Diff: main.cpp

Revision:

0:a7b02bcbe5fc

diff -r 000000000000 -r a7b02bcbe5fc main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Sep 29 01:52:45 2014 +0000
@@ -0,0 +1,178 @@
+/*
+CS294 Interactive Device Design - Homework 3
+CLASH! Sword
+
+Daniel Drew
+Filip Maksimovic
+*/
+
+#include "mbed.h"
+#include "MMA8451Q.h"
+#include "DebounceIn.h"
+#include "L3GD20.h"
+#include "USBMouse.h"
+
+//FOR GESTURE DEBUGGING! Make sure to uncomment the object below!
+//#include "USBKeyboard.h"
+
+//Define I2C stuff for Accel, Gyro
+PinName const SDA1 = PTE25;
+PinName const SCL1 = PTE24;
+PinName const SDA2 = PTE0;
+PinName const SCL2 = PTE1;
+
+#define MMA8451_I2C_ADDRESS (0x1d<<1)
+
+int main() {
+    
+//Object Instantiation    
+Serial pc(USBTX, USBRX); // tx, rx
+USBMouse mouse;
+MMA8451Q acc(SDA1, SCL1, MMA8451_I2C_ADDRESS);
+DigitalOut myred(LED1);
+DigitalOut mygreen(LED2);
+DigitalOut myblue(LED3);
+L3GD20 gyro(SDA2, SCL2);
+//USBKeyboard key;
+
+//Variable Instantiation
+int i=0;
+int upcount = 0, totcount = 0, overready = 0, blocked = 0, struck = 0, restcount = 0, overheaded = 0;
+float gx_d, gy_d, gz_d; 
+float gx, gy, gz;
+float gx_zero = 0.0, gy_zero = 0.0, gz_zero = 0.0;
+double ts = 0.1 , norm = 0;
+double q0 = 1, q1 = 0, q2 = 0, q3 = 0; 
+double q0dot = 0, q1dot = 0, q2dot = 0, q3dot = 0;
+double theta = 0, phi = 0, psi = 0;
+
+//Begin main program loop
+while(1){
+
+    //Start-up gyro "calibration" - LED turns red when it is complete
+    myred = 1;
+    mygreen = 1;
+    myblue = 0;
+    while(i < 10000){
+        gyro.read(&gx, &gy, &gz);
+        gx_zero = gx_zero + gx;
+        gy_zero = gy_zero + gy;
+        gz_zero = gz_zero + gz;
+        i = i+1;
+        }
+    myred = 0;
+    mygreen = 1;
+    myblue = 1;
+
+    //Gyro quaternion stuff
+    gyro.read(&gx, &gy, &gz);
+    gx_d = gx - (gx_zero / 10000 );
+    gy_d = gy - (gy_zero / 10000 );
+    gz_d = gz - (gz_zero / 10000 );
+   
+    gx_d = (double)gx_d;
+    gy_d = (double)gy_d;
+    gz_d = (double)gz_d;
+    
+    gx_d =  (3.14/180) * (gx_d);
+    gy_d =  (3.14/180) * (gy_d);
+    gz_d =  (3.14/180) * (gz_d);
+    
+    //FOR DEBUGGING:
+    //pc.printf("\n%1.3f %1.3f %1.3f \n", gx_d, gy_d, gz_d); 
+  
+    q0dot = -q1*gx_d/2 - q2*gy_d/2 - q3*gz_d/2;
+    q1dot = q0*gx_d/2 + q2*gz_d/2 - q3*gy_d/2;
+    q2dot = q0*gy_d/2 - q1*gz_d/2 + q3*gx_d/2;
+    q3dot = q0*gz_d/2 + q1*gy_d/2 - q2*gx_d/2;
+    
+    q0 += q0dot*ts; 
+    q1 += q1dot*ts; 
+    q2 += q2dot*ts; 
+    q3 += q3dot*ts; 
+    
+    norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);
+    
+    q0 = q0/norm;
+    q1 = q1/norm;
+    q2 = q2/norm;
+    q3 = q3/norm;
+    
+    theta = 180.0/3.14*atan2(2*(q0*q1 +q2*q3),1-2*(q1*q1+q2*q2));
+    phi = 180.0/3.14*asin(2*(q0*q2-q1*q3));
+    psi = 180.0/3.14*atan2(2*(q0*q3+q1*q2),1-2*(q2*q2+q3*q3));
+    
+    pc.printf("%1.3f %1.3f %1.3f \n", theta, phi, psi); 
+    
+    //Gestures defined:
+    
+    if (phi < -30){
+        float x, y, z;
+        z = (acc.getAccZ()); 
+        if (overready == 1){
+            //key.printf("OVERHEAD! ");
+            mouse.scroll(1);
+            overready = 0;
+            overheaded = 1;
+            }
+        if (z > 0.35 && totcount <5 && overheaded == 0){
+            upcount = upcount +1;
+            totcount = totcount+1;
+            }
+        if (upcount > 2){
+            //key.printf("STAB! ");
+            mouse.scroll(-1);
+            totcount = 0;
+            upcount = 0;
+            }
+        }
+    
+    if (phi > 30){
+        overready =1 ;
+        }
+    
+    if (theta > 40 && blocked ==0){
+        //key.printf("BLOCK!  ");
+        mouse.press(MOUSE_RIGHT);
+        mouse.release(MOUSE_RIGHT);
+        blocked = 1;
+        }
+
+    if (theta < -40 && psi > 40 && struck == 0){
+        //key.printf("STRIKE!  ");
+        mouse.press(MOUSE_LEFT);
+        mouse.release(MOUSE_LEFT);
+        struck = 1;
+        }
+    if (theta < -40 && psi < 30){
+        struck = 0;
+        }
+    
+    //Rest reset for gyros:
+    float x, y, z;
+        x = abs(acc.getAccX()); 
+        y = abs(acc.getAccY()); 
+        z = abs(acc.getAccZ()); 
+        pc.printf("%1.3f %1.3f %1.3f \n", x, y, z); 
+        if (z > 0.9 && x < 0.3 && y < 0.3){
+            restcount = restcount + 1;
+            }
+        else 
+            restcount = 0;
+            
+        if (restcount > 1){
+            q0 = 1, q1 = 0, q2 = 0, q3 = 0; 
+            q0dot = 0, q1dot = 0, q2dot = 0, q3dot = 0;
+            theta = 0;
+            phi = 0; 
+            psi = 0;
+            blocked = 0;
+            overheaded = 0;
+            }
+    
+    //Update interval; must be synced with gyro timestep!         
+    wait(0.1);
+  
+
+}
+}
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