Team Black ECE 595 IUPUI / Mbed 2 deprecated Super Mario Bros. with K64F and Unity Engine

Program used to get X, Y, and Z inputs from the on-board accelerometer of the K64F chip. These components are used to calculate angles of pitch and roll. These angles are then used to detect various motions that are encoded and sent over the serial port to Unity gaming engine. This allows for the board to act as a controller for a Super Mario Bros. demo that we have created.

Dependencies:   FXOS8700Q mbed

Fork of Project1_Group_Black by Mattthew Vanderpohl

Unity Super Mario Bros. Demo Project used with controller configuration code.

/media/uploads/mvanderpohl/super_mario_bros._demo_final_copy.zip

ControllerConfigA.cpp@0:083d79f59957, 2016-03-30 (annotated)

Committer:
mvanderpohl
Date:
Wed Mar 30 19:49:12 2016 +0000
Revision:
0:083d79f59957
Publishing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mvanderpohl 0:083d79f59957 1 #include "mbed.h"
mvanderpohl 0:083d79f59957 2 #include "FXOS8700Q.h"
mvanderpohl 0:083d79f59957 3 //defines
mvanderpohl 0:083d79f59957 4 #define DELAY 20
mvanderpohl 0:083d79f59957 5
mvanderpohl 0:083d79f59957 6 //I2C lines for FXOS8700Q accelerometer
mvanderpohl 0:083d79f59957 7 FXOS8700Q_acc acc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1);
mvanderpohl 0:083d79f59957 8
mvanderpohl 0:083d79f59957 9
mvanderpohl 0:083d79f59957 10 Serial pc(PTC15, PTC14); //pins used in Bluetooth communication
mvanderpohl 0:083d79f59957 11 //Serial pc(USBTX, USBRX); //pins used in serial USB communication
mvanderpohl 0:083d79f59957 12
mvanderpohl 0:083d79f59957 13 DigitalIn sw2(SW2);
mvanderpohl 0:083d79f59957 14 DigitalIn sw3(SW3);
mvanderpohl 0:083d79f59957 15
mvanderpohl 0:083d79f59957 16 void getAccValues();
mvanderpohl 0:083d79f59957 17 void calculateTilt(float*,float*);
mvanderpohl 0:083d79f59957 18 void sendDefault(int);
mvanderpohl 0:083d79f59957 19 void sendJump(int);
mvanderpohl 0:083d79f59957 20 void sendLeft(int);
mvanderpohl 0:083d79f59957 21 void sendFastLeft(int);
mvanderpohl 0:083d79f59957 22 void sendRight(int);
mvanderpohl 0:083d79f59957 23 void sendFastRight(int);
mvanderpohl 0:083d79f59957 24 void sendPause(int);
mvanderpohl 0:083d79f59957 25 void sendDown(int);
mvanderpohl 0:083d79f59957 26
mvanderpohl 0:083d79f59957 27 float accX, accY, accZ;
mvanderpohl 0:083d79f59957 28 bool sendingData = false;
mvanderpohl 0:083d79f59957 29
mvanderpohl 0:083d79f59957 30 int main()
mvanderpohl 0:083d79f59957 31 {
mvanderpohl 0:083d79f59957 32 //sensor values
mvanderpohl 0:083d79f59957 33 float pitch, roll;
mvanderpohl 0:083d79f59957 34
mvanderpohl 0:083d79f59957 35 //COUDL ADJUST BAUD RATE FOR UNITY
mvanderpohl 0:083d79f59957 36 pc.baud(9600);
mvanderpohl 0:083d79f59957 37
mvanderpohl 0:083d79f59957 38 //enable the accelerometer
mvanderpohl 0:083d79f59957 39 acc.enable();
mvanderpohl 0:083d79f59957 40
mvanderpohl 0:083d79f59957 41 while (true)
mvanderpohl 0:083d79f59957 42 {
mvanderpohl 0:083d79f59957 43 getAccValues();
mvanderpohl 0:083d79f59957 44 calculateTilt(&pitch, &roll);
mvanderpohl 0:083d79f59957 45
mvanderpohl 0:083d79f59957 46 //IF MOVING RIGHT
mvanderpohl 0:083d79f59957 47 if(roll > 0.6)
mvanderpohl 0:083d79f59957 48 {
mvanderpohl 0:083d79f59957 49 if(roll > 0.8)
mvanderpohl 0:083d79f59957 50 {
mvanderpohl 0:083d79f59957 51 sendFastRight(DELAY);
mvanderpohl 0:083d79f59957 52 sendingData = true;
mvanderpohl 0:083d79f59957 53 }
mvanderpohl 0:083d79f59957 54 else
mvanderpohl 0:083d79f59957 55 {
mvanderpohl 0:083d79f59957 56 sendRight(DELAY);
mvanderpohl 0:083d79f59957 57 sendingData = true;
mvanderpohl 0:083d79f59957 58 }
mvanderpohl 0:083d79f59957 59 }
mvanderpohl 0:083d79f59957 60
mvanderpohl 0:083d79f59957 61 //IF MOVING LEFT
mvanderpohl 0:083d79f59957 62 if(roll < -0.6)
mvanderpohl 0:083d79f59957 63 {
mvanderpohl 0:083d79f59957 64 if(roll < -0.8)
mvanderpohl 0:083d79f59957 65 {
mvanderpohl 0:083d79f59957 66 sendFastLeft(DELAY);
mvanderpohl 0:083d79f59957 67 sendingData = true;
mvanderpohl 0:083d79f59957 68 }
mvanderpohl 0:083d79f59957 69 else
mvanderpohl 0:083d79f59957 70 {
mvanderpohl 0:083d79f59957 71 sendLeft(DELAY);
mvanderpohl 0:083d79f59957 72 sendingData = true;
mvanderpohl 0:083d79f59957 73 }
mvanderpohl 0:083d79f59957 74 }
mvanderpohl 0:083d79f59957 75
mvanderpohl 0:083d79f59957 76 //IF DUCKING OR GOING DOWN PIPE
mvanderpohl 0:083d79f59957 77 if(pitch < -0.8)
mvanderpohl 0:083d79f59957 78 {
mvanderpohl 0:083d79f59957 79 sendDown(DELAY);
mvanderpohl 0:083d79f59957 80 sendingData = true;
mvanderpohl 0:083d79f59957 81 }
mvanderpohl 0:083d79f59957 82
mvanderpohl 0:083d79f59957 83 //IF JUMPING
mvanderpohl 0:083d79f59957 84 if(sw2 == 0)
mvanderpohl 0:083d79f59957 85 {
mvanderpohl 0:083d79f59957 86 sendJump(DELAY);
mvanderpohl 0:083d79f59957 87 sendingData = true;
mvanderpohl 0:083d79f59957 88 }
mvanderpohl 0:083d79f59957 89
mvanderpohl 0:083d79f59957 90 if(sw3 == 0)
mvanderpohl 0:083d79f59957 91 {
mvanderpohl 0:083d79f59957 92 sendPause(DELAY);
mvanderpohl 0:083d79f59957 93 sendingData = true;
mvanderpohl 0:083d79f59957 94 }
mvanderpohl 0:083d79f59957 95
mvanderpohl 0:083d79f59957 96 //only send default value if we have no valid data to send
mvanderpohl 0:083d79f59957 97 if(sendingData == false)
mvanderpohl 0:083d79f59957 98 {
mvanderpohl 0:083d79f59957 99 sendDefault(DELAY);
mvanderpohl 0:083d79f59957 100 }
mvanderpohl 0:083d79f59957 101
mvanderpohl 0:083d79f59957 102 //done sending data
mvanderpohl 0:083d79f59957 103 sendingData = false;
mvanderpohl 0:083d79f59957 104
mvanderpohl 0:083d79f59957 105
mvanderpohl 0:083d79f59957 106 //remember multiple if statements can happen each loop and contribute thier own delay so in the worse case
mvanderpohl 0:083d79f59957 107 //we delay number of actions * DELAY otherwise we send default case and delay for default time
mvanderpohl 0:083d79f59957 108 //there is also a slight delay in calculating pitch/roll and getting accel values
mvanderpohl 0:083d79f59957 109
mvanderpohl 0:083d79f59957 110 }//end while
mvanderpohl 0:083d79f59957 111 }//end main
mvanderpohl 0:083d79f59957 112
mvanderpohl 0:083d79f59957 113 void getAccValues()
mvanderpohl 0:083d79f59957 114 {
mvanderpohl 0:083d79f59957 115 //read x y z from the accelerometer
mvanderpohl 0:083d79f59957 116 acc.getX(&accX);
mvanderpohl 0:083d79f59957 117 acc.getY(&accY);
mvanderpohl 0:083d79f59957 118 acc.getZ(&accZ);
mvanderpohl 0:083d79f59957 119 }
mvanderpohl 0:083d79f59957 120
mvanderpohl 0:083d79f59957 121 void calculateTilt(float* pitch, float* roll)
mvanderpohl 0:083d79f59957 122 {
mvanderpohl 0:083d79f59957 123 //calculate pitch and roll
mvanderpohl 0:083d79f59957 124 *pitch = atan2(accY,(sqrt(pow(accX, 2) + pow(accZ, 2 ))));
mvanderpohl 0:083d79f59957 125 *roll = atan2((-1 * accX),accZ);
mvanderpohl 0:083d79f59957 126 }
mvanderpohl 0:083d79f59957 127
mvanderpohl 0:083d79f59957 128 void sendDefault(int delay)
mvanderpohl 0:083d79f59957 129 {
mvanderpohl 0:083d79f59957 130 pc.printf("%d",0);
mvanderpohl 0:083d79f59957 131 wait_ms(delay);
mvanderpohl 0:083d79f59957 132 }
mvanderpohl 0:083d79f59957 133
mvanderpohl 0:083d79f59957 134 void sendJump(int delay)
mvanderpohl 0:083d79f59957 135 {
mvanderpohl 0:083d79f59957 136 pc.printf("%d", 1);
mvanderpohl 0:083d79f59957 137 wait_ms(delay);
mvanderpohl 0:083d79f59957 138 }
mvanderpohl 0:083d79f59957 139
mvanderpohl 0:083d79f59957 140 void sendLeft(int delay)
mvanderpohl 0:083d79f59957 141 {
mvanderpohl 0:083d79f59957 142 pc.printf("%d",3);
mvanderpohl 0:083d79f59957 143 wait_ms(delay);
mvanderpohl 0:083d79f59957 144 }
mvanderpohl 0:083d79f59957 145
mvanderpohl 0:083d79f59957 146 void sendRight(int delay)
mvanderpohl 0:083d79f59957 147 {
mvanderpohl 0:083d79f59957 148 pc.printf("%d",4);
mvanderpohl 0:083d79f59957 149 wait_ms(delay);
mvanderpohl 0:083d79f59957 150 }
mvanderpohl 0:083d79f59957 151 void sendFastRight(int delay)
mvanderpohl 0:083d79f59957 152 {
mvanderpohl 0:083d79f59957 153 pc.printf("%d",5);
mvanderpohl 0:083d79f59957 154 wait_ms(delay);
mvanderpohl 0:083d79f59957 155 }
mvanderpohl 0:083d79f59957 156 void sendFastLeft(int delay)
mvanderpohl 0:083d79f59957 157 {
mvanderpohl 0:083d79f59957 158 pc.printf("%d",6);
mvanderpohl 0:083d79f59957 159 wait_ms(delay);
mvanderpohl 0:083d79f59957 160 }
mvanderpohl 0:083d79f59957 161 void sendPause(int delay)
mvanderpohl 0:083d79f59957 162 {
mvanderpohl 0:083d79f59957 163 pc.printf("%d",7);
mvanderpohl 0:083d79f59957 164 wait_ms(delay);
mvanderpohl 0:083d79f59957 165 }
mvanderpohl 0:083d79f59957 166 void sendDown(int delay)
mvanderpohl 0:083d79f59957 167 {
mvanderpohl 0:083d79f59957 168 pc.printf("%d",8);
mvanderpohl 0:083d79f59957 169 wait_ms(delay);
mvanderpohl 0:083d79f59957 170 }