Serpentine
Final Version of food controller
Dependencies: MMA8451Q TSI mbed
Fork of
foodcontroller_NoWiFi
by 
Serpentine
Revision 10:c0514aae862c, committed 2016-06-10
- Comitter:
- danlock10y
- Date:
- Fri Jun 10 14:10:17 2016 +0000
- Parent:
- 9:de6dd11d89ba
- Commit message:
- DON"T CHANGE THIS AGAIN EVER
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r de6dd11d89ba -r c0514aae862c main.cpp
--- a/main.cpp Fri Jun 10 12:07:02 2016 +0000
+++ b/main.cpp Fri Jun 10 14:10:17 2016 +0000
@@ -1,10 +1,12 @@
/**
Food Controller
main.cpp
+ Board ID: 1
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
+ makes use of the touch sensor input to set a variable speed for the food, formerly indicated by
+ RGB LED (functionality removed due to power issues)
@author Daniel Lock
@author Jamie Gnodde
@version
@@ -17,9 +19,6 @@
#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
@@ -42,6 +41,34 @@
bool right; //Right or left? right = 1
bool forward; //Forward or Backward? forward = 1
+// subroutine to run anytime a serial interrupt arrives from the device
+// this basically passes everything thatthe device produces on to the pc terminal screen
+void dev_recv()
+{
+ //led1 = !led1;
+ while(dev.readable()) {
+ pc.putc(dev.getc());
+ //wait_us(1);
+ }
+}
+// subroutine to service the serial interrupt on the pc connection
+// this is a bit more complex - it takes what the use sends on the pc and copies it on to the device
+// the esp should echo these straight back to the the pc if all is well
+// this also detects the end of command character which is ascii 13 (0x0d) adn adds a linefeed after it =asscii 10 (0x0a)
+void pc_recv()
+{
+ char c;
+ //led4 = !led4;
+ while(pc.readable()) {
+ c=pc.getc();
+ dev.putc(c);
+ pc.putc(c); // echo back
+ if(c==13) {dev.putc(10); // send the linefeed to complement the carriage return generated by return key on the pc
+ pc.putc(10);
+ }
+ }
+}
+
void setupWiFi()
{
dev.printf("AT+RST\r\n"); //Reset WiFi
@@ -60,19 +87,26 @@
dev.printf("AT+CIPMUX=1\r\n"); //Allow multiple connections
wait(2);
- dev.printf("AT+CIPSTART=2,\"TCP\",\"192.168.1.6\",5050\r\n"); //Open connection with the server
+ dev.printf("AT+CIPSTART=0,\"TCP\",\"192.168.1.6\",5050\r\n"); //Open connection with the server
- //Testing connection
- wait(2);
- dev.printf("AT+CIPSEND=2,4\r\n");
- wait(2);
-
- dev.printf("hi\n\r");
}
int main()
{
+ //Initialise WiFi stuff
+ rst=0;
+ wait(1);
+ rst=1; // send the esp8266 reset
+ wait(1);
+ pc.printf("ok off we go....\n\r");
+
+ pc.baud(115200); // NB maybe this should go before this
+ dev.baud(115200);
+
+ pc.attach(&pc_recv, Serial::RxIrq); // attach the two interrupt services
+ dev.attach(&dev_recv, Serial::RxIrq);
+
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
@@ -87,26 +121,26 @@
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
+ /*rled = 0; //Use the RGB LED as an indicator for which speed is selected
bled = 1;
- gled = 1;
+ gled = 1;*/ //removed due to power issues
}
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
+ /*rled = 1; //Use the RGB LED as an indicator for which speed is selected
bled = 0;
- gled = 1;
+ 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
+ /* rled = 1; //Use the RGB LED as an indicator for which speed is selected
bled = 1;
- gled = 0;
+ gled = 0;*/
}
- printf("x=%d\r\n",Velocity); //Print the velocity to the serial for debugging
+ //printf("x=%d\r\n",Velocity); //Print the velocity to the serial for debugging
wait(0.2); //May be left over from debugging?
@@ -116,13 +150,13 @@
if (accX > 0.1)
{
right = false;
- printf("left \r\n");
+ //printf("left \r\n");
}//endif
if (accX < -0.1)
{
right = true;
- printf("right \r\n");
+ //printf("right \r\n");
}//endif
wait(0.1); //May be left over from debugging?
@@ -131,13 +165,13 @@
if (accY > 0.1)
{
forward = false;
- printf("back \r\n");
+ //printf("back \r\n");
}//endif
if (accY < -0.1)
{
forward = true;
- printf("for \r\n");
+ //printf("for \r\n");
}//endif
wait(0.1); //May be left over from debugging?
@@ -206,20 +240,21 @@
}//endelse
}//endelse
- pc.printf("Direction = %d \r\n", Direction); //Print the direction variable to screen for debugging
+ //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("AT+CIPSEND=0,11\r\n");
+ wait(0.1);
- //dev.printf("1dir%dvel%d\r\n",Direction,Velocity); //Identifier,Direction Tag,Direction Value,Velocity Tag,Velocity Value
+ //pc.printf("1dir%dvel%d\r\n",Direction,Velocity); //Identifier,Direction Tag,Direction Value,Velocity Tag,Velocity Value
+ dev.printf("1dir%dvel%d\r\n",Direction,Velocity); //Identifier,Direction Tag,Direction Value,Velocity Tag,Velocity Value
- PrevDirection = Direction;
- PrevVelocity = Velocity;
+ PrevDirection = Direction; //Store Direction just sent as last sent direction
+ PrevVelocity = Velocity; //Store Velocity just sent as last sent velocity
}
}//endwhile