Supergeniene på bakerste rad / Mbed 2 deprecated LAB11_Oppgave2

LAB

Dependencies:   mbed

Fork of LAB11_Oppgave2 by EL-POM1001

main.cpp@2:132db1b8730d, 2015-12-08 (annotated)

Committer:
knut_johan
Date:
Tue Dec 08 15:42:57 2015 +0000
Revision:
2:132db1b8730d
Parent:
1:d4624c8ba9f5 
LAB11

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rlanghbv 0:87a84e072ec7 1 #include "mbed.h"
rlanghbv 0:87a84e072ec7 2 //SDA , SCL
rlanghbv 0:87a84e072ec7 3 I2C i2cBus(PB_9, PB_8);
rlanghbv 0:87a84e072ec7 4
rlanghbv 0:87a84e072ec7 5 Serial pc(SERIAL_TX, SERIAL_RX);
knut_johan 2:132db1b8730d 6 DigitalOut LED(PA_5);
knut_johan 2:132db1b8730d 7 PwmOut servoMotor(PA_7);
knut_johan 2:132db1b8730d 8 DigitalOut direction(PA_6);
rlanghbv 0:87a84e072ec7 9
rlanghbv 0:87a84e072ec7 10 #define NUNCHUK_8BIT_ADDR 0x52<<1 // 8-bit I2C slave address = ( ( 7bit i2c address) << 1 | (read/write) bit
rlanghbv 0:87a84e072ec7 11
rlanghbv 0:87a84e072ec7 12 typedef struct {
rlanghbv 0:87a84e072ec7 13 int xStick;
rlanghbv 0:87a84e072ec7 14 int yStick;
rlanghbv 0:87a84e072ec7 15 int xAcc;
rlanghbv 0:87a84e072ec7 16 int yAcc;
rlanghbv 0:87a84e072ec7 17 int zAcc;
rlanghbv 0:87a84e072ec7 18 bool bButtonC;
rlanghbv 0:87a84e072ec7 19 bool bButtonZ;
rlanghbv 0:87a84e072ec7 20 } NunchukData;
rlanghbv 0:87a84e072ec7 21
rlanghbv 0:87a84e072ec7 22 void initNunchuk()
rlanghbv 0:87a84e072ec7 23 {
rlanghbv 0:87a84e072ec7 24 i2cBus.frequency(100000);
rlanghbv 0:87a84e072ec7 25
rlanghbv 0:87a84e072ec7 26 wait(0.5);
rlanghbv 0:87a84e072ec7 27
rlanghbv 0:87a84e072ec7 28 char cmd[2];
rlanghbv 0:87a84e072ec7 29 cmd[0] = 0x40;
rlanghbv 0:87a84e072ec7 30 cmd[1] = 0x00;
rlanghbv 0:87a84e072ec7 31 i2cBus.write(NUNCHUK_8BIT_ADDR, cmd, 2) ;
rlanghbv 0:87a84e072ec7 32
rlanghbv 0:87a84e072ec7 33 cmd[0] = 0xF0;
rlanghbv 0:87a84e072ec7 34 cmd[1] = 0x55;
rlanghbv 0:87a84e072ec7 35 i2cBus.write(NUNCHUK_8BIT_ADDR, cmd, 2) ;
rlanghbv 0:87a84e072ec7 36
rlanghbv 0:87a84e072ec7 37 cmd[0] = 0xFB;
rlanghbv 0:87a84e072ec7 38 cmd[1] = 0x00;
rlanghbv 0:87a84e072ec7 39 i2cBus.write(NUNCHUK_8BIT_ADDR, cmd, 2) ;
rlanghbv 0:87a84e072ec7 40 }
rlanghbv 0:87a84e072ec7 41
rlanghbv 0:87a84e072ec7 42 void GetNunchukData(NunchukData &data)
rlanghbv 0:87a84e072ec7 43 {
rlanghbv 0:87a84e072ec7 44 char buffer[6];
rlanghbv 0:87a84e072ec7 45
rlanghbv 0:87a84e072ec7 46 char cmd[1];
rlanghbv 0:87a84e072ec7 47 cmd[0] = 0x00;
rlanghbv 0:87a84e072ec7 48 i2cBus.write(NUNCHUK_8BIT_ADDR, cmd, 1) ;
rlanghbv 0:87a84e072ec7 49
rlanghbv 0:87a84e072ec7 50 wait(.01);
rlanghbv 0:87a84e072ec7 51 i2cBus.read(NUNCHUK_8BIT_ADDR, buffer, 6) ;
rlanghbv 0:87a84e072ec7 52
rlanghbv 0:87a84e072ec7 53 data.xStick = buffer[0];
rlanghbv 0:87a84e072ec7 54 data.yStick = buffer[1];
rlanghbv 0:87a84e072ec7 55 data.xAcc = (buffer[2] << 2) + ((buffer[5] & 0x0C) >> 2);
rlanghbv 0:87a84e072ec7 56 data.yAcc = (buffer[3] << 2) + ((buffer[5] & 0x30) >> 4);
rlanghbv 0:87a84e072ec7 57 data.zAcc = (buffer[4] << 2) + ((buffer[5] & 0xC0) >> 6);
rlanghbv 0:87a84e072ec7 58 data.bButtonZ = (buffer[5] & 1) == 0;
rlanghbv 0:87a84e072ec7 59 data.bButtonC = (buffer[5] & 2) == 0;
rlanghbv 0:87a84e072ec7 60 }
rlanghbv 0:87a84e072ec7 61
rlanghbv 0:87a84e072ec7 62 int main()
rlanghbv 0:87a84e072ec7 63 {
rlanghbv 0:87a84e072ec7 64 NunchukData nunchukData;
rlanghbv 0:87a84e072ec7 65
rlanghbv 0:87a84e072ec7 66 initNunchuk();
knut_johan 2:132db1b8730d 67 direction=0;
rlanghbv 0:87a84e072ec7 68 while(true) {
knut_johan 2:132db1b8730d 69 LED = 0;
knut_johan 2:132db1b8730d 70 if(nunchukData.bButtonC == 1) {
knut_johan 2:132db1b8730d 71 LED = 1;
knut_johan 2:132db1b8730d 72 }
rlanghbv 0:87a84e072ec7 73 GetNunchukData(nunchukData);
rlanghbv 0:87a84e072ec7 74 printf("x-yoy %3d,y-yoy %3d ",nunchukData.xStick,nunchukData.yStick );
knut_johan 2:132db1b8730d 75 printf("X-acc: %3d, Y-acc: %3d, Z-acc: %3d, knapp Z: %d, knapp C: %d",nunchukData.xAcc,nunchukData.yAcc, nunchukData.zAcc,nunchukData.bButtonZ, nunchukData.bButtonC );
rlanghbv 1:d4624c8ba9f5 76 printf("\r\n");
knut_johan 2:132db1b8730d 77
knut_johan 2:132db1b8730d 78 if(nunchukData.xStick<139) {
knut_johan 2:132db1b8730d 79 servoMotor=nunchukData.xStick/139.0f;
knut_johan 2:132db1b8730d 80 direction=1;
knut_johan 2:132db1b8730d 81 } else if(nunchukData.xStick>139) {
knut_johan 2:132db1b8730d 82 servoMotor=nunchukData.xStick/139.0f;
knut_johan 2:132db1b8730d 83 direction=0;
knut_johan 2:132db1b8730d 84 }
knut_johan 2:132db1b8730d 85
knut_johan 2:132db1b8730d 86 if(nunchukData.bButtonZ==1)
knut_johan 2:132db1b8730d 87 {
knut_johan 2:132db1b8730d 88 if(nunchukData.xAcc<600)
knut_johan 2:132db1b8730d 89 {
knut_johan 2:132db1b8730d 90 servoMotor=nunchukData.xAcc/600.0f;
knut_johan 2:132db1b8730d 91 direction=0;
knut_johan 2:132db1b8730d 92 }
knut_johan 2:132db1b8730d 93 if(nunchukData.xAcc>600);
knut_johan 2:132db1b8730d 94 {
knut_johan 2:132db1b8730d 95 servoMotor=nunchukData.xAcc/600.0f;
knut_johan 2:132db1b8730d 96 direction=!direction;
knut_johan 2:132db1b8730d 97 }
knut_johan 2:132db1b8730d 98 }
knut_johan 2:132db1b8730d 99
rlanghbv 0:87a84e072ec7 100 }
rlanghbv 0:87a84e072ec7 101 }