Nordic Pucks / Mbed 2 deprecated cube-puck Featured

Rotate the Cube Puck to invoke actions on your smartphone. Built on the Puck IOT platform.

Dependencies:   Puck MPU6050 mbed

The Cube Puck is an innovative bluetooth-enabled remote control device. It is a six-sided cube that can be rotated to any of its sides to invoke actions linked to that side. The cube puck is completely customizable and therefore also quite versatile.

A tutorial for the Cube Puck is available on GitHub.

Tutorials and in-depth documentation for the Puck platform is available at the project's GitHub page

main.cpp@7:4244572015c6, 2014-08-08 (annotated)

Committer:
sigveseb
Date:
Fri Aug 08 12:47:20 2014 +0000
Revision:
7:4244572015c6
Parent:
6:4f2aaa06ff44
Child:
10:3d708495b7a0
Add MPU6050 failure recovery

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cristea 6:4f2aaa06ff44 1 /**
cristea 6:4f2aaa06ff44 2 * Copyright 2014 Nordic Semiconductor
cristea 6:4f2aaa06ff44 3 *
cristea 6:4f2aaa06ff44 4 * Licensed under the Apache License, Version 2.0 (the "License");
cristea 6:4f2aaa06ff44 5 * you may not use this file except in compliance with the License.
cristea 6:4f2aaa06ff44 6 * You may obtain a copy of the License at
cristea 6:4f2aaa06ff44 7 *
cristea 6:4f2aaa06ff44 8 * http://www.apache.org/licenses/LICENSE-2.0
cristea 6:4f2aaa06ff44 9 *
cristea 6:4f2aaa06ff44 10 * Unless required by applicable law or agreed to in writing, software
cristea 6:4f2aaa06ff44 11 * distributed under the License is distributed on an "AS IS" BASIS,
cristea 6:4f2aaa06ff44 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
cristea 6:4f2aaa06ff44 13 * See the License for the specific language governing permissions and
cristea 6:4f2aaa06ff44 14 * limitations under the License
cristea 6:4f2aaa06ff44 15 */
cristea 6:4f2aaa06ff44 16
aleksanb 0:449ee9595cf6 17 #include "MPU6050.h"
aleksanb 2:b9b42ff80e9a 18 #include <math.h>
aleksanb 0:449ee9595cf6 19
sigveseb 3:6a7310ea51f7 20 #include "Puck.h"
sigveseb 3:6a7310ea51f7 21
sigveseb 3:6a7310ea51f7 22 Puck* puck = &Puck::getPuck();
sigveseb 3:6a7310ea51f7 23
sigveseb 3:6a7310ea51f7 24 const UUID CUBE_SERVICE_UUID = UUID(stringToUUID("bftj cube "));
sigveseb 3:6a7310ea51f7 25 const UUID DIRECTION_UUID = UUID(stringToUUID("bftj cube dirctn"));
aleksanb 0:449ee9595cf6 26
aleksanb 0:449ee9595cf6 27 enum Direction {
aleksanb 0:449ee9595cf6 28 UP,
aleksanb 0:449ee9595cf6 29 DOWN,
aleksanb 0:449ee9595cf6 30 LEFT,
aleksanb 0:449ee9595cf6 31 RIGHT,
aleksanb 0:449ee9595cf6 32 FRONT,
aleksanb 0:449ee9595cf6 33 BACK,
aleksanb 0:449ee9595cf6 34 UNDEFINED
aleksanb 0:449ee9595cf6 35 };
aleksanb 0:449ee9595cf6 36
aleksanb 0:449ee9595cf6 37 const static int16_t ACCELERATION_EXITATION_THRESHOLD = 15000;
aleksanb 0:449ee9595cf6 38
aleksanb 0:449ee9595cf6 39 MPU6050 mpu;
aleksanb 0:449ee9595cf6 40
aleksanb 0:449ee9595cf6 41 int16_t ax, ay, az;
aleksanb 0:449ee9595cf6 42 int16_t gx, gy, gz;
aleksanb 0:449ee9595cf6 43
aleksanb 0:449ee9595cf6 44 Direction direction = UNDEFINED;
aleksanb 0:449ee9595cf6 45
sigveseb 3:6a7310ea51f7 46 void log_direction(Direction direction) {
aleksanb 2:b9b42ff80e9a 47 switch(direction) {
sigveseb 3:6a7310ea51f7 48 case UP: LOG_INFO("Direction UP\n"); break;
sigveseb 3:6a7310ea51f7 49 case DOWN: LOG_INFO("Direction DOWN\n"); break;
sigveseb 3:6a7310ea51f7 50 case LEFT: LOG_INFO("Direction LEFT\n"); break;
sigveseb 3:6a7310ea51f7 51 case RIGHT: LOG_INFO("Direction RIGHT\n"); break;
sigveseb 3:6a7310ea51f7 52 case BACK: LOG_INFO("Direction BACK\n"); break;
sigveseb 3:6a7310ea51f7 53 case FRONT: LOG_INFO("Direction FRONT\n"); break;
sigveseb 3:6a7310ea51f7 54 default: LOG_INFO("Direction UNSET\n"); break;
aleksanb 0:449ee9595cf6 55 }
aleksanb 0:449ee9595cf6 56 }
aleksanb 0:449ee9595cf6 57
sigveseb 3:6a7310ea51f7 58 int16_t direction_if_exited(int16_t acceleration) {
aleksanb 0:449ee9595cf6 59 if (acceleration > ACCELERATION_EXITATION_THRESHOLD) {
aleksanb 0:449ee9595cf6 60 return 1;
sigveseb 3:6a7310ea51f7 61 }
sigveseb 3:6a7310ea51f7 62 if (acceleration < -ACCELERATION_EXITATION_THRESHOLD) {
aleksanb 0:449ee9595cf6 63 return -1;
aleksanb 0:449ee9595cf6 64 }
sigveseb 3:6a7310ea51f7 65 return 0;
aleksanb 0:449ee9595cf6 66 }
aleksanb 0:449ee9595cf6 67
sigveseb 3:6a7310ea51f7 68 void updateCubeDirection(void) {
sigveseb 7:4244572015c6 69
sigveseb 7:4244572015c6 70 if(!mpu.testConnection()) {
sigveseb 7:4244572015c6 71 LOG_ERROR("MPU DIED! Resetting...\n");
sigveseb 7:4244572015c6 72 mpu.reset();
sigveseb 7:4244572015c6 73 mpu.initialize();
sigveseb 7:4244572015c6 74 LOG_ERROR("Reset complete.\n");
sigveseb 7:4244572015c6 75 return;
sigveseb 7:4244572015c6 76 }
sigveseb 7:4244572015c6 77
aleksanb 0:449ee9595cf6 78 mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
aleksanb 2:b9b42ff80e9a 79
aleksanb 0:449ee9595cf6 80 int16_t x = direction_if_exited(ax);
aleksanb 0:449ee9595cf6 81 int16_t y = direction_if_exited(ay);
aleksanb 0:449ee9595cf6 82 int16_t z = direction_if_exited(az);
aleksanb 2:b9b42ff80e9a 83
aleksanb 0:449ee9595cf6 84 int16_t sum = abs(x) + abs(y) + abs(z);
aleksanb 2:b9b42ff80e9a 85 if (sum != 1) {
aleksanb 0:449ee9595cf6 86 return;
aleksanb 0:449ee9595cf6 87 }
aleksanb 2:b9b42ff80e9a 88
sigveseb 3:6a7310ea51f7 89 Direction new_direction = UNDEFINED;
aleksanb 0:449ee9595cf6 90 if (z == 1) {
aleksanb 2:b9b42ff80e9a 91 new_direction = UP;
aleksanb 0:449ee9595cf6 92 } else if (z == -1) {
aleksanb 2:b9b42ff80e9a 93 new_direction = DOWN;
aleksanb 0:449ee9595cf6 94 } else if (y == 1) {
aleksanb 2:b9b42ff80e9a 95 new_direction = LEFT;
aleksanb 0:449ee9595cf6 96 } else if (y == -1) {
aleksanb 2:b9b42ff80e9a 97 new_direction = RIGHT;
aleksanb 0:449ee9595cf6 98 } else if (x == 1) {
aleksanb 2:b9b42ff80e9a 99 new_direction = BACK;
aleksanb 0:449ee9595cf6 100 } else if (x == -1) {
aleksanb 2:b9b42ff80e9a 101 new_direction = FRONT;
aleksanb 0:449ee9595cf6 102 }
aleksanb 2:b9b42ff80e9a 103
aleksanb 2:b9b42ff80e9a 104 if (direction == new_direction) {
aleksanb 2:b9b42ff80e9a 105 return;
aleksanb 2:b9b42ff80e9a 106 }
aleksanb 2:b9b42ff80e9a 107
aleksanb 2:b9b42ff80e9a 108 direction = new_direction;
aleksanb 2:b9b42ff80e9a 109
sigveseb 3:6a7310ea51f7 110 log_direction(direction);
sigveseb 3:6a7310ea51f7 111 uint8_t directionAsInteger = direction;
sigveseb 4:6a2b306b6b41 112 int length = 1;
sigveseb 4:6a2b306b6b41 113 puck->updateCharacteristicValue(DIRECTION_UUID, &directionAsInteger, length);
aleksanb 2:b9b42ff80e9a 114 }
aleksanb 2:b9b42ff80e9a 115
aleksanb 2:b9b42ff80e9a 116
sigveseb 3:6a7310ea51f7 117 int main() {
sigveseb 3:6a7310ea51f7 118
aleksanb 0:449ee9595cf6 119
sigveseb 3:6a7310ea51f7 120 LOG_VERBOSE("MPU6050 test startup:\n");
aleksanb 0:449ee9595cf6 121
aleksanb 0:449ee9595cf6 122 mpu.initialize();
sigveseb 3:6a7310ea51f7 123 LOG_VERBOSE("TestConnection\n");
aleksanb 2:b9b42ff80e9a 124
aleksanb 2:b9b42ff80e9a 125 if (mpu.testConnection()) {
sigveseb 3:6a7310ea51f7 126 LOG_INFO("MPU initialized.\n");
aleksanb 2:b9b42ff80e9a 127 } else {
sigveseb 3:6a7310ea51f7 128 LOG_ERROR("MPU not properly initialized!\n");
aleksanb 0:449ee9595cf6 129 }
aleksanb 0:449ee9595cf6 130
sigveseb 4:6a2b306b6b41 131 int characteristicValueLength = 1;
sigveseb 3:6a7310ea51f7 132 puck->addCharacteristic(
sigveseb 3:6a7310ea51f7 133 CUBE_SERVICE_UUID,
sigveseb 3:6a7310ea51f7 134 DIRECTION_UUID,
sigveseb 4:6a2b306b6b41 135 characteristicValueLength,
sigveseb 3:6a7310ea51f7 136 GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_READ | GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY);
sigveseb 3:6a7310ea51f7 137
cristea 6:4f2aaa06ff44 138 puck->init(0xC1BE);
sigveseb 4:6a2b306b6b41 139
sigveseb 4:6a2b306b6b41 140
sigveseb 4:6a2b306b6b41 141 Ticker ticker;
cristea 6:4f2aaa06ff44 142 ticker.attach(updateCubeDirection, 0.2);
sigveseb 4:6a2b306b6b41 143 LOG_INFO("Started listening to orientation changes.\n");
sigveseb 3:6a7310ea51f7 144
sigveseb 3:6a7310ea51f7 145 while(puck->drive());
aleksanb 0:449ee9595cf6 146 }