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DreamForce 2013 Mini-Hack Challenge Project
Dependencies: ADXL345 USBDevice filter mbed
Fork of df-minihack-slingshot by
main.cpp@1:d9d593d4ea39, 2013-11-01 (annotated)
- Committer:
- ansond
- Date:
- Fri Nov 01 17:18:40 2013 +0000
- Revision:
- 1:d9d593d4ea39
- Parent:
- 0:a2c33a8eded1
- Child:
- 2:e1c07ecec050
updates
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ansond | 0:a2c33a8eded1 | 1 | /* mbed USB Slingshot, |
ansond | 0:a2c33a8eded1 | 2 | * |
ansond | 0:a2c33a8eded1 | 3 | * Copyright (c) 2010-2011 mbed.org, MIT License |
ansond | 0:a2c33a8eded1 | 4 | * |
ansond | 0:a2c33a8eded1 | 5 | * smokrani, sford, danson, sgrove |
ansond | 0:a2c33a8eded1 | 6 | * |
ansond | 0:a2c33a8eded1 | 7 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
ansond | 0:a2c33a8eded1 | 8 | * and associated documentation files (the "Software"), to deal in the Software without |
ansond | 0:a2c33a8eded1 | 9 | * restriction, including without limitation the rights to use, copy, modify, merge, publish, |
ansond | 0:a2c33a8eded1 | 10 | * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the |
ansond | 0:a2c33a8eded1 | 11 | * Software is furnished to do so, subject to the following conditions: |
ansond | 0:a2c33a8eded1 | 12 | * |
ansond | 0:a2c33a8eded1 | 13 | * The above copyright notice and this permission notice shall be included in all copies or |
ansond | 0:a2c33a8eded1 | 14 | * substantial portions of the Software. |
ansond | 0:a2c33a8eded1 | 15 | * |
ansond | 0:a2c33a8eded1 | 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
ansond | 0:a2c33a8eded1 | 17 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
ansond | 0:a2c33a8eded1 | 18 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
ansond | 0:a2c33a8eded1 | 19 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
ansond | 0:a2c33a8eded1 | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
ansond | 0:a2c33a8eded1 | 21 | */ |
ansond | 0:a2c33a8eded1 | 22 | |
ansond | 1:d9d593d4ea39 | 23 | // |
ansond | 1:d9d593d4ea39 | 24 | // DreamForce 2013 Challenge: |
ansond | 1:d9d593d4ea39 | 25 | // |
ansond | 1:d9d593d4ea39 | 26 | // Goal: modify the code below to adjust the final angle (theta) to take into account |
ansond | 1:d9d593d4ea39 | 27 | // the relative angle between the sling body and the sling band. |
ansond | 1:d9d593d4ea39 | 28 | // |
ansond | 1:d9d593d4ea39 | 29 | // |
ansond | 1:d9d593d4ea39 | 30 | // Mini-hack challenge: Your mission, should you choose to accept it, is to complete the function |
ansond | 1:d9d593d4ea39 | 31 | // "potentiometer_value_to_degrees()" below (around line 129) to return a reasonable |
ansond | 1:d9d593d4ea39 | 32 | // estimate of the sling band angle relative to the sling body |
ansond | 1:d9d593d4ea39 | 33 | // |
ansond | 1:d9d593d4ea39 | 34 | // |
ansond | 1:d9d593d4ea39 | 35 | |
ansond | 1:d9d593d4ea39 | 36 | // DreamForce2013 TUNABLES START |
ansond | 1:d9d593d4ea39 | 37 | |
ansond | 1:d9d593d4ea39 | 38 | // maximum angular value of the sling band |
ansond | 1:d9d593d4ea39 | 39 | float max_sling_angle = 30.0; |
ansond | 1:d9d593d4ea39 | 40 | |
ansond | 1:d9d593d4ea39 | 41 | // minimum angluar value of the sling band |
ansond | 1:d9d593d4ea39 | 42 | float min_sling_angle = -30.0; |
ansond | 1:d9d593d4ea39 | 43 | |
ansond | 1:d9d593d4ea39 | 44 | // DreamForce2013 TUNABLES END |
ansond | 1:d9d593d4ea39 | 45 | |
ansond | 1:d9d593d4ea39 | 46 | // Sling Tunables Start - be careful changing these |
ansond | 1:d9d593d4ea39 | 47 | |
ansond | 1:d9d593d4ea39 | 48 | // stretch start threshold |
ansond | 1:d9d593d4ea39 | 49 | float stretch_start_threshold = 0.4; |
ansond | 1:d9d593d4ea39 | 50 | |
ansond | 1:d9d593d4ea39 | 51 | // fire threshold |
ansond | 1:d9d593d4ea39 | 52 | float fire_threshold = 0.15; |
ansond | 1:d9d593d4ea39 | 53 | |
ansond | 1:d9d593d4ea39 | 54 | // fire timing threshold |
ansond | 1:d9d593d4ea39 | 55 | float fire_timing_threshold = 3.0; |
ansond | 1:d9d593d4ea39 | 56 | |
ansond | 1:d9d593d4ea39 | 57 | // scaling for mouse movement |
ansond | 1:d9d593d4ea39 | 58 | int mouse_scale = 230; |
ansond | 1:d9d593d4ea39 | 59 | |
ansond | 1:d9d593d4ea39 | 60 | // Sling Tunables End |
ansond | 1:d9d593d4ea39 | 61 | |
ansond | 1:d9d593d4ea39 | 62 | // definition of PI |
ansond | 1:d9d593d4ea39 | 63 | #define M_PI 3.14159 |
ansond | 1:d9d593d4ea39 | 64 | |
ansond | 1:d9d593d4ea39 | 65 | // Includes |
ansond | 0:a2c33a8eded1 | 66 | #include "mbed.h" |
ansond | 0:a2c33a8eded1 | 67 | #include "USBMouse.h" |
ansond | 0:a2c33a8eded1 | 68 | #include "ADXL345.h" |
ansond | 0:a2c33a8eded1 | 69 | |
ansond | 0:a2c33a8eded1 | 70 | // Physical interfaces |
ansond | 0:a2c33a8eded1 | 71 | USBMouse mouse; |
ansond | 0:a2c33a8eded1 | 72 | ADXL345 accelerometer(p5, p6, p7, p8); |
ansond | 0:a2c33a8eded1 | 73 | AnalogIn stretch_sensor(p15); |
ansond | 0:a2c33a8eded1 | 74 | BusOut leds(LED1, LED2, LED3, LED4); |
ansond | 0:a2c33a8eded1 | 75 | |
ansond | 1:d9d593d4ea39 | 76 | // Potentiometers |
ansond | 1:d9d593d4ea39 | 77 | AnalogIn pot_1(p19); |
ansond | 1:d9d593d4ea39 | 78 | //AnalogIn pot_2(p20); |
ansond | 1:d9d593d4ea39 | 79 | |
ansond | 1:d9d593d4ea39 | 80 | // keep track of mouse position |
ansond | 1:d9d593d4ea39 | 81 | int current_x = 0; |
ansond | 1:d9d593d4ea39 | 82 | int current_y = 0; |
ansond | 1:d9d593d4ea39 | 83 | |
ansond | 1:d9d593d4ea39 | 84 | // Potentiometer filters |
ansond | 1:d9d593d4ea39 | 85 | #include "filter.h" |
ansond | 1:d9d593d4ea39 | 86 | medianFilter prefilter(13); |
ansond | 1:d9d593d4ea39 | 87 | medianFilter postfilter(7); |
ansond | 1:d9d593d4ea39 | 88 | |
ansond | 1:d9d593d4ea39 | 89 | // return radians for a given degree |
ansond | 1:d9d593d4ea39 | 90 | float degrees_to_radians(float degrees) { |
ansond | 1:d9d593d4ea39 | 91 | float radians = ((M_PI*degrees)/180.0); |
ansond | 1:d9d593d4ea39 | 92 | return radians; |
ansond | 1:d9d593d4ea39 | 93 | } |
ansond | 1:d9d593d4ea39 | 94 | |
ansond | 1:d9d593d4ea39 | 95 | // return degrees for a given radian |
ansond | 1:d9d593d4ea39 | 96 | float radians_to_degrees(float radians) { |
ansond | 1:d9d593d4ea39 | 97 | float degrees = ((180*radians)/M_PI); |
ansond | 1:d9d593d4ea39 | 98 | return degrees; |
ansond | 1:d9d593d4ea39 | 99 | } |
ansond | 1:d9d593d4ea39 | 100 | |
ansond | 1:d9d593d4ea39 | 101 | // return an average of two degrees |
ansond | 1:d9d593d4ea39 | 102 | float compute_average(float deg1, float deg2) { |
ansond | 1:d9d593d4ea39 | 103 | return (float)((deg1+deg2)/2); |
ansond | 1:d9d593d4ea39 | 104 | } |
ansond | 1:d9d593d4ea39 | 105 | |
ansond | 1:d9d593d4ea39 | 106 | // |
ansond | 1:d9d593d4ea39 | 107 | // DreamForce 2013 Challenge: |
ansond | 1:d9d593d4ea39 | 108 | // get_potentiometer_value() reads the potentiometer, filters its value and remaps it to [0, 100.0] |
ansond | 1:d9d593d4ea39 | 109 | // |
ansond | 1:d9d593d4ea39 | 110 | float get_potentiometer_value(AnalogIn pot) { |
ansond | 1:d9d593d4ea39 | 111 | float f = pot; |
ansond | 1:d9d593d4ea39 | 112 | f = prefilter.process(f); |
ansond | 1:d9d593d4ea39 | 113 | f = (f * 100); // [ 0, 100] |
ansond | 1:d9d593d4ea39 | 114 | return postfilter.process(f); |
ansond | 1:d9d593d4ea39 | 115 | } |
ansond | 1:d9d593d4ea39 | 116 | |
ansond | 0:a2c33a8eded1 | 117 | // |
ansond | 0:a2c33a8eded1 | 118 | // DreamForce 2013 Challenge: |
ansond | 1:d9d593d4ea39 | 119 | // potentiometer_value_to_degrees() takes the potentiometer value (val_pot) and |
ansond | 1:d9d593d4ea39 | 120 | // maps it to an angle between [min_sling_angle, max_sling_angle] as defined in the tunables section |
ansond | 1:d9d593d4ea39 | 121 | // |
ansond | 1:d9d593d4ea39 | 122 | // NOTE: This function is INCOMPLETE. To complete it you should: |
ansond | 1:d9d593d4ea39 | 123 | // 1). Uncomment the debug statement, run the program, and look at raw potentiometer values |
ansond | 1:d9d593d4ea39 | 124 | // 2). Determine the min and max potentiometer values you wish to scale to degrees |
ansond | 1:d9d593d4ea39 | 125 | // 3). Determine the 90 degree potentiometer value ("median_pot") that denotes the sling band at 90 to the sling body |
ansond | 1:d9d593d4ea39 | 126 | // 4). Fill in median_pot, min_pot, max_pot below |
ansond | 1:d9d593d4ea39 | 127 | // 5). Compile up and give it a try |
ansond | 1:d9d593d4ea39 | 128 | // |
ansond | 1:d9d593d4ea39 | 129 | float potentiometer_value_to_degrees(float val_pot) { |
ansond | 1:d9d593d4ea39 | 130 | float deg = 0.0; |
ansond | 1:d9d593d4ea39 | 131 | float accuracy = 0.1; |
ansond | 1:d9d593d4ea39 | 132 | |
ansond | 1:d9d593d4ea39 | 133 | // DEBUG - may need this to calibrate pot values below |
ansond | 1:d9d593d4ea39 | 134 | //std::printf("Raw pot value=%.1f\r\n",val_pot); |
ansond | 1:d9d593d4ea39 | 135 | |
ansond | 1:d9d593d4ea39 | 136 | // Potentiometer range: you need to uncomment the debug statement above and determine the following values |
ansond | 1:d9d593d4ea39 | 137 | float median_pot = 0; |
ansond | 1:d9d593d4ea39 | 138 | float min_pot = 0; |
ansond | 1:d9d593d4ea39 | 139 | float max_pot = 0; |
ansond | 1:d9d593d4ea39 | 140 | float incr_pot = (max_pot*10) - (min_pot*10); // how many .1 increments we have in the interval [min, max] |
ansond | 1:d9d593d4ea39 | 141 | |
ansond | 1:d9d593d4ea39 | 142 | // Mapped degree range: approx [min_sling_angle, max_sling_angle] degrees so convert to |
ansond | 1:d9d593d4ea39 | 143 | float min_deg = min_sling_angle; |
ansond | 1:d9d593d4ea39 | 144 | float max_deg = max_sling_angle; |
ansond | 1:d9d593d4ea39 | 145 | float incr_deg = (max_deg*10) - (min_deg*10); // how many .1 increments we have in the interval [min, max] |
ansond | 0:a2c33a8eded1 | 146 | |
ansond | 1:d9d593d4ea39 | 147 | // see if we are centered or not |
ansond | 1:d9d593d4ea39 | 148 | float centered_pot = fabs(val_pot - median_pot); |
ansond | 1:d9d593d4ea39 | 149 | |
ansond | 1:d9d593d4ea39 | 150 | // if we are off 90 degrees (i.e. sling body and sling band are not at 90 degrees) - calculate the relative angle |
ansond | 1:d9d593d4ea39 | 151 | if (centered_pot > accuracy) { |
ansond | 1:d9d593d4ea39 | 152 | // map to degree range |
ansond | 1:d9d593d4ea39 | 153 | float conversion = (incr_deg/incr_pot); |
ansond | 1:d9d593d4ea39 | 154 | deg = min_deg + (conversion*(val_pot - min_pot)); |
ansond | 1:d9d593d4ea39 | 155 | } |
ansond | 1:d9d593d4ea39 | 156 | |
ansond | 1:d9d593d4ea39 | 157 | // we have to flip the sign of the result |
ansond | 1:d9d593d4ea39 | 158 | deg = -deg; |
ansond | 0:a2c33a8eded1 | 159 | |
ansond | 1:d9d593d4ea39 | 160 | // return the calculated degrees |
ansond | 1:d9d593d4ea39 | 161 | return deg; |
ansond | 1:d9d593d4ea39 | 162 | } |
ansond | 1:d9d593d4ea39 | 163 | |
ansond | 1:d9d593d4ea39 | 164 | // adjust the final angle (theta) taking into account the relative angle between the sling body and the sling band. |
ansond | 1:d9d593d4ea39 | 165 | float adjust_for_sling_angle(float slingshot_body_angle) { |
ansond | 1:d9d593d4ea39 | 166 | // get the sling angle through approximation with the potentiometer, averaged from both potentiometers |
ansond | 1:d9d593d4ea39 | 167 | float sling_angle_degrees = compute_average(potentiometer_value_to_degrees(get_potentiometer_value(pot_1)),potentiometer_value_to_degrees(get_potentiometer_value(pot_1))); |
ansond | 1:d9d593d4ea39 | 168 | |
ansond | 1:d9d593d4ea39 | 169 | // the sling angle is in degrees - so lets convert the body angle to degrees as well |
ansond | 1:d9d593d4ea39 | 170 | float modified_angle_degrees = radians_to_degrees(slingshot_body_angle); |
ansond | 1:d9d593d4ea39 | 171 | |
ansond | 1:d9d593d4ea39 | 172 | // we simply add the sling angle to adjust it |
ansond | 1:d9d593d4ea39 | 173 | modified_angle_degrees += sling_angle_degrees; |
ansond | 1:d9d593d4ea39 | 174 | |
ansond | 1:d9d593d4ea39 | 175 | // make sure that we are always between 0 and 359 degrees |
ansond | 1:d9d593d4ea39 | 176 | while (modified_angle_degrees > 360.0) modified_angle_degrees = modified_angle_degrees - 360; |
ansond | 1:d9d593d4ea39 | 177 | while (modified_angle_degrees < 0.0) modified_angle_degrees = modified_angle_degrees + 360; |
ansond | 1:d9d593d4ea39 | 178 | |
ansond | 1:d9d593d4ea39 | 179 | // convert the modified angle back to radians |
ansond | 1:d9d593d4ea39 | 180 | float modified_angle_radians = degrees_to_radians(modified_angle_degrees); |
ansond | 1:d9d593d4ea39 | 181 | |
ansond | 1:d9d593d4ea39 | 182 | // DEBUG |
ansond | 1:d9d593d4ea39 | 183 | //std::printf("adjust_for_sling_angle: body_angle=%.1f sling_angle=%.1f modified_angle=%.1f\r\n",radians_to_degrees(slingshot_body_angle),sling_angle_degrees,modified_angle_degrees); |
ansond | 1:d9d593d4ea39 | 184 | |
ansond | 1:d9d593d4ea39 | 185 | // return the modified angle |
ansond | 1:d9d593d4ea39 | 186 | return modified_angle_radians; |
ansond | 0:a2c33a8eded1 | 187 | } |
ansond | 0:a2c33a8eded1 | 188 | |
ansond | 0:a2c33a8eded1 | 189 | // Return slingshot angle in radians, up > 0 > down |
ansond | 0:a2c33a8eded1 | 190 | float get_angle() { |
ansond | 0:a2c33a8eded1 | 191 | int readings[3]; |
ansond | 0:a2c33a8eded1 | 192 | accelerometer.getOutput(readings); |
ansond | 0:a2c33a8eded1 | 193 | float x = (int16_t)readings[0]; |
ansond | 0:a2c33a8eded1 | 194 | float z = (int16_t)readings[2]; |
ansond | 0:a2c33a8eded1 | 195 | return atan(z / x); |
ansond | 0:a2c33a8eded1 | 196 | } |
ansond | 0:a2c33a8eded1 | 197 | |
ansond | 0:a2c33a8eded1 | 198 | // Return normalised stretch value based on bounds of all readings seen |
ansond | 0:a2c33a8eded1 | 199 | float get_stretch() { |
ansond | 0:a2c33a8eded1 | 200 | static float min_strength = 0.7; |
ansond | 0:a2c33a8eded1 | 201 | static float max_strength = 0.7; |
ansond | 0:a2c33a8eded1 | 202 | float current_strength = stretch_sensor.read(); |
ansond | 0:a2c33a8eded1 | 203 | if(current_strength > max_strength) { max_strength = current_strength; } |
ansond | 0:a2c33a8eded1 | 204 | if(current_strength < min_strength) { min_strength = current_strength; } |
ansond | 0:a2c33a8eded1 | 205 | float stretch = (current_strength - min_strength) / (max_strength - min_strength); |
ansond | 0:a2c33a8eded1 | 206 | return 1.0 - stretch; |
ansond | 0:a2c33a8eded1 | 207 | } |
ansond | 0:a2c33a8eded1 | 208 | |
ansond | 0:a2c33a8eded1 | 209 | // move mouse to a location relative to the start point, stepping as needed |
ansond | 0:a2c33a8eded1 | 210 | void move_mouse(int x, int y) { |
ansond | 0:a2c33a8eded1 | 211 | const int STEP = 10; |
ansond | 0:a2c33a8eded1 | 212 | |
ansond | 0:a2c33a8eded1 | 213 | int move_x = x - current_x; |
ansond | 0:a2c33a8eded1 | 214 | int move_y = y - current_y; |
ansond | 0:a2c33a8eded1 | 215 | |
ansond | 0:a2c33a8eded1 | 216 | // Move the mouse, in steps of max step size to ensure it is picked up by OS |
ansond | 0:a2c33a8eded1 | 217 | while(move_x > STEP) { mouse.move(STEP, 0); move_x -= STEP; } |
ansond | 0:a2c33a8eded1 | 218 | while(move_x < -STEP) { mouse.move(-STEP, 0); move_x += STEP; } |
ansond | 0:a2c33a8eded1 | 219 | while(move_y > STEP) { mouse.move(0, STEP); move_y -= STEP; } |
ansond | 0:a2c33a8eded1 | 220 | while(move_y < -STEP) { mouse.move(0, -STEP); move_y += STEP; } |
ansond | 1:d9d593d4ea39 | 221 | mouse.move(move_x, move_y); |
ansond | 0:a2c33a8eded1 | 222 | |
ansond | 0:a2c33a8eded1 | 223 | current_x = x; |
ansond | 0:a2c33a8eded1 | 224 | current_y = y; |
ansond | 0:a2c33a8eded1 | 225 | } |
ansond | 1:d9d593d4ea39 | 226 | |
ansond | 1:d9d593d4ea39 | 227 | // reset the mouse position |
ansond | 1:d9d593d4ea39 | 228 | void reset_mouse() { |
ansond | 1:d9d593d4ea39 | 229 | current_x = 0; |
ansond | 1:d9d593d4ea39 | 230 | current_y = 0; |
ansond | 1:d9d593d4ea39 | 231 | mouse.move(0,0); |
ansond | 1:d9d593d4ea39 | 232 | } |
ansond | 0:a2c33a8eded1 | 233 | |
ansond | 0:a2c33a8eded1 | 234 | template <class T> |
ansond | 0:a2c33a8eded1 | 235 | T filter(T* array, int len, T value) { |
ansond | 0:a2c33a8eded1 | 236 | T mean = 0.0; |
ansond | 0:a2c33a8eded1 | 237 | for(int i = 0; i<len - 1; i++) { |
ansond | 0:a2c33a8eded1 | 238 | mean += array[i + 1]; |
ansond | 0:a2c33a8eded1 | 239 | array[i] = array[i + 1]; |
ansond | 0:a2c33a8eded1 | 240 | } |
ansond | 0:a2c33a8eded1 | 241 | mean += value; |
ansond | 0:a2c33a8eded1 | 242 | array[len - 1] = value; |
ansond | 0:a2c33a8eded1 | 243 | return mean / (T)len; |
ansond | 0:a2c33a8eded1 | 244 | } |
ansond | 0:a2c33a8eded1 | 245 | |
ansond | 0:a2c33a8eded1 | 246 | typedef enum { |
ansond | 0:a2c33a8eded1 | 247 | WAITING = 2, |
ansond | 0:a2c33a8eded1 | 248 | AIMING = 4, |
ansond | 0:a2c33a8eded1 | 249 | FIRING = 8 |
ansond | 0:a2c33a8eded1 | 250 | } state_t; |
ansond | 0:a2c33a8eded1 | 251 | |
ansond | 0:a2c33a8eded1 | 252 | int main() { |
ansond | 1:d9d593d4ea39 | 253 | bool loop_forever = true; |
ansond | 0:a2c33a8eded1 | 254 | leds = 1; |
ansond | 1:d9d593d4ea39 | 255 | |
ansond | 1:d9d593d4ea39 | 256 | // init mouse tracking |
ansond | 1:d9d593d4ea39 | 257 | reset_mouse(); |
ansond | 0:a2c33a8eded1 | 258 | |
ansond | 0:a2c33a8eded1 | 259 | // setup accelerometer |
ansond | 0:a2c33a8eded1 | 260 | accelerometer.setPowerControl(0x00); |
ansond | 0:a2c33a8eded1 | 261 | accelerometer.setDataFormatControl(0x0B); |
ansond | 0:a2c33a8eded1 | 262 | accelerometer.setDataRate(ADXL345_3200HZ); |
ansond | 0:a2c33a8eded1 | 263 | accelerometer.setPowerControl(0x08); |
ansond | 0:a2c33a8eded1 | 264 | |
ansond | 0:a2c33a8eded1 | 265 | state_t state = WAITING; |
ansond | 0:a2c33a8eded1 | 266 | Timer timer; |
ansond | 0:a2c33a8eded1 | 267 | |
ansond | 0:a2c33a8eded1 | 268 | float angles[8] = {0}; |
ansond | 0:a2c33a8eded1 | 269 | float stretches[8] = {0}; |
ansond | 0:a2c33a8eded1 | 270 | |
ansond | 1:d9d593d4ea39 | 271 | while(loop_forever) { |
ansond | 0:a2c33a8eded1 | 272 | // get the slingshot parameters |
ansond | 0:a2c33a8eded1 | 273 | float this_stretch = get_stretch(); |
ansond | 0:a2c33a8eded1 | 274 | float this_angle = get_angle(); |
ansond | 0:a2c33a8eded1 | 275 | |
ansond | 0:a2c33a8eded1 | 276 | // apply some filtering |
ansond | 0:a2c33a8eded1 | 277 | float stretch = filter(stretches, 8, this_stretch); |
ansond | 0:a2c33a8eded1 | 278 | float angle = filter(angles, 8, this_angle); |
ansond | 0:a2c33a8eded1 | 279 | |
ansond | 0:a2c33a8eded1 | 280 | // DreamForce 2013 Challenge: Adjust the angle to account for the relative angle between the sling and the slingshot body |
ansond | 0:a2c33a8eded1 | 281 | angle = adjust_for_sling_angle(angle); |
ansond | 0:a2c33a8eded1 | 282 | |
ansond | 0:a2c33a8eded1 | 283 | leds = state; |
ansond | 1:d9d593d4ea39 | 284 | |
ansond | 0:a2c33a8eded1 | 285 | // act based on the current state |
ansond | 0:a2c33a8eded1 | 286 | switch (state) { |
ansond | 0:a2c33a8eded1 | 287 | case WAITING: |
ansond | 1:d9d593d4ea39 | 288 | if(stretch > stretch_start_threshold) { // significant stretch, considered starting |
ansond | 0:a2c33a8eded1 | 289 | mouse.press(MOUSE_LEFT); |
ansond | 0:a2c33a8eded1 | 290 | state = AIMING; |
ansond | 0:a2c33a8eded1 | 291 | } |
ansond | 0:a2c33a8eded1 | 292 | break; |
ansond | 0:a2c33a8eded1 | 293 | |
ansond | 0:a2c33a8eded1 | 294 | case AIMING: |
ansond | 1:d9d593d4ea39 | 295 | if(stretch - this_stretch > fire_threshold) { // rapid de-stretch, considered a fire |
ansond | 0:a2c33a8eded1 | 296 | mouse.release(MOUSE_LEFT); |
ansond | 1:d9d593d4ea39 | 297 | reset_mouse(); |
ansond | 0:a2c33a8eded1 | 298 | timer.start(); |
ansond | 0:a2c33a8eded1 | 299 | state = FIRING; |
ansond | 1:d9d593d4ea39 | 300 | } |
ansond | 1:d9d593d4ea39 | 301 | else if(stretch < stretch_start_threshold) { // de-stretch |
ansond | 1:d9d593d4ea39 | 302 | reset_mouse(); |
ansond | 1:d9d593d4ea39 | 303 | timer.stop(); |
ansond | 1:d9d593d4ea39 | 304 | timer.reset(); |
ansond | 1:d9d593d4ea39 | 305 | state = WAITING; |
ansond | 0:a2c33a8eded1 | 306 | } else { |
ansond | 1:d9d593d4ea39 | 307 | int x = 0.0 - cos(angle) * stretch * mouse_scale; |
ansond | 1:d9d593d4ea39 | 308 | int y = sin(angle) * stretch * mouse_scale; |
ansond | 0:a2c33a8eded1 | 309 | move_mouse(x, y); |
ansond | 0:a2c33a8eded1 | 310 | } |
ansond | 0:a2c33a8eded1 | 311 | break; |
ansond | 0:a2c33a8eded1 | 312 | |
ansond | 0:a2c33a8eded1 | 313 | case FIRING: |
ansond | 1:d9d593d4ea39 | 314 | if(timer > fire_timing_threshold) { |
ansond | 0:a2c33a8eded1 | 315 | timer.stop(); |
ansond | 0:a2c33a8eded1 | 316 | timer.reset(); |
ansond | 1:d9d593d4ea39 | 317 | reset_mouse(); |
ansond | 0:a2c33a8eded1 | 318 | state = WAITING; |
ansond | 0:a2c33a8eded1 | 319 | } |
ansond | 0:a2c33a8eded1 | 320 | break; |
ansond | 0:a2c33a8eded1 | 321 | }; |
ansond | 0:a2c33a8eded1 | 322 | |
ansond | 1:d9d593d4ea39 | 323 | // wait for 100ms |
ansond | 1:d9d593d4ea39 | 324 | wait_ms(100); |
ansond | 0:a2c33a8eded1 | 325 | } |
ansond | 0:a2c33a8eded1 | 326 | } |