main.cpp

00001 #include "mbed.h"
00002 #include "USBMouseKeyboard.h"
00003 #include "LSM303DLHC.h"
00004 #include "PinDetect.h"
00005 #include "math.h"
00006 
00007 // define I2C Pins and address for KL25Z. Taken from default sample code.
00008 PinName const SDA = D14;
00009 PinName const SCL = D15;
00010 DigitalIn p1(D3);
00011 DigitalIn p2(D4);
00012 DigitalIn p3(D5);
00013 //PinDetect p1(D3);
00014 //PinDetect p2(D4);
00015 //PinDetect p3(D5);
00016 AnalogIn fsr(A5);
00017 #define MMA8451_I2C_ADDRESS (0x1d<<1)
00018 
00019 //serial connection to PC via USB
00020 Serial pc(USBTX, USBRX);
00021 LSM303DLHC lsm(SDA, SCL);
00022 USBMouseKeyboard mouseKey;
00023 
00024 
00025 float fsrVal;
00026 float fsrValPrev;
00027 int count;
00028 // acc and mag values
00029 float ax, ay, az, mx, my, mz;
00030 float theta;
00031 int mousePress;
00032 float flt_force_prev;
00033 int oldx, oldy;
00034 
00035 int mouseTravelX = 0;
00036 int mouseTravelY = 0;
00037 
00038 float angles[8] = {0};
00039 float forces[8] = {0};
00040 
00041 void mouseMem(int x_, int y_) {
00042     mouseTravelX += x_;
00043     mouseTravelY += y_;
00044 }
00045 
00046 float filter(float* array, int len, float value) {
00047     float mean = 0.0;
00048     for(int i = 0; i<len - 1; i++) {
00049         mean += array[i + 1];
00050         array[i] = array[i + 1];
00051     }
00052     mean += value;
00053     array[len - 1] = value;
00054     return mean / (float)len;
00055 }
00056 
00057 
00058 
00059 
00060 int main(void){
00061     int x = 0;
00062     int y = 0;
00063     int mouseClickDown = 0;
00064     bool aim = false;
00065     while(1){
00066         fsrVal = fsr.read();
00067         lsm.read(&ax, &ay, &az, &mx, &my, &mz);
00068         
00069         float cur_angle = atan(ax / az);
00070         float cur_force = fsrVal*1000;
00071         
00072         float flt_force = filter(forces, 8, cur_force);
00073         float flt_angle = filter(angles, 8, cur_angle);
00074         
00075         //mouseKey.printf("ax: %1.2f az: %1.2f fsrVal: %1.2f \n", ax, az, fsrVal);        
00076         
00077         //mouseKey.printf("fsrVal: %1.2f fsrValPrev: %1.2f flt_force: %1.2f\n",
00078         //                fsrVal, fsrValPrev, flt_force);
00079         if(p1 == 0){
00080            mouseKey.keyCode('a'); 
00081            
00082         }
00083         if (p2 == 0) {
00084             mouseKey.click(MOUSE_LEFT);
00085             wait(0.05);
00086         }
00087         
00088 
00089         //if ((flt_force > 0.2)) {
00090             
00091         //mouseKey.printf("fsrVal %1.2f fsrValPrev %1.2f flt_force %1.2f \n", fsrVal, fsrValPrev,flt_force);
00092         if(p3 == 0){
00093             if (mouseClickDown == 0) {
00094             mouseKey.press(MOUSE_LEFT);
00095             mouseClickDown = 1;
00096             }
00097             //wait(0.02);
00098         }
00099             else {
00100                 if (mouseClickDown == 1) {
00101                 mouseKey.release(MOUSE_LEFT);
00102                 mouseClickDown = 0;
00103                 } 
00104         }
00105         if ((((flt_force_prev - flt_force) > 7) || flt_force == 0) && aim) {
00106             //mouseKey.keyCode('c');
00107             aim = false;
00108         } else if ((flt_force >20)&&(!aim)) {
00109             //mouseKey.keyCode('b');
00110             aim = true;
00111             //mouseKey.press(MOUSE_LEFT);
00112         }
00113             
00114             if (ax > 0 && az > 0) {
00115                 x = (int) (0.0 - cos(flt_angle) * flt_force);
00116                 y = (int) (sin(flt_angle) * flt_force);
00117             } else if (ax < 0 && az > 0) {
00118                 x = (int) (0.0 - cos(flt_angle) * flt_force);
00119                 y = (int) (sin(flt_angle) * flt_force);                
00120             }
00121             
00122             //mouseKey.printf("Angle: %1.2f Force: %1.2f Move: x: %0d y: %0d x_: %0d y_ = %0d\n", 
00123             //                flt_angle, flt_force, x, y, mouseTravelX, mouseTravelY);
00124                             
00125             mouseKey.move((x-oldx), (y-oldy));
00126             mouseMem((x-oldx),(y-oldy));
00127             oldx = x;
00128             oldy = y;
00129             fsrValPrev = fsrVal;
00130             flt_force_prev = flt_force;
00131         wait(0.01);
00132     }
00133 }
00134