Serpentine
/
snakecontroller
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Dependencies: MMA8451Q TSI mbed
Fork of
foodcontroller3
by 
Serpentine
Revision 0:c5a6d47904dc, committed 2016-06-08
- Comitter:
- pemb4660
- Date:
- Wed Jun 08 16:04:32 2016 +0000
- Child:
- 1:6dd9eca697db
- Commit message:
- hyi8ndsfop;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MMA8451Q.lib Wed Jun 08 16:04:32 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/emilmont/code/MMA8451Q/#c4d879a39775
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TSI.lib Wed Jun 08 16:04:32 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/TSI/#1a60ef257879
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jun 08 16:04:32 2016 +0000
@@ -0,0 +1,112 @@
+#include "mbed.h"
+#include "TSISensor.h"
+#include "MMA8451Q.h"
+
+#define MMA8451_I2C_ADDRESS (0x1d<<1)
+Serial pc(USBTX, USBRX); // tx, rx
+
+int main()
+{
+ PwmOut gled(LED_GREEN);
+ TSISensor tsi;
+ MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
+ DigitalOut lefthigh(PTC11);
+ DigitalOut leftlow(PTC9);
+ DigitalOut righthigh(PTC6);
+ DigitalOut rightlow(PTA5);
+ DigitalOut forwardhigh(PTC16);
+ DigitalOut forwardlow(PTD0);
+ DigitalOut backwardhigh(PTA17);
+ DigitalOut backwardlow(PTD1);
+
+
+ bool right;
+ bool forward;
+
+
+ while (1) {
+
+ wait(0.2);
+ float accX=acc.getAccX();
+ printf("x=%0.3f\r\n",accX);
+ if (tsi.readPercentage() != 0) {
+ gled = 1.0 - tsi.readPercentage();
+ }
+
+ if((accX <= 0.1f) && (accX >= -0.1f)) {
+ printf("A \r\n");
+ if (right == true) {
+ printf("B \r\n");
+ righthigh = 0;
+ rightlow = 1;
+ } else {
+ printf("C \r\n");
+ lefthigh = 0;
+ leftlow = 1;
+ }
+ //}
+
+ if (accX > 0.1) {
+ printf("D \r\n");
+ lefthigh = 1;
+ leftlow = 1;
+ righthigh = 0;
+ rightlow = 1;
+ forwardhigh = 1;
+ forwardlow = 1;
+ backwardhigh = 1;
+ backwardlow = 1;
+ right = true;
+ }
+
+ if (accX < -0.1) {
+ printf("E \r\n");
+ lefthigh = 0;
+ leftlow = 1;
+ righthigh = 1;
+ rightlow = 1;
+ forwardhigh = 1;
+ forwardlow = 1;
+ backwardhigh = 1;
+ backwardlow = 1;
+ right = false;
+ }
+ wait(0.1);
+ }
+
+
+ if((acc.getAccY() <= 0.1) && (acc.getAccY() >= -0.1)) {
+ if (forward == true) {
+ forwardhigh = 0;
+ forwardlow = 1;
+ } else
+ backwardhigh = 0;
+ backwardlow = 1;
+ }
+
+ if (acc.getAccY() > 0.1) {
+ lefthigh = 1;
+ leftlow = 1;
+ righthigh = 1;
+ rightlow = 1;
+ forwardhigh = 0;
+ forwardlow = 1;
+ backwardhigh = 1;
+ backwardlow = 1;
+ forward = true;
+ }
+
+ if (acc.getAccY() < -0.1) {
+ lefthigh = 1;
+ leftlow = 1;
+ righthigh = 1;
+ rightlow = 1;
+ forwardhigh = 1;
+ forwardlow = 1;
+ backwardhigh = 0;
+ backwardlow = 1;
+ forward = false;
+ }
+ wait(0.1);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Jun 08 16:04:32 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34 \ No newline at end of file