main.cpp

00001 #include "mbed.h"
00002 #include "USBKeyboard.h"
00003 
00004 Serial pc(USBTX, USBRX);
00005 
00006 int sumX; // Used for zero averaging
00007 int sumY; // Used for zero averaging
00008 int sumZ; // Used for zero averaging
00009 
00010 // Up/Down Accel //
00011 AnalogIn inputUDx(PTB0);
00012 AnalogIn inputUDy(PTB1);
00013 AnalogIn inputUDz(PTB2);
00014 
00015 int xUD1=0; // X-Offset
00016 int yUD1=0; // Y-Offset
00017 int zUD1=0; // Z-Offset
00018 
00019 int xUD=0; // variable for x axes
00020 int yUD=0; // variable for y axes
00021 int zUD=0; // variable for z axes
00022 
00023 // ----------- //
00024 
00025 // Left/Right Accel //
00026 AnalogIn inputLRx(PTB3);
00027 AnalogIn inputLRy(PTC2);
00028 AnalogIn inputLRz(PTC1);
00029 
00030 int xLR1=0; // X-Offset
00031 int yLR1=0; // Y-Offset
00032 int zLR1=0; // Z-Offset
00033 
00034 int xLR=0; // variable for x axes
00035 int yLR=0; // variable for y axes
00036 int zLR=0; // variable for z axes
00037 // ----------- //
00038 
00039 // Debugging LEDs //
00040 PwmOut led1(LED1);
00041 PwmOut led2(LED2);
00042 PwmOut led3(LED3);
00043 // ----------- //
00044 
00045 //    ISRs     //
00046 Timeout debounceUp; 
00047 Timeout debounceDown;
00048 Timeout debounceLeft; 
00049 Timeout debounceRight;
00050 
00051 Timeout middleUp;
00052 Timeout middleDown;
00053 Timeout middleLeft;
00054 Timeout middleRight;
00055 
00056 bool mFUp = 1;
00057 bool mFDown = 1;
00058 bool mFLeft = 1;
00059 bool mFRight = 1;
00060 
00061 bool dwn = 0;
00062 bool up = 0;
00063 bool lft = 0;
00064 bool rht = 0;
00065 
00066 // Debounce ISRs //
00067 void DBUp(){up = 0;}
00068 
00069 void DBDown(){dwn = 0;}
00070 
00071 void DBLeft(){lft = 0;}
00072 
00073 void DBRight(){rht = 0;}
00074 
00075 //---------------//
00076 
00077 // Middle Flag ISRs//
00078 void midUp(){mFUp = 1;}
00079 
00080 void midDown(){mFDown = 1;}
00081 
00082 void midLeft(){mFLeft = 1;}
00083 
00084 void midRight(){mFRight = 1;}
00085 //---------------//
00086 
00087 int main() {
00088     pc.baud(9600);
00089     wait(1);
00090 
00091     for(int i =0; i < 10;i++){
00092         xUD = inputUDx.read_u16();
00093         yUD = inputUDy.read_u16();
00094         zUD = inputUDz.read_u16();
00095         sumX += xUD;
00096         sumY += yUD;
00097         sumZ += zUD;
00098 }
00099 
00100     xUD1 = sumX/10;
00101     yUD1 = sumY/10;
00102     zUD1 = sumZ/10;
00103 
00104     sumX = 0; // Reset sum terms for LR controller
00105     sumY = 0;
00106     sumZ = 0;
00107 
00108     for(int i =0; i < 10;i++){
00109         xLR = inputLRx.read_u16();
00110         yLR = inputLRy.read_u16();
00111         zLR = inputLRz.read_u16();
00112         sumX += xLR;
00113         sumY += yLR;
00114         sumZ += zLR;
00115 }
00116 
00117     xLR1 = sumX/10;
00118     yLR1 = sumY/10;
00119     zLR1 = sumZ/10;
00120 
00121     USBKeyboard keyboard;
00122     while (true) {
00123         // Up/Down Read
00124         xUD = inputUDx.read_u16()-xUD1; 
00125         yUD = inputUDy.read_u16()-yUD1;
00126         zUD = inputUDz.read_u16()-zUD1;
00127         
00128         // Left/Right Read
00129         xLR = inputLRx.read_u16()-xLR1; 
00130         yLR = inputLRy.read_u16()-yLR1;
00131         zLR = inputLRz.read_u16()-zLR1; 
00132 
00133 
00134         //Establish Up
00135         if (xUD > -800 && yUD < 1500 && up == 0) { 
00136             keyboard.keyCode(UP_ARROW);
00137             led1 = 1;
00138             led2 = 0.9;
00139             led3 = 1;
00140             up = 1;
00141             debounceUp.attach(&DBDown, 0.100);
00142         }
00143          
00144         //Establish Down
00145         if(xUD < -3500 && yUD > 5000 && dwn == 0) {
00146             keyboard.keyCode(DOWN_ARROW);
00147             led1 = 1;
00148             led2 = 1;
00149             led3 = 0.9;    
00150             dwn = 1;
00151             debounceDown.attach(&DBUp, 0.100);
00152         }
00153          
00154         //Establish Left
00155         if (xLR > -800 && yLR < 1500 && lft == 0) { 
00156             keyboard.keyCode(LEFT_ARROW);
00157             led1 = 1;
00158             led2 = 0.9;
00159             led3 = 1;
00160             lft = 1;
00161             debounceRight.attach(&DBRight, 0.100);
00162         }
00163          
00164         //Establish Right
00165         if(xLR < -3500 && yLR > 5000 && rht == 0) {
00166             keyboard.keyCode(RIGHT_ARROW);
00167             led1 = 1;
00168             led2 = 1;
00169             led3 = 0.9;    
00170             rht = 1;
00171             debounceLeft.attach(&DBLeft, 0.100);
00172         }
00173          //When not moving
00174         if (xUD < -2000 && xUD > -3000 && yUD < 4000 && yUD > 3000 && mFUp == 1){
00175             up = 0;
00176             mFUp = 0;
00177             middleUp.attach(&midUp,0.50);
00178             led1 = 0.9;
00179             led2 = 1;
00180             led3 = 1;
00181         } // end if
00182         
00183          if (xUD < -1000 && xUD > -2800 && yUD < 3000 && yUD > 2000 && mFDown == 1){
00184             dwn = 0;
00185             mFDown = 0;
00186             middleDown.attach(&midDown,0.50);
00187             led1 = 0.9;
00188             led2 = 0.9;
00189             led3 = 1;
00190         } // end if
00191 
00192         if (xLR < -2000 && xLR > -3000 && yLR < 4000 && yLR > 3000 && mFLeft == 1){
00193             lft = 0;
00194             mFLeft = 0;
00195             middleLeft.attach(&midLeft,0.50);
00196             led1 = 0.9;
00197             led2 = 1;
00198             led3 = 1;
00199         } // end if
00200         
00201          if (xLR < -1000 && xLR > -2800 && yLR < 3000 && yLR > 2000 && mFRight == 1){
00202             rht = 0;
00203             mFRight = 0;
00204             middleRight.attach(&midRight,0.50);
00205             led1 = 0.9;
00206             led2 = 0.9;
00207             led3 = 1;
00208         } // end if
00209          
00210         wait_ms(50);
00211     } // end while
00212 } // end main