OX
OX V1
Dependencies: mbed
Diff: main.cpp
- Revision:
- 0:6182212860fb
- Child:
- 1:6514e03fe62f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Dec 05 15:55:28 2016 +0000
@@ -0,0 +1,336 @@
+#include "mbed.h"
+#include "Moop.h"
+#include "bmu.h"
+#include "Latrix.h"
+#include "zmu9250.h"
+#include "MPU9250.h"
+
+InterruptIn lim(PinName D3);
+InterruptIn rotate(PinName D4);
+InterruptIn choose(PinName D5);
+Ticker flipper;
+Ticker Update;
+
+Moop map;
+
+Serial pc(PinName USBTX,PinName USBRX);
+Serial mas(PinName D8,PinName D2);
+
+bmuimu imu;
+Latrix ledMatrix;
+
+Time t;
+
+bool anach = false;
+bool buttonState = {0,0,0}; // button limit switchm rotate and choose state respectively.
+unsigned int count = 10; // count down.
+char data[50];
+char elem;
+bool error = false; // store error in ambigous imu data.
+int helperRoll = 0, helperPitch=0,helperYaw=0;
+unsigned int indx = 0;
+unsigned int state = 0;
+
+// state 0 = initial / start.
+// 1 = waiting for limit switch.
+
+unsigned int turn = 0; // turn.
+
+unsigned int x = 0, y = 0, z = 0,lx=0,ly=0,lz=0;
+int winStatus = 0;
+
+void Rise(int but)
+{
+ buttonState[but-3] = 1;
+}
+
+void Fall(int but)
+{
+ buttonState[but-3] = 0;
+}
+
+void Update()
+{
+ imu.Update();
+}
+
+void Sent(char arrayi[],float it,int siz)
+{
+ for (int i = 0;i<siz;i++)
+ {
+ mas.putc(arrayi[i]);
+ wait(it);
+ }
+}
+
+void getStr()
+{
+ while (mas.readable())
+ {
+
+ elem = mas.getc();
+ pc.printf("char is %d\n\r",elem);
+ if ((elem == '\n'))
+ {
+ pc.printf("string is %s\n\r",data);
+ for(int i=0;i<indx;i++)
+ {
+ if (indx > 2)
+ {
+ dete[i] = data[i];
+ }
+ }
+ for(int i=0;i<30;i++)
+ {
+ data[i] = '\0';
+ }
+ indx = 0;
+ break;
+ }else
+ {
+ data[indx] = elem;
+ indx += 1;
+ }
+
+ }
+}
+
+void ShowMap()
+{
+ int mmapx[5][5][5] = {0};
+ int mmapy[5][5][5] = {0};
+ for(int i=0;i<5;i++)
+ {
+ for(int j = 0;j<5;j++)
+ {
+ for (int k =0;k<5;k++)
+ {
+ mmapx[i][j] = map.check1[i][j][k]*pow(2,k);
+ Sent(char(mmapx[i]+64)[j],0.1,1);
+ Sent("\n",0.1,1);
+ mmapy[i][j] = map.check2[i][j][k]*pow(2,k);
+ Sent(char(mmapy[i]+64)[j],0.1,1);
+ Sent("\n",0.1,1);
+ }
+ }
+ }
+ int page = 0;
+ while(1)
+ {
+ if (page == 5)
+ {
+ page = 4;
+ }else if(page == -1)
+ {
+ page = 0;
+ }
+ ledMatrix.Show(mmapx[page],mmapy[page]);
+ if(buttonState[2]==1)
+ {
+ while(buttonState[2]==1)
+ {
+
+ }
+ page += 1;
+ }
+ else if(buttonState[1]==1)
+ {
+ while(buttonState[1]==1)
+ {
+
+ }
+ page -= 1;
+ }
+ }
+}
+
+void Loose()
+{
+ ledMatrix.Loose();
+ Sent("los\n",0.1,4);
+ ShowMap();
+}
+
+void Wiin()
+{
+ ledMatrix.Wiin();
+ Sent("lwin\n",0.1,4);
+ ShowMap();
+}
+
+
+
+bool chooseAnother()
+{
+ Sent('cho\n',0.1,4);
+ while(1)
+ {
+ if ((dete[0]='c')&&(dete[1]='h')&&(dete[2]='0'))
+ {
+ return true;
+ }else if ((dete[0]='c')&&(dete[1]='h')&&(dete[2]='x'))
+ {
+ return false;
+ }
+ }
+}
+
+bool anotherRotate()
+{
+ Sent('rot\n',0.1,4);
+ while(1)
+ {
+ if ((dete[0]='r')&&(dete[1]='o')&&(dete[2]='t'))
+ {
+ return true;
+ }else if ((dete[0]='r')&&(dete[1]='o')&&(dete[2]='x'))
+ {
+ return false;
+ }
+ }
+}
+
+int main()// main program of
+{
+ lim.rise(&Rise(3));
+ lim.fall(&Fall(3));
+ rotate.rise(&Rise(4));
+ rotate.fall(&Fall(4));
+ choose.rise(&Rise(5));
+ choose.fall(&Fall(5));
+
+ ledMatrix.Initial(); // set initial pattern in led matrix.
+ wait(5); // wait 5 second for putting the box down to set initial position of imu.
+ //imu.Initial(); // set initial for imu.
+ Update.attach(&Update,1.0); //timer interrupt for recieving bluetooth.
+ while((dete[0]!='i')||(dete[1]!='n')||(dete[2]!='i')||(dete[3]!='t'))
+ {
+ }
+ ledMatrix.Wbox(); // set led to tell the player that the game is ready and this is the woman-box.
+ t.start();
+ while (1) // void loop.
+ {
+ state = 1;
+
+ if (buttonState[0] == 1) // if the boxes are connected.
+ {
+ x = map.GetCoordinateX();
+ y = map.GetCoordinateY();
+ z = map.GetCoordinateZ(); // get the position of main box which linking with map or the box not be choosen.
+ /*Sent("helr\n",0.1,5); // tell the other box, that we want helper roll.
+ while((dete[0]!='h')||(dete[1]!='e')||(dete[2]!='l')||(dete[3]!='r'))
+ {
+ pc.printf("srt %s\n\r",dete);
+ }
+ helperRoll = int( ((int(dete[4+ii])-48)*100)+((int(dete[5+ii])-48)*10)+(int(dete[6+ii])-48) ); //get roll from another box.
+ Sent("help\n",0.1,5); // tell the other box, that we want helper roll.
+ while((dete[0]!='h')||(dete[1]!='e')||(dete[2]!='l')||(dete[3]!='p'))
+ {
+ pc.printf("srt %s\n\r",dete);
+ }
+ helperPitch = int( ((int(dete[4+ii])-48)*100)+((int(dete[5+ii])-48)*10)+(int(dete[6+ii])-48) ); //get roll from another box.
+ Sent("hely\n",0.1,5); // tell the other box, that we want helper roll.
+ while((dete[0]!='h')||(dete[1]!='e')||(dete[2]!='l')||(dete[3]!='y'))
+ {
+ pc.printf("srt %s\n\r",dete);
+ }
+ helperYaw = int( ((int(dete[4+ii])-48)*100)+((int(dete[5+ii])-48)*10)+(int(dete[6+ii])-48) ); //get roll from another box.*/
+ //Sent("ok\n",0.1,3); //free the otherbox.
+
+ error = imu.getposition(x,y,z)//,helperRoll,helperPitch,helperYaw); // calculate position from imu.
+ if (error)
+ {
+ ledMatrix.Error()
+ while(buttonState[0] == 1)
+ {
+
+ }
+ }else
+ {
+ lx = x;
+ ly = y;
+ lz = z;
+ x = imu.getX();
+ y = imu.getY();
+ z = imu.getZ(); // get new possition.
+
+ winStatus = map.Update(x,y,z)//,helperRoll); //update new position in map.
+
+ map.ChangeOX([x,y,z,lx,ly,lz])
+ if (winStatus == 1)
+ {
+ Wiin(); // win 3 in a row.
+ }else if (winStatus == -1)
+ {
+ Loose();// lose out of map or un valid position.
+ }else
+ {
+ Sent("mapc\n",0.1,4); //map complete.
+ ledMatrix.MapComplete(); // show that this position is ok.
+ while(1)
+ {
+ anach = chooseAnother() // wheather thr others box is choosen.
+ if ((buttonState[2]==1) && (!anach))
+ {
+ Sent("ch1\n",0.1,4);
+
+ map.Choose(1); // choose main box.
+ }else if((buttonState[2]==0) && (anach))
+ {
+ map.Choose(0); // choose another box.
+
+ }else if(buttonState[2]==0)
+ {
+ if((buttonState[1]==0)||(anotherRotate())) // click buutton some rotate box.
+ {
+ state = 3;
+ while((buttonState[1]==0)&&(anotherRotate()))
+ {
+
+ }
+
+ int yyaaww = imu.Rotate(); // check wheater rotating is error.
+ if (false)
+ {
+ ledMatrix.Error();
+
+ }else
+ {
+ map.Rotate(0,0,yyaaww)//imu.Rotate_Yaw); // private variable/arttribute in imu class.
+ ledMatrix.RotateComplete();
+ }
+ }
+ } //close choose or rotate.
+ } //close while true.
+ turn += 1;
+ Sent("T++\n",0.1,4);
+ t.start();
+ state = 2;
+ ledMatrix.ChooseComplete();
+ } // close winState.
+ } // close not error.
+
+ }else // if the boxes aren't connect.
+ {
+ if (count == 0) // time out.
+ {
+ t.stop();
+ Loose(); // lose state
+ }else if(turn != 0)
+ {
+ t.stop();
+ if (t.read() > 1.0);
+ {
+ t.start();
+ count -= 1; // time decreasing.
+ }
+ } // close check time
+ ledMatrix.CountDown(count);.
+ Sent("Tur\n",0.1,4)
+ } // close boxes aren't connect.
+
+ } // close loop.
+
+
+
+} // close main.*/
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