SGMP Coperations
/
greenimugetithothot
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SGMP Coperations
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main.cpp
00001 #include "mbed.h" 00002 #include "GETMPU9250.h" 00003 #include "math.h" 00004 00005 ZMU9250 axis_Gen; 00006 00007 Serial pc(D1, D0); 00008 00009 DigitalIn get(PC_7); 00010 DigitalIn mon1(PA_7); 00011 DigitalIn mon2(PB_6); 00012 DigitalIn mon3(PA_5); 00013 00014 float axis_gz, axis_gy, axis_gx; 00015 float axis_az, axis_ay, axis_ax; 00016 float CurAy, CurAx, CurAz, CurGx, CurGy, CurGz; 00017 float diffAy, diffAx, diffAz, diffGx, diffGy, diffGz; 00018 float getAy, getAx, getAz, getGx, getGy, getGz; 00019 int getitem = 1, monster1 = 1, monster2 = 1, monster3 = 1, boss1 = 1, boss2 = 1, boss3 = 1; 00020 00021 int main(){ 00022 00023 while(1){ 00024 //wait(0.1); 00025 axis_Gen.Update(); 00026 axis_ax = (axis_Gen.g_ax()*1000)+0; 00027 axis_ay = (axis_Gen.g_ay()*1000)+0; 00028 axis_az = (axis_Gen.g_az()*1000)-1000; 00029 axis_gx = axis_Gen.g_gx()*4; 00030 axis_gy = axis_Gen.g_gy()*4; 00031 axis_gz = axis_Gen.g_gz()*4; 00032 pc.printf(" Gaxis_x %f\t Gaxis_y %f\t Gaxis_z %f ", axis_gx, axis_gy, axis_gz); 00033 pc.printf(" Aaxis_x %f\t Aaxis_y %f\t Aaxis_z %f\n\n\n\r", axis_ax, axis_ay, axis_az); 00034 // wait(0.2); 00035 00036 if(get == 0) 00037 { 00038 getAy = abs(axis_ay); 00039 getAx = abs(axis_ax); 00040 getAz = abs(axis_az); 00041 while(getitem) 00042 { 00043 pc.printf("\n\nAZ = %f ", getAz); 00044 wait(0.1); 00045 axis_Gen.Update(); 00046 CurAy = axis_Gen.g_ay()*1000; 00047 CurAx = axis_Gen.g_ax()*1000; 00048 CurAz = axis_Gen.g_az()*1000; 00049 pc.printf("\n\nCurrentZ = %f ", CurAz); 00050 diffAy = abs(abs(CurAy)-getAy); 00051 diffAx = abs(abs(CurAx)-getAx); 00052 diffAz = abs(abs(CurAz)-getAz); 00053 pc.printf("\n\nDiffAy = %f ", diffAy); 00054 pc.printf("\n\nDiffAx = %f ", diffAx); 00055 pc.printf("\n\nDiffAz = %f \n\n", diffAz); 00056 if(diffAz > 1300 and diffAx < 200 and diffAy < 200 ) 00057 { 00058 pc.printf("\n\n ITEM \n\n"); 00059 getitem = 0; 00060 } 00061 } 00062 getitem = 1; 00063 } 00064 if(mon1 == 0) 00065 { 00066 getAy = abs(axis_ay); 00067 getAx = abs(axis_ax); 00068 getAz = abs(axis_az); 00069 while(monster1) 00070 { 00071 pc.printf("\n\nAx = %f ", getAx); 00072 wait(0.1); 00073 axis_Gen.Update(); 00074 CurAy = axis_Gen.g_ay()*1000; 00075 CurAx = axis_Gen.g_ax()*1000; 00076 CurAz = axis_Gen.g_az()*1000; 00077 pc.printf("\n\nCurrentX = %f ", CurAx); 00078 diffAy = abs(abs(CurAy)-getAy); 00079 diffAx = abs(abs(CurAx)-getAx); 00080 diffAz = abs(abs(CurAz)-getAz); 00081 pc.printf("\n\nDiffAy = %f ", diffAy); 00082 pc.printf("\n\nDiffAx = %f ", diffAx); 00083 pc.printf("\n\nDiffAz = %f \n\n", diffAz); 00084 if(diffAx > 600 and diffAz < 1000 and diffAy < 200 ) 00085 { 00086 pc.printf("\n\n Monster 1 \n\n"); 00087 monster1 = 0; 00088 } 00089 } 00090 monster1 = 1; 00091 } 00092 if(mon2 == 0) 00093 { 00094 getAy = abs(axis_ay); 00095 getAx = abs(axis_ax); 00096 getAz = abs(axis_az); 00097 while(monster2) 00098 { 00099 pc.printf("\n\nAy = %f ", getAy); 00100 wait(0.1); 00101 axis_Gen.Update(); 00102 CurAy = axis_Gen.g_ay()*1000; 00103 CurAx = axis_Gen.g_ax()*1000; 00104 CurAz = axis_Gen.g_az()*1000; 00105 pc.printf("\n\nCurrentY = %f ", CurAy); 00106 diffAy = abs(abs(CurAy)-getAy); 00107 diffAx = abs(abs(CurAx)-getAx); 00108 diffAz = abs(abs(CurAz)-getAz); 00109 pc.printf("\n\nDiffAy = %f ", diffAy); 00110 pc.printf("\n\nDiffAx = %f ", diffAx); 00111 pc.printf("\n\nDiffAz = %f \n\n", diffAz); 00112 if(diffAy > 800 and diffAz < 1000 and diffAx < 200 ) 00113 { 00114 pc.printf("\n\n Monster 2 \n\n"); 00115 monster2 = 0; 00116 } 00117 } 00118 monster2 = 1; 00119 } 00120 if(mon3 == 0) 00121 { 00122 getAy = abs(axis_ay); 00123 getAx = abs(axis_ax); 00124 getAz = abs(axis_az); 00125 while(monster3) 00126 { 00127 pc.printf("\n\nAx = %f ", getAx); 00128 wait(0.1); 00129 axis_Gen.Update(); 00130 CurAy = axis_Gen.g_ay()*1000; 00131 CurAx = axis_Gen.g_ax()*1000; 00132 CurAz = axis_Gen.g_az()*1000; 00133 pc.printf("\n\nCurrentX = %f ", CurAx); 00134 diffAy = abs(abs(CurAy)-getAy); 00135 diffAx = abs(abs(CurAx)-getAx); 00136 diffAz = abs(abs(CurAz)-getAz); 00137 pc.printf("\n\nDiffAy = %f ", diffAy); 00138 pc.printf("\n\nDiffAx = %f ", diffAx); 00139 pc.printf("\n\nDiffAz = %f \n\n", diffAz); 00140 if(diffAy > 200 and diffAz < 900 and diffAy < 300 ) 00141 { 00142 pc.printf("\n\n Monster 3 \n\n"); 00143 monster3 = 0; 00144 } 00145 } 00146 monster3 = 1; 00147 } 00148 if(get == 0 and mon1 == 0) 00149 { 00150 getAy = abs(axis_ay); 00151 getAx = abs(axis_ax); 00152 getAz = abs(axis_az); 00153 getGx = abs(axis_gx); 00154 getGy = abs(axis_gy); 00155 getGz = abs(axis_gz); 00156 while(boss1) 00157 { 00158 pc.printf("\n\nAx = %f ", getAx); 00159 wait(0.1); 00160 axis_Gen.Update(); 00161 CurAy = axis_Gen.g_ay()*1000; 00162 CurAx = axis_Gen.g_ax()*1000; 00163 CurAz = axis_Gen.g_az()*1000; 00164 CurGx = axis_Gen.g_gx()*4; 00165 CurGy = axis_Gen.g_gy()*4; 00166 CurGz = axis_Gen.g_gz()*4; 00167 pc.printf("\n\nCurrentX = %f ", CurAx); 00168 diffAy = abs(abs(CurAy)-getAy); 00169 diffAx = abs(abs(CurAx)-getAx); 00170 diffAz = abs(abs(CurAz)-getAz); 00171 diffGx = abs(abs(CurGx)-getGx); 00172 diffGy = abs(abs(CurGy)-getGy); 00173 diffGz = abs(abs(CurGz)-getGz); 00174 if(diffAx > 600 and diffAz < 1000 and diffAy < 200 and diffGx > 700) 00175 { 00176 pc.printf("\n\n Boss 1 \n\n"); 00177 boss1 = 0; 00178 } 00179 } 00180 boss1 = 1; 00181 } 00182 if(get == 0 and mon2 == 0) 00183 { 00184 getAy = abs(axis_ay); 00185 getAx = abs(axis_ax); 00186 getAz = abs(axis_az); 00187 getGx = abs(axis_gx); 00188 getGy = abs(axis_gy); 00189 getGz = abs(axis_gz); 00190 while(boss2) 00191 { 00192 pc.printf("\n\nAx = %f ", getAx); 00193 wait(0.1); 00194 axis_Gen.Update(); 00195 CurAy = axis_Gen.g_ay()*1000; 00196 CurAx = axis_Gen.g_ax()*1000; 00197 CurAz = axis_Gen.g_az()*1000; 00198 CurGx = axis_Gen.g_gx()*4; 00199 CurGy = axis_Gen.g_gy()*4; 00200 CurGz = axis_Gen.g_gz()*4; 00201 pc.printf("\n\nCurrentX = %f ", CurAx); 00202 diffAy = abs(abs(CurAy)-getAy); 00203 diffAx = abs(abs(CurAx)-getAx); 00204 diffAz = abs(abs(CurAz)-getAz); 00205 diffGx = abs(abs(CurGx)-getGx); 00206 diffGy = abs(abs(CurGy)-getGy); 00207 diffGz = abs(abs(CurGz)-getGz); 00208 if(diffAx > 200 and diffAz < 1000 and diffAy < 200 and diffGz > 500) 00209 { 00210 pc.printf("\n\n Boss 2 \n\n"); 00211 boss2 = 0; 00212 } 00213 } 00214 boss2 = 1; 00215 } 00216 if(get == 0 and mon3 == 0) 00217 { 00218 getAy = abs(axis_ay); 00219 getAx = abs(axis_ax); 00220 getAz = abs(axis_az); 00221 getGx = abs(axis_gx); 00222 getGy = abs(axis_gy); 00223 getGz = abs(axis_gz); 00224 while(boss3) 00225 { 00226 pc.printf("\n\nAx = %f ", getAx); 00227 wait(0.1); 00228 axis_Gen.Update(); 00229 CurAy = axis_Gen.g_ay()*1000; 00230 CurAx = axis_Gen.g_ax()*1000; 00231 CurAz = axis_Gen.g_az()*1000; 00232 CurGx = axis_Gen.g_gx()*4; 00233 CurGy = axis_Gen.g_gy()*4; 00234 CurGz = axis_Gen.g_gz()*4; 00235 pc.printf("\n\nCurrentX = %f ", CurAx); 00236 diffAy = abs(abs(CurAy)-getAy); 00237 diffAx = abs(abs(CurAx)-getAx); 00238 diffAz = abs(abs(CurAz)-getAz); 00239 diffGx = abs(abs(CurGx)-getGx); 00240 diffGy = abs(abs(CurGy)-getGy); 00241 diffGz = abs(abs(CurGz)-getGz); 00242 if(diffAx > 500 and diffAy > 500 and diffAz > 800 and diffGx > 500 and diffGy > 500 and diffGz > 500) 00243 { 00244 pc.printf("\n\n Boss 3 \n\n"); 00245 boss3 = 0; 00246 } 00247 } 00248 boss3 = 1; 00249 } 00250 } 00251 } 00252 00253
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