mbedbidos / Mbed 2 deprecated METRIX_presentacion

corrección spi.

Dependencies:   mbed MPU6050

metrix.cpp@6:973f374e8ea4, 2018-11-22 (annotated)

Committer:
jiuk
Date:
Thu Nov 22 11:30:46 2018 +0000
Revision:
6:973f374e8ea4
Parent:
5:616b5894b610 
correcci?n spi.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jiuk 0:2b55edb1057b 1 #include "mbed.h"
jiuk 0:2b55edb1057b 2 #include "moggo.h" //agrega la libreria que contiene las figuras.
jiuk 6:973f374e8ea4 3 #include "MPU6050.h"
jiuk 0:2b55edb1057b 4
jiuk 5:616b5894b610 5 Serial command(USBTX,USBRX); //habilitar la comunicacion serial a traves del puerto usb.
jiuk 6:973f374e8ea4 6 MPU6050 Wire(PB_9 , PB_8 );
jiuk 6:973f374e8ea4 7
jiuk 6:973f374e8ea4 8 SPI deviceM(PB_15, PB_14, PB_13);
jiuk 6:973f374e8ea4 9 DigitalOut ssel (PB_12);
jiuk 6:973f374e8ea4 10 //SPI deviceM(PB_5, PB_4, PB_3); //define el Clock, Dato salida (miso) y Dato de entrada (mosi).
jiuk 6:973f374e8ea4 11 //DigitalOut ssel (PB_9); //Chip Select para el controlador.
jiuk 6:973f374e8ea4 12 //Serial command(USBTX,USBRX); //habilitar la comunicacion serial a traves del puerto usb.
jiuk 6:973f374e8ea4 13 Serial com_tar(PC_10,PC_11); //master f446R
jiuk 6:973f374e8ea4 14 //Serial com_tar(PA_15,PB_7); //slave f411R //habilitar la comunicacion serial a traves del puerto usb.
jiuk 6:973f374e8ea4 15 Ticker timer;
jiuk 6:973f374e8ea4 16 DigitalIn pulsador(PH_1);
jiuk 6:973f374e8ea4 17 AnalogIn in1(PC_2);
jiuk 6:973f374e8ea4 18 AnalogIn in2(PC_3);
jiuk 0:2b55edb1057b 19
jiuk 5:616b5894b610 20 #define VEL 120 //Velocidad de actualizacion de dato en el controlador.
jiuk 0:2b55edb1057b 21
jiuk 0:2b55edb1057b 22 uint8_t mat_act[11]={0,0,0,0,0,0,0,0,0,0,0}; //Matriz para mostrar en pantalla.
jiuk 5:616b5894b610 23 uint8_t mat_tmp[8]={0,0,0,0,0,0,0,0}; //Matriz temporal para arrojar las fichas.
jiuk 0:2b55edb1057b 24 uint8_t mat_tmp1[8]={0,0,0,0,0,0,0,0};
jiuk 6:973f374e8ea4 25 uint8_t cont=0,ncolumna=1,grados=1,ficha=0,GIRO=2,G_DIAG=2,correr=0,linea_spi=0;
jiuk 3:7ae3dd76ba0a 26 int fila=0;
jiuk 6:973f374e8ea4 27 bool _boton=0;
jiuk 6:973f374e8ea4 28
jiuk 6:973f374e8ea4 29 void boton();
jiuk 6:973f374e8ea4 30 void sendSPI(uint8_t,uint8_t);
jiuk 6:973f374e8ea4 31 void borrar();
jiuk 6:973f374e8ea4 32
jiuk 6:973f374e8ea4 33 //--------------------------------------------------
jiuk 6:973f374e8ea4 34 //-------------------CARA_FELIZ------------------------
jiuk 6:973f374e8ea4 35 //--------------------------------------------------
jiuk 6:973f374e8ea4 36 void cara_feliz()
jiuk 6:973f374e8ea4 37 {
jiuk 6:973f374e8ea4 38 borrar();
jiuk 6:973f374e8ea4 39 sendSPI(0x02,0b01100110);
jiuk 6:973f374e8ea4 40 wait(0.2);
jiuk 6:973f374e8ea4 41 sendSPI(0x03,0b01100110);
jiuk 6:973f374e8ea4 42 wait(0.2);
jiuk 6:973f374e8ea4 43 sendSPI(0x06,0b01000010);
jiuk 6:973f374e8ea4 44 wait(0.2);
jiuk 6:973f374e8ea4 45 sendSPI(0x07,0b00111100);
jiuk 6:973f374e8ea4 46 wait(0.2);
jiuk 6:973f374e8ea4 47 for(int i=0;i<4;i++)
jiuk 6:973f374e8ea4 48 {
jiuk 6:973f374e8ea4 49 sendSPI(0x06,0x00);
jiuk 6:973f374e8ea4 50 sendSPI(0x07,0b00111100);
jiuk 6:973f374e8ea4 51 wait(0.2);
jiuk 6:973f374e8ea4 52 sendSPI(0x07,0b00111100);
jiuk 6:973f374e8ea4 53 wait(0.2);
jiuk 6:973f374e8ea4 54 sendSPI(0x06,0b01000010);
jiuk 6:973f374e8ea4 55 wait(0.2);
jiuk 6:973f374e8ea4 56 }
jiuk 6:973f374e8ea4 57 }
jiuk 6:973f374e8ea4 58
jiuk 6:973f374e8ea4 59 //--------------------------------------------------
jiuk 6:973f374e8ea4 60 //-------------------CARA_TRISTE------------------------
jiuk 6:973f374e8ea4 61 //--------------------------------------------------
jiuk 6:973f374e8ea4 62 void cara_triste()
jiuk 6:973f374e8ea4 63 {
jiuk 6:973f374e8ea4 64 borrar();
jiuk 6:973f374e8ea4 65 sendSPI(0x02,0b01100110);
jiuk 6:973f374e8ea4 66 wait(0.2);
jiuk 6:973f374e8ea4 67 sendSPI(0x03,0b01100110);
jiuk 6:973f374e8ea4 68 wait(0.2);
jiuk 6:973f374e8ea4 69 sendSPI(0x06,0b00111100);
jiuk 6:973f374e8ea4 70 wait(0.2);
jiuk 6:973f374e8ea4 71 sendSPI(0x07,0b01000010);
jiuk 6:973f374e8ea4 72 wait(0.2);
jiuk 6:973f374e8ea4 73 for(int i=0;i<4;i++)
jiuk 6:973f374e8ea4 74 {
jiuk 6:973f374e8ea4 75 sendSPI(0x07,0x00);
jiuk 6:973f374e8ea4 76 sendSPI(0x06,0b00111100);
jiuk 6:973f374e8ea4 77 wait(0.2);
jiuk 6:973f374e8ea4 78 sendSPI(0x06,0b00111100);
jiuk 6:973f374e8ea4 79 wait(0.2);
jiuk 6:973f374e8ea4 80 sendSPI(0x07,0b01000010);
jiuk 6:973f374e8ea4 81 wait(0.2);
jiuk 6:973f374e8ea4 82 }
jiuk 6:973f374e8ea4 83 }
jiuk 6:973f374e8ea4 84
jiuk 5:616b5894b610 85
jiuk 0:2b55edb1057b 86 void sendSPI(uint8_t d1, uint8_t d2)
jiuk 0:2b55edb1057b 87 {
jiuk 0:2b55edb1057b 88 deviceM.unlock();
jiuk 0:2b55edb1057b 89 ssel=0;
jiuk 0:2b55edb1057b 90 deviceM.write(d1);
jiuk 0:2b55edb1057b 91 deviceM.write(d2);
jiuk 0:2b55edb1057b 92 ssel=1;
jiuk 0:2b55edb1057b 93 deviceM.lock();
jiuk 0:2b55edb1057b 94 }
jiuk 0:2b55edb1057b 95
jiuk 5:616b5894b610 96 void test() //test
jiuk 0:2b55edb1057b 97 {
jiuk 0:2b55edb1057b 98 sendSPI(0x09,0); //no decodificacion
jiuk 5:616b5894b610 99 sendSPI(0x0A,0x00); //intensidad
jiuk 0:2b55edb1057b 100 sendSPI(0x0B,0x07); //usa 7 leds
jiuk 0:2b55edb1057b 101 sendSPI(0x0C,1); //no apaga
jiuk 0:2b55edb1057b 102 sendSPI(0x0F,0); //operacion normal
jiuk 0:2b55edb1057b 103 }
jiuk 0:2b55edb1057b 104
jiuk 0:2b55edb1057b 105 void cop_mat(uint8_t a,uint8_t b,uint8_t c,uint8_t* fig,uint8_t columna)
jiuk 0:2b55edb1057b 106 {
jiuk 3:7ae3dd76ba0a 107 if(((mat_act[cont-2]& (*(fig+c)>>columna-1))==0)&&((mat_act[cont-1]& (*(fig+b)>>columna-1))==0)&&((mat_act[cont]& (*(fig+a)>>columna-1))==0)){
jiuk 2:fc251f89bd1b 108 mat_tmp[0]= *(fig+5)>>columna-1;
jiuk 2:fc251f89bd1b 109 mat_tmp[1]= *(fig+a)>>columna-1; //Realiza una copia de la matriz actual fila por fila.
jiuk 2:fc251f89bd1b 110 mat_tmp[2]= *(fig+b)>>columna-1;
jiuk 2:fc251f89bd1b 111 mat_tmp[3]= *(fig+c)>>columna-1;
jiuk 3:7ae3dd76ba0a 112 }
jiuk 0:2b55edb1057b 113 }
jiuk 0:2b55edb1057b 114
jiuk 2:fc251f89bd1b 115 void borrar() //borrar toda la matriz;
jiuk 0:2b55edb1057b 116 {
jiuk 0:2b55edb1057b 117 int i;
jiuk 0:2b55edb1057b 118 for(i=0;i<=8;i++)
jiuk 0:2b55edb1057b 119 {
jiuk 0:2b55edb1057b 120 sendSPI(i,0);
jiuk 0:2b55edb1057b 121 mat_act[i]=0; //Matriz para mostrar en pantalla.
jiuk 0:2b55edb1057b 122 }
jiuk 0:2b55edb1057b 123 };
jiuk 0:2b55edb1057b 124
jiuk 0:2b55edb1057b 125 void buscar_fil(){
jiuk 0:2b55edb1057b 126 for (uint8_t i=0;i<9;i++){
jiuk 0:2b55edb1057b 127 if((mat_act[i]& mat_tmp[3])==0){
jiuk 0:2b55edb1057b 128 fila=i;
jiuk 0:2b55edb1057b 129 //command.printf("\n1- comparacion inicial:\n %d",mat_act[i]& mat_tmp[2]);
jiuk 0:2b55edb1057b 130 }
jiuk 0:2b55edb1057b 131 if((mat_act[i]& mat_tmp[3])!=0){
jiuk 0:2b55edb1057b 132 fila=i-1; //cambio de 2 a 1
jiuk 0:2b55edb1057b 133 i=9;
jiuk 0:2b55edb1057b 134 //command.printf("\n2- comparacion mat_act[i]& mat_tmp[2] :\n %d",mat_act[i]& mat_tmp[2]);
jiuk 0:2b55edb1057b 135 }
jiuk 0:2b55edb1057b 136 if((mat_act[i]& mat_tmp[2])!=0){ //se condicionan las salidas de la busqueda de lanueva fila
jiuk 0:2b55edb1057b 137 fila=i; //cambio de 2 a 1
jiuk 0:2b55edb1057b 138 i=9;
jiuk 0:2b55edb1057b 139 //command.printf("\n3- comparacion mat_act[i]& mat_tmp[1] :\n %d",mat_act[i]& mat_tmp[1]);
jiuk 0:2b55edb1057b 140 }
jiuk 0:2b55edb1057b 141 if((mat_act[i]& mat_tmp[1])!=0){
jiuk 0:2b55edb1057b 142 fila=i+1; //cambio de 2 a 1
jiuk 0:2b55edb1057b 143 i=9;
jiuk 0:2b55edb1057b 144 //command.printf("\n4- comparacion mat_act[i]& mat_tmp[0]:\n %d",mat_act[i]& mat_tmp[0]);
jiuk 0:2b55edb1057b 145 }
jiuk 0:2b55edb1057b 146 }
jiuk 0:2b55edb1057b 147 if(fila>8)
jiuk 2:fc251f89bd1b 148 fila=8;
jiuk 3:7ae3dd76ba0a 149 if(fila<=0){
jiuk 2:fc251f89bd1b 150 wait_ms(VEL);
jiuk 2:fc251f89bd1b 151 borrar();
jiuk 2:fc251f89bd1b 152 fila=8;
jiuk 0:2b55edb1057b 153 }
jiuk 6:973f374e8ea4 154 //command.printf("\n buscar fila \n %d",fila);
jiuk 6:973f374e8ea4 155 //command.printf("\n ******************************* \n ");
jiuk 0:2b55edb1057b 156 };
jiuk 0:2b55edb1057b 157
jiuk 0:2b55edb1057b 158 void guardar_mat(){
jiuk 0:2b55edb1057b 159 mat_act[fila-3]=mat_tmp1[0];
jiuk 0:2b55edb1057b 160 mat_act[fila-2]=mat_tmp1[1];
jiuk 2:fc251f89bd1b 161 mat_act[fila-1]=mat_tmp1[2];
jiuk 2:fc251f89bd1b 162 mat_act[fila ]=mat_tmp1[3];
jiuk 2:fc251f89bd1b 163 };
jiuk 4:78194ed9ff6b 164
jiuk 0:2b55edb1057b 165 void correr_fig(){
jiuk 6:973f374e8ea4 166
jiuk 6:973f374e8ea4 167 //correr=command.getc();
jiuk 6:973f374e8ea4 168 int y=0,x=0,acc[3];
jiuk 6:973f374e8ea4 169 //float gyro[3]; Wire.getGyro(gyro);
jiuk 6:973f374e8ea4 170 float _acc[3];
jiuk 6:973f374e8ea4 171 //command.printf("Accelerometer: \t X= %f, \t Y= %f, \t Z=%f \n", acc[0],acc[1],acc[2]);
jiuk 6:973f374e8ea4 172 //command.printf("Gyroscope: \t X= %f, \t Y= %f, \t Z=%f \n", gyro[0],gyro[1],gyro[2]);
jiuk 6:973f374e8ea4 173 if(_boton==0)
jiuk 6:973f374e8ea4 174 {
jiuk 6:973f374e8ea4 175 x=((int)(in1.read()*-650))+13;
jiuk 6:973f374e8ea4 176 y=((int)(in2.read()*-650))+13;
jiuk 6:973f374e8ea4 177 acc[0]=x;
jiuk 6:973f374e8ea4 178 acc[1]=y;
jiuk 6:973f374e8ea4 179 //command.printf("Joystick: \t X= %d, \t Y= %d, \n", x,y);
jiuk 3:7ae3dd76ba0a 180 }
jiuk 6:973f374e8ea4 181 else
jiuk 6:973f374e8ea4 182 {
jiuk 6:973f374e8ea4 183 Wire.getAccelero(_acc);
jiuk 6:973f374e8ea4 184 acc[0]=(int)_acc[0];
jiuk 6:973f374e8ea4 185 acc[1]=(int)_acc[1];
jiuk 6:973f374e8ea4 186 //command.printf("Accelerometer: \t X= %d, \t Y= %d, \n", acc[0],acc[1]);
jiuk 5:616b5894b610 187 }
jiuk 6:973f374e8ea4 188 if(acc[0]>GIRO) //eje x derecha
jiuk 6:973f374e8ea4 189 correr=1;
jiuk 6:973f374e8ea4 190 else if(acc[0]<-GIRO) //eje x izquierda
jiuk 6:973f374e8ea4 191 correr=0;
jiuk 6:973f374e8ea4 192 else if(acc[1]>GIRO) //eje y arriba
jiuk 6:973f374e8ea4 193 correr=2;
jiuk 6:973f374e8ea4 194 else if(acc[1]<-GIRO) //eje y abajo
jiuk 6:973f374e8ea4 195 correr=3;
jiuk 6:973f374e8ea4 196 else
jiuk 5:616b5894b610 197 correr=0;
jiuk 4:78194ed9ff6b 198
jiuk 2:fc251f89bd1b 199
jiuk 0:2b55edb1057b 200 switch (correr){
jiuk 2:fc251f89bd1b 201
jiuk 0:2b55edb1057b 202 case 0:
jiuk 2:fc251f89bd1b 203 cont++;
jiuk 2:fc251f89bd1b 204 if(cont>8)cont=8;
jiuk 2:fc251f89bd1b 205 break; //cae la figura;
jiuk 2:fc251f89bd1b 206
jiuk 0:2b55edb1057b 207 case 1:
jiuk 3:7ae3dd76ba0a 208 if((mat_tmp[1]==2) || (mat_tmp[1]==1) || (mat_tmp[1]==3)) //faltan condiciones para evitar desplazamiento innecesario.
jiuk 2:fc251f89bd1b 209 ncolumna--;
jiuk 0:2b55edb1057b 210 grados++;
jiuk 0:2b55edb1057b 211 if(grados>4)
jiuk 0:2b55edb1057b 212 grados=1;
jiuk 2:fc251f89bd1b 213 break; //Girar la figura;
jiuk 2:fc251f89bd1b 214
jiuk 0:2b55edb1057b 215 case 2:
jiuk 4:78194ed9ff6b 216 if((mat_tmp[1]!=1) && (mat_tmp[2]!=1) && (mat_tmp[3]!=1)){
jiuk 4:78194ed9ff6b 217 if((mat_tmp[1]!=3) && (mat_tmp[2]!=3) && (mat_tmp[3]!=3)){
jiuk 4:78194ed9ff6b 218 if((mat_tmp[1]!=7) && (mat_tmp[2]!=7) && (mat_tmp[3]!=7))
jiuk 4:78194ed9ff6b 219 ncolumna++;
jiuk 4:78194ed9ff6b 220 }
jiuk 1:bd308ee8776e 221 }
jiuk 4:78194ed9ff6b 222
jiuk 2:fc251f89bd1b 223 break; //correr a la Derecha;
jiuk 2:fc251f89bd1b 224
jiuk 0:2b55edb1057b 225 case 3:
jiuk 0:2b55edb1057b 226 ncolumna--;
jiuk 0:2b55edb1057b 227 if(ncolumna<1)
jiuk 0:2b55edb1057b 228 ncolumna=1;
jiuk 2:fc251f89bd1b 229 break; //correr a la izquierda;
jiuk 4:78194ed9ff6b 230 /*
jiuk 3:7ae3dd76ba0a 231 case 4:
jiuk 3:7ae3dd76ba0a 232 cont++;
jiuk 3:7ae3dd76ba0a 233 if(cont>8)cont=8;
jiuk 3:7ae3dd76ba0a 234 break;
jiuk 4:78194ed9ff6b 235 */
jiuk 0:2b55edb1057b 236 }
jiuk 0:2b55edb1057b 237 }
jiuk 0:2b55edb1057b 238
jiuk 1:bd308ee8776e 239 void imp_mat(uint8_t *temp){ //se genera la variable global cont.
jiuk 0:2b55edb1057b 240 mat_tmp1[0]=(mat_tmp[0]+ mat_act[cont-3]);
jiuk 0:2b55edb1057b 241 mat_tmp1[1]=(mat_tmp[1]+ mat_act[cont-2]);
jiuk 0:2b55edb1057b 242 mat_tmp1[2]=(mat_tmp[2]+ mat_act[cont-1]);
jiuk 0:2b55edb1057b 243 mat_tmp1[3]=(mat_tmp[3]+ mat_act[cont]); //condicionador de funcion, se descarta por una funcion smart.
jiuk 0:2b55edb1057b 244 sendSPI(cont-3,mat_tmp1[0]);
jiuk 0:2b55edb1057b 245 sendSPI(cont-2,mat_tmp1[1]);
jiuk 0:2b55edb1057b 246 sendSPI(cont-1,mat_tmp1[2]);
jiuk 1:bd308ee8776e 247 sendSPI(cont ,mat_tmp1[3]); //pasa de i+2 a i+1
jiuk 0:2b55edb1057b 248 wait_ms(VEL);
jiuk 0:2b55edb1057b 249 }
jiuk 0:2b55edb1057b 250
jiuk 0:2b55edb1057b 251 void dibujar(char type_fig,char grados,char columna)
jiuk 0:2b55edb1057b 252 {
jiuk 5:616b5894b610 253 switch (type_fig){ //Se envia el vector que contiene la figura a la funcion copiar matriz.
jiuk 0:2b55edb1057b 254 case 1: if(columna>7)
jiuk 0:2b55edb1057b 255 columna=7;
jiuk 0:2b55edb1057b 256 cop_mat(5,1,1,FIG_ALL,columna); break; //1: cuadro;
jiuk 0:2b55edb1057b 257
jiuk 0:2b55edb1057b 258 case 2: if(grados==1 || grados==3)
jiuk 0:2b55edb1057b 259 cop_mat(0,0,0,FIG_ALL,columna);
jiuk 0:2b55edb1057b 260 if(grados==2 || grados==4)
jiuk 0:2b55edb1057b 261 cop_mat(5,5,2,FIG_ALL,columna); //2: I;
jiuk 0:2b55edb1057b 262 break;
jiuk 0:2b55edb1057b 263
jiuk 0:2b55edb1057b 264 case 3: if(grados==1)
jiuk 0:2b55edb1057b 265 cop_mat(0,0,1,FIG_ALL,columna); //3: L;
jiuk 0:2b55edb1057b 266 if(grados==2)
jiuk 0:2b55edb1057b 267 cop_mat(5,2,0,FIG_ALL,columna);
jiuk 0:2b55edb1057b 268 if(grados==3)
jiuk 0:2b55edb1057b 269 cop_mat(1,3,3,FIG_ALL,columna);
jiuk 0:2b55edb1057b 270 if(grados==4)
jiuk 0:2b55edb1057b 271 cop_mat(5,6,2,FIG_ALL,columna);
jiuk 1:bd308ee8776e 272 break;
jiuk 0:2b55edb1057b 273
jiuk 0:2b55edb1057b 274 case 4: if(grados==1)
jiuk 0:2b55edb1057b 275 cop_mat(5,3,2,FIG_ALL,columna); //4: T;
jiuk 0:2b55edb1057b 276 if(grados==2)
jiuk 0:2b55edb1057b 277 cop_mat(0,1,0,FIG_ALL,columna);
jiuk 0:2b55edb1057b 278 if(grados==3)
jiuk 0:2b55edb1057b 279 cop_mat(5,2,3,FIG_ALL,columna);
jiuk 0:2b55edb1057b 280 if(grados==4)
jiuk 0:2b55edb1057b 281 cop_mat(3,1,3,FIG_ALL,columna);
jiuk 0:2b55edb1057b 282 break;
jiuk 0:2b55edb1057b 283
jiuk 0:2b55edb1057b 284 case 5: if(grados==1 || grados==3)
jiuk 5:616b5894b610 285 cop_mat(5,4,1,FIG_ALL,columna); //5: S;
jiuk 0:2b55edb1057b 286 if(grados==2 || grados==4)
jiuk 0:2b55edb1057b 287 cop_mat(0,1,3,FIG_ALL,columna);
jiuk 0:2b55edb1057b 288 break;
jiuk 0:2b55edb1057b 289 }
jiuk 0:2b55edb1057b 290 }
jiuk 0:2b55edb1057b 291
jiuk 0:2b55edb1057b 292 void fichas(){
jiuk 0:2b55edb1057b 293 ficha= rand() % 5+1;
jiuk 4:78194ed9ff6b 294 //grados= rand() % 4+1;
jiuk 2:fc251f89bd1b 295 ncolumna=4;
jiuk 0:2b55edb1057b 296 }
jiuk 2:fc251f89bd1b 297
jiuk 6:973f374e8ea4 298 void buscar_linea()
jiuk 6:973f374e8ea4 299 {
jiuk 6:973f374e8ea4 300 for(uint8_t i=0;i<9;i++)
jiuk 6:973f374e8ea4 301 {
jiuk 6:973f374e8ea4 302 if(mat_act[i]==255)
jiuk 6:973f374e8ea4 303 {
jiuk 6:973f374e8ea4 304 linea_spi++;
jiuk 6:973f374e8ea4 305 for(uint8_t a=i;a>=1;a--)
jiuk 6:973f374e8ea4 306 {
jiuk 2:fc251f89bd1b 307 sendSPI(a,mat_act[a-1]);
jiuk 3:7ae3dd76ba0a 308 mat_act[a]=mat_act[a-1];
jiuk 2:fc251f89bd1b 309 }
jiuk 2:fc251f89bd1b 310 }
jiuk 2:fc251f89bd1b 311 }
jiuk 6:973f374e8ea4 312 if(linea_spi==2)
jiuk 6:973f374e8ea4 313 {
jiuk 6:973f374e8ea4 314 com_tar.putc(1);
jiuk 6:973f374e8ea4 315 cara_feliz();
jiuk 6:973f374e8ea4 316 }
jiuk 2:fc251f89bd1b 317 }
jiuk 0:2b55edb1057b 318
jiuk 6:973f374e8ea4 319 //--------------------------------------------------
jiuk 6:973f374e8ea4 320 //-------------------TICKER------------------------
jiuk 6:973f374e8ea4 321 //--------------------------------------------------
jiuk 6:973f374e8ea4 322 void attime()
jiuk 6:973f374e8ea4 323 {
jiuk 6:973f374e8ea4 324 void correr_fig();
jiuk 6:973f374e8ea4 325 //blink();
jiuk 6:973f374e8ea4 326 boton();
jiuk 6:973f374e8ea4 327 if (command.readable())
jiuk 6:973f374e8ea4 328 {
jiuk 6:973f374e8ea4 329 int x=com_tar.getc();
jiuk 6:973f374e8ea4 330 if(x==1)
jiuk 6:973f374e8ea4 331 cara_triste();
jiuk 6:973f374e8ea4 332 //command.printf("Button pressed %b\n", _boton);
jiuk 6:973f374e8ea4 333 }
jiuk 6:973f374e8ea4 334 };
jiuk 6:973f374e8ea4 335
jiuk 6:973f374e8ea4 336 //--------------------------------------------------
jiuk 6:973f374e8ea4 337 //-------------------BOTON------------------------
jiuk 6:973f374e8ea4 338 //--------------------------------------------------
jiuk 6:973f374e8ea4 339 void boton()
jiuk 6:973f374e8ea4 340 {
jiuk 6:973f374e8ea4 341 if (pulsador == 0)
jiuk 6:973f374e8ea4 342 {
jiuk 6:973f374e8ea4 343 //command.printf("Button pressed %b\n", _boton);
jiuk 6:973f374e8ea4 344 _boton=!_boton;
jiuk 6:973f374e8ea4 345 }
jiuk 6:973f374e8ea4 346 }
jiuk 6:973f374e8ea4 347
jiuk 6:973f374e8ea4 348 //--------------------------------------------------
jiuk 6:973f374e8ea4 349 //-------------------VELOCIDAD-----------------------
jiuk 6:973f374e8ea4 350 //--------------------------------------------------
jiuk 6:973f374e8ea4 351 int velocidad(float _acc[3])
jiuk 6:973f374e8ea4 352 {
jiuk 6:973f374e8ea4 353 int vel,x=1,y=2; //
jiuk 6:973f374e8ea4 354 int acc[3];
jiuk 6:973f374e8ea4 355 acc[0]=(int)_acc[0];
jiuk 6:973f374e8ea4 356 acc[1]=(int)_acc[1];
jiuk 6:973f374e8ea4 357 if((acc[0]>GIRO) || (acc[0]<-GIRO) || (acc[1]>GIRO) || (acc[1]<-GIRO))
jiuk 6:973f374e8ea4 358 {
jiuk 6:973f374e8ea4 359 if((acc[0]>(GIRO+x)) || (acc[0]<-(GIRO+x)) || (acc[1]>(GIRO+x)) || (acc[1]<-(GIRO+x)))
jiuk 6:973f374e8ea4 360 {
jiuk 6:973f374e8ea4 361 vel=300;
jiuk 6:973f374e8ea4 362 if((acc[0]>(GIRO+y)) || (acc[0]<-(GIRO+y)) || (acc[1]>(GIRO+y)) || (acc[1]<-(GIRO+y)))
jiuk 6:973f374e8ea4 363 vel=100;
jiuk 6:973f374e8ea4 364 }
jiuk 6:973f374e8ea4 365 else
jiuk 6:973f374e8ea4 366 vel=500;
jiuk 6:973f374e8ea4 367 }
jiuk 6:973f374e8ea4 368 return vel;
jiuk 6:973f374e8ea4 369 }
jiuk 6:973f374e8ea4 370
jiuk 6:973f374e8ea4 371 //--------------------------------------------------
jiuk 6:973f374e8ea4 372 //-------------------MAIN------------------------
jiuk 6:973f374e8ea4 373 //--------------------------------------------------
jiuk 0:2b55edb1057b 374 int main() {
jiuk 6:973f374e8ea4 375 timer.attach(&attime, 0.3);
jiuk 0:2b55edb1057b 376 test();
jiuk 0:2b55edb1057b 377 borrar();
jiuk 0:2b55edb1057b 378 while(1){
jiuk 1:bd308ee8776e 379 fichas();
jiuk 0:2b55edb1057b 380 buscar_fil();
jiuk 1:bd308ee8776e 381 cont=0;
jiuk 5:616b5894b610 382
jiuk 2:fc251f89bd1b 383 while (cont<fila){
jiuk 1:bd308ee8776e 384 correr_fig();
jiuk 1:bd308ee8776e 385 dibujar(ficha,grados,ncolumna);
jiuk 1:bd308ee8776e 386 buscar_fil();
jiuk 1:bd308ee8776e 387 imp_mat(mat_tmp);
jiuk 3:7ae3dd76ba0a 388 wait_ms(VEL*2);
jiuk 3:7ae3dd76ba0a 389 }
jiuk 2:fc251f89bd1b 390 guardar_mat();
jiuk 3:7ae3dd76ba0a 391 buscar_linea();
jiuk 0:2b55edb1057b 392 }
jiuk 0:2b55edb1057b 393 }