Project bike
bamlor nuttymaisuay
Dependencies: mbed
main.cpp
- Committer:
- jaybehandsome
- Date:
- 2017-12-11
- Revision:
- 6:1de63d5df56a
- Parent:
- 5:738285670edf
- Child:
- 7:61c1f10bf484
File content as of revision 6:1de63d5df56a:
#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;
Timer t;
Serial pc(PA_15, PB_7); // tx, rx
float v, delt_t2 = 0, count2 = 0;
int mode;
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
i2c.frequency(400000); // use fast (400 kHz) I2C
bam.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
t.start();
// Read the WHO_AM_I register, this is a good test of communication
uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
pc.printf("I AM 0x%x\n\r", whoami); bam.printf("I SHOULD BE 0x71\n\r");
if (whoami == 0x71) // WHO_AM_I should always be 0x68
{
bam.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
bam.printf("MPU9250 is online...\n\r");
sprintf(buffer, "0x%x", whoami);
wait(1);
mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
bam.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]);
bam.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]);
bam.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]);
bam.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]);
bam.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]);
bam.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]);
mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
bam.printf("x gyro bias = %f\n\r", gyroBias[0]);
bam.printf("y gyro bias = %f\n\r", gyroBias[1]);
bam.printf("z gyro bias = %f\n\r", gyroBias[2]);
bam.printf("x accel bias = %f\n\r", accelBias[0]);
bam.printf("y accel bias = %f\n\r", accelBias[1]);
bam.printf("z accel bias = %f\n\r", accelBias[2]);
wait(2);
mpu9250.initMPU9250();
bam.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
mpu9250.initAK8963(magCalibration);
bam.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
bam.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
bam.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
if(Mscale == 0) bam.printf("Magnetometer resolution = 14 bits\n\r");
if(Mscale == 1) bam.printf("Magnetometer resolution = 16 bits\n\r");
if(Mmode == 2) bam.printf("Magnetometer ODR = 8 Hz\n\r");
if(Mmode == 6) bam.printf("Magnetometer ODR = 100 Hz\n\r");
wait(1);
}
else
{
bam.printf("Could not connect to MPU9250: \n\r");
bam.printf("%#x \n", whoami);
sprintf(buffer, "WHO_AM_I 0x%x", whoami);
while(1) ; // Loop forever if communication doesn't happen
}
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);
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
while(1) {
// 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.readGyroData(gyroCount); // Read the x/y/z adc values
// Calculate the gyro value into actual degrees per second
gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
gy = (float)gyroCount[1]*gRes - gyroBias[1];
gz = (float)gyroCount[2]*gRes - gyroBias[2];
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
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)
{
Velocity(v,posA,posB,posC);
}
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);
}
}
delt_t2 = t.read_us() - count2;
if (delt_t2 >= 1000000)
{
v = (gz*x*PI*0.35*3600)/(180*1000*100);
pc.printf("%0.1f",v);
count2 = t.read_us();
}
if (pc.readable())
{
cmode = pc.getc();
switch(cmode)
{
case '&':
word.clear();
break;
case '?':
mode = 1;
break;
case '!':
mode = 2;
break;
default:
word += cmode;
}
// bam.printf("%c %s %d\n",cmode, word, word.length());
}
}
}
}