SGMP Coperations
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Dependencies: mbed
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SGMP Coperations
Revision 2:e8807de906c9, committed 2017-12-13
- Comitter:
- iampalop
- Date:
- Wed Dec 13 03:35:22 2017 +0000
- Parent:
- 1:44b26709b117
- Commit message:
- PopDetect
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Sun Dec 10 07:13:07 2017 +0000
+++ b/main.cpp Wed Dec 13 03:35:22 2017 +0000
@@ -6,23 +6,247 @@
Serial pc(D1, D0);
+DigitalIn get(PC_7);
+DigitalIn mon1(PA_7);
+DigitalIn mon2(PB_6);
+DigitalIn mon3(PA_5);
+
float axis_gz, axis_gy, axis_gx;
float axis_az, axis_ay, axis_ax;
+float CurAy, CurAx, CurAz, CurGx, CurGy, CurGz;
+float diffAy, diffAx, diffAz, diffGx, diffGy, diffGz;
+float getAy, getAx, getAz, getGx, getGy, getGz;
+int getitem = 1, monster1 = 1, monster2 = 1, monster3 = 1, boss1 = 1, boss2 = 1, boss3 = 1;
int main(){
while(1){
- wait(0.1);
+ //wait(0.1);
axis_Gen.Update();
- axis_ax = axis_Gen.g_ax()*180;
- axis_ay = axis_Gen.g_ay()*180;
- axis_az = axis_Gen.g_az()*180;
- axis_gx = axis_Gen.g_gx();
- axis_gy = axis_Gen.g_gy();
- axis_gz = axis_Gen.g_gz();
- pc.printf(" axis_x %f\t axis_y %f\t axis_z %f\n\n\n\r", axis_gx, axis_gy, axis_gz);
- //pc.printf(" axis_x %f\t axis_y %f\t axis_z %f\n\n\n\r", axis_ax, axis_ay, axis_az);
- wait(0.2);
+ axis_ax = (axis_Gen.g_ax()*1000)+0;
+ axis_ay = (axis_Gen.g_ay()*1000)+0;
+ axis_az = (axis_Gen.g_az()*1000)-1000;
+ axis_gx = axis_Gen.g_gx()*4;
+ axis_gy = axis_Gen.g_gy()*4;
+ axis_gz = axis_Gen.g_gz()*4;
+ pc.printf(" Gaxis_x %f\t Gaxis_y %f\t Gaxis_z %f ", axis_gx, axis_gy, axis_gz);
+ pc.printf(" Aaxis_x %f\t Aaxis_y %f\t Aaxis_z %f\n\n\n\r", axis_ax, axis_ay, axis_az);
+// wait(0.2);
+
+ if(get == 0)
+ {
+ getAy = abs(axis_ay);
+ getAx = abs(axis_ax);
+ getAz = abs(axis_az);
+ while(getitem)
+ {
+ pc.printf("\n\nAZ = %f ", getAz);
+ wait(0.1);
+ axis_Gen.Update();
+ CurAy = axis_Gen.g_ay()*1000;
+ CurAx = axis_Gen.g_ax()*1000;
+ CurAz = axis_Gen.g_az()*1000;
+ pc.printf("\n\nCurrentZ = %f ", CurAz);
+ diffAy = abs(abs(CurAy)-getAy);
+ diffAx = abs(abs(CurAx)-getAx);
+ diffAz = abs(abs(CurAz)-getAz);
+ pc.printf("\n\nDiffAy = %f ", diffAy);
+ pc.printf("\n\nDiffAx = %f ", diffAx);
+ pc.printf("\n\nDiffAz = %f \n\n", diffAz);
+ if(diffAz > 1300 and diffAx < 200 and diffAy < 200 )
+ {
+ pc.printf("\n\n ITEM \n\n");
+ getitem = 0;
+ }
+ }
+ getitem = 1;
+ }
+ if(mon1 == 0)
+ {
+ getAy = abs(axis_ay);
+ getAx = abs(axis_ax);
+ getAz = abs(axis_az);
+ while(monster1)
+ {
+ pc.printf("\n\nAx = %f ", getAx);
+ wait(0.1);
+ axis_Gen.Update();
+ CurAy = axis_Gen.g_ay()*1000;
+ CurAx = axis_Gen.g_ax()*1000;
+ CurAz = axis_Gen.g_az()*1000;
+ pc.printf("\n\nCurrentX = %f ", CurAx);
+ diffAy = abs(abs(CurAy)-getAy);
+ diffAx = abs(abs(CurAx)-getAx);
+ diffAz = abs(abs(CurAz)-getAz);
+ pc.printf("\n\nDiffAy = %f ", diffAy);
+ pc.printf("\n\nDiffAx = %f ", diffAx);
+ pc.printf("\n\nDiffAz = %f \n\n", diffAz);
+ if(diffAx > 600 and diffAz < 1000 and diffAy < 200 )
+ {
+ pc.printf("\n\n Monster 1 \n\n");
+ monster1 = 0;
+ }
+ }
+ monster1 = 1;
+ }
+ if(mon2 == 0)
+ {
+ getAy = abs(axis_ay);
+ getAx = abs(axis_ax);
+ getAz = abs(axis_az);
+ while(monster2)
+ {
+ pc.printf("\n\nAy = %f ", getAy);
+ wait(0.1);
+ axis_Gen.Update();
+ CurAy = axis_Gen.g_ay()*1000;
+ CurAx = axis_Gen.g_ax()*1000;
+ CurAz = axis_Gen.g_az()*1000;
+ pc.printf("\n\nCurrentY = %f ", CurAy);
+ diffAy = abs(abs(CurAy)-getAy);
+ diffAx = abs(abs(CurAx)-getAx);
+ diffAz = abs(abs(CurAz)-getAz);
+ pc.printf("\n\nDiffAy = %f ", diffAy);
+ pc.printf("\n\nDiffAx = %f ", diffAx);
+ pc.printf("\n\nDiffAz = %f \n\n", diffAz);
+ if(diffAy > 800 and diffAz < 1000 and diffAx < 200 )
+ {
+ pc.printf("\n\n Monster 2 \n\n");
+ monster2 = 0;
+ }
+ }
+ monster2 = 1;
+ }
+ if(mon3 == 0)
+ {
+ getAy = abs(axis_ay);
+ getAx = abs(axis_ax);
+ getAz = abs(axis_az);
+ while(monster3)
+ {
+ pc.printf("\n\nAx = %f ", getAx);
+ wait(0.1);
+ axis_Gen.Update();
+ CurAy = axis_Gen.g_ay()*1000;
+ CurAx = axis_Gen.g_ax()*1000;
+ CurAz = axis_Gen.g_az()*1000;
+ pc.printf("\n\nCurrentX = %f ", CurAx);
+ diffAy = abs(abs(CurAy)-getAy);
+ diffAx = abs(abs(CurAx)-getAx);
+ diffAz = abs(abs(CurAz)-getAz);
+ pc.printf("\n\nDiffAy = %f ", diffAy);
+ pc.printf("\n\nDiffAx = %f ", diffAx);
+ pc.printf("\n\nDiffAz = %f \n\n", diffAz);
+ if(diffAy > 200 and diffAz < 900 and diffAy < 300 )
+ {
+ pc.printf("\n\n Monster 3 \n\n");
+ monster3 = 0;
+ }
+ }
+ monster3 = 1;
+ }
+ if(get == 0 and mon1 == 0)
+ {
+ getAy = abs(axis_ay);
+ getAx = abs(axis_ax);
+ getAz = abs(axis_az);
+ getGx = abs(axis_gx);
+ getGy = abs(axis_gy);
+ getGz = abs(axis_gz);
+ while(boss1)
+ {
+ pc.printf("\n\nAx = %f ", getAx);
+ wait(0.1);
+ axis_Gen.Update();
+ CurAy = axis_Gen.g_ay()*1000;
+ CurAx = axis_Gen.g_ax()*1000;
+ CurAz = axis_Gen.g_az()*1000;
+ CurGx = axis_Gen.g_gx()*4;
+ CurGy = axis_Gen.g_gy()*4;
+ CurGz = axis_Gen.g_gz()*4;
+ pc.printf("\n\nCurrentX = %f ", CurAx);
+ diffAy = abs(abs(CurAy)-getAy);
+ diffAx = abs(abs(CurAx)-getAx);
+ diffAz = abs(abs(CurAz)-getAz);
+ diffGx = abs(abs(CurGx)-getGx);
+ diffGy = abs(abs(CurGy)-getGy);
+ diffGz = abs(abs(CurGz)-getGz);
+ if(diffAx > 600 and diffAz < 1000 and diffAy < 200 and diffGx > 700)
+ {
+ pc.printf("\n\n Boss 1 \n\n");
+ boss1 = 0;
+ }
+ }
+ boss1 = 1;
+ }
+ if(get == 0 and mon2 == 0)
+ {
+ getAy = abs(axis_ay);
+ getAx = abs(axis_ax);
+ getAz = abs(axis_az);
+ getGx = abs(axis_gx);
+ getGy = abs(axis_gy);
+ getGz = abs(axis_gz);
+ while(boss2)
+ {
+ pc.printf("\n\nAx = %f ", getAx);
+ wait(0.1);
+ axis_Gen.Update();
+ CurAy = axis_Gen.g_ay()*1000;
+ CurAx = axis_Gen.g_ax()*1000;
+ CurAz = axis_Gen.g_az()*1000;
+ CurGx = axis_Gen.g_gx()*4;
+ CurGy = axis_Gen.g_gy()*4;
+ CurGz = axis_Gen.g_gz()*4;
+ pc.printf("\n\nCurrentX = %f ", CurAx);
+ diffAy = abs(abs(CurAy)-getAy);
+ diffAx = abs(abs(CurAx)-getAx);
+ diffAz = abs(abs(CurAz)-getAz);
+ diffGx = abs(abs(CurGx)-getGx);
+ diffGy = abs(abs(CurGy)-getGy);
+ diffGz = abs(abs(CurGz)-getGz);
+ if(diffAx > 200 and diffAz < 1000 and diffAy < 200 and diffGz > 500)
+ {
+ pc.printf("\n\n Boss 2 \n\n");
+ boss2 = 0;
+ }
+ }
+ boss2 = 1;
+ }
+ if(get == 0 and mon3 == 0)
+ {
+ getAy = abs(axis_ay);
+ getAx = abs(axis_ax);
+ getAz = abs(axis_az);
+ getGx = abs(axis_gx);
+ getGy = abs(axis_gy);
+ getGz = abs(axis_gz);
+ while(boss3)
+ {
+ pc.printf("\n\nAx = %f ", getAx);
+ wait(0.1);
+ axis_Gen.Update();
+ CurAy = axis_Gen.g_ay()*1000;
+ CurAx = axis_Gen.g_ax()*1000;
+ CurAz = axis_Gen.g_az()*1000;
+ CurGx = axis_Gen.g_gx()*4;
+ CurGy = axis_Gen.g_gy()*4;
+ CurGz = axis_Gen.g_gz()*4;
+ pc.printf("\n\nCurrentX = %f ", CurAx);
+ diffAy = abs(abs(CurAy)-getAy);
+ diffAx = abs(abs(CurAx)-getAx);
+ diffAz = abs(abs(CurAz)-getAz);
+ diffGx = abs(abs(CurGx)-getGx);
+ diffGy = abs(abs(CurGy)-getGy);
+ diffGz = abs(abs(CurGz)-getGz);
+ if(diffAx > 500 and diffAy > 500 and diffAz > 800 and diffGx > 500 and diffGy > 500 and diffGz > 500)
+ {
+ pc.printf("\n\n Boss 3 \n\n");
+ boss3 = 0;
+ }
+ }
+ boss3 = 1;
+ }
}
}