Serpentine
/
serpentine_foodcontroller_final
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Dependencies: MMA8451Q TSI mbed
Fork of
foodcontroller_NoWiFi
by 
Serpentine
Revision 7:c19655dbdef7, committed 2016-06-10
- Comitter:
- danlock10y
- Date:
- Fri Jun 10 09:14:01 2016 +0000
- Parent:
- 6:57b9a6427bc2
- Child:
- 8:047d427da574
- Commit message:
- Working two axis and slider - still needs WiFi
Changed in this revision
| foodController.cpp | Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/foodController.cpp Thu Jun 09 18:42:57 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,176 +0,0 @@
-/**
- Food Controller
- foodController.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(PTC7); //LED for left
-DigitalOut leftlow(PTA1);
-DigitalOut righthigh(PTC4); //LED for right
-DigitalOut rightlow(PTA12);
-DigitalOut forwardhigh(PTC0); //LED for forward
-DigitalOut forwardlow(PTC3);
-DigitalOut backwardhigh(PTA2); //LED for backward
-DigitalOut backwardlow(PTD4);
-
-int Direction; //2 bit number to describe direction 0 forward assigned CW
-int Velocity; //2 bit number to vary velocity in game
-
-bool right; //Right or left? right = 1
-bool forward; //Forward or Backward? forward = 1
-
-int main()
-{
- 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
-
- printf("Direction = %d \r\n", Direction); //Print the direction variable to screen for debugging
-
- }//endwhile
-}//endmain
-
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Jun 10 09:14:01 2016 +0000
@@ -0,0 +1,237 @@
+/**
+ 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