Serpentine / Mbed 2 deprecated serpentine_foodcontroller_final

Final Version of food controller

Dependencies:   MMA8451Q TSI mbed

Fork of foodcontroller_NoWiFi by Serpentine

main.cpp@7:c19655dbdef7, 2016-06-10 (annotated)

Committer:
danlock10y
Date:
Fri Jun 10 09:14:01 2016 +0000
Revision:
7:c19655dbdef7
Child:
8:047d427da574
Working two axis and slider - still needs WiFi

Who changed what in which revision?

UserRevisionLine numberNew contents of line
danlock10y 7:c19655dbdef7 1 /**
danlock10y 7:c19655dbdef7 2 Food Controller
danlock10y 7:c19655dbdef7 3 main.cpp
danlock10y 7:c19655dbdef7 4 Purpose: This function runs on a FRDM KL25Z. It uses the accelerometer to measure the tilt of the board.
danlock10y 7:c19655dbdef7 5 It outputs a 2 bit number that describes the direction. The board is also fitted with four LEDS
danlock10y 7:c19655dbdef7 6 oriented in the following configuration: o8o to provide feedback to the user. This board also
danlock10y 7:c19655dbdef7 7 makes use of the touch sensor input to set a variable speed for the food, indicated by RGB LED
danlock10y 7:c19655dbdef7 8 @author Daniel Lock
danlock10y 7:c19655dbdef7 9 @author Jamie Gnodde
danlock10y 7:c19655dbdef7 10 @version
danlock10y 7:c19655dbdef7 11 */
danlock10y 7:c19655dbdef7 12
danlock10y 7:c19655dbdef7 13 #include "mbed.h"
danlock10y 7:c19655dbdef7 14 #include "TSISensor.h"
danlock10y 7:c19655dbdef7 15 #include "MMA8451Q.h"
danlock10y 7:c19655dbdef7 16
danlock10y 7:c19655dbdef7 17 #define MMA8451_I2C_ADDRESS (0x1d<<1)
danlock10y 7:c19655dbdef7 18 Serial pc(USBTX, USBRX); // tx, rx used for printing to the PC screen during debugging
danlock10y 7:c19655dbdef7 19
danlock10y 7:c19655dbdef7 20 DigitalOut gled(LED_GREEN); //Indicator for touch sensor Output speed 1
danlock10y 7:c19655dbdef7 21 DigitalOut bled(LED_BLUE); //Indicator for touch sensor Output speed 2
danlock10y 7:c19655dbdef7 22 DigitalOut rled(LED_RED); //Indicator for touch sensor Output speed 3
danlock10y 7:c19655dbdef7 23 TSISensor tsi; //Setup touch sensor
danlock10y 7:c19655dbdef7 24 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS); //Setup accelerometer
danlock10y 7:c19655dbdef7 25 DigitalOut lefthigh(PTC5); //LED for left
danlock10y 7:c19655dbdef7 26 DigitalOut leftlow(PTA4);
danlock10y 7:c19655dbdef7 27 DigitalOut righthigh(PTC11); //LED for right
danlock10y 7:c19655dbdef7 28 DigitalOut rightlow(PTC9);
danlock10y 7:c19655dbdef7 29 DigitalOut forwardhigh(PTC6); //LED for forward
danlock10y 7:c19655dbdef7 30 DigitalOut forwardlow(PTC10);
danlock10y 7:c19655dbdef7 31 DigitalOut backwardhigh(PTA5); //LED for backward
danlock10y 7:c19655dbdef7 32 DigitalOut backwardlow(PTC8);
danlock10y 7:c19655dbdef7 33
danlock10y 7:c19655dbdef7 34 RawSerial dev(PTE0,PTE1); // for KL25Z... asuming one can't use the PTA1 version which is the stdio
danlock10y 7:c19655dbdef7 35 DigitalOut rst(PTD1); // single digital pin to drive the esp8266 reset line
danlock10y 7:c19655dbdef7 36
danlock10y 7:c19655dbdef7 37 int Direction; //2 bit number to describe direction 0 forward assigned CW
danlock10y 7:c19655dbdef7 38 int PrevDirection; //2 bit number to describe last direction sent ot server
danlock10y 7:c19655dbdef7 39 int Velocity; //2 bit number to vary velocity in game
danlock10y 7:c19655dbdef7 40 int PrevVelocity; //2 bit number to describe last velocity sent ot server
danlock10y 7:c19655dbdef7 41
danlock10y 7:c19655dbdef7 42 bool right; //Right or left? right = 1
danlock10y 7:c19655dbdef7 43 bool forward; //Forward or Backward? forward = 1
danlock10y 7:c19655dbdef7 44 /*
danlock10y 7:c19655dbdef7 45 int main()
danlock10y 7:c19655dbdef7 46 {
danlock10y 7:c19655dbdef7 47
danlock10y 7:c19655dbdef7 48 pc.printf("hello\n\r");
danlock10y 7:c19655dbdef7 49 for(int c=0; c<14;c++)
danlock10y 7:c19655dbdef7 50 {
danlock10y 7:c19655dbdef7 51 pc.printf("work %d\n\r",c);
danlock10y 7:c19655dbdef7 52 rled = 0;
danlock10y 7:c19655dbdef7 53 wait(0.2);
danlock10y 7:c19655dbdef7 54 rled = 1;
danlock10y 7:c19655dbdef7 55 wait(0.2);
danlock10y 7:c19655dbdef7 56 }
danlock10y 7:c19655dbdef7 57 }*/
danlock10y 7:c19655dbdef7 58
danlock10y 7:c19655dbdef7 59
danlock10y 7:c19655dbdef7 60
danlock10y 7:c19655dbdef7 61 void setupWiFi()
danlock10y 7:c19655dbdef7 62 {
danlock10y 7:c19655dbdef7 63 dev.printf("AT+RST\r\n"); //Reset WiFi
danlock10y 7:c19655dbdef7 64 pc.printf("RESET\r\n");
danlock10y 7:c19655dbdef7 65
danlock10y 7:c19655dbdef7 66 wait(2);
danlock10y 7:c19655dbdef7 67 dev.printf("AT+CWMODE=1\r\n"); //Set mode to client
danlock10y 7:c19655dbdef7 68
danlock10y 7:c19655dbdef7 69 wait(2);
danlock10y 7:c19655dbdef7 70 dev.printf("AT+CWJAP=\"CWMWIFI\",\"CWM2016TT\"\r\n"); //Login to the WiFi
danlock10y 7:c19655dbdef7 71
danlock10y 7:c19655dbdef7 72 wait(7);
danlock10y 7:c19655dbdef7 73 dev.printf("AT+CIFSR\r\n"); //Find IP and MAC address - not necessary?
danlock10y 7:c19655dbdef7 74
danlock10y 7:c19655dbdef7 75 wait(5);
danlock10y 7:c19655dbdef7 76 dev.printf("AT+CIPMUX=1\r\n"); //Allow multiple connections
danlock10y 7:c19655dbdef7 77
danlock10y 7:c19655dbdef7 78 wait(2);
danlock10y 7:c19655dbdef7 79 dev.printf("AT+CIPSTART=0,\"TCP\",\"192.168.1.6\",5050\r\n"); //Open connection with the server
danlock10y 7:c19655dbdef7 80
danlock10y 7:c19655dbdef7 81 wait(2);
danlock10y 7:c19655dbdef7 82 }
danlock10y 7:c19655dbdef7 83
danlock10y 7:c19655dbdef7 84
danlock10y 7:c19655dbdef7 85 int main()
danlock10y 7:c19655dbdef7 86 {
danlock10y 7:c19655dbdef7 87 PrevDirection = 4; //Initialise PrevDirection with a value that will mean it will always pass throught he if at the end
danlock10y 7:c19655dbdef7 88 PrevVelocity = 4; //Initialise PrevVelocity with a value that will mean it will always pass throught he if at the end
danlock10y 7:c19655dbdef7 89 setupWiFi(); //Run the WiFi setup
danlock10y 7:c19655dbdef7 90 while (1)
danlock10y 7:c19655dbdef7 91 {
danlock10y 7:c19655dbdef7 92
danlock10y 7:c19655dbdef7 93 float accX=acc.getAccX(); //Measure acceleration in X direction
danlock10y 7:c19655dbdef7 94 float accY=acc.getAccY(); //Measure acceleration in Y direction
danlock10y 7:c19655dbdef7 95
danlock10y 7:c19655dbdef7 96 if (tsi.readDistance() != 0) //Only execute if the touch sensor is being pressed
danlock10y 7:c19655dbdef7 97 {
danlock10y 7:c19655dbdef7 98 if (tsi.readDistance() <= 13) //Length of touch sensor divided into three distinct zones, this defines top zone
danlock10y 7:c19655dbdef7 99 {
danlock10y 7:c19655dbdef7 100 Velocity = 3; //Top zone -> highest velocity (varies 1-3)
danlock10y 7:c19655dbdef7 101 rled = 0; //Use the RGB LED as an indicator for which speed is selected
danlock10y 7:c19655dbdef7 102 bled = 1;
danlock10y 7:c19655dbdef7 103 gled = 1;
danlock10y 7:c19655dbdef7 104 }
danlock10y 7:c19655dbdef7 105 if (tsi.readDistance() > 13 && tsi.readDistance() < 26) //Middle zone of touch sensor
danlock10y 7:c19655dbdef7 106 {
danlock10y 7:c19655dbdef7 107 Velocity = 2; //Middle zone -> middle velocity
danlock10y 7:c19655dbdef7 108 rled = 1; //Use the RGB LED as an indicator for which speed is selected
danlock10y 7:c19655dbdef7 109 bled = 0;
danlock10y 7:c19655dbdef7 110 gled = 1;
danlock10y 7:c19655dbdef7 111 }
danlock10y 7:c19655dbdef7 112 if (tsi.readDistance() >= 26)
danlock10y 7:c19655dbdef7 113 {
danlock10y 7:c19655dbdef7 114 Velocity = 1; //Bottom zone -> lowest velocity
danlock10y 7:c19655dbdef7 115 rled = 1; //Use the RGB LED as an indicator for which speed is selected
danlock10y 7:c19655dbdef7 116 bled = 1;
danlock10y 7:c19655dbdef7 117 gled = 0;
danlock10y 7:c19655dbdef7 118 }
danlock10y 7:c19655dbdef7 119
danlock10y 7:c19655dbdef7 120 printf("x=%d\r\n",Velocity); //Print the velocity to the serial for debugging
danlock10y 7:c19655dbdef7 121
danlock10y 7:c19655dbdef7 122 wait(0.2); //May be left over from debugging?
danlock10y 7:c19655dbdef7 123
danlock10y 7:c19655dbdef7 124 }//endif touch sensor
danlock10y 7:c19655dbdef7 125
danlock10y 7:c19655dbdef7 126 //Establish whether the board is tilted left or right
danlock10y 7:c19655dbdef7 127 if (accX > 0.1)
danlock10y 7:c19655dbdef7 128 {
danlock10y 7:c19655dbdef7 129 right = false;
danlock10y 7:c19655dbdef7 130 printf("left \r\n");
danlock10y 7:c19655dbdef7 131 }//endif
danlock10y 7:c19655dbdef7 132
danlock10y 7:c19655dbdef7 133 if (accX < -0.1)
danlock10y 7:c19655dbdef7 134 {
danlock10y 7:c19655dbdef7 135 right = true;
danlock10y 7:c19655dbdef7 136 printf("right \r\n");
danlock10y 7:c19655dbdef7 137 }//endif
danlock10y 7:c19655dbdef7 138
danlock10y 7:c19655dbdef7 139 wait(0.1); //May be left over from debugging?
danlock10y 7:c19655dbdef7 140
danlock10y 7:c19655dbdef7 141 //Establish whether the board is tilted front or back
danlock10y 7:c19655dbdef7 142 if (accY > 0.1)
danlock10y 7:c19655dbdef7 143 {
danlock10y 7:c19655dbdef7 144 forward = false;
danlock10y 7:c19655dbdef7 145 printf("back \r\n");
danlock10y 7:c19655dbdef7 146 }//endif
danlock10y 7:c19655dbdef7 147
danlock10y 7:c19655dbdef7 148 if (accY < -0.1)
danlock10y 7:c19655dbdef7 149 {
danlock10y 7:c19655dbdef7 150 forward = true;
danlock10y 7:c19655dbdef7 151 printf("for \r\n");
danlock10y 7:c19655dbdef7 152 }//endif
danlock10y 7:c19655dbdef7 153
danlock10y 7:c19655dbdef7 154 wait(0.1); //May be left over from debugging?
danlock10y 7:c19655dbdef7 155
danlock10y 7:c19655dbdef7 156 //Establish the main axis of tilting so that the control outputs one direction
danlock10y 7:c19655dbdef7 157 if(abs(accY) > abs(accX))
danlock10y 7:c19655dbdef7 158 {
danlock10y 7:c19655dbdef7 159 if(forward == true)
danlock10y 7:c19655dbdef7 160 {
danlock10y 7:c19655dbdef7 161 Direction = 0; //Direction variable is a two bit number 0-3 0 is forward
danlock10y 7:c19655dbdef7 162
danlock10y 7:c19655dbdef7 163 lefthigh = 0; //Light up the forward LED, make sure all others are off
danlock10y 7:c19655dbdef7 164 leftlow = 0;
danlock10y 7:c19655dbdef7 165 righthigh = 0;
danlock10y 7:c19655dbdef7 166 rightlow = 0;
danlock10y 7:c19655dbdef7 167 forwardhigh = 1;
danlock10y 7:c19655dbdef7 168 forwardlow = 0;
danlock10y 7:c19655dbdef7 169 backwardhigh = 0;
danlock10y 7:c19655dbdef7 170 backwardlow = 0;
danlock10y 7:c19655dbdef7 171
danlock10y 7:c19655dbdef7 172 }//endif
danlock10y 7:c19655dbdef7 173 else
danlock10y 7:c19655dbdef7 174 {
danlock10y 7:c19655dbdef7 175 Direction = 2; //Direction variable is a two bit number 0-3 2 is backward
danlock10y 7:c19655dbdef7 176
danlock10y 7:c19655dbdef7 177 lefthigh = 0; //Light up the backward LED, make sure all others are off
danlock10y 7:c19655dbdef7 178 leftlow = 0;
danlock10y 7:c19655dbdef7 179 righthigh = 0;
danlock10y 7:c19655dbdef7 180 rightlow = 0;
danlock10y 7:c19655dbdef7 181 forwardhigh = 0;
danlock10y 7:c19655dbdef7 182 forwardlow = 0;
danlock10y 7:c19655dbdef7 183 backwardhigh = 1;
danlock10y 7:c19655dbdef7 184 backwardlow = 0;
danlock10y 7:c19655dbdef7 185
danlock10y 7:c19655dbdef7 186 }//endelse
danlock10y 7:c19655dbdef7 187 }//endif
danlock10y 7:c19655dbdef7 188 else
danlock10y 7:c19655dbdef7 189 {
danlock10y 7:c19655dbdef7 190 if(right == true)
danlock10y 7:c19655dbdef7 191 {
danlock10y 7:c19655dbdef7 192 Direction = 1; //Direction variable is a two bit number 0-3 1 is right
danlock10y 7:c19655dbdef7 193
danlock10y 7:c19655dbdef7 194 lefthigh = 0; //Light up the right LED, make sure all others are off
danlock10y 7:c19655dbdef7 195 leftlow = 0;
danlock10y 7:c19655dbdef7 196 righthigh = 1;
danlock10y 7:c19655dbdef7 197 rightlow = 0;
danlock10y 7:c19655dbdef7 198 forwardhigh = 0;
danlock10y 7:c19655dbdef7 199 forwardlow = 0;
danlock10y 7:c19655dbdef7 200 backwardhigh = 0;
danlock10y 7:c19655dbdef7 201 backwardlow = 0;
danlock10y 7:c19655dbdef7 202
danlock10y 7:c19655dbdef7 203 }//endif
danlock10y 7:c19655dbdef7 204 else
danlock10y 7:c19655dbdef7 205 {
danlock10y 7:c19655dbdef7 206 Direction = 3; //Direction variable is a two bit number 0-3 3 is left
danlock10y 7:c19655dbdef7 207
danlock10y 7:c19655dbdef7 208 lefthigh = 1; //Light up the left LED, make sure all others are off
danlock10y 7:c19655dbdef7 209 leftlow = 0;
danlock10y 7:c19655dbdef7 210 righthigh = 0;
danlock10y 7:c19655dbdef7 211 rightlow = 0;
danlock10y 7:c19655dbdef7 212 forwardhigh = 0;
danlock10y 7:c19655dbdef7 213 forwardlow = 0;
danlock10y 7:c19655dbdef7 214 backwardhigh = 0;
danlock10y 7:c19655dbdef7 215 backwardlow = 0;
danlock10y 7:c19655dbdef7 216
danlock10y 7:c19655dbdef7 217 }//endelse
danlock10y 7:c19655dbdef7 218 }//endelse
danlock10y 7:c19655dbdef7 219
danlock10y 7:c19655dbdef7 220 pc.printf("Direction = %d \r\n", Direction); //Print the direction variable to screen for debugging
danlock10y 7:c19655dbdef7 221
danlock10y 7:c19655dbdef7 222 //Only send data to the server if the direction has changed
danlock10y 7:c19655dbdef7 223 if(Direction != PrevDirection || Velocity != PrevVelocity)
danlock10y 7:c19655dbdef7 224 {
danlock10y 7:c19655dbdef7 225 //Send Direction and Velocity to server
danlock10y 7:c19655dbdef7 226
danlock10y 7:c19655dbdef7 227 //dev.printf("AT+CIPSEND=0,11\r\n");
danlock10y 7:c19655dbdef7 228 //wait(2);
danlock10y 7:c19655dbdef7 229
danlock10y 7:c19655dbdef7 230 dev.printf("1dir%dvel%d\r\n",Direction,Velocity); //Identifier,Direction Tag,Direction Value,Velocity Tag,Velocity Value
danlock10y 7:c19655dbdef7 231
danlock10y 7:c19655dbdef7 232 PrevDirection = Direction;
danlock10y 7:c19655dbdef7 233 PrevVelocity = Velocity;
danlock10y 7:c19655dbdef7 234 }
danlock10y 7:c19655dbdef7 235
danlock10y 7:c19655dbdef7 236 }//endwhile
danlock10y 7:c19655dbdef7 237 }//endmain