Serpentine / Mbed 2 deprecated serpentine_foodcontroller_final

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Dependencies:   MMA8451Q TSI mbed

Fork of foodcontroller_NoWiFi by Serpentine

foodController.cpp@6:57b9a6427bc2, 2016-06-09 (annotated)

Committer:
danlock10y
Date:
Thu Jun 09 18:42:57 2016 +0000
Revision:
6:57b9a6427bc2
Fully functional control with 2 axis tilt controller and touch sensor velocity control. ; ; Fully Commented

Who changed what in which revision?

UserRevisionLine numberNew contents of line
danlock10y 6:57b9a6427bc2 1 /**
danlock10y 6:57b9a6427bc2 2 Food Controller
danlock10y 6:57b9a6427bc2 3 foodController.cpp
danlock10y 6:57b9a6427bc2 4 Purpose: This function runs on a FRDM KL25Z. It uses the accelerometer to measure the tilt of the board.
danlock10y 6:57b9a6427bc2 5 It outputs a 2 bit number that describes the direction. The board is also fitted with four LEDS
danlock10y 6:57b9a6427bc2 6 oriented in the following configuration: o8o to provide feedback to the user. This board also
danlock10y 6:57b9a6427bc2 7 makes use of the touch sensor input to set a variable speed for the food, indicated by RGB LED
danlock10y 6:57b9a6427bc2 8 @author Daniel Lock
danlock10y 6:57b9a6427bc2 9 @author Jamie Gnodde
danlock10y 6:57b9a6427bc2 10 @version
danlock10y 6:57b9a6427bc2 11 */
danlock10y 6:57b9a6427bc2 12
danlock10y 6:57b9a6427bc2 13 #include "mbed.h"
danlock10y 6:57b9a6427bc2 14 #include "TSISensor.h"
danlock10y 6:57b9a6427bc2 15 #include "MMA8451Q.h"
danlock10y 6:57b9a6427bc2 16
danlock10y 6:57b9a6427bc2 17 #define MMA8451_I2C_ADDRESS (0x1d<<1)
danlock10y 6:57b9a6427bc2 18 Serial pc(USBTX, USBRX); // tx, rx used for printing to the PC screen during debugging
danlock10y 6:57b9a6427bc2 19
danlock10y 6:57b9a6427bc2 20 DigitalOut gled(LED_GREEN); //Indicator for touch sensor Output speed 1
danlock10y 6:57b9a6427bc2 21 DigitalOut bled(LED_BLUE); //Indicator for touch sensor Output speed 2
danlock10y 6:57b9a6427bc2 22 DigitalOut rled(LED_RED); //Indicator for touch sensor Output speed 3
danlock10y 6:57b9a6427bc2 23 TSISensor tsi; //Setup touch sensor
danlock10y 6:57b9a6427bc2 24 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS); //Setup accelerometer
danlock10y 6:57b9a6427bc2 25 DigitalOut lefthigh(PTC7); //LED for left
danlock10y 6:57b9a6427bc2 26 DigitalOut leftlow(PTA1);
danlock10y 6:57b9a6427bc2 27 DigitalOut righthigh(PTC4); //LED for right
danlock10y 6:57b9a6427bc2 28 DigitalOut rightlow(PTA12);
danlock10y 6:57b9a6427bc2 29 DigitalOut forwardhigh(PTC0); //LED for forward
danlock10y 6:57b9a6427bc2 30 DigitalOut forwardlow(PTC3);
danlock10y 6:57b9a6427bc2 31 DigitalOut backwardhigh(PTA2); //LED for backward
danlock10y 6:57b9a6427bc2 32 DigitalOut backwardlow(PTD4);
danlock10y 6:57b9a6427bc2 33
danlock10y 6:57b9a6427bc2 34 int Direction; //2 bit number to describe direction 0 forward assigned CW
danlock10y 6:57b9a6427bc2 35 int Velocity; //2 bit number to vary velocity in game
danlock10y 6:57b9a6427bc2 36
danlock10y 6:57b9a6427bc2 37 bool right; //Right or left? right = 1
danlock10y 6:57b9a6427bc2 38 bool forward; //Forward or Backward? forward = 1
danlock10y 6:57b9a6427bc2 39
danlock10y 6:57b9a6427bc2 40 int main()
danlock10y 6:57b9a6427bc2 41 {
danlock10y 6:57b9a6427bc2 42 while (1)
danlock10y 6:57b9a6427bc2 43 {
danlock10y 6:57b9a6427bc2 44
danlock10y 6:57b9a6427bc2 45 float accX=acc.getAccX(); //Measure acceleration in X direction
danlock10y 6:57b9a6427bc2 46 float accY=acc.getAccY(); //Measure acceleration in Y direction
danlock10y 6:57b9a6427bc2 47
danlock10y 6:57b9a6427bc2 48 if (tsi.readDistance() != 0) //Only execute if the touch sensor is being pressed
danlock10y 6:57b9a6427bc2 49 {
danlock10y 6:57b9a6427bc2 50 if (tsi.readDistance() <= 13) //Length of touch sensor divided into three distinct zones, this defines top zone
danlock10y 6:57b9a6427bc2 51 {
danlock10y 6:57b9a6427bc2 52 Velocity = 3; //Top zone -> highest velocity (varies 1-3)
danlock10y 6:57b9a6427bc2 53 rled = 0; //Use the RGB LED as an indicator for which speed is selected
danlock10y 6:57b9a6427bc2 54 bled = 1;
danlock10y 6:57b9a6427bc2 55 gled = 1;
danlock10y 6:57b9a6427bc2 56 }
danlock10y 6:57b9a6427bc2 57 if (tsi.readDistance() > 13 && tsi.readDistance() < 26) //Middle zone of touch sensor
danlock10y 6:57b9a6427bc2 58 {
danlock10y 6:57b9a6427bc2 59 Velocity = 2; //Middle zone -> middle velocity
danlock10y 6:57b9a6427bc2 60 rled = 1; //Use the RGB LED as an indicator for which speed is selected
danlock10y 6:57b9a6427bc2 61 bled = 0;
danlock10y 6:57b9a6427bc2 62 gled = 1;
danlock10y 6:57b9a6427bc2 63 }
danlock10y 6:57b9a6427bc2 64 if (tsi.readDistance() >= 26)
danlock10y 6:57b9a6427bc2 65 {
danlock10y 6:57b9a6427bc2 66 Velocity = 1; //Bottom zone -> lowest velocity
danlock10y 6:57b9a6427bc2 67 rled = 1; //Use the RGB LED as an indicator for which speed is selected
danlock10y 6:57b9a6427bc2 68 bled = 1;
danlock10y 6:57b9a6427bc2 69 gled = 0;
danlock10y 6:57b9a6427bc2 70 }
danlock10y 6:57b9a6427bc2 71
danlock10y 6:57b9a6427bc2 72 printf("x=%d\r\n",Velocity); //Print the velocity to the serial for debugging
danlock10y 6:57b9a6427bc2 73
danlock10y 6:57b9a6427bc2 74 wait(0.2); //May be left over from debugging?
danlock10y 6:57b9a6427bc2 75
danlock10y 6:57b9a6427bc2 76 }//endif touch sensor
danlock10y 6:57b9a6427bc2 77
danlock10y 6:57b9a6427bc2 78 //Establish whether the board is tilted left or right
danlock10y 6:57b9a6427bc2 79 if (accX > 0.1)
danlock10y 6:57b9a6427bc2 80 {
danlock10y 6:57b9a6427bc2 81 right = false;
danlock10y 6:57b9a6427bc2 82 //printf("left \r\n");
danlock10y 6:57b9a6427bc2 83 }//endif
danlock10y 6:57b9a6427bc2 84
danlock10y 6:57b9a6427bc2 85 if (accX < -0.1)
danlock10y 6:57b9a6427bc2 86 {
danlock10y 6:57b9a6427bc2 87 right = true;
danlock10y 6:57b9a6427bc2 88 //printf("right \r\n");
danlock10y 6:57b9a6427bc2 89 }//endif
danlock10y 6:57b9a6427bc2 90
danlock10y 6:57b9a6427bc2 91 wait(0.1); //May be left over from debugging?
danlock10y 6:57b9a6427bc2 92
danlock10y 6:57b9a6427bc2 93 //Establish whether the board is tilted front or back
danlock10y 6:57b9a6427bc2 94 if (accY > 0.1)
danlock10y 6:57b9a6427bc2 95 {
danlock10y 6:57b9a6427bc2 96 forward = false;
danlock10y 6:57b9a6427bc2 97 //printf("back \r\n");
danlock10y 6:57b9a6427bc2 98 }//endif
danlock10y 6:57b9a6427bc2 99
danlock10y 6:57b9a6427bc2 100 if (accY < -0.1)
danlock10y 6:57b9a6427bc2 101 {
danlock10y 6:57b9a6427bc2 102 forward = true;
danlock10y 6:57b9a6427bc2 103 //printf("for \r\n");
danlock10y 6:57b9a6427bc2 104 }//endif
danlock10y 6:57b9a6427bc2 105
danlock10y 6:57b9a6427bc2 106 wait(0.1); //May be left over from debugging?
danlock10y 6:57b9a6427bc2 107
danlock10y 6:57b9a6427bc2 108 //Establish the main axis of tilting so that the control outputs one direction
danlock10y 6:57b9a6427bc2 109 if(abs(accY) > abs(accX))
danlock10y 6:57b9a6427bc2 110 {
danlock10y 6:57b9a6427bc2 111 if(forward == true)
danlock10y 6:57b9a6427bc2 112 {
danlock10y 6:57b9a6427bc2 113 Direction = 0; //Direction variable is a two bit number 0-3 0 is forward
danlock10y 6:57b9a6427bc2 114
danlock10y 6:57b9a6427bc2 115 lefthigh = 0; //Light up the forward LED, make sure all others are off
danlock10y 6:57b9a6427bc2 116 leftlow = 0;
danlock10y 6:57b9a6427bc2 117 righthigh = 0;
danlock10y 6:57b9a6427bc2 118 rightlow = 0;
danlock10y 6:57b9a6427bc2 119 forwardhigh = 1;
danlock10y 6:57b9a6427bc2 120 forwardlow = 0;
danlock10y 6:57b9a6427bc2 121 backwardhigh = 0;
danlock10y 6:57b9a6427bc2 122 backwardlow = 0;
danlock10y 6:57b9a6427bc2 123
danlock10y 6:57b9a6427bc2 124 }//endif
danlock10y 6:57b9a6427bc2 125 else
danlock10y 6:57b9a6427bc2 126 {
danlock10y 6:57b9a6427bc2 127 Direction = 2; //Direction variable is a two bit number 0-3 2 is backward
danlock10y 6:57b9a6427bc2 128
danlock10y 6:57b9a6427bc2 129 lefthigh = 0; //Light up the backward LED, make sure all others are off
danlock10y 6:57b9a6427bc2 130 leftlow = 0;
danlock10y 6:57b9a6427bc2 131 righthigh = 0;
danlock10y 6:57b9a6427bc2 132 rightlow = 0;
danlock10y 6:57b9a6427bc2 133 forwardhigh = 0;
danlock10y 6:57b9a6427bc2 134 forwardlow = 0;
danlock10y 6:57b9a6427bc2 135 backwardhigh = 1;
danlock10y 6:57b9a6427bc2 136 backwardlow = 0;
danlock10y 6:57b9a6427bc2 137
danlock10y 6:57b9a6427bc2 138 }//endelse
danlock10y 6:57b9a6427bc2 139 }//endif
danlock10y 6:57b9a6427bc2 140 else
danlock10y 6:57b9a6427bc2 141 {
danlock10y 6:57b9a6427bc2 142 if(right == true)
danlock10y 6:57b9a6427bc2 143 {
danlock10y 6:57b9a6427bc2 144 Direction = 1; //Direction variable is a two bit number 0-3 1 is right
danlock10y 6:57b9a6427bc2 145
danlock10y 6:57b9a6427bc2 146 lefthigh = 0; //Light up the right LED, make sure all others are off
danlock10y 6:57b9a6427bc2 147 leftlow = 0;
danlock10y 6:57b9a6427bc2 148 righthigh = 1;
danlock10y 6:57b9a6427bc2 149 rightlow = 0;
danlock10y 6:57b9a6427bc2 150 forwardhigh = 0;
danlock10y 6:57b9a6427bc2 151 forwardlow = 0;
danlock10y 6:57b9a6427bc2 152 backwardhigh = 0;
danlock10y 6:57b9a6427bc2 153 backwardlow = 0;
danlock10y 6:57b9a6427bc2 154
danlock10y 6:57b9a6427bc2 155 }//endif
danlock10y 6:57b9a6427bc2 156 else
danlock10y 6:57b9a6427bc2 157 {
danlock10y 6:57b9a6427bc2 158 Direction = 3; //Direction variable is a two bit number 0-3 3 is left
danlock10y 6:57b9a6427bc2 159
danlock10y 6:57b9a6427bc2 160 lefthigh = 1; //Light up the left LED, make sure all others are off
danlock10y 6:57b9a6427bc2 161 leftlow = 0;
danlock10y 6:57b9a6427bc2 162 righthigh = 0;
danlock10y 6:57b9a6427bc2 163 rightlow = 0;
danlock10y 6:57b9a6427bc2 164 forwardhigh = 0;
danlock10y 6:57b9a6427bc2 165 forwardlow = 0;
danlock10y 6:57b9a6427bc2 166 backwardhigh = 0;
danlock10y 6:57b9a6427bc2 167 backwardlow = 0;
danlock10y 6:57b9a6427bc2 168
danlock10y 6:57b9a6427bc2 169 }//endelse
danlock10y 6:57b9a6427bc2 170 }//endelse
danlock10y 6:57b9a6427bc2 171
danlock10y 6:57b9a6427bc2 172 printf("Direction = %d \r\n", Direction); //Print the direction variable to screen for debugging
danlock10y 6:57b9a6427bc2 173
danlock10y 6:57b9a6427bc2 174 }//endwhile
danlock10y 6:57b9a6427bc2 175 }//endmain
danlock10y 6:57b9a6427bc2 176