Interactive Device Design / Mbed 2 deprecated idd_hw3_AnthonySaturdjaSunitaVenkateshAdarshMani_QWOPcontroller

We brought the joy and insanity of QWOP to real life. Test your coordination while helping this little guy win his race.

Dependencies:   mbed

main.cpp@0:b95af9fb38a2, 2014-09-29 (annotated)

Committer:
adarsh5723
Date:
Mon Sep 29 05:50:52 2014 +0000
Revision:
0:b95af9fb38a2
[x]QWOP augmented reality code.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adarsh5723 0:b95af9fb38a2 1 #define USB_KEYBOARD 0
adarsh5723 0:b95af9fb38a2 2
adarsh5723 0:b95af9fb38a2 3 #include "mbed.h"
adarsh5723 0:b95af9fb38a2 4 #include <math.h>
adarsh5723 0:b95af9fb38a2 5
adarsh5723 0:b95af9fb38a2 6 #if USB_KEYBOARD
adarsh5723 0:b95af9fb38a2 7 #include "USBKeyboard.h"
adarsh5723 0:b95af9fb38a2 8 #endif
adarsh5723 0:b95af9fb38a2 9
adarsh5723 0:b95af9fb38a2 10
adarsh5723 0:b95af9fb38a2 11
adarsh5723 0:b95af9fb38a2 12 #if USB_KEYBOARD
adarsh5723 0:b95af9fb38a2 13 //USBKeyboard keyboard;
adarsh5723 0:b95af9fb38a2 14 USBKeyboard keyboard(USBTX, USBRX);
adarsh5723 0:b95af9fb38a2 15 #else
adarsh5723 0:b95af9fb38a2 16 Serial pc(USBTX, USBRX);
adarsh5723 0:b95af9fb38a2 17 #endif
adarsh5723 0:b95af9fb38a2 18
adarsh5723 0:b95af9fb38a2 19 // Leg sensors
adarsh5723 0:b95af9fb38a2 20 AnalogIn leg_left(A1);
adarsh5723 0:b95af9fb38a2 21 AnalogIn leg_right(A0);
adarsh5723 0:b95af9fb38a2 22
adarsh5723 0:b95af9fb38a2 23 // Arm sensors
adarsh5723 0:b95af9fb38a2 24 AnalogIn arm_left(A3);
adarsh5723 0:b95af9fb38a2 25 AnalogIn arm_right(A2);
adarsh5723 0:b95af9fb38a2 26
adarsh5723 0:b95af9fb38a2 27 DigitalOut ledRed(LED1);
adarsh5723 0:b95af9fb38a2 28 DigitalOut ledGreen(LED2);
adarsh5723 0:b95af9fb38a2 29 DigitalOut ledBlue(LED3);
adarsh5723 0:b95af9fb38a2 30 // Total count
adarsh5723 0:b95af9fb38a2 31 const unsigned int TOTAL_COUNTS = 10;
adarsh5723 0:b95af9fb38a2 32
adarsh5723 0:b95af9fb38a2 33 // Clock count
adarsh5723 0:b95af9fb38a2 34 unsigned int clock_count = 0;
adarsh5723 0:b95af9fb38a2 35
adarsh5723 0:b95af9fb38a2 36 // Threshold values
adarsh5723 0:b95af9fb38a2 37 float al_low = 0.457f; // left arm low
adarsh5723 0:b95af9fb38a2 38 float al_high = 0.530f; // left arm high
adarsh5723 0:b95af9fb38a2 39 float ar_low = 0.39f; // right arm low
adarsh5723 0:b95af9fb38a2 40 float ar_high = 0.420f; // right arm high
adarsh5723 0:b95af9fb38a2 41 float ll_low = 0.579f; // left leg low
adarsh5723 0:b95af9fb38a2 42 float ll_high = 0.60f; // left leg high
adarsh5723 0:b95af9fb38a2 43 float lr_low = 0.490f; // right leg low
adarsh5723 0:b95af9fb38a2 44 float lr_high = 0.510f; // right leg high
adarsh5723 0:b95af9fb38a2 45
adarsh5723 0:b95af9fb38a2 46 unsigned int map_reading_to_modulo(float low, float high, float reading) {
adarsh5723 0:b95af9fb38a2 47 //(low, 1), (high, TOTAL_COUNTS - 1);
adarsh5723 0:b95af9fb38a2 48 float slope = ((TOTAL_COUNTS - 1) / (high - low)); // calculate slope
adarsh5723 0:b95af9fb38a2 49 float result = slope * reading - (slope * low); // transform reading from 1 to TOTAL_COUNTS
adarsh5723 0:b95af9fb38a2 50 return (int(floor(result)) + 1);
adarsh5723 0:b95af9fb38a2 51 }
adarsh5723 0:b95af9fb38a2 52
adarsh5723 0:b95af9fb38a2 53 void check_arm_left(float reading) {
adarsh5723 0:b95af9fb38a2 54 if (reading < al_low) {
adarsh5723 0:b95af9fb38a2 55 // Lower than the threshold
adarsh5723 0:b95af9fb38a2 56 // Fire an event every single clock count
adarsh5723 0:b95af9fb38a2 57 #if USB_KEYBOARD
adarsh5723 0:b95af9fb38a2 58 keyboard.keyCode('o');
adarsh5723 0:b95af9fb38a2 59 #else
adarsh5723 0:b95af9fb38a2 60 pc.putc('o');
adarsh5723 0:b95af9fb38a2 61 #endif
adarsh5723 0:b95af9fb38a2 62
adarsh5723 0:b95af9fb38a2 63 } else if (al_low <= reading && reading < al_high ) {
adarsh5723 0:b95af9fb38a2 64 // Find mapping
adarsh5723 0:b95af9fb38a2 65 int mod = map_reading_to_modulo(al_low, al_high, reading);
adarsh5723 0:b95af9fb38a2 66 //int real_reading = int(floor(reading));
adarsh5723 0:b95af9fb38a2 67 if (clock_count % mod == 0) {
adarsh5723 0:b95af9fb38a2 68 #if USB_KEYBOARD
adarsh5723 0:b95af9fb38a2 69 keyboard.keyCode('o');
adarsh5723 0:b95af9fb38a2 70 #else
adarsh5723 0:b95af9fb38a2 71 pc.putc('o');
adarsh5723 0:b95af9fb38a2 72 #endif
adarsh5723 0:b95af9fb38a2 73 }
adarsh5723 0:b95af9fb38a2 74 } else {
adarsh5723 0:b95af9fb38a2 75 // Don't do anything
adarsh5723 0:b95af9fb38a2 76 }
adarsh5723 0:b95af9fb38a2 77 }
adarsh5723 0:b95af9fb38a2 78
adarsh5723 0:b95af9fb38a2 79
adarsh5723 0:b95af9fb38a2 80 void check_arm_right(float reading) {
adarsh5723 0:b95af9fb38a2 81 if (reading < ar_low) {
adarsh5723 0:b95af9fb38a2 82 // Lower than the threshold
adarsh5723 0:b95af9fb38a2 83 // Fire an event every single clock count
adarsh5723 0:b95af9fb38a2 84 #if USB_KEYBOARD
adarsh5723 0:b95af9fb38a2 85 keyboard.keyCode('p');
adarsh5723 0:b95af9fb38a2 86 #else
adarsh5723 0:b95af9fb38a2 87 pc.putc('p');
adarsh5723 0:b95af9fb38a2 88 #endif
adarsh5723 0:b95af9fb38a2 89 } else if (ar_low <= reading && reading < ar_high ) {
adarsh5723 0:b95af9fb38a2 90 // Find mapping
adarsh5723 0:b95af9fb38a2 91 int mod = map_reading_to_modulo(ar_low, ar_high, reading);
adarsh5723 0:b95af9fb38a2 92 //int real_reading = int(floor(reading));
adarsh5723 0:b95af9fb38a2 93 if (clock_count % mod == 0) {
adarsh5723 0:b95af9fb38a2 94 #if USB_KEYBOARD
adarsh5723 0:b95af9fb38a2 95 keyboard.keyCode('p');
adarsh5723 0:b95af9fb38a2 96 #else
adarsh5723 0:b95af9fb38a2 97 pc.putc('p');
adarsh5723 0:b95af9fb38a2 98 #endif
adarsh5723 0:b95af9fb38a2 99 }
adarsh5723 0:b95af9fb38a2 100 } else {
adarsh5723 0:b95af9fb38a2 101 // Don't do anything
adarsh5723 0:b95af9fb38a2 102 }
adarsh5723 0:b95af9fb38a2 103 }
adarsh5723 0:b95af9fb38a2 104
adarsh5723 0:b95af9fb38a2 105
adarsh5723 0:b95af9fb38a2 106
adarsh5723 0:b95af9fb38a2 107 void check_leg_left(float reading) {
adarsh5723 0:b95af9fb38a2 108 ledGreen = 1;
adarsh5723 0:b95af9fb38a2 109 ledBlue = 1;
adarsh5723 0:b95af9fb38a2 110 ledRed = 1;
adarsh5723 0:b95af9fb38a2 111 if (reading < ll_low) {
adarsh5723 0:b95af9fb38a2 112 // Lower than the threshold
adarsh5723 0:b95af9fb38a2 113 // Fire an event every single clock count
adarsh5723 0:b95af9fb38a2 114 #if USB_KEYBOARD
adarsh5723 0:b95af9fb38a2 115 keyboard.keyCode('q');
adarsh5723 0:b95af9fb38a2 116 #else
adarsh5723 0:b95af9fb38a2 117 pc.putc('q');
adarsh5723 0:b95af9fb38a2 118 #endif
adarsh5723 0:b95af9fb38a2 119 ledRed = 0;
adarsh5723 0:b95af9fb38a2 120
adarsh5723 0:b95af9fb38a2 121 } else if (ll_low <= reading && reading < ll_high ) {
adarsh5723 0:b95af9fb38a2 122 // Find mapping
adarsh5723 0:b95af9fb38a2 123 ledGreen = 0;
adarsh5723 0:b95af9fb38a2 124 int mod = map_reading_to_modulo(al_low, al_high, reading);
adarsh5723 0:b95af9fb38a2 125 //int real_reading = int(floor(reading));
adarsh5723 0:b95af9fb38a2 126 if (clock_count % mod == 0) {
adarsh5723 0:b95af9fb38a2 127 #if USB_KEYBOARD
adarsh5723 0:b95af9fb38a2 128 keyboard.keyCode('q');
adarsh5723 0:b95af9fb38a2 129 #else
adarsh5723 0:b95af9fb38a2 130 pc.putc('q');
adarsh5723 0:b95af9fb38a2 131 #endif
adarsh5723 0:b95af9fb38a2 132 }
adarsh5723 0:b95af9fb38a2 133 } else {
adarsh5723 0:b95af9fb38a2 134 ledBlue = 0;
adarsh5723 0:b95af9fb38a2 135 // Don't do anything
adarsh5723 0:b95af9fb38a2 136 }
adarsh5723 0:b95af9fb38a2 137 }
adarsh5723 0:b95af9fb38a2 138
adarsh5723 0:b95af9fb38a2 139
adarsh5723 0:b95af9fb38a2 140 void check_leg_right(float reading) {
adarsh5723 0:b95af9fb38a2 141 if (reading < lr_low) {
adarsh5723 0:b95af9fb38a2 142 // Higher than the threshold
adarsh5723 0:b95af9fb38a2 143 // Fire an event every single clock count
adarsh5723 0:b95af9fb38a2 144 #if USB_KEYBOARD
adarsh5723 0:b95af9fb38a2 145 keyboard.keyCode('w');
adarsh5723 0:b95af9fb38a2 146 #else
adarsh5723 0:b95af9fb38a2 147 pc.putc('w');
adarsh5723 0:b95af9fb38a2 148 #endif
adarsh5723 0:b95af9fb38a2 149
adarsh5723 0:b95af9fb38a2 150 } else if (lr_low <= reading && reading < lr_high ) {
adarsh5723 0:b95af9fb38a2 151 // Find mapping
adarsh5723 0:b95af9fb38a2 152 int mod = map_reading_to_modulo(al_low, al_high, reading);
adarsh5723 0:b95af9fb38a2 153 //int real_reading = int(floor(reading));
adarsh5723 0:b95af9fb38a2 154 if (clock_count % mod == 0) {
adarsh5723 0:b95af9fb38a2 155 #if USB_KEYBOARD
adarsh5723 0:b95af9fb38a2 156 keyboard.keyCode('w');
adarsh5723 0:b95af9fb38a2 157 #else
adarsh5723 0:b95af9fb38a2 158 pc.putc('w');
adarsh5723 0:b95af9fb38a2 159 #endif
adarsh5723 0:b95af9fb38a2 160 }
adarsh5723 0:b95af9fb38a2 161 } else {
adarsh5723 0:b95af9fb38a2 162
adarsh5723 0:b95af9fb38a2 163 // Don't do anything
adarsh5723 0:b95af9fb38a2 164 }
adarsh5723 0:b95af9fb38a2 165 }
adarsh5723 0:b95af9fb38a2 166
adarsh5723 0:b95af9fb38a2 167
adarsh5723 0:b95af9fb38a2 168 int main() {
adarsh5723 0:b95af9fb38a2 169 ledRed = 1;
adarsh5723 0:b95af9fb38a2 170 ledGreen = 1;
adarsh5723 0:b95af9fb38a2 171 ledBlue = 0;
adarsh5723 0:b95af9fb38a2 172 wait(1.0f);
adarsh5723 0:b95af9fb38a2 173 while(1) {
adarsh5723 0:b95af9fb38a2 174 #if 1
adarsh5723 0:b95af9fb38a2 175
adarsh5723 0:b95af9fb38a2 176 ledRed = 1;
adarsh5723 0:b95af9fb38a2 177 ledGreen = 1;
adarsh5723 0:b95af9fb38a2 178
adarsh5723 0:b95af9fb38a2 179 // Check for movement
adarsh5723 0:b95af9fb38a2 180 check_arm_left(arm_left.read());
adarsh5723 0:b95af9fb38a2 181 check_arm_right(arm_right.read());
adarsh5723 0:b95af9fb38a2 182 check_leg_left(leg_left.read());
adarsh5723 0:b95af9fb38a2 183 check_leg_right(leg_right.read());
adarsh5723 0:b95af9fb38a2 184
adarsh5723 0:b95af9fb38a2 185 // Cycle the Clock
adarsh5723 0:b95af9fb38a2 186 wait(0.1f); // Should be around 25 iterations pers second
adarsh5723 0:b95af9fb38a2 187 clock_count = (clock_count + 1) % TOTAL_COUNTS;
adarsh5723 0:b95af9fb38a2 188 #else
adarsh5723 0:b95af9fb38a2 189 //Debug code
adarsh5723 0:b95af9fb38a2 190 keyboard.keyCode('q');
adarsh5723 0:b95af9fb38a2 191 keyboard.keyCode('w');
adarsh5723 0:b95af9fb38a2 192 keyboard.keyCode('o');
adarsh5723 0:b95af9fb38a2 193 keyboard.keyCode('p');
adarsh5723 0:b95af9fb38a2 194 wait(1.0f);
adarsh5723 0:b95af9fb38a2 195 #endif
adarsh5723 0:b95af9fb38a2 196 }
adarsh5723 0:b95af9fb38a2 197 }
adarsh5723 0:b95af9fb38a2 198