main.cpp

00001 
00002 #include "mbed.h"
00003 #include "Speaker.h"
00004 #include "PinDetect.h"
00005 #include "uLCD_4DGL.h"
00006 // setup builtin LEDs
00007 DigitalOut myLed1(LED1);
00008 DigitalOut myLed2(LED2);
00009 DigitalOut myLed3(LED3);
00010 DigitalOut myLed4(LED4);
00011 // setup pushbuttons for debounced interrupt use
00012 PinDetect pb1(p23);
00013 PinDetect pb2(p24);
00014 PinDetect pb3(p25);
00015 PinDetect pb4(p26);
00016 
00017 // setup LCD
00018 uLCD_4DGL uLCD(p28, p27, p29); // create a global lcd object
00019 
00020 //moving include down here allows use in uLCD in Robot class draw and erase member functions
00021 //easier for now than passing a new uLCD_4DGL object argument to the class
00022 #include "Robot.h"
00023 
00024 // setup instance of new Speaker class, mySpeaker using pin 21
00025 // the pin must be a PWM output pin
00026 Speaker mySpeaker(p21);
00027 
00028 // pushbutton status - need volatile for safe interrupt R/W
00029 volatile int pbStatus = 0;
00030 
00031 // Callback routine is interrupt activated by a debounced pb1 hit
00032 void pb1_hit_callback (void)
00033 {
00034     // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED
00035     pbStatus = pbStatus | 0x01;
00036 
00037 }
00038 // Callback routine is interrupt activated by a debounced pb2 hit
00039 void pb2_hit_callback (void)
00040 {
00041     // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED
00042     pbStatus = pbStatus | 0x02;
00043 }
00044 // Callback routine is interrupt activated by a debounced pb3 hit
00045 void pb3_hit_callback (void)
00046 {
00047     // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED
00048     pbStatus = pbStatus | 0x04;
00049 }
00050 // Callback routine is interrupt activated by a debounced pb4 hit
00051 void pb4_hit_callback (void)
00052 {
00053     // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED
00054     pbStatus = pbStatus | 0x08;
00055 }
00056 
00057 // main program
00058 int main()
00059 {
00060     uLCD.printf("\nmyRobot!\nyourname");
00061 //setup four SPST push buttons
00062     pb1.mode(PullUp); //add internal pullup resistor
00063     pb2.mode(PullUp);
00064     pb3.mode(PullUp);
00065     pb4.mode(PullUp);
00066     // need a small delay for initial pullup to take effect due to capacitance
00067     wait(.01);
00068     // Setup Interrupt callback functions for each pb hit
00069     pb1.attach_deasserted(&pb1_hit_callback);
00070     pb2.attach_deasserted(&pb2_hit_callback);
00071     pb3.attach_deasserted(&pb3_hit_callback);
00072     pb4.attach_deasserted(&pb4_hit_callback);
00073     // Start sampling the pb inputs using interrupts
00074     pb1.setSampleFrequency();
00075     pb2.setSampleFrequency();
00076     pb3.setSampleFrequency();
00077     pb4.setSampleFrequency();
00078 // pushbuttons are all now setup with pullups and running with a software decounce filter
00079 
00080 // use your modified robot class to move and display robot's new location on LCD
00081     Robot myRobot;
00082 
00083     myRobot.draw(); //initial robot display in center of LCD
00084 //main loop to control and display robot
00085     while(1) {
00086         //check pushbutton status for new input
00087         switch (pbStatus) {
00088                 //move forward
00089             case 0x01 :
00090                 myLed1 = 1;
00091                 pbStatus = 0;
00092                 mySpeaker.PlayNote(200.0,0.1,0.8);
00093                 myRobot.erase();
00094                 myRobot.moveForward(1);
00095                 myRobot.draw();
00096                 break;
00097                 //move backwards
00098             case 0x02 :
00099                 myLed2 = 1;
00100                 pbStatus = 0;
00101                 mySpeaker.PlayNote(400.0,0.1,0.8);
00102                 myRobot.erase();
00103                 myRobot.moveBackward(1);
00104                 myRobot.draw();
00105                 break;
00106                 //move left
00107             case 0x04 :
00108                 myLed3 = 1;
00109                 pbStatus = 0;
00110                 mySpeaker.PlayNote(600.0,0.1,0.8);
00111                 myRobot.erase();
00112                 myRobot.moveLeft(1);
00113                 myRobot.draw();
00114                 break;
00115                 //move right
00116             case 0x08 :
00117                 myLed4 = 1;
00118                 pbStatus = 0;
00119                 mySpeaker.PlayNote(800.0,0.1,0.8);
00120                 myRobot.erase();
00121                 myRobot.moveRight(1);
00122                 myRobot.draw();
00123                 break;
00124                 //no pb or multiple pbs hit
00125             default :
00126 //               myLed1 = 0;
00127                 myLed2 = 0;
00128                 myLed3 = 0;
00129                 myLed4 = 0;
00130                 pbStatus = 0;
00131         } //end switch
00132         myLed1 = !myLed1; //blink to show loop is still running
00133         wait(.05);
00134     } //end while
00135 } //end main
00136