Project bike
bamlor nuttymaisuay
Dependencies: mbed
Diff: main.cpp
- Revision:
- 6:1de63d5df56a
- Parent:
- 5:738285670edf
- Child:
- 7:61c1f10bf484
--- a/main.cpp Mon Dec 11 11:56:44 2017 +0000
+++ b/main.cpp Mon Dec 11 23:02:51 2017 +0000
@@ -1,42 +1,17 @@
-/* MPU9250 Basic Example Code
- by: Kris Winer
- date: April 1, 2014
- license: Beerware - Use this code however you'd like. If you
- find it useful you can buy me a beer some time.
-
- Demonstrate basic MPU-9250 functionality including parameterizing the register addresses, initializing the sensor,
- getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to
- allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and
- Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1.
-
- SDA and SCL should have external pull-up resistors (to 3.3V).
- 10k resistors are on the EMSENSR-9250 breakout board.
-
- Hardware setup:
- MPU9250 Breakout --------- Arduino
- VDD ---------------------- 3.3V
- VDDI --------------------- 3.3V
- SDA ----------------------- A4
- SCL ----------------------- A5
- GND ---------------------- GND
-
- Note: The MPU9250 is an I2C sensor and uses the Arduino Wire library.
- Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1.
- We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file.
- We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
- */
-
-//#include "ST_F401_84MHZ.h"
-//F401_init84 myinit(0);
#include "mbed.h"
#include "MPU9250.h"
+#include <iostream>
+#include <string>
+string word;
+char alphabet;
float x;
float sum = 0;
uint32_t sumCount = 0;
char buffer[14];
+int i = 0;
MPU9250 mpu9250;
@@ -45,13 +20,905 @@
Serial pc(PA_15, PB_7); // tx, rx
float v, delt_t2 = 0, count2 = 0;
int mode;
-char cmode;
+int cmode;
Serial bam(D1,D0);
-
BusOut B(PA_0,PA_1,PA_4,PB_0,PC_1,PC_2,PC_3), A(PC_10,PC_12,PA_13,PA_14,PC_13,PC_11,PD_2), C(PA_5,PA_6,PA_7,PC_7,PB_2,PB_1,PB_15);
+
+void Text (char text,float posA,float posB,float posC,int i )
+{
+ int n = i*60;
+ if (text == ' '){
+ if (posA > 0+n && posA < 10+n) { A = 0x00; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x00; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x00; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x00; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x00; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x00; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x00; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x00; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x00; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x00; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x00; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x00; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x00; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x00; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x00; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'A'){
+ if (posA > 0+n && posA < 10+n) { A = 0x3F; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x44; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x44; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x44; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x3F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x3F; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x44; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x44; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x44; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x3F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x3F; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x44; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x44; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x44; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x3F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'B'){
+ if (posA > 0+n && posA < 10+n) { A = 0x36; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x49; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x49; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x49; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x36; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x49; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x49; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x49; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x36; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x49; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x49; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x49; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'C'){
+ if (posA > 0+n && posA < 10+n) { A = 0x22; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x41; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x41; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x41; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x3E; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x22; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x41; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x41; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x41; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x3E; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x22; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x41; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x41; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x41; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x3E; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'D'){
+ if (posA > 0+n && posA < 10+n) { A = 0x3E; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x41; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x41; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x41; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x3E; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x41; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x41; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x41; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x3E; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x41; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x41; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x41; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'E'){
+ if (posA > 0+n && posA < 10+n) { A = 0x49; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x49; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x49; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x49; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x49; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x49; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x49; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x49; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x49; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x49; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x49; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x49; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'F'){
+ if (posA > 0+n && posA < 10+n) { A = 0x40; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x40; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x48; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x48; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x40; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x40; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x48; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x48; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x40; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x40; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x48; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x48; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'G'){
+ if (posA > 0+n && posA < 10+n) { A = 0x4F; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x49; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x49; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x41; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x3E; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x4F; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x49; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x49; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x41; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x3E; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x4F; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x49; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x49; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x41; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x3E; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'H'){
+ if (posA > 0+n && posA < 10+n) { A = 0x7F; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x08; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x08; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x08; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x7F; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x08; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x08; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x08; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x7F; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x08; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x08; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x08; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'I'){
+ if (posA > 0+n && posA < 10+n) { A = 0x41; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x41; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x7F; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x41; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x41; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x41; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x41; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x7F; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x41; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x41; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x41; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x41; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x7F; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x41; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x41; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'J'){
+ if (posA > 0+n && posA < 10+n) { A = 0x7E; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x41; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x41; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x01; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x02; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x7E; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x41; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x41; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x01; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x02; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x7E; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x41; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x41; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x01; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x02; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'K'){
+ if (posA > 0+n && posA < 10+n) { A = 0x41; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x22; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x14; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x08; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x41; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x22; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x14; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x08; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x41; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x22; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x14; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x08; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'L'){
+ if (posA > 0+n && posA < 10+n) { A = 0x01; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x01; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x01; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x01; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x01; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x01; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x01; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x01; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x01; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x01; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x01; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x01; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'M'){
+ if (posA > 0+n && posA < 10+n) { A = 0x7F; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x20; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x10; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x20; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x7F; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x20; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x10; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x20; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x7F; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x20; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x10; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x20; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'N'){
+ if (posA > 0+n && posA < 10+n) { A = 0x7F; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x08; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x10; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x20; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x7F; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x08; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x10; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x20; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x7F; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x08; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x10; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x20; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'O'){
+ if (posA > 0+n && posA < 10+n) { A = 0x7F; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x41; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x41; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x41; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x7F; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x41; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x41; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x41; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x7F; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x41; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x41; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x41; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'P'){
+ if (posA > 0+n && posA < 10+n) { A = 0x30; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x48; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x48; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x48; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x30; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x48; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x48; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x48; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x30; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x48; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x48; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x48; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'Q'){
+ if (posA > 0+n && posA < 10+n) { A = 0x3D; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x22; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x22; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x22; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x3C; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x3D; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x22; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x22; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x22; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x3C; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x3D; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x22; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x22; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x22; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x3C; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'R'){
+ if (posA > 0+n && posA < 10+n) { A = 0x31; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x4A; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x4C; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x48; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7F; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x31; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x4A; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x4C; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x48; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7F; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x31; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x4A; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x4C; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x48; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7F; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'S'){
+ if (posA > 0+n && posA < 10+n) { A = 0x46; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x49; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x49; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x49; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x31; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x46; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x49; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x49; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x49; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x31; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x46; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x49; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x49; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x49; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x31; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'T'){
+ if (posA > 0+n && posA < 10+n) { A = 0x40; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x40; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x7F; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x40; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x40; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x40; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x40; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x7F; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x40; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x40; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x40; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x40; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x7F; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x40; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x40; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'U'){
+ if (posA > 0+n && posA < 10+n) { A = 0x7E; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x01; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x01; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x01; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7E; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x7E; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x01; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x01; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x01; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7E; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x7E; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x01; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x01; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x01; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7E; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'V'){
+ if (posA > 0+n && posA < 10+n) { A = 0x7C; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x02; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x01; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x02; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7C; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x7C; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x02; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x01; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x02; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7C; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x7C; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x02; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x01; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x02; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7C; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'W'){
+ if (posA > 0+n && posA < 10+n) { A = 0x7E; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x01; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x0E; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x01; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7E; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x7E; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x01; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x0E; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x01; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7E; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x7E; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x01; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x0E; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x01; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7E; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'X'){
+ if (posA > 0+n && posA < 10+n) { A = 0x77; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x08; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x08; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x08; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x77; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x77; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x08; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x08; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x08; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x77; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x77; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x08; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x08; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x08; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x77; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'Y'){
+ if (posA > 0+n && posA < 10+n) { A = 0x70; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x08; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x07; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x08; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x70; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x70; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x08; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x07; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x08; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x70; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x70; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x08; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x07; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x08; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x70; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == 'Z'){
+ if (posA > 0+n && posA < 10+n) { A = 0x61; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x51; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x49; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x45; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x43; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x61; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x51; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x49; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x45; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x43; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x61; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x51; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x49; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x45; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x43; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == '0'){
+ if (posA > 0+n && posA < 10+n) { A = 0x3E; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x41; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x41; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x41; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x3E; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x3E; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x41; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x41; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x41; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x3E; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x3E; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x41; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x41; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x41; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x3E; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == '1'){
+ if (posA > 0+n && posA < 10+n) { A = 0x01; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x01; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x7F; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x21; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x21; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x01; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x01; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x7F; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x21; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x21; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x01; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x01; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x7F; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x21; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x21; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == '2'){
+ if (posA > 0+n && posA < 10+n) { A = 0x21; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x51; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x49; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x45; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x23; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x21; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x51; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x49; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x45; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x23; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x21; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x51; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x49; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x48; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x23; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == '3'){
+ if (posA > 0+n && posA < 10+n) { A = 0x36; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x49; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x49; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x41; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x22; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x36; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x49; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x49; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x41; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x22; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x36; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x49; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x49; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x41; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x22; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == '4'){
+ if (posA > 0+n && posA < 10+n) { A = 0x04; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x1F; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x04; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x04; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x7C; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x04; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x1F; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x04; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x04; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x7C; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x04; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x1F; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x04; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x04; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7C; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == '5'){
+ if (posA > 0+n && posA < 10+n) { A = 0x46; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x49; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x49; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x49; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x79; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x46; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x49; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x49; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x49; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x79; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x46; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x49; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x49; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x49; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x7C; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == '6'){
+ if (posA > 0+n && posA < 10+n) { A = 0x26; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x49; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x49; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x49; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x3E; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x26; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x49; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x49; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x49; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x3E; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x26; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x49; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x49; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x49; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x3E; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == '7'){
+ if (posA > 0+n && posA < 10+n) { A = 0x60; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x50; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x47; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x40; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x40; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x60; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x50; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x47; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x40; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x40; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x60; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x50; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x47; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x40; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x40; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == '8'){
+ if (posA > 0+n && posA < 10+n) { A = 0x36; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x49; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x49; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x49; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x36; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x36; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x49; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x49; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x49; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x36; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x36; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x49; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x49; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x49; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x36; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+ if (text == '9'){
+ if (posA > 0+n && posA < 10+n) { A = 0x3E; }
+ else if(posA > 10+n && posA < 20+n ) { A = 0x49; }
+ else if(posA > 20+n && posA < 30+n ) { A = 0x49; }
+ else if(posA > 30+n && posA < 40+n ) { A = 0x49; }
+ else if(posA > 40+n && posA < 50+n ) { A = 0x32; }
+ else if(posA > 50+n && posA < 60+n ) { A = 0x00; }
+
+ if (posB > 0+n && posB < 10+n) { B = 0x3E; }
+ else if(posB > 10+n && posB < 20+n ) { B = 0x49; }
+ else if(posB > 20+n && posB < 30+n ) { B = 0x49; }
+ else if(posB > 30+n && posB < 40+n ) { B = 0x49; }
+ else if(posB > 40+n && posB < 50+n ) { B = 0x32; }
+ else if(posB > 50+n && posB < 60+n ) { B = 0x00; }
+
+ if (posC > 0+n && posC < 10+n) { C = 0x3E; }
+ else if(posC > 10+n && posC < 20+n ) { C = 0x49; }
+ else if(posC > 20+n && posC < 30+n ) { C = 0x49; }
+ else if(posC > 30+n && posC < 40+n ) { C = 0x49; }
+ else if(posC > 40+n && posC < 50+n ) { C = 0x32; }
+ else if(posC > 50+n && posC < 60+n ) { C = 0x00; }
+ }
+}
+
+void Velocity(int v ,float posA,float posB,float posC){
+ char value[3] ;
+ sprintf(value ,"%.2f",(v*10));
+ Text(value[0],posA,posB,posC,0);
+ Text(value[1],posA,posB,posC,1);
+ if (posA > 110 && posA < 120) { A = 0x01; }
+ if (posB > 110 && posB < 120) { B = 0x01; }
+ if (posC > 110 && posC < 120) { C = 0x01; }
+ Text(value[2],posA,posB,posC,2);
+ if (posA > 180 && posA < 190) { A = 0x7F; }
+ else if(posA > 190 && posA < 200 ) { A = 0x04; }
+ else if(posA > 210 && posA < 220 ) { A = 0x0A; }
+ else if(posA > 220 && posA < 230 ) { A = 0x11; }
+ else if(posA > 230 && posA < 240 ) { A = 0x0F; }
+ else if(posA > 240 && posA < 250 ) { A = 0x08; }
+ else if(posA > 250 && posA < 260 ) { A = 0x04; }
+ else if(posA > 260 && posA < 270 ) { A = 0x08; }
+ else if(posA > 270 && posA < 280 ) { A = 0x0F; }
+ else if(posA > 280 && posA < 290 ) { A = 0x03; }
+ else if(posA > 290 && posA < 300 ) { A = 0x0C; }
+ else if(posA > 300 && posA < 310 ) { A = 0x30; }
+ else if(posA > 310 && posA < 320 ) { A = 0x7F; }
+ else if(posA > 320 && posA < 330 ) { A = 0x08; }
+ else if(posA > 330 && posA < 340 ) { A = 0x0F; }
+ else { A = 0x00; }
+
+ if (posB > 180 && posB < 190) { B = 0x7F; }
+ else if(posB > 190 && posB < 200 ) { B = 0x04; }
+ else if(posB > 210 && posB < 220 ) { B = 0x0A; }
+ else if(posB > 220 && posB < 230 ) { B = 0x11; }
+ else if(posB > 230 && posB < 240 ) { B = 0x0F; }
+ else if(posB > 240 && posB < 250 ) { B = 0x08; }
+ else if(posB > 250 && posB < 260 ) { B = 0x04; }
+ else if(posB > 260 && posB < 270 ) { B = 0x08; }
+ else if(posB > 270 && posB < 280 ) { B = 0x0F; }
+ else if(posB > 280 && posB < 290 ) { B = 0x03; }
+ else if(posB > 290 && posB < 300 ) { B = 0x0C; }
+ else if(posB > 300 && posB < 310 ) { B = 0x30; }
+ else if(posB > 310 && posB < 320 ) { B = 0x7F; }
+ else if(posB > 320 && posB < 330 ) { B = 0x08; }
+ else if(posB > 330 && posB < 340 ) { B = 0x0F; }
+ else { B = 0x00; }
+
+ if (posC > 180 && posC < 190) { C = 0x7F; }
+ else if(posC > 190 && posC < 200 ) { C = 0x04; }
+ else if(posC > 210 && posC < 220 ) { C = 0x0A; }
+ else if(posC > 220 && posC < 230 ) { C = 0x11; }
+ else if(posC > 230 && posC < 240 ) { C = 0x0F; }
+ else if(posC > 240 && posC < 250 ) { C = 0x08; }
+ else if(posC > 250 && posC < 260 ) { C = 0x04; }
+ else if(posC > 260 && posC < 270 ) { C = 0x08; }
+ else if(posC > 270 && posC < 280 ) { C = 0x0F; }
+ else if(posC > 280 && posC < 290 ) { C = 0x03; }
+ else if(posC > 290 && posC < 300 ) { C = 0x0C; }
+ else if(posC > 300 && posC < 310 ) { C = 0x30; }
+ else if(posC > 310 && posC < 320 ) { C = 0x7F; }
+ else if(posC > 320 && posC < 330 ) { C = 0x08; }
+ else if(posC > 330 && posC < 340 ) { C = 0x0F; }
+ else { C = 0x00; }
+ }
+
float posA = 0,posB,posC;
+
+
+
+
+
+
+
+
+
int main()
{
+ A = 0;
+ B = 0;
+ C = 0;
mode = 0;
pc.baud(38400);
//Set up I2C
@@ -116,9 +983,9 @@
mpu9250.getAres(); // Get accelerometer sensitivity
mpu9250.getGres(); // Get gyro sensitivity
mpu9250.getMres(); // Get magnetometer sensitivity
- // pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
-// pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
-// pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
+ pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
+ pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
+ pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
magbias[1] = +120.; // User environmental x-axis correction in milliGauss
magbias[2] = +125.; // User environmental x-axis correction in milliGauss
@@ -128,12 +995,6 @@
// If intPin goes high, all data registers have new data
if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
-
- // mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
-// // Now we'll calculate the accleration value into actual g's
-// ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
-// ay = (float)accelCount[1]*aRes - accelBias[1];
-// az = (float)accelCount[2]*aRes - accelBias[2];
mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
// Calculate the gyro value into actual degrees per second
@@ -141,301 +1002,39 @@
gy = (float)gyroCount[1]*gRes - gyroBias[1];
gz = (float)gyroCount[2]*gRes - gyroBias[2];
-// mpu9250.readMagData(magCount); // Read the x/y/z adc values
-// // Calculate the magnetometer values in milliGauss
-// // Include factory calibration per data sheet and user environmental corrections
-// mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
-// my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
-// mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
-// }
-
- // Now = t.read_us();
-// deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
-// lastUpdate = Now;
-
- //sum += deltat;
-// sumCount++;
-
-// if(lastUpdate - firstUpdate > 10000000.0f) {
-// beta = 0.04; // decrease filter gain after stabilized
-// zeta = 0.015; // increasey bias drift gain after stabilized
- // }
-
- // Pass gyro rate as rad/s
-// mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
// Serial print and/or display at 0.5 s rate independent of data rates
delt_t = t.read_us() - count;
if (delt_t > 1) { // update LCD once per half-second independent of read rate
- // pc.printf("delt_t = %f\n",delt_t);
-
- // if (gz < 1)
-// {
-// x = 0;
-// }
-// else if (gz < 50)
-// {
-// x = 19;
-// }
-// else
-// {
-// x = 13;
-// }
- // x=35;
- // if(gz<0)
-// {
-// x = 0;
-// }
-// else{
-// x = 40 ;
-// }
- x = 97.5;
+
+ x = 1.2;
posA += (gz*delt_t*x/1000000);
posA = fmod(posA,360);
posB = fmod(posA + 240,360);
posC = fmod(posA + 120,360);
+ count = t.read_us();
+ //Text('O',posA,posB,posC,0);
+// Text('B',posA,posB,posC,1);
+// Text('I',posA,posB,posC,2);
+// Text('F',posA,posB,posC,3);
+// Text(' ',posA,posB,posC,4);
+// Text(' ',posA,posB,posC,5);
+
if (mode == 1)
{
- //pc.printf("x = %f", x);
-
-
- // if (posA >= 360 && posA < 720)
-// {
-// A = 0x7F;
-// B = 0x7F;
-// C = 0x7F;
-// }
-// else if (posA >= 720 && posA < 1080)
-// {
-// A = 0x7F;
-// B = 0;
-// C = 0;
-// }
-// else if (posA >= 1080 && posA < 1440)
-// {
-// A = 0x7F;
-// B = 0x7F;
-// C = 0x7F;
-// }
-// else if (posA >= 1440 && posA < 1800)
-// {
-// A = 0x7F;
-// B = 0;
-// C = 0;
-// }
-// else if (posA >= 1800)
-// {
-// A = 0x7F;
-// B = 0x7F;
-// C = 0x7F;
-// }
-// else
-// {
-// A = 0;
-// B = 0;
-// C = 0;
-// }
-// if (posA >= 360)
-// {
-// break;
-// }
-
- if (posA > 0 && posA <= 6)
- {
- A = 0x70;
- }
- else if (posA > 6 && posA <= 12)
- {
- A = 0x70;
- }
- else if(posA > 12 && posA <= 18 )
- {
- A = 0x08;
- }
- else if(posA > 18 && posA <= 24 )
- {
- A = 0x08;
- }
- else if(posA > 24 && posA <= 30 )
- {
- A = 0x07;
+ Velocity(v,posA,posB,posC);
}
- else if(posA > 30 && posA <= 36 )
- {
- A = 0x07;
- }
- else if(posA > 36 && posA <= 42 )
- {
- A = 0x08;
- }
- else if(posA > 42 && posA <= 48 )
- {
- A = 0x08;
- }
- else if(posA > 48 && posA <= 54 )
- {
- A = 0x70;
- }
- else if(posA > 54 && posA <= 59 )
- {
- A = 0x70;
- }
- else
- {
- A = 0x00;
- }
- if (posB > 0 && posB <= 6)
- {
- B = 0x70;
- }
- else if (posB > 6 && posB <= 12)
- {
- B = 0x70;
- }
- else if(posB > 12 && posB <= 18 )
- {
- B = 0x08;
- }
- else if(posB > 18 && posB <= 24 )
- {
- B = 0x08;
- }
- else if(posB > 24 && posB <= 30 )
- {
- B = 0x07;
- }
- else if(posB > 30 && posB <= 36 )
- {
- B = 0x07;
- }
- else if(posB > 36 && posB <= 42 )
- {
- B = 0x08;
- }
- else if(posB > 42 && posB <= 48 )
- {
- B = 0x08;
- }
- else if(posB > 48 && posB <= 54 )
- {
- B = 0x70;
- }
- else if(posB > 54 && posB <= 59 )
- {
- B = 0x70;
- }
- else
- {
- B = 0x00;
+ else if (mode == 2)
+ {
+ Text((char)word[0],posA,posB,posC,5);
+ Text((char)word[1],posA,posB,posC,4);
+ Text((char)word[2],posA,posB,posC,3);
+ Text((char)word[3],posA,posB,posC,2);
+ Text((char)word[4],posA,posB,posC,1);
+ Text((char)word[5],posA,posB,posC,0);
}
- if (posC > 0 && posC <= 6)
- {
- C = 0x70;
- }
- else if (posC > 6 && posC <= 12)
- {
- C = 0x70;
- }
- else if(posC > 12 && posC <= 18 )
- {
- C = 0x08;
- }
- else if(posC > 18 && posC <= 24 )
- {
- C = 0x08;
- }
- else if(posC > 24 && posC <= 30 )
- {
- C = 0x07;
- }
- else if(posC > 30 && posC <= 36 )
- {
- C = 0x07;
- }
- else if(posC > 36 && posC <= 42 )
- {
- C = 0x08;
- }
- else if(posC > 42 && posC <= 48 )
- {
- C = 0x08;
- }
- else if(posC > 48 && posC <= 54 )
- {
- C = 0x70;
- }
- else if(posC > 54&& posC <= 59 )
- {
- C = 0x70;
- }
- else
- {
- C = 0x00;
- }
- }
- else if (mode == 2)
- {
-
- }
-// pc.printf("ax = %f", 1000*ax);
-// pc.printf(" ay = %f", 1000*ay);
-// pc.printf(" az = %f mg\n\r", 1000*az);
-
-// pc.printf("gx = %f", gx);
-// pc.printf(" gy = %f", gy);
-// pc.printf(" %.2f\r", gz);
-// pc.printf(" %.2f %.2f %.2f\n", posA, posB, posC);
-
- // pc.printf("gx = %f", mx);
-// pc.printf(" gy = %f", my);
-// pc.printf(" gz = %f mG\n\r", mz);
-
- // tempCount = mpu9250.readTempData(); // Read the adc values
-// temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
-// pc.printf(" temperature = %f C\n\r", temperature);
-
- // pc.printf("q0 = %f\n\r", q[0]);
-// pc.printf("q1 = %f\n\r", q[1]);
-// pc.printf("q2 = %f\n\r", q[2]);
-// pc.printf("q3 = %f\n\r", q[3]);
-
-
-
- // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
- // In this coordinate system, the positive z-axis is down toward Earth.
- // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
- // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
- // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
- // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
- // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
- // applied in the correct order which for this configuration is yaw, pitch, and then roll.
- // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
-// yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
-// pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
-// roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
-// pitch *= 180.0f / PI;
-// yaw *= 180.0f / PI;
-// yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
-// roll *= 180.0f / PI;
-
-// pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
-// pc.printf("average rate = %f\n\r", (float) sumCount/sum);
-// sprintf(buffer, "YPR: %f %f %f", yaw, pitch, roll);
-// sprintf(buffer, "rate = %f", (float) sumCount/sum);
-//
-
- count = t.read_us();
-
- // if(count > 1<<21) {
-// t.start(); // start the timer over again if ~30 minutes has passed
-// count = 0;
-// deltat= 0;
-// lastUpdate = t.read_us();
-// }
-// sum = 0;
-// sumCount = 0;
}
delt_t2 = t.read_us() - count2;
if (delt_t2 >= 1000000)
@@ -444,19 +1043,29 @@
pc.printf("%0.1f",v);
count2 = t.read_us();
}
+
if (pc.readable())
+
{
cmode = pc.getc();
- switch (cmode)
+ switch(cmode)
{
+ case '&':
+ word.clear();
+ break;
+
case '?':
mode = 1;
break;
- case 'j'
+ case '!':
mode = 2;
break;
+
+ default:
+ word += cmode;
}
+// bam.printf("%c %s %d\n",cmode, word, word.length());
}
}