Serpentine / Mbed 2 deprecated serpentine_foodcontroller_final

Final Version of food controller

Dependencies:   MMA8451Q TSI mbed

Fork of foodcontroller_NoWiFi by Serpentine

main.cpp@8:047d427da574, 2016-06-10 (annotated)

Committer:
danlock10y
Date:
Fri Jun 10 12:05:09 2016 +0000
Revision:
8:047d427da574
Parent:
7:c19655dbdef7
Child:
9:de6dd11d89ba
2 axis tilt 3 velocity settings and rudimentary 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 void setupWiFi()
danlock10y 7:c19655dbdef7 46 {
danlock10y 7:c19655dbdef7 47 dev.printf("AT+RST\r\n"); //Reset WiFi
danlock10y 7:c19655dbdef7 48 pc.printf("RESET\r\n");
danlock10y 7:c19655dbdef7 49
danlock10y 7:c19655dbdef7 50 wait(2);
danlock10y 7:c19655dbdef7 51 dev.printf("AT+CWMODE=1\r\n"); //Set mode to client
danlock10y 7:c19655dbdef7 52
danlock10y 7:c19655dbdef7 53 wait(2);
danlock10y 7:c19655dbdef7 54 dev.printf("AT+CWJAP=\"CWMWIFI\",\"CWM2016TT\"\r\n"); //Login to the WiFi
danlock10y 7:c19655dbdef7 55
danlock10y 7:c19655dbdef7 56 wait(7);
danlock10y 7:c19655dbdef7 57 dev.printf("AT+CIFSR\r\n"); //Find IP and MAC address - not necessary?
danlock10y 7:c19655dbdef7 58
danlock10y 7:c19655dbdef7 59 wait(5);
danlock10y 7:c19655dbdef7 60 dev.printf("AT+CIPMUX=1\r\n"); //Allow multiple connections
danlock10y 7:c19655dbdef7 61
danlock10y 7:c19655dbdef7 62 wait(2);
danlock10y 7:c19655dbdef7 63 dev.printf("AT+CIPSTART=0,\"TCP\",\"192.168.1.6\",5050\r\n"); //Open connection with the server
danlock10y 7:c19655dbdef7 64
danlock10y 7:c19655dbdef7 65 wait(2);
danlock10y 7:c19655dbdef7 66 }
danlock10y 7:c19655dbdef7 67
danlock10y 7:c19655dbdef7 68
danlock10y 7:c19655dbdef7 69 int main()
danlock10y 7:c19655dbdef7 70 {
danlock10y 7:c19655dbdef7 71 PrevDirection = 4; //Initialise PrevDirection with a value that will mean it will always pass throught he if at the end
danlock10y 7:c19655dbdef7 72 PrevVelocity = 4; //Initialise PrevVelocity with a value that will mean it will always pass throught he if at the end
danlock10y 7:c19655dbdef7 73 setupWiFi(); //Run the WiFi setup
danlock10y 7:c19655dbdef7 74 while (1)
danlock10y 7:c19655dbdef7 75 {
danlock10y 7:c19655dbdef7 76
danlock10y 7:c19655dbdef7 77 float accX=acc.getAccX(); //Measure acceleration in X direction
danlock10y 7:c19655dbdef7 78 float accY=acc.getAccY(); //Measure acceleration in Y direction
danlock10y 7:c19655dbdef7 79
danlock10y 7:c19655dbdef7 80 if (tsi.readDistance() != 0) //Only execute if the touch sensor is being pressed
danlock10y 7:c19655dbdef7 81 {
danlock10y 7:c19655dbdef7 82 if (tsi.readDistance() <= 13) //Length of touch sensor divided into three distinct zones, this defines top zone
danlock10y 7:c19655dbdef7 83 {
danlock10y 7:c19655dbdef7 84 Velocity = 3; //Top zone -> highest velocity (varies 1-3)
danlock10y 7:c19655dbdef7 85 rled = 0; //Use the RGB LED as an indicator for which speed is selected
danlock10y 7:c19655dbdef7 86 bled = 1;
danlock10y 7:c19655dbdef7 87 gled = 1;
danlock10y 7:c19655dbdef7 88 }
danlock10y 7:c19655dbdef7 89 if (tsi.readDistance() > 13 && tsi.readDistance() < 26) //Middle zone of touch sensor
danlock10y 7:c19655dbdef7 90 {
danlock10y 7:c19655dbdef7 91 Velocity = 2; //Middle zone -> middle velocity
danlock10y 7:c19655dbdef7 92 rled = 1; //Use the RGB LED as an indicator for which speed is selected
danlock10y 7:c19655dbdef7 93 bled = 0;
danlock10y 7:c19655dbdef7 94 gled = 1;
danlock10y 7:c19655dbdef7 95 }
danlock10y 7:c19655dbdef7 96 if (tsi.readDistance() >= 26)
danlock10y 7:c19655dbdef7 97 {
danlock10y 7:c19655dbdef7 98 Velocity = 1; //Bottom zone -> lowest velocity
danlock10y 7:c19655dbdef7 99 rled = 1; //Use the RGB LED as an indicator for which speed is selected
danlock10y 7:c19655dbdef7 100 bled = 1;
danlock10y 7:c19655dbdef7 101 gled = 0;
danlock10y 7:c19655dbdef7 102 }
danlock10y 7:c19655dbdef7 103
danlock10y 7:c19655dbdef7 104 printf("x=%d\r\n",Velocity); //Print the velocity to the serial for debugging
danlock10y 7:c19655dbdef7 105
danlock10y 7:c19655dbdef7 106 wait(0.2); //May be left over from debugging?
danlock10y 7:c19655dbdef7 107
danlock10y 7:c19655dbdef7 108 }//endif touch sensor
danlock10y 7:c19655dbdef7 109
danlock10y 7:c19655dbdef7 110 //Establish whether the board is tilted left or right
danlock10y 7:c19655dbdef7 111 if (accX > 0.1)
danlock10y 7:c19655dbdef7 112 {
danlock10y 7:c19655dbdef7 113 right = false;
danlock10y 7:c19655dbdef7 114 printf("left \r\n");
danlock10y 7:c19655dbdef7 115 }//endif
danlock10y 7:c19655dbdef7 116
danlock10y 7:c19655dbdef7 117 if (accX < -0.1)
danlock10y 7:c19655dbdef7 118 {
danlock10y 7:c19655dbdef7 119 right = true;
danlock10y 7:c19655dbdef7 120 printf("right \r\n");
danlock10y 7:c19655dbdef7 121 }//endif
danlock10y 7:c19655dbdef7 122
danlock10y 7:c19655dbdef7 123 wait(0.1); //May be left over from debugging?
danlock10y 7:c19655dbdef7 124
danlock10y 7:c19655dbdef7 125 //Establish whether the board is tilted front or back
danlock10y 7:c19655dbdef7 126 if (accY > 0.1)
danlock10y 7:c19655dbdef7 127 {
danlock10y 7:c19655dbdef7 128 forward = false;
danlock10y 7:c19655dbdef7 129 printf("back \r\n");
danlock10y 7:c19655dbdef7 130 }//endif
danlock10y 7:c19655dbdef7 131
danlock10y 7:c19655dbdef7 132 if (accY < -0.1)
danlock10y 7:c19655dbdef7 133 {
danlock10y 7:c19655dbdef7 134 forward = true;
danlock10y 7:c19655dbdef7 135 printf("for \r\n");
danlock10y 7:c19655dbdef7 136 }//endif
danlock10y 7:c19655dbdef7 137
danlock10y 7:c19655dbdef7 138 wait(0.1); //May be left over from debugging?
danlock10y 7:c19655dbdef7 139
danlock10y 7:c19655dbdef7 140 //Establish the main axis of tilting so that the control outputs one direction
danlock10y 7:c19655dbdef7 141 if(abs(accY) > abs(accX))
danlock10y 7:c19655dbdef7 142 {
danlock10y 7:c19655dbdef7 143 if(forward == true)
danlock10y 7:c19655dbdef7 144 {
danlock10y 7:c19655dbdef7 145 Direction = 0; //Direction variable is a two bit number 0-3 0 is forward
danlock10y 7:c19655dbdef7 146
danlock10y 7:c19655dbdef7 147 lefthigh = 0; //Light up the forward LED, make sure all others are off
danlock10y 7:c19655dbdef7 148 leftlow = 0;
danlock10y 7:c19655dbdef7 149 righthigh = 0;
danlock10y 7:c19655dbdef7 150 rightlow = 0;
danlock10y 7:c19655dbdef7 151 forwardhigh = 1;
danlock10y 7:c19655dbdef7 152 forwardlow = 0;
danlock10y 7:c19655dbdef7 153 backwardhigh = 0;
danlock10y 7:c19655dbdef7 154 backwardlow = 0;
danlock10y 7:c19655dbdef7 155
danlock10y 7:c19655dbdef7 156 }//endif
danlock10y 7:c19655dbdef7 157 else
danlock10y 7:c19655dbdef7 158 {
danlock10y 7:c19655dbdef7 159 Direction = 2; //Direction variable is a two bit number 0-3 2 is backward
danlock10y 7:c19655dbdef7 160
danlock10y 7:c19655dbdef7 161 lefthigh = 0; //Light up the backward LED, make sure all others are off
danlock10y 7:c19655dbdef7 162 leftlow = 0;
danlock10y 7:c19655dbdef7 163 righthigh = 0;
danlock10y 7:c19655dbdef7 164 rightlow = 0;
danlock10y 7:c19655dbdef7 165 forwardhigh = 0;
danlock10y 7:c19655dbdef7 166 forwardlow = 0;
danlock10y 7:c19655dbdef7 167 backwardhigh = 1;
danlock10y 7:c19655dbdef7 168 backwardlow = 0;
danlock10y 7:c19655dbdef7 169
danlock10y 7:c19655dbdef7 170 }//endelse
danlock10y 7:c19655dbdef7 171 }//endif
danlock10y 7:c19655dbdef7 172 else
danlock10y 7:c19655dbdef7 173 {
danlock10y 7:c19655dbdef7 174 if(right == true)
danlock10y 7:c19655dbdef7 175 {
danlock10y 7:c19655dbdef7 176 Direction = 1; //Direction variable is a two bit number 0-3 1 is right
danlock10y 7:c19655dbdef7 177
danlock10y 7:c19655dbdef7 178 lefthigh = 0; //Light up the right LED, make sure all others are off
danlock10y 7:c19655dbdef7 179 leftlow = 0;
danlock10y 7:c19655dbdef7 180 righthigh = 1;
danlock10y 7:c19655dbdef7 181 rightlow = 0;
danlock10y 7:c19655dbdef7 182 forwardhigh = 0;
danlock10y 7:c19655dbdef7 183 forwardlow = 0;
danlock10y 7:c19655dbdef7 184 backwardhigh = 0;
danlock10y 7:c19655dbdef7 185 backwardlow = 0;
danlock10y 7:c19655dbdef7 186
danlock10y 7:c19655dbdef7 187 }//endif
danlock10y 7:c19655dbdef7 188 else
danlock10y 7:c19655dbdef7 189 {
danlock10y 7:c19655dbdef7 190 Direction = 3; //Direction variable is a two bit number 0-3 3 is left
danlock10y 7:c19655dbdef7 191
danlock10y 7:c19655dbdef7 192 lefthigh = 1; //Light up the left LED, make sure all others are off
danlock10y 7:c19655dbdef7 193 leftlow = 0;
danlock10y 7:c19655dbdef7 194 righthigh = 0;
danlock10y 7:c19655dbdef7 195 rightlow = 0;
danlock10y 7:c19655dbdef7 196 forwardhigh = 0;
danlock10y 7:c19655dbdef7 197 forwardlow = 0;
danlock10y 7:c19655dbdef7 198 backwardhigh = 0;
danlock10y 7:c19655dbdef7 199 backwardlow = 0;
danlock10y 7:c19655dbdef7 200
danlock10y 7:c19655dbdef7 201 }//endelse
danlock10y 7:c19655dbdef7 202 }//endelse
danlock10y 7:c19655dbdef7 203
danlock10y 7:c19655dbdef7 204 pc.printf("Direction = %d \r\n", Direction); //Print the direction variable to screen for debugging
danlock10y 7:c19655dbdef7 205
danlock10y 7:c19655dbdef7 206 //Only send data to the server if the direction has changed
danlock10y 8:047d427da574 207 if(Direction != PrevDirection || Velocity != PrevVelocity)
danlock10y 7:c19655dbdef7 208 {
danlock10y 7:c19655dbdef7 209 //Send Direction and Velocity to server
danlock10y 7:c19655dbdef7 210
danlock10y 8:047d427da574 211 // dev.printf("AT+CIPSEND=0,11\r\n");
danlock10y 7:c19655dbdef7 212 //wait(2);
danlock10y 7:c19655dbdef7 213
danlock10y 8:047d427da574 214 //dev.printf("1dir%dvel%d\r\n",Direction,Velocity); //Identifier,Direction Tag,Direction Value,Velocity Tag,Velocity Value
danlock10y 7:c19655dbdef7 215
danlock10y 7:c19655dbdef7 216 PrevDirection = Direction;
danlock10y 7:c19655dbdef7 217 PrevVelocity = Velocity;
danlock10y 7:c19655dbdef7 218 }
danlock10y 7:c19655dbdef7 219
danlock10y 7:c19655dbdef7 220 }//endwhile
danlock10y 7:c19655dbdef7 221 }//endmain