mbedbidos
Giroscopio, recoge manzanas
Revision 0:8c4cd4b858b4, committed 2018-11-19
- Comitter:
- jiuk
- Date:
- Mon Nov 19 02:07:02 2018 +0000
- Commit message:
- alguna version giroscopio
Changed in this revision
diff -r 000000000000 -r 8c4cd4b858b4 MI2C_giroscopy.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MI2C_giroscopy.cpp Mon Nov 19 02:07:02 2018 +0000
@@ -0,0 +1,207 @@
+// Read from I2C slave at address 0x62
+
+#include "mbed.h"
+
+#include "MPU6050.h"
+
+Serial command(USBTX,USBRX); //habilitar la comunicacion serial a traves del puerto usb.
+MPU6050 Wire(PB_9 , PB_8 );
+
+SPI deviceM(PB_15, PB_14, PB_13);
+DigitalOut ssel (PB_12);
+//SPI deviceM(PB_5, PB_4, PB_3); //define el Clock, Dato salida (miso) y Dato de entrada (mosi).
+//DigitalOut ssel (PB_9); //Chip Select para el controlador.
+//Serial command(USBTX,USBRX); //habilitar la comunicacion serial a traves del puerto usb.
+Serial com_tar(PC_10,PC_11); //master f446R
+//Serial com_tar(PA_15,PB_7); //slave f411R //habilitar la comunicacion serial a traves del puerto usb.
+
+#define VEL 200 //Velocidad de actualizacion de dato en el controlador.
+#define MIN 1
+#define MAX 8
+#define MINC 128
+#define MAXC 1
+
+int columna=1;
+int fila=1, fil=1, colum=1;
+
+void sendSPI(uint8_t d1, uint8_t d2)
+{
+ deviceM.unlock();
+ ssel=0;
+ deviceM.write(d1);
+ deviceM.write(d2);
+ ssel=1;
+ deviceM.lock();
+}
+
+void test() //test
+{
+ sendSPI(0x09,0); //no decodificacion
+ sendSPI(0x0A,0x00); //intensidad
+ sendSPI(0x0B,0x07); //usa 7 leds
+ sendSPI(0x0C,1); //no apaga
+ sendSPI(0x0F,0); //operacion normal
+}
+
+void borrar() //borrar toda la matriz;
+{
+ int i;
+ for(i=0;i<=8;i++)
+ {
+ sendSPI(i,0);
+ }
+}
+
+void generar_punto()
+{
+ int col[8]={0b00000001,0b00000010,0b00000100,0b00001000,0b00010000,0b00100000,0b01000000,0b10000000};
+ //int fil=0;
+ borrar();
+ fil= rand() % 7+1;
+ int y= rand() % 7+1;
+ command.printf("\n\n Fila: %d",fil);
+ command.printf("\n Columna:%d",col[y]);
+ //int time=0;
+ //while(time<4)
+ // {
+ if(fil==fila){
+ int guarda_linea=columna+colum;
+ sendSPI(fila,guarda_linea);
+ }
+ else
+ sendSPI(fil,col[y]);
+ colum=col[y];
+ // wait_ms(VEL);
+ // sendSPI(fil,0);
+ // wait_ms(VEL);
+ // time++;
+ // }
+
+}
+
+void buscador()
+{
+
+ uint8_t correr;
+ float gyro[3]; Wire.getGyro(gyro);
+ float acc[3]; Wire.getAccelero(acc);
+ command.printf("Accelerometer: \t X= %f, \t Y= %f, \t Z=%f \n", acc[0],acc[1],acc[2]);
+ //command.printf("Gyroscope: \t X= %f, \t Y= %f, \t Z=%f \n", gyro[0],gyro[1],gyro[2]);
+
+ wait(0.5);
+ char t=1;
+
+ while (t==1 && command.readable()==0){
+ wait_ms(0.1);
+ t=0;
+ }
+ if (command.readable()){
+ if(acc[0]<4)
+ correr=28;
+ if(acc[0]<-4)
+ correr=29;
+ if(acc[1]<4)
+ correr=30;
+ if(acc[1]<-4)
+ correr=31;
+
+ //com_tar.putc(correr);
+ wait_ms(100);
+ }
+
+
+ correr=command.getc();
+
+ command.printf("\n correr:\n %d",correr);
+
+ if(correr==30) //Arriba.
+ {
+ fila--;
+ sendSPI(fila+1,0);
+ if (fila<MIN)
+ fila=MAX;
+ sendSPI(fila+1,0);
+ }
+
+ else if(correr==28) //izquierda, correr la figura.
+ {
+ columna=columna<<1;
+ if (columna>MINC){
+ columna=MAXC;
+ }
+ //command.printf("\n columna:\n %d",columna);
+ }
+
+ else if(correr==29) //Derecha correr la figura.
+ {
+ columna=columna>>1;
+ if (columna<MAXC){
+ columna=MINC;
+ }
+ //command.printf("\n columna:\n %d",columna);
+ }
+
+
+ else if(correr==31) //Bajar la figura.
+ {
+ fila++;
+ sendSPI(fila-1,0);
+ if (fila>MAX)
+ fila=MIN;
+ sendSPI(fila-1,0);
+ }
+}
+
+int comer ()
+{
+ int x=0;
+ if(fil==fila){
+ if((colum & columna) != 0)
+ {
+ generar_punto();
+ x=1;
+ sendSPI(fil,colum);
+ //com_tar.putc(x);
+ }
+ }
+ return x;
+ }
+
+int validar_contrincante(){
+ int x=com_tar.getc();
+ return x;
+ }
+
+int main ()
+{
+ int guarda_linea,x=0;
+ test();
+ borrar();
+ sendSPI(fila,columna);
+ generar_punto();
+ while(1)
+ {
+ buscador();
+ //validar_contrincante();
+ x=comer();
+ command.printf("\n comer:\n %d",x);
+ if (x==0)
+ {
+ if(fil==fila){
+ guarda_linea=columna+colum;
+ sendSPI(fila,guarda_linea);
+ }
+ else
+ {
+ guarda_linea=columna;
+ sendSPI(fila,guarda_linea);
+ sendSPI(fil,colum);
+ }
+ }
+ else{
+ sendSPI(fila,columna);
+ }
+ //generar_punto();
+ }
+}
+
\ No newline at end of file
diff -r 000000000000 -r 8c4cd4b858b4 MPU6050.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Mon Nov 19 02:07:02 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/mbedbidos/code/MPU6050/#0e4b60792553
diff -r 000000000000 -r 8c4cd4b858b4 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Nov 19 02:07:02 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187 \ No newline at end of file
diff -r 000000000000 -r 8c4cd4b858b4 moggo.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/moggo.h Mon Nov 19 02:07:02 2018 +0000
@@ -0,0 +1,10 @@
+#ifndef MOGGO_H
+#define MOGGO_H
+
+#include "mbed.h"
+
+#define ALL_TYPE 1
+
+ uint8_t FIG_ALL[7]={0b10000000,0b11000000,0b11100000,0b01000000,0b01100000,0,0b00100000};//FIG_C[0]=1; FIG_C[1]=11; FIG_C[2]=111; FIG_C[3]=01; FIG_C[4]=011
+
+#endif // MOGGO_H
\ No newline at end of file