File content as of revision 7:c19655dbdef7:

/**
    Food Controller
    main.cpp
    Purpose:    This function runs on a FRDM KL25Z. It uses the accelerometer to measure the tilt of the board.
                It outputs a 2 bit number that describes the direction. The board is also fitted with four LEDS
                oriented in the following configuration: o8o to provide feedback to the user. This board also 
                makes use of the touch sensor input to set a variable speed for the food, indicated by RGB LED
    @author Daniel Lock
    @author Jamie Gnodde
    @version
*/

#include "mbed.h"
#include "TSISensor.h"
#include "MMA8451Q.h"

#define MMA8451_I2C_ADDRESS (0x1d<<1)
Serial pc(USBTX, USBRX); // tx, rx  used for printing to the PC screen during debugging

DigitalOut gled(LED_GREEN);                         //Indicator for touch sensor Output speed 1
DigitalOut bled(LED_BLUE);                          //Indicator for touch sensor Output speed 2
DigitalOut rled(LED_RED);                           //Indicator for touch sensor Output speed 3
TSISensor tsi;                                      //Setup touch sensor
MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);    //Setup accelerometer
DigitalOut lefthigh(PTC5);                          //LED for left
DigitalOut leftlow(PTA4);
DigitalOut righthigh(PTC11);                         //LED for right
DigitalOut rightlow(PTC9);
DigitalOut forwardhigh(PTC6);                       //LED for forward
DigitalOut forwardlow(PTC10);
DigitalOut backwardhigh(PTA5);                      //LED for backward
DigitalOut backwardlow(PTC8);

RawSerial dev(PTE0,PTE1);  // for KL25Z... asuming one can't use the PTA1 version which is the stdio
DigitalOut rst(PTD1); // single digital pin to drive the esp8266 reset line

int Direction;                                      //2 bit number to describe direction 0 forward assigned CW
int PrevDirection;                                  //2 bit number to describe last direction sent ot server
int Velocity;                                       //2 bit number to vary velocity in game
int PrevVelocity;                                   //2 bit number to describe last velocity sent ot server

bool right;                                         //Right or left? right = 1
bool forward;                                       //Forward or Backward? forward = 1
/*
int main()
{
    
    pc.printf("hello\n\r");
    for(int c=0; c<14;c++)
    {
        pc.printf("work %d\n\r",c);
        rled = 0;
        wait(0.2);
        rled = 1;
        wait(0.2);    
    }   
}*/



void setupWiFi()
{
    dev.printf("AT+RST\r\n");                       //Reset WiFi
    pc.printf("RESET\r\n");
    
    wait(2);
    dev.printf("AT+CWMODE=1\r\n");                  //Set mode to client
    
    wait(2);
    dev.printf("AT+CWJAP=\"CWMWIFI\",\"CWM2016TT\"\r\n");       //Login to the WiFi
    
    wait(7);
    dev.printf("AT+CIFSR\r\n");                     //Find IP and MAC address - not necessary?
    
    wait(5);
    dev.printf("AT+CIPMUX=1\r\n");                  //Allow multiple connections
    
    wait(2);
    dev.printf("AT+CIPSTART=0,\"TCP\",\"192.168.1.6\",5050\r\n");       //Open connection with the server
    
    wait(2);
}


int main()
{
    PrevDirection = 4;                            //Initialise PrevDirection with a value that will mean it will always pass throught he if at the end
    PrevVelocity = 4;                             //Initialise PrevVelocity with a value that will mean it will always pass throught he if at the end
    setupWiFi();                                  //Run the WiFi setup
    while (1) 
    {
         
        float accX=acc.getAccX();                   //Measure acceleration in X direction
        float accY=acc.getAccY();                   //Measure acceleration in Y direction

         if (tsi.readDistance() != 0)               //Only execute if the touch sensor is being pressed
        {          
            if (tsi.readDistance() <= 13)           //Length of touch sensor divided into three distinct zones, this defines top zone
            {
                Velocity = 3;                       //Top zone -> highest velocity (varies 1-3)
                rled = 0;                           //Use the RGB LED as an indicator for which speed is selected
                bled = 1;
                gled = 1;
            }
            if (tsi.readDistance() > 13 && tsi.readDistance() < 26)         //Middle zone of touch sensor
            {
                Velocity = 2;                       //Middle zone -> middle velocity
                rled = 1;                           //Use the RGB LED as an indicator for which speed is selected
                bled = 0;
                gled = 1;              
            }
            if (tsi.readDistance() >= 26)
            {
                Velocity = 1;                       //Bottom zone -> lowest velocity
                rled = 1;                           //Use the RGB LED as an indicator for which speed is selected
                bled = 1;
                gled = 0;
            }
                             
            printf("x=%d\r\n",Velocity);            //Print the velocity to the serial for debugging
           
            wait(0.2);                              //May be left over from debugging?

        }//endif touch sensor 
     
        //Establish whether the board is tilted left or right         
        if (accX > 0.1) 
        {
            right = false;
            printf("left \r\n");
        }//endif

        if (accX < -0.1) 
        {
            right = true;
            printf("right \r\n");
        }//endif
        
        wait(0.1);                                  //May be left over from debugging?

        //Establish whether the board is tilted front or back
        if (accY > 0.1) 
        {
            forward = false;
            printf("back \r\n");
        }//endif

        if (accY < -0.1) 
        {
            forward = true;            
            printf("for \r\n");
        }//endif
        
        wait(0.1);                                  //May be left over from debugging?
        
        //Establish the main axis of tilting so that the control outputs one direction        
        if(abs(accY) > abs(accX))
        {
            if(forward == true)
            {
                Direction = 0;                  //Direction variable is a two bit number 0-3 0 is forward
                
                lefthigh = 0;                   //Light up the forward LED, make sure all others are off
                leftlow = 0;
                righthigh = 0;
                rightlow = 0;
                forwardhigh = 1;
                forwardlow = 0;
                backwardhigh = 0;
                backwardlow = 0;                
            
            }//endif
            else
            {
                Direction = 2;                  //Direction variable is a two bit number 0-3 2 is backward
                
                lefthigh = 0;                   //Light up the backward LED, make sure all others are off
                leftlow = 0;
                righthigh = 0;
                rightlow = 0;
                forwardhigh = 0;
                forwardlow = 0;
                backwardhigh = 1;
                backwardlow = 0;
                   
            }//endelse
        }//endif
        else
        {
            if(right == true)
            {
                Direction = 1;                  //Direction variable is a two bit number 0-3 1 is right
                
                lefthigh = 0;                   //Light up the right LED, make sure all others are off
                leftlow = 0;
                righthigh = 1;
                rightlow = 0;
                forwardhigh = 0;
                forwardlow = 0;
                backwardhigh = 0;
                backwardlow = 0;
             
            }//endif
            else
            {
                Direction = 3;                  //Direction variable is a two bit number 0-3 3 is left
                
                lefthigh = 1;                   //Light up the left LED, make sure all others are off
                leftlow = 0;
                righthigh = 0;
                rightlow = 0;
                forwardhigh = 0;
                forwardlow = 0;
                backwardhigh = 0;
                backwardlow = 0;                
                    
            }//endelse
        }//endelse
        
        pc.printf("Direction = %d \r\n", Direction);           //Print the direction variable to screen for debugging
        
        //Only send data to the server if the direction has changed
      if(Direction != PrevDirection || Velocity != PrevVelocity)
        {
            //Send Direction and Velocity to server
            
            //dev.printf("AT+CIPSEND=0,11\r\n");
            //wait(2);
            
            dev.printf("1dir%dvel%d\r\n",Direction,Velocity);              //Identifier,Direction Tag,Direction Value,Velocity Tag,Velocity Value
            
            PrevDirection = Direction;
            PrevVelocity = Velocity;
        }
       
    }//endwhile
}//endmain