IDD Fall 2015
/
idd_hw3_cranky_chicks_slingshot
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Dependencies: LSM303DLHC MMA8451Q PinDetect USBDevice mbed
Fork of
hw3_controller
by 
HW3 Controller Team!
Revision 7:689f891d62cd, committed 2015-09-21
- Comitter:
- ahsueh
- Date:
- Mon Sep 21 12:14:01 2015 +0000
- Parent:
- 6:753418e86c95
- Commit message:
- Final
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mouseCtrl.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 753418e86c95 -r 689f891d62cd main.cpp
--- a/main.cpp Mon Sep 21 08:21:05 2015 +0000
+++ b/main.cpp Mon Sep 21 12:14:01 2015 +0000
@@ -1,7 +1,4 @@
#include "mbed.h"
-//#include "MMA8451Q.h"
-//#include "USBMouse.h"
-//#include "USBKeyboard.h"
#include "USBMouseKeyboard.h"
#include "LSM303DLHC.h"
#include "PinDetect.h"
@@ -10,7 +7,12 @@
// define I2C Pins and address for KL25Z. Taken from default sample code.
PinName const SDA = D14;
PinName const SCL = D15;
-PinDetect button(D2);
+DigitalIn p1(D3);
+DigitalIn p2(D4);
+DigitalIn p3(D5);
+//PinDetect p1(D3);
+//PinDetect p2(D4);
+//PinDetect p3(D5);
AnalogIn fsr(A5);
#define MMA8451_I2C_ADDRESS (0x1d<<1)
@@ -26,7 +28,8 @@
// acc and mag values
float ax, ay, az, mx, my, mz;
float theta;
-
+int mousePress;
+float flt_force_prev;
int oldx, oldy;
int mouseTravelX = 0;
@@ -51,26 +54,63 @@
return mean / (float)len;
}
+
+
+
int main(void){
int x = 0;
int y = 0;
+ int mouseClickDown = 0;
+ bool aim = false;
while(1){
fsrVal = fsr.read();
lsm.read(&ax, &ay, &az, &mx, &my, &mz);
float cur_angle = atan(ax / az);
- float cur_force = fsrVal*500;
+ float cur_force = fsrVal*1000;
float flt_force = filter(forces, 8, cur_force);
float flt_angle = filter(angles, 8, cur_angle);
-
+ //mouseKey.printf("ax: %1.2f az: %1.2f fsrVal: %1.2f \n", ax, az, fsrVal);
- //mouseKey.printf("ax: %1.2f az: %1.2f fsrVal: %1.2f \n", ax, az, fsrVal);
+ //mouseKey.printf("fsrVal: %1.2f fsrValPrev: %1.2f flt_force: %1.2f\n",
+ // fsrVal, fsrValPrev, flt_force);
+ if(p1 == 0){
+ mouseKey.keyCode('a');
+
+ }
+ if (p2 == 0) {
+ mouseKey.click(MOUSE_LEFT);
+ wait(0.05);
+ }
- //if((FsrVal > FsrValPrev && FsrVal > 0 && FsrValPrev > 0 && count <100) || (FsrVal > 0.8 && count <70)){
-
-
+
+ //if ((flt_force > 0.2)) {
+
+ //mouseKey.printf("fsrVal %1.2f fsrValPrev %1.2f flt_force %1.2f \n", fsrVal, fsrValPrev,flt_force);
+ if(p3 == 0){
+ if (mouseClickDown == 0) {
+ mouseKey.press(MOUSE_LEFT);
+ mouseClickDown = 1;
+ }
+ //wait(0.02);
+ }
+ else {
+ if (mouseClickDown == 1) {
+ mouseKey.release(MOUSE_LEFT);
+ mouseClickDown = 0;
+ }
+ }
+ if ((((flt_force_prev - flt_force) > 7) || flt_force == 0) && aim) {
+ //mouseKey.keyCode('c');
+ aim = false;
+ } else if ((flt_force >20)&&(!aim)) {
+ //mouseKey.keyCode('b');
+ aim = true;
+ //mouseKey.press(MOUSE_LEFT);
+ }
+
if (ax > 0 && az > 0) {
x = (int) (0.0 - cos(flt_angle) * flt_force);
y = (int) (sin(flt_angle) * flt_force);
@@ -86,9 +126,9 @@
mouseMem((x-oldx),(y-oldy));
oldx = x;
oldy = y;
-
-
- wait(0.02);
+ fsrValPrev = fsrVal;
+ flt_force_prev = flt_force;
+ wait(0.01);
}
}
diff -r 753418e86c95 -r 689f891d62cd mouseCtrl.cpp
--- a/mouseCtrl.cpp Mon Sep 21 08:21:05 2015 +0000
+++ b/mouseCtrl.cpp Mon Sep 21 12:14:01 2015 +0000
@@ -1,84 +0,0 @@
-/*
-#include "mbed.h"
-//#include "MMA8451Q.h"
-//#include "USBMouse.h"
-//#include "USBKeyboard.h"
-#include "USBMouseKeyboard.h"
-#include "LSM303DLHC.h"
-#include "PinDetect.h"
-#include "math.h"
-
-// define I2C Pins and address for KL25Z. Taken from default sample code.
-PinName const SDA = D14;
-PinName const SCL = D15;
-PinDetect button(D2);
-AnalogIn fsr(A5);
-#define MMA8451_I2C_ADDRESS (0x1d<<1)
-
-//serial connection to PC via USB
-Serial pc(USBTX, USBRX);
-LSM303DLHC lsm(SDA, SCL);
-USBMouseKeyboard mouseKey;
-
-
-float FsrVal;
-float FsrValPrev;
-int count;
-// acc and mag values
-float ax, ay, az,mx, my, mz;
-float theta;
-
-int main(void){
- while(1){
- FsrVal = fsr.read();
- FsrValPrev=0.1;
- lsm.read(&ax, &ay, &az, &mx, &my, &mz); //get acceleration
- theta = atan (abs(ay)/abs(az));
- if((FsrVal > FsrValPrev && FsrVal > 0 && FsrValPrev > 0 && count <100) || (FsrVal > 0.8 && count <70)){
- // lower left
- if(ay>0 && az>0){
- mouseKey.printf("forward + downward \n");
- mouseKey.printf("y %1.2f z %1.2f ",ay, az);
- mouseKey.printf("theta1 %1.2f\n",theta);
- mouseKey.printf("vertical %1.2f\n\n",-(floor)(sin(theta)*5));
- mouseKey.move(1,-(floor)(sin(theta)*5));
- }
- // upper left
- if(ay<0 && az>0){
- mouseKey.printf("forward + upward \n");
-
- mouseKey.printf("y %1.2f z %1.2f ",ay, az);
- mouseKey.printf("theta2 %1.2f\n",theta);
- mouseKey.printf("vertica2 %1.2f\n\n",(floor)(sin(theta)*5));
- mouseKey.move(1,(floor)(sin(theta)*5));
- }
- mouseKey.move(1,0);
- FsrValPrev = fsr.read();
- count++;
- }
- else if((FsrVal < FsrValPrev && count >0) || (FsrVal < 0.2 && count >0)){
- // lower left
- if(ay>0 && az>0){
- mouseKey.printf("backward + downward \n");
-
- mouseKey.printf("y %1.2f z %1.2f ",ay, az);
- mouseKey.printf("theta1 %1.2f\n",theta);
- mouseKey.printf("vertical1 %1.2f\n\n",-(floor)(sin(theta)*5));
- mouseKey.move(-2,-(floor)(sin(theta)*5));
- }
- // upper left
- if(ay<0 && az>0){
- mouseKey.printf("backward + upward \n");
- mouseKey.printf("y %1.2f z %1.2f ",ay, az);
- mouseKey.printf("theta2 %1.2f\n",theta);
- mouseKey.printf("vertical2 %1.2f\n\n",(floor)(sin(theta)*5));
- mouseKey.move(-2,(floor)(sin(theta)*5));
- }
- mouseKey.move(-2,0);
- FsrValPrev = fsr.read();
- count=count-3;
- }
- wait(0.02);
- }
- }
- */
\ No newline at end of file