Serpentine / Mbed 2 deprecated serpentine_foodcontroller_final

Final Version of food controller

Dependencies:   MMA8451Q TSI mbed

Fork of foodcontroller_NoWiFi by Serpentine

main.cpp@4:1961b60aa8fb, 2016-06-09 (annotated)

Committer:
danlock10y
Date:
Thu Jun 09 10:31:59 2016 +0000
Revision:
4:1961b60aa8fb
Parent:
3:768cca7d53fe
Child:
5:c4bc5a92390a
Working food controller with 2 axis and variable velocity; ; needs comments

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pemb4660 0:c5a6d47904dc 1 #include "mbed.h"
pemb4660 0:c5a6d47904dc 2 #include "TSISensor.h"
pemb4660 0:c5a6d47904dc 3 #include "MMA8451Q.h"
pemb4660 0:c5a6d47904dc 4
pemb4660 0:c5a6d47904dc 5 #define MMA8451_I2C_ADDRESS (0x1d<<1)
pemb4660 0:c5a6d47904dc 6 Serial pc(USBTX, USBRX); // tx, rx
pemb4660 0:c5a6d47904dc 7
danlock10y 1:6dd9eca697db 8 PwmOut gled(LED_GREEN); //Indicator for touch sensor Output
danlock10y 1:6dd9eca697db 9 TSISensor tsi; //Setup touch sensor
danlock10y 1:6dd9eca697db 10 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS); //Setup accelerometer
danlock10y 1:6dd9eca697db 11 DigitalOut lefthigh(PTC11); //Test LED for left
danlock10y 1:6dd9eca697db 12 DigitalOut leftlow(PTC9);
danlock10y 1:6dd9eca697db 13 DigitalOut righthigh(PTC5); //Test LED for right
danlock10y 1:6dd9eca697db 14 DigitalOut rightlow(PTA4);
danlock10y 1:6dd9eca697db 15 DigitalOut forwardhigh(PTC16); //Test LED for forward
danlock10y 1:6dd9eca697db 16 DigitalOut forwardlow(PTD0);
danlock10y 1:6dd9eca697db 17 DigitalOut backwardhigh(PTA17); //Test LED for backward
danlock10y 1:6dd9eca697db 18 DigitalOut backwardlow(PTD1);
danlock10y 1:6dd9eca697db 19
danlock10y 1:6dd9eca697db 20 float accX=acc.getAccX(); //Measure acceleration in X direction
danlock10y 1:6dd9eca697db 21 float accY=acc.getAccY(); //Measure acceleration in Y direction
danlock10y 1:6dd9eca697db 22
danlock10y 1:6dd9eca697db 23 int Direction; //2 bit number to describe direction 0 forward assigned CW
danlock10y 1:6dd9eca697db 24 int Velocity; //2 bit number to vary velocity in game
danlock10y 1:6dd9eca697db 25
danlock10y 1:6dd9eca697db 26 bool right; //Right or left? right = 1
danlock10y 1:6dd9eca697db 27 bool forward; //Forward or Backward? forward = 1
danlock10y 1:6dd9eca697db 28
pemb4660 0:c5a6d47904dc 29 int main()
pemb4660 0:c5a6d47904dc 30 {
danlock10y 1:6dd9eca697db 31 while (1)
danlock10y 1:6dd9eca697db 32 {
danlock10y 3:768cca7d53fe 33
danlock10y 3:768cca7d53fe 34 float accX=acc.getAccX(); //Measure acceleration in X direction
danlock10y 3:768cca7d53fe 35 float accY=acc.getAccY(); //Measure acceleration in Y direction
danlock10y 3:768cca7d53fe 36
danlock10y 3:768cca7d53fe 37 if (tsi.readDistance() != 0)
danlock10y 1:6dd9eca697db 38 {
danlock10y 2:a6db66722be0 39 // gled = 1.0 - tsi.readPercentage();
danlock10y 2:a6db66722be0 40 if (tsi.readDistance() <= 13)
danlock10y 2:a6db66722be0 41 {
danlock10y 2:a6db66722be0 42 Velocity = 3;
danlock10y 2:a6db66722be0 43 }
danlock10y 2:a6db66722be0 44 if (tsi.readDistance() > 13 && tsi.readDistance() < 26)
danlock10y 2:a6db66722be0 45 {
danlock10y 2:a6db66722be0 46 Velocity = 2;
danlock10y 2:a6db66722be0 47 }
danlock10y 2:a6db66722be0 48 if (tsi.readDistance() >= 26)
danlock10y 2:a6db66722be0 49 {
danlock10y 2:a6db66722be0 50 Velocity = 1;
danlock10y 2:a6db66722be0 51 }
danlock10y 2:a6db66722be0 52
danlock10y 2:a6db66722be0 53 printf("x=%d\r\n",Velocity);
danlock10y 2:a6db66722be0 54 wait(0.2);
danlock10y 2:a6db66722be0 55
danlock10y 2:a6db66722be0 56
danlock10y 3:768cca7d53fe 57 }//endif touch sensor
danlock10y 3:768cca7d53fe 58
danlock10y 3:768cca7d53fe 59
danlock10y 1:6dd9eca697db 60 if((accX <= 0.1f) && (accX >= -0.1f))
danlock10y 1:6dd9eca697db 61 {
danlock10y 3:768cca7d53fe 62 if (right == false)
danlock10y 1:6dd9eca697db 63 {
danlock10y 1:6dd9eca697db 64 righthigh = 1;
danlock10y 1:6dd9eca697db 65 rightlow = 0;
danlock10y 1:6dd9eca697db 66 } //endif
danlock10y 1:6dd9eca697db 67 else
danlock10y 1:6dd9eca697db 68 {
danlock10y 1:6dd9eca697db 69 lefthigh = 1;
danlock10y 1:6dd9eca697db 70 leftlow = 0;
danlock10y 1:6dd9eca697db 71 }//endelse
danlock10y 1:6dd9eca697db 72 }//endif
danlock10y 3:768cca7d53fe 73
danlock10y 1:6dd9eca697db 74 if (accX > 0.1)
danlock10y 1:6dd9eca697db 75 {
danlock10y 1:6dd9eca697db 76 lefthigh = 0;
danlock10y 1:6dd9eca697db 77 leftlow = 0;
danlock10y 1:6dd9eca697db 78 righthigh = 1;
danlock10y 1:6dd9eca697db 79 rightlow = 0;
danlock10y 1:6dd9eca697db 80 forwardhigh = 0;
danlock10y 1:6dd9eca697db 81 forwardlow = 0;
danlock10y 1:6dd9eca697db 82 backwardhigh = 0;
danlock10y 1:6dd9eca697db 83 backwardlow = 0;
danlock10y 3:768cca7d53fe 84 right = false;
danlock10y 3:768cca7d53fe 85 printf("left \r\n");
danlock10y 1:6dd9eca697db 86 }//endif
pemb4660 0:c5a6d47904dc 87
danlock10y 1:6dd9eca697db 88 if (accX < -0.1)
danlock10y 1:6dd9eca697db 89 {
danlock10y 1:6dd9eca697db 90 lefthigh = 1;
danlock10y 1:6dd9eca697db 91 leftlow = 0;
danlock10y 1:6dd9eca697db 92 righthigh = 0;
danlock10y 1:6dd9eca697db 93 rightlow = 0;
danlock10y 1:6dd9eca697db 94 forwardhigh = 0;
danlock10y 1:6dd9eca697db 95 forwardlow = 0;
danlock10y 1:6dd9eca697db 96 backwardhigh = 0;
danlock10y 1:6dd9eca697db 97 backwardlow = 0;
danlock10y 3:768cca7d53fe 98 right = true;
danlock10y 3:768cca7d53fe 99 printf("right \r\n");
danlock10y 1:6dd9eca697db 100 }//endif
danlock10y 3:768cca7d53fe 101 wait(0.1);
danlock10y 1:6dd9eca697db 102
danlock10y 3:768cca7d53fe 103 if((accY <= 0.1) && (accY >= -0.1))
danlock10y 1:6dd9eca697db 104 {
danlock10y 3:768cca7d53fe 105 if (forward == false)
danlock10y 1:6dd9eca697db 106 {
pemb4660 0:c5a6d47904dc 107 forwardhigh = 1;
danlock10y 1:6dd9eca697db 108 forwardlow = 0;
danlock10y 1:6dd9eca697db 109 }//endif
danlock10y 1:6dd9eca697db 110 else
danlock10y 1:6dd9eca697db 111 {
pemb4660 0:c5a6d47904dc 112 backwardhigh = 1;
danlock10y 1:6dd9eca697db 113 backwardlow = 0;
danlock10y 1:6dd9eca697db 114 }//endelse
danlock10y 1:6dd9eca697db 115 }//endif
pemb4660 0:c5a6d47904dc 116
danlock10y 3:768cca7d53fe 117 if (accY > 0.1)
danlock10y 1:6dd9eca697db 118 {
danlock10y 1:6dd9eca697db 119 lefthigh = 0;
danlock10y 1:6dd9eca697db 120 leftlow = 0;
danlock10y 1:6dd9eca697db 121 righthigh = 0;
danlock10y 1:6dd9eca697db 122 rightlow = 0;
danlock10y 1:6dd9eca697db 123 forwardhigh = 1;
danlock10y 1:6dd9eca697db 124 forwardlow = 0;
danlock10y 1:6dd9eca697db 125 backwardhigh = 0;
danlock10y 1:6dd9eca697db 126 backwardlow = 0;
danlock10y 3:768cca7d53fe 127 forward = false;
danlock10y 3:768cca7d53fe 128 printf("back \r\n");
danlock10y 1:6dd9eca697db 129 }//endif
pemb4660 0:c5a6d47904dc 130
danlock10y 3:768cca7d53fe 131 if (accY < -0.1)
danlock10y 1:6dd9eca697db 132 {
danlock10y 1:6dd9eca697db 133 lefthigh = 0;
danlock10y 1:6dd9eca697db 134 leftlow = 0;
danlock10y 1:6dd9eca697db 135 righthigh = 0;
danlock10y 1:6dd9eca697db 136 rightlow = 0;
danlock10y 1:6dd9eca697db 137 forwardhigh = 0;
danlock10y 1:6dd9eca697db 138 forwardlow = 0;
danlock10y 1:6dd9eca697db 139 backwardhigh = 1;
danlock10y 1:6dd9eca697db 140 backwardlow = 0;
danlock10y 3:768cca7d53fe 141 forward = true;
danlock10y 3:768cca7d53fe 142 printf("for \r\n");
danlock10y 1:6dd9eca697db 143 }//endif
danlock10y 3:768cca7d53fe 144
danlock10y 3:768cca7d53fe 145 wait(0.1);
danlock10y 3:768cca7d53fe 146
danlock10y 4:1961b60aa8fb 147 if(abs(accY) > abs(accX))
danlock10y 3:768cca7d53fe 148 {
danlock10y 4:1961b60aa8fb 149 if(forward == true)
danlock10y 4:1961b60aa8fb 150 {
danlock10y 4:1961b60aa8fb 151 Direction = 0;
danlock10y 4:1961b60aa8fb 152 }//endif
danlock10y 4:1961b60aa8fb 153 else
danlock10y 3:768cca7d53fe 154 {
danlock10y 4:1961b60aa8fb 155 Direction = 2;
danlock10y 4:1961b60aa8fb 156 }//endelse
danlock10y 4:1961b60aa8fb 157 }//endif
danlock10y 4:1961b60aa8fb 158 else
danlock10y 4:1961b60aa8fb 159 {
danlock10y 4:1961b60aa8fb 160 if(right == true)
danlock10y 4:1961b60aa8fb 161 {
danlock10y 4:1961b60aa8fb 162 Direction = 1;
danlock10y 4:1961b60aa8fb 163 }//endif
danlock10y 4:1961b60aa8fb 164 else
danlock10y 4:1961b60aa8fb 165 {
danlock10y 4:1961b60aa8fb 166 Direction = 3;
danlock10y 4:1961b60aa8fb 167 }//endelse
danlock10y 4:1961b60aa8fb 168 }//endelse
danlock10y 4:1961b60aa8fb 169
danlock10y 4:1961b60aa8fb 170 printf("Direction = %d \r\n", Direction);
danlock10y 4:1961b60aa8fb 171
danlock10y 1:6dd9eca697db 172 }//endwhile
danlock10y 1:6dd9eca697db 173 }//endmain