Ghost Mouse / Mbed 2 deprecated ghost_mouse

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

main.cpp@8:d27efcac2dd7, 2017-04-01 (annotated)

Committer:
jennabarton
Date:
Sat Apr 01 20:19:57 2017 +0000
Revision:
8:d27efcac2dd7
Parent:
7:6b27977d1800
Child:
9:55473409c585
cleaned code and comments. no functionality should change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daviwang 0:1c15cf9cc4f9 1 #include "mbed.h"
daviwang 0:1c15cf9cc4f9 2
jennabarton 8:d27efcac2dd7 3 //******************************************************************
jennabarton 8:d27efcac2dd7 4 // All variables defined below
jennabarton 8:d27efcac2dd7 5 //******************************************************************
jennabarton 8:d27efcac2dd7 6
jennabarton 8:d27efcac2dd7 7 //communication
daviwang 0:1c15cf9cc4f9 8 DigitalOut myled(LED1);
daviwang 1:2e895e5272ab 9 Serial pc(USBTX, USBRX);
jennabarton 4:1f443e7a0122 10 Serial keyOut(p13, p14);
daviwang 1:2e895e5272ab 11 I2C camera1(p9, p10);
daviwang 1:2e895e5272ab 12
jennabarton 2:f501e506d62b 13 //initial camera data
daviwang 1:2e895e5272ab 14 int IRsensorAddress = 0xB0;
daviwang 1:2e895e5272ab 15 int slaveAddress;
daviwang 1:2e895e5272ab 16 char data_buf[16];
jennabarton 2:f501e506d62b 17 char s;
daviwang 1:2e895e5272ab 18 int i;
daviwang 1:2e895e5272ab 19
jennabarton 7:6b27977d1800 20 //previous point values
jennabarton 7:6b27977d1800 21 int prevX = 1023;
jennabarton 7:6b27977d1800 22 int prevY = 1023;
jennabarton 7:6b27977d1800 23
jennabarton 2:f501e506d62b 24 //point variables
jennabarton 2:f501e506d62b 25 int point1x = 0;
jennabarton 2:f501e506d62b 26 int point1y = 0;
jennabarton 2:f501e506d62b 27 int point2x = 0;
jennabarton 2:f501e506d62b 28 int point2y = 0;
jennabarton 2:f501e506d62b 29 int point3x = 0;
jennabarton 2:f501e506d62b 30 int point3y = 0;
jennabarton 2:f501e506d62b 31 int point4x = 0;
jennabarton 2:f501e506d62b 32 int point4y = 0;
jennabarton 2:f501e506d62b 33
daviwang 1:2e895e5272ab 34 //sensitivity
daviwang 1:2e895e5272ab 35 //Level 5: p0 = 0x96, p1 = 0xFE, p2 = 0xFE, p3 = 0x05
jennabarton 8:d27efcac2dd7 36 //highest sensitivity to more accurately detect points
daviwang 1:2e895e5272ab 37 int sen0 = 0x96;
daviwang 1:2e895e5272ab 38 int sen1 = 0xFE;
daviwang 1:2e895e5272ab 39 int sen2 = 0xFE;
daviwang 1:2e895e5272ab 40 int sen3 = 0x00;
daviwang 1:2e895e5272ab 41
jennabarton 8:d27efcac2dd7 42 //matrices of x and y coordinates from the first camera
jennabarton 2:f501e506d62b 43 int onex[4];
jennabarton 2:f501e506d62b 44 int oney[4];
daviwang 1:2e895e5272ab 45
jennabarton 8:d27efcac2dd7 46 //******************************************************************
jennabarton 8:d27efcac2dd7 47 // All methods defined below
jennabarton 8:d27efcac2dd7 48 //******************************************************************
daviwang 1:2e895e5272ab 49
jennabarton 4:1f443e7a0122 50
jennabarton 8:d27efcac2dd7 51 //writes two bytes to the camera
daviwang 1:2e895e5272ab 52 void write2bytes(char data1, char data2){
daviwang 1:2e895e5272ab 53 char out[2];
daviwang 1:2e895e5272ab 54 out[0] = data1;
daviwang 1:2e895e5272ab 55 out[1] = data2;
daviwang 1:2e895e5272ab 56 camera1.write(slaveAddress, out, 2);
daviwang 1:2e895e5272ab 57 wait(0.01);
daviwang 1:2e895e5272ab 58 }
daviwang 1:2e895e5272ab 59
jennabarton 8:d27efcac2dd7 60 //TODO: get rid of these b/c they don't work. instead use printc
jennabarton 8:d27efcac2dd7 61 //
jennabarton 8:d27efcac2dd7 62 //void mouseCommand(uint8_t buttons, uint8_t x, uint8_t y) {
jennabarton 8:d27efcac2dd7 63 // keyOut.putc(0xFD);
jennabarton 8:d27efcac2dd7 64 // keyOut.putc(0x00);
jennabarton 8:d27efcac2dd7 65 // keyOut.putc(0x03);
jennabarton 8:d27efcac2dd7 66 // keyOut.putc(buttons);
jennabarton 8:d27efcac2dd7 67 // keyOut.putc(x);
jennabarton 8:d27efcac2dd7 68 // keyOut.putc(y);
jennabarton 8:d27efcac2dd7 69 // keyOut.putc(0x00);
jennabarton 8:d27efcac2dd7 70 // keyOut.putc(0x00);
jennabarton 8:d27efcac2dd7 71 // keyOut.putc(0x00);
jennabarton 8:d27efcac2dd7 72 //}
jennabarton 8:d27efcac2dd7 73 //
jennabarton 8:d27efcac2dd7 74 //void keyCommand(uint8_t modifiers, uint8_t keycode1, uint8_t keycode2 = 0, uint8_t keycode3 = 0,
jennabarton 8:d27efcac2dd7 75 // uint8_t keycode4 = 0, uint8_t keycode5 = 0, uint8_t keycode6 = 0) {
jennabarton 8:d27efcac2dd7 76 // keyOut.putc(0xFD); // our command
jennabarton 8:d27efcac2dd7 77 // keyOut.putc(modifiers); // modifier!
jennabarton 8:d27efcac2dd7 78 // keyOut.putc(0x00); // 0x00
jennabarton 8:d27efcac2dd7 79 // keyOut.putc(keycode1); // key code #1
jennabarton 8:d27efcac2dd7 80 // keyOut.putc(keycode2); // key code #2
jennabarton 8:d27efcac2dd7 81 // keyOut.putc(keycode3); // key code #3
jennabarton 8:d27efcac2dd7 82 // keyOut.putc(keycode4); // key code #4
jennabarton 8:d27efcac2dd7 83 // keyOut.putc(keycode5); // key code #5
jennabarton 8:d27efcac2dd7 84 // keyOut.putc(keycode6); // key code #6
jennabarton 8:d27efcac2dd7 85 //}
jennabarton 4:1f443e7a0122 86
jennabarton 8:d27efcac2dd7 87 // Initialize WiiMote Camera
daviwang 1:2e895e5272ab 88 void initCamera(void){
daviwang 1:2e895e5272ab 89 write2bytes(0x30, 0x01);
daviwang 1:2e895e5272ab 90 write2bytes(0x00, 0x02);
daviwang 1:2e895e5272ab 91 write2bytes(0x00, 0x00);
daviwang 1:2e895e5272ab 92 write2bytes(0x71, 0x01);
daviwang 1:2e895e5272ab 93 write2bytes(0x00, sen0);
daviwang 1:2e895e5272ab 94 write2bytes(0x07, 0x00);
daviwang 1:2e895e5272ab 95 write2bytes(sen1, 0x1A);
daviwang 1:2e895e5272ab 96 write2bytes(sen2, sen3);
daviwang 1:2e895e5272ab 97 write2bytes(0x33, 0x03);
daviwang 1:2e895e5272ab 98 write2bytes(0x30, 0x08);
jennabarton 3:7b0c215eb6a7 99 //wait(0.1);
daviwang 1:2e895e5272ab 100
daviwang 1:2e895e5272ab 101 }
daviwang 0:1c15cf9cc4f9 102
jennabarton 8:d27efcac2dd7 103 //get data from camera one
jennabarton 8:d27efcac2dd7 104 //populates onex and oney with values depending on the measured points
jennabarton 8:d27efcac2dd7 105 //NOTE: 1023 means nothing was detected
jennabarton 2:f501e506d62b 106 void readCameraData(void){
jennabarton 2:f501e506d62b 107
jennabarton 2:f501e506d62b 108 //request data from camera
jennabarton 2:f501e506d62b 109 char out[1];
jennabarton 2:f501e506d62b 110 out[0] = 0x36;
jennabarton 2:f501e506d62b 111 camera1.write(slaveAddress, out, 1);
jennabarton 2:f501e506d62b 112 //wait(0.2); //do we need this?
jennabarton 2:f501e506d62b 113
jennabarton 2:f501e506d62b 114 //get data from camera
jennabarton 2:f501e506d62b 115 camera1.read(slaveAddress, data_buf, 16);
jennabarton 8:d27efcac2dd7 116
jennabarton 2:f501e506d62b 117 //POINT 1
jennabarton 2:f501e506d62b 118 //get data
jennabarton 2:f501e506d62b 119 point1x = data_buf[1];
jennabarton 2:f501e506d62b 120 point1y = data_buf[2];
jennabarton 2:f501e506d62b 121 s = data_buf[3];
jennabarton 3:7b0c215eb6a7 122 //load x,y
jennabarton 3:7b0c215eb6a7 123 onex[0] = point1x + ((s & 0x30) << 4);
jennabarton 3:7b0c215eb6a7 124 oney[0] = point1y + ((s & 0xC0) << 2);
jennabarton 2:f501e506d62b 125
jennabarton 8:d27efcac2dd7 126
jennabarton 8:d27efcac2dd7 127 //>>>>>>>>>>>>>>>>>Begin unfinished code for moving averages
jennabarton 8:d27efcac2dd7 128
jennabarton 8:d27efcac2dd7 129 //look at delta btwn prev val and current
jennabarton 8:d27efcac2dd7 130 //TODO: moving average
jennabarton 7:6b27977d1800 131 if(prevX != 1023 || prevY != 1023){
jennabarton 7:6b27977d1800 132 if(onex[0] - prevX > 5){
jennabarton 7:6b27977d1800 133 keyOut.putc(0x41);
jennabarton 7:6b27977d1800 134 } else if ((onex[0] - prevX) < -5){
jennabarton 7:6b27977d1800 135 keyOut.putc(0x42);
jennabarton 7:6b27977d1800 136
jennabarton 7:6b27977d1800 137 }
jennabarton 7:6b27977d1800 138 }
jennabarton 7:6b27977d1800 139
jennabarton 7:6b27977d1800 140 //update prev values
jennabarton 7:6b27977d1800 141 prevX = onex[0];
jennabarton 7:6b27977d1800 142 prevY = oney[0];
jennabarton 7:6b27977d1800 143
jennabarton 7:6b27977d1800 144
jennabarton 8:d27efcac2dd7 145 //<<<<<<<<<<<<<<<<End unfinished code for moving averages
jennabarton 8:d27efcac2dd7 146
jennabarton 2:f501e506d62b 147 //POINT 2
jennabarton 2:f501e506d62b 148 //get data
jennabarton 2:f501e506d62b 149 point2x = data_buf[4];
jennabarton 2:f501e506d62b 150 point2y = data_buf[5];
jennabarton 2:f501e506d62b 151 s = data_buf[6];
jennabarton 2:f501e506d62b 152 //load x,y
jennabarton 2:f501e506d62b 153 onex[1] = point2x + ((s & 0x30) << 4);
jennabarton 2:f501e506d62b 154 oney[1] = point2y + ((s & 0xC0) << 2);
jennabarton 3:7b0c215eb6a7 155
jennabarton 2:f501e506d62b 156 //POINT 3
jennabarton 2:f501e506d62b 157 //get data
jennabarton 2:f501e506d62b 158 point3x = data_buf[7];
jennabarton 2:f501e506d62b 159 point3y = data_buf[8];
jennabarton 2:f501e506d62b 160 s = data_buf[9];
jennabarton 2:f501e506d62b 161 //load x,y
jennabarton 2:f501e506d62b 162 onex[2] = point3x + ((s & 0x30) << 4);
jennabarton 2:f501e506d62b 163 oney[2] = point3y + ((s & 0xC0) << 2);
jennabarton 2:f501e506d62b 164
jennabarton 2:f501e506d62b 165 //POINT 4
jennabarton 2:f501e506d62b 166 //get data
jennabarton 2:f501e506d62b 167 point4x = data_buf[10];
jennabarton 2:f501e506d62b 168 point4y = data_buf[11];
jennabarton 2:f501e506d62b 169 s = data_buf[12];
jennabarton 2:f501e506d62b 170 //load x,y
jennabarton 2:f501e506d62b 171 onex[3] = point4x + ((s & 0x30) << 4);
jennabarton 2:f501e506d62b 172 oney[3] = point4y + ((s & 0xC0) << 2);
jennabarton 2:f501e506d62b 173
jennabarton 2:f501e506d62b 174 }
jennabarton 2:f501e506d62b 175
jennabarton 8:d27efcac2dd7 176 //print to serial monitor the coordinates of the points stored in
jennabarton 8:d27efcac2dd7 177 //the passed x and y arrays
jennabarton 2:f501e506d62b 178 void printCamData(int xcor[4], int ycor[4]){
jennabarton 2:f501e506d62b 179 for(int i = 0; i<4; i++){
jennabarton 2:f501e506d62b 180 int x = xcor[i];
jennabarton 2:f501e506d62b 181 int y = ycor[i];
jennabarton 2:f501e506d62b 182 //determine what to print
jennabarton 2:f501e506d62b 183 //x coordinate
jennabarton 3:7b0c215eb6a7 184 pc.printf(" %d,", x);
jennabarton 2:f501e506d62b 185
jennabarton 2:f501e506d62b 186 //y coordinate
jennabarton 8:d27efcac2dd7 187 pc.printf(" %d\t", y);
jennabarton 2:f501e506d62b 188 }
jennabarton 2:f501e506d62b 189
jennabarton 2:f501e506d62b 190 //new line and delay
jennabarton 2:f501e506d62b 191 pc.printf("\n");
jennabarton 3:7b0c215eb6a7 192 //wait(0.01);
jennabarton 2:f501e506d62b 193 }
jennabarton 2:f501e506d62b 194
jennabarton 4:1f443e7a0122 195
jennabarton 4:1f443e7a0122 196
jennabarton 4:1f443e7a0122 197
jennabarton 8:d27efcac2dd7 198 //entrance to the code
daviwang 0:1c15cf9cc4f9 199 int main() {
daviwang 1:2e895e5272ab 200 myled = 0;
jennabarton 3:7b0c215eb6a7 201 //slaveAddress = IRsensorAddress >> 1;
jennabarton 3:7b0c215eb6a7 202 slaveAddress = IRsensorAddress;
daviwang 1:2e895e5272ab 203 initCamera();
daviwang 1:2e895e5272ab 204
jennabarton 3:7b0c215eb6a7 205 //update baud rate
jennabarton 3:7b0c215eb6a7 206 pc.baud(115200);
jennabarton 3:7b0c215eb6a7 207
jennabarton 8:d27efcac2dd7 208 //loop to search for new info using the camera
daviwang 0:1c15cf9cc4f9 209 while(1) {
jennabarton 8:d27efcac2dd7 210
jennabarton 8:d27efcac2dd7 211 //wait
jennabarton 7:6b27977d1800 212 wait(0.04);
jennabarton 8:d27efcac2dd7 213
jennabarton 8:d27efcac2dd7 214 //toggle test LED
jennabarton 2:f501e506d62b 215 myled = 1 - myled;
jennabarton 2:f501e506d62b 216
jennabarton 2:f501e506d62b 217 //get the camera data
jennabarton 2:f501e506d62b 218 readCameraData();
daviwang 1:2e895e5272ab 219
jennabarton 2:f501e506d62b 220 //print points
jennabarton 3:7b0c215eb6a7 221 printCamData(onex, oney);
daviwang 1:2e895e5272ab 222
jennabarton 8:d27efcac2dd7 223 //uncomment below to test infinite print
jennabarton 6:4ade0e1a3723 224 //keyOut.putc(0x41);
jennabarton 5:34c72bf980fa 225
jennabarton 4:1f443e7a0122 226
daviwang 0:1c15cf9cc4f9 227 }
daviwang 0:1c15cf9cc4f9 228 }