; |
| jennabarton | 12:e127fa20d609 | 238 | } |
| jennabarton | 12:e127fa20d609 | 239 | } else { |
| jennabarton | 12:e127fa20d609 | 240 | //no movement in x |
| jennabarton | 12:e127fa20d609 | 241 | xStable = true; |
| jennabarton | 12:e127fa20d609 | 242 | } |
| jennabarton | 12:e127fa20d609 | 243 | |
| jennabarton | 12:e127fa20d609 | 244 | //check y stability |
| jennabarton | 12:e127fa20d609 | 245 | if( curry > prevy ){ |
| jennabarton | 12:e127fa20d609 | 246 | if(curry-prevy < clickDeadzone){ |
| jennabarton | 12:e127fa20d609 | 247 | //barely moved in y dir |
| jennabarton | 12:e127fa20d609 | 248 | yStable = true; |
| jennabarton | 12:e127fa20d609 | 249 | } |
| jennabarton | 12:e127fa20d609 | 250 | } else if( curry < prevy) { |
| jennabarton | 12:e127fa20d609 | 251 | if(prevy-curry < clickDeadzone){ |
| jennabarton | 12:e127fa20d609 | 252 | //barely moved in y dir |
| jennabarton | 12:e127fa20d609 | 253 | yStable = true; |
| jennabarton | 12:e127fa20d609 | 254 | } |
| jennabarton | 12:e127fa20d609 | 255 | } else { |
| jennabarton | 12:e127fa20d609 | 256 | //no movement in y |
| jennabarton | 12:e127fa20d609 | 257 | yStable = true; |
| jennabarton | 12:e127fa20d609 | 258 | } |
| jennabarton | 12:e127fa20d609 | 259 | |
| jennabarton | 12:e127fa20d609 | 260 | //update finger down count |
| jennabarton | 12:e127fa20d609 | 261 | if(xStable && yStable){ |
| jennabarton | 12:e127fa20d609 | 262 | //both are stable |
| jennabarton | 12:e127fa20d609 | 263 | fingerDownCount++; |
| jennabarton | 12:e127fa20d609 | 264 | |
| jennabarton | 12:e127fa20d609 | 265 | } else{ |
| jennabarton | 12:e127fa20d609 | 266 | //unstable, increase instability count |
| jennabarton | 12:e127fa20d609 | 267 | instabilityCount++; |
| jennabarton | 12:e127fa20d609 | 268 | if(instabilityCount > instabilityLimit){ |
| jennabarton | 12:e127fa20d609 | 269 | //too many instable points, reset to zero |
| jennabarton | 12:e127fa20d609 | 270 | fingerDownCount = 0; |
| jennabarton | 12:e127fa20d609 | 271 | instabilityCount = 0; |
| jennabarton | 12:e127fa20d609 | 272 | } |
| jennabarton | 12:e127fa20d609 | 273 | } |
| jennabarton | 12:e127fa20d609 | 274 | |
| jennabarton | 12:e127fa20d609 | 275 | } else { |
| jennabarton | 12:e127fa20d609 | 276 | //both are up, increment up count |
| jennabarton | 12:e127fa20d609 | 277 | fingerUpCount++; |
| jennabarton | 12:e127fa20d609 | 278 | if(fingerUpCount >= delayForClick && fingerDownCount >= minLeftClickDur){ |
| jennabarton | 12:e127fa20d609 | 279 | //finger was down for long enough to be a click |
| jennabarton | 12:e127fa20d609 | 280 | //finger was lifted for long enough to indicate click |
| jennabarton | 12:e127fa20d609 | 281 | if(fingerDownCount >= minRightClickDur){ |
| jennabarton | 12:e127fa20d609 | 282 | //initiate right click |
| jennabarton | 14:568d4dac4fb6 | 283 | //mouseCommand(0x02, 0 , 0); |
| jennabarton | 14:568d4dac4fb6 | 284 | |
| jennabarton | 14:568d4dac4fb6 | 285 | //indicate that you want to right click |
| jennabarton | 14:568d4dac4fb6 | 286 | toRightClick = true; |
| jennabarton | 12:e127fa20d609 | 287 | |
| jennabarton | 12:e127fa20d609 | 288 | //TODO: remove. for debugging purposes only |
| jennabarton | 15:54cee979f202 | 289 | pc.printf("#########RIGHT mouse click \t"); |
| jennabarton | 12:e127fa20d609 | 290 | } else { |
| jennabarton | 12:e127fa20d609 | 291 | //initiate left click |
| jennabarton | 14:568d4dac4fb6 | 292 | //mouseCommand(0x01, 0 , 0); |
| jennabarton | 14:568d4dac4fb6 | 293 | |
| jennabarton | 14:568d4dac4fb6 | 294 | //indicate that you want to left click |
| jennabarton | 14:568d4dac4fb6 | 295 | toLeftClick = true; |
| jennabarton | 12:e127fa20d609 | 296 | |
| jennabarton | 12:e127fa20d609 | 297 | //TODO: remove. for debugging purposes only |
| jennabarton | 15:54cee979f202 | 298 | pc.printf("********LEFT mouse click \t"); |
| jennabarton | 12:e127fa20d609 | 299 | } |
| jennabarton | 12:e127fa20d609 | 300 | |
| jennabarton | 12:e127fa20d609 | 301 | //reset counters |
| jennabarton | 12:e127fa20d609 | 302 | fingerUpCount = 0; |
| jennabarton | 12:e127fa20d609 | 303 | fingerDownCount = 0; |
| jennabarton | 12:e127fa20d609 | 304 | |
| jennabarton | 12:e127fa20d609 | 305 | } |
| jennabarton | 12:e127fa20d609 | 306 | } |
| jennabarton | 12:e127fa20d609 | 307 | |
| jennabarton | 12:e127fa20d609 | 308 | |
| jennabarton | 12:e127fa20d609 | 309 | } |
| jennabarton | 12:e127fa20d609 | 310 | |
| jennabarton | 12:e127fa20d609 | 311 | |
| jennabarton | 8:d27efcac2dd7 | 312 | //get data from camera one |
| jennabarton | 8:d27efcac2dd7 | 313 | //populates onex and oney with values depending on the measured points |
| jennabarton | 8:d27efcac2dd7 | 314 | //NOTE: 1023 means nothing was detected |
| jennabarton | 2:f501e506d62b | 315 | void readCameraData(void){ |
| jennabarton | 2:f501e506d62b | 316 | |
| jennabarton | 16:6b4a71e6f75a | 317 | //pc.printf("in read camera data \n"); |
| jennabarton | 15:54cee979f202 | 318 | |
| jennabarton | 2:f501e506d62b | 319 | //request data from camera |
| jennabarton | 2:f501e506d62b | 320 | char out[1]; |
| jennabarton | 2:f501e506d62b | 321 | out[0] = 0x36; |
| jennabarton | 2:f501e506d62b | 322 | camera1.write(slaveAddress, out, 1); |
| jennabarton | 2:f501e506d62b | 323 | //wait(0.2); //do we need this? |
| jennabarton | 2:f501e506d62b | 324 | |
| jennabarton | 2:f501e506d62b | 325 | //get data from camera |
| jennabarton | 2:f501e506d62b | 326 | camera1.read(slaveAddress, data_buf, 16); |
| jennabarton | 8:d27efcac2dd7 | 327 | |
| jennabarton | 2:f501e506d62b | 328 | //POINT 1 |
| jennabarton | 2:f501e506d62b | 329 | //get data |
| jennabarton | 2:f501e506d62b | 330 | point1x = data_buf[1]; |
| jennabarton | 2:f501e506d62b | 331 | point1y = data_buf[2]; |
| jennabarton | 2:f501e506d62b | 332 | s = data_buf[3]; |
| jennabarton | 3:7b0c215eb6a7 | 333 | //load x,y |
| jennabarton | 3:7b0c215eb6a7 | 334 | onex[0] = point1x + ((s & 0x30) << 4); |
| jennabarton | 3:7b0c215eb6a7 | 335 | oney[0] = point1y + ((s & 0xC0) << 2); |
| jennabarton | 2:f501e506d62b | 336 | |
| jennabarton | 8:d27efcac2dd7 | 337 | |
| jennabarton | 11:cd450ce343a8 | 338 | //>>>>>>>>>>>>>>>>>Begin unfinished code for moving |
| jennabarton | 11:cd450ce343a8 | 339 | |
| jennabarton | 12:e127fa20d609 | 340 | oneFingerResponse(onex[0], oney[0], prevX, prevY); |
| jennabarton | 12:e127fa20d609 | 341 | updateClickState(onex[0], oney[0], prevX, prevY); |
| jennabarton | 11:cd450ce343a8 | 342 | |
| jennabarton | 7:6b27977d1800 | 343 | |
| jennabarton | 7:6b27977d1800 | 344 | //update prev values |
| jennabarton | 7:6b27977d1800 | 345 | prevX = onex[0]; |
| jennabarton | 7:6b27977d1800 | 346 | prevY = oney[0]; |
| jennabarton | 7:6b27977d1800 | 347 | |
| jennabarton | 7:6b27977d1800 | 348 | |
| jennabarton | 8:d27efcac2dd7 | 349 | //<<<<<<<<<<<<<<<<End unfinished code for moving averages |
| jennabarton | 8:d27efcac2dd7 | 350 | |
| jennabarton | 2:f501e506d62b | 351 | //POINT 2 |
| jennabarton | 2:f501e506d62b | 352 | //get data |
| jennabarton | 2:f501e506d62b | 353 | point2x = data_buf[4]; |
| jennabarton | 2:f501e506d62b | 354 | point2y = data_buf[5]; |
| jennabarton | 2:f501e506d62b | 355 | s = data_buf[6]; |
| jennabarton | 2:f501e506d62b | 356 | //load x,y |
| jennabarton | 2:f501e506d62b | 357 | onex[1] = point2x + ((s & 0x30) << 4); |
| jennabarton | 2:f501e506d62b | 358 | oney[1] = point2y + ((s & 0xC0) << 2); |
| jennabarton | 3:7b0c215eb6a7 | 359 | |
| jennabarton | 2:f501e506d62b | 360 | //POINT 3 |
| jennabarton | 2:f501e506d62b | 361 | //get data |
| jennabarton | 2:f501e506d62b | 362 | point3x = data_buf[7]; |
| jennabarton | 2:f501e506d62b | 363 | point3y = data_buf[8]; |
| jennabarton | 2:f501e506d62b | 364 | s = data_buf[9]; |
| jennabarton | 2:f501e506d62b | 365 | //load x,y |
| jennabarton | 2:f501e506d62b | 366 | onex[2] = point3x + ((s & 0x30) << 4); |
| jennabarton | 2:f501e506d62b | 367 | oney[2] = point3y + ((s & 0xC0) << 2); |
| jennabarton | 2:f501e506d62b | 368 | |
| jennabarton | 2:f501e506d62b | 369 | //POINT 4 |
| jennabarton | 2:f501e506d62b | 370 | //get data |
| jennabarton | 2:f501e506d62b | 371 | point4x = data_buf[10]; |
| jennabarton | 2:f501e506d62b | 372 | point4y = data_buf[11]; |
| jennabarton | 2:f501e506d62b | 373 | s = data_buf[12]; |
| jennabarton | 2:f501e506d62b | 374 | //load x,y |
| jennabarton | 2:f501e506d62b | 375 | onex[3] = point4x + ((s & 0x30) << 4); |
| jennabarton | 2:f501e506d62b | 376 | oney[3] = point4y + ((s & 0xC0) << 2); |
| jennabarton | 2:f501e506d62b | 377 | |
| jennabarton | 2:f501e506d62b | 378 | } |
| jennabarton | 2:f501e506d62b | 379 | |
| jennabarton | 8:d27efcac2dd7 | 380 | //print to serial monitor the coordinates of the points stored in |
| jennabarton | 8:d27efcac2dd7 | 381 | //the passed x and y arrays |
| jennabarton | 2:f501e506d62b | 382 | void printCamData(int xcor[4], int ycor[4]){ |
| jennabarton | 2:f501e506d62b | 383 | for(int i = 0; i<4; i++){ |
| jennabarton | 2:f501e506d62b | 384 | int x = xcor[i]; |
| jennabarton | 2:f501e506d62b | 385 | int y = ycor[i]; |
| jennabarton | 2:f501e506d62b | 386 | //determine what to print |
| jennabarton | 2:f501e506d62b | 387 | //x coordinate |
| jennabarton | 3:7b0c215eb6a7 | 388 | pc.printf(" %d,", x); |
| jennabarton | 2:f501e506d62b | 389 | |
| jennabarton | 2:f501e506d62b | 390 | //y coordinate |
| jennabarton | 8:d27efcac2dd7 | 391 | pc.printf(" %d\t", y); |
| jennabarton | 2:f501e506d62b | 392 | } |
| jennabarton | 2:f501e506d62b | 393 | |
| jennabarton | 2:f501e506d62b | 394 | //new line and delay |
| jennabarton | 2:f501e506d62b | 395 | pc.printf("\n"); |
| jennabarton | 3:7b0c215eb6a7 | 396 | //wait(0.01); |
| jennabarton | 2:f501e506d62b | 397 | } |
| jennabarton | 2:f501e506d62b | 398 | |
| jennabarton | 4:1f443e7a0122 | 399 | |
| jennabarton | 4:1f443e7a0122 | 400 | |
| jennabarton | 4:1f443e7a0122 | 401 | |
| jennabarton | 8:d27efcac2dd7 | 402 | //entrance to the code |
| daviwang | 0:1c15cf9cc4f9 | 403 | int main() { |
| jennabarton | 15:54cee979f202 | 404 | |
| jennabarton | 15:54cee979f202 | 405 | //set values initially to zero |
| jennabarton | 15:54cee979f202 | 406 | updatex[0] = 0; |
| jennabarton | 15:54cee979f202 | 407 | updatey[0] = 0; |
| jennabarton | 15:54cee979f202 | 408 | |
| daviwang | 1:2e895e5272ab | 409 | myled = 0; |
| jennabarton | 16:6b4a71e6f75a | 410 | myled2 = 0; |
| jennabarton | 16:6b4a71e6f75a | 411 | |
| jennabarton | 3:7b0c215eb6a7 | 412 | //slaveAddress = IRsensorAddress >> 1; |
| jennabarton | 3:7b0c215eb6a7 | 413 | slaveAddress = IRsensorAddress; |
| daviwang | 1:2e895e5272ab | 414 | initCamera(); |
| daviwang | 1:2e895e5272ab | 415 | |
| jennabarton | 3:7b0c215eb6a7 | 416 | //update baud rate |
| jennabarton | 3:7b0c215eb6a7 | 417 | pc.baud(115200); |
| jennabarton | 3:7b0c215eb6a7 | 418 | |
| jennabarton | 14:568d4dac4fb6 | 419 | //attach ticker for interrupt |
| jennabarton | 16:6b4a71e6f75a | 420 | //mouseStateTicker.attach_us(&updateMouseState, 100); |
| jennabarton | 18:d7a681bc22e5 | 421 | mouseStateTicker.attach(&updateMouseState, 0.01); |
| jennabarton | 16:6b4a71e6f75a | 422 | |
| jennabarton | 14:568d4dac4fb6 | 423 | |
| jennabarton | 8:d27efcac2dd7 | 424 | //loop to search for new info using the camera |
| daviwang | 0:1c15cf9cc4f9 | 425 | while(1) { |
| jennabarton | 15:54cee979f202 | 426 | |
| jennabarton | 16:6b4a71e6f75a | 427 | //pc.printf("while\n"); |
| jennabarton | 8:d27efcac2dd7 | 428 | |
| jennabarton | 8:d27efcac2dd7 | 429 | //toggle test LED |
| jennabarton | 2:f501e506d62b | 430 | myled = 1 - myled; |
| jennabarton | 2:f501e506d62b | 431 | |
| jennabarton | 16:6b4a71e6f75a | 432 | //pc.printf("while2\n"); |
| jennabarton | 15:54cee979f202 | 433 | |
| jennabarton | 15:54cee979f202 | 434 | |
| jennabarton | 2:f501e506d62b | 435 | //get the camera data |
| jennabarton | 2:f501e506d62b | 436 | readCameraData(); |
| daviwang | 1:2e895e5272ab | 437 | |
| jennabarton | 14:568d4dac4fb6 | 438 | //printing mouse state -- FOR DEBUGGING |
| jennabarton | 15:54cee979f202 | 439 | // pc.printf("update mouse %d, %d", updatex[0], updatey[0]); |
| jennabarton | 15:54cee979f202 | 440 | // pc.printf("\tclick left %s", toLeftClick ? "true" : "false"); |
| jennabarton | 15:54cee979f202 | 441 | // pc.printf("\tclick right %s\n", toRightClick ? "true" : "false"); |
| jennabarton | 14:568d4dac4fb6 | 442 | |
| jennabarton | 2:f501e506d62b | 443 | //print points |
| jennabarton | 15:54cee979f202 | 444 | printCamData(onex, oney); |
| daviwang | 1:2e895e5272ab | 445 | |
| jennabarton | 8:d27efcac2dd7 | 446 | //uncomment below to test infinite print |
| jennabarton | 6:4ade0e1a3723 | 447 | //keyOut.putc(0x41); |
| jennabarton | 10:d67a15ba5748 | 448 | |
| jennabarton | 4:1f443e7a0122 | 449 | |
| jennabarton | 12:e127fa20d609 | 450 | //uncomment below to infinitely move mouse in a square |
| jennabarton | 10:d67a15ba5748 | 451 | // double delay = 0.1; |
| jennabarton | 10:d67a15ba5748 | 452 | // int change = 75; |
| jennabarton | 10:d67a15ba5748 | 453 | // mouseCommand(0,0, (char) -1*change); |
| jennabarton | 10:d67a15ba5748 | 454 | // wait(delay); |
| jennabarton | 10:d67a15ba5748 | 455 | // mouseCommand(0,(char) -1*change,0); |
| jennabarton | 10:d67a15ba5748 | 456 | // wait(delay); |
| jennabarton | 10:d67a15ba5748 | 457 | // mouseCommand(0,0, (char) change); |
| jennabarton | 10:d67a15ba5748 | 458 | // wait(delay); |
| jennabarton | 10:d67a15ba5748 | 459 | // mouseCommand(0,(char) change,0); |
| jennabarton | 10:d67a15ba5748 | 460 | // wait(delay); |
| jennabarton | 9:55473409c585 | 461 | |
| jennabarton | 9:55473409c585 | 462 | |
| daviwang | 0:1c15cf9cc4f9 | 463 | } |
| daviwang | 0:1c15cf9cc4f9 | 464 | } |
