Diff: Microbit_function.cpp

Revision:

0:4aa6e1498925

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Microbit_function.cpp	Mon Mar 27 12:14:03 2017 +0000
@@ -0,0 +1,112 @@
+
+#include "Microbit_function.h"
+#include "mbed.h"
+
+MicroBit uBit;
+
+// These MiroBit images are used by the Display function to indicate what direction the buggy will travel in.
+MicroBitImage arrow_Up("0,0,1,0,0\n0,1,1,1,0\n1,0,1,0,1\n0,0,1,0,0\n0,0,1,0,0\n");
+MicroBitImage arrow_Down("0,0,1,0,0\n0,0,1,0,0\n1,0,1,0,1\n0,1,1,1,0\n0,0,1,0,0\n");
+MicroBitImage arrow_Left("0,0,1,0,0\n0,1,0,0,0\n1,1,1,1,1\n0,1,0,0,0\n0,0,1,0,0\n");
+MicroBitImage arrow_Right("0,0,1,0,0\n0,0,0,1,0\n1,1,1,1,1\n0,0,0,1,0\n0,0,1,0,0\n");
+MicroBitImage arrow_TopLeft("1,1,1,0,0\n1,1,0,0,0\n1,0,1,0,0\n0,0,0,1,0\n0,0,0,0,1\n");
+MicroBitImage arrow_TopRight("0,0,1,1,1\n0,0,0,1,1\n0,0,1,0,1\n0,1,0,0,0\n1,0,0,0,0\n");
+MicroBitImage arrow_BottomLeft("0,0,0,0,1\n0,0,0,1,0\n1,0,1,0,0\n1,1,0,0,0\n1,1,1,0,0\n");
+MicroBitImage arrow_BottomRight("1,0,0,0,0\n0,1,0,0,0\n0,0,1,0,1\n0,0,0,1,1\n0,0,1,1,1\n");
+MicroBitImage cross("1,0,0,0,1\n0,1,0,1,0\n0,0,1,0,0\n0,1,0,1,0\n1,0,0,0,1\n");
+MicroBitImage On("1,1,1,1,1\n1,1,1,1,1\n1,1,1,1,1\n1,1,1,1,1\n1,1,1,1,1\n");
+
+//
+MicroBitPin P0(MICROBIT_ID_IO_P0, MICROBIT_PIN_P0, PIN_CAPABILITY_ALL); 
+MicroBitPin P1(MICROBIT_ID_IO_P1, MICROBIT_PIN_P1, PIN_CAPABILITY_ALL); 
+
+extern void microBit_Setup()
+{
+    uBit.init();
+}
+
+extern void Display(Direction Current_Direction) // This function is used to simply display the direction the motors are turning
+{
+    switch(Current_Direction) // Displays the related arrow accoring to which direction the buggy is moving in.
+    {
+        case Up:            uBit.display.printAsync(arrow_Up);           break;
+        case Down:          uBit.display.printAsync(arrow_Down);         break;
+        case Right:         uBit.display.printAsync(arrow_Right);        break;
+        case Left:          uBit.display.printAsync(arrow_Left);         break;
+        case TopLeft:       uBit.display.printAsync(arrow_TopLeft);      break;
+        case BottomLeft:    uBit.display.printAsync(arrow_BottomLeft);   break;
+        case TopRight:      uBit.display.printAsync(arrow_TopRight);     break;
+        case BottomRight:   uBit.display.printAsync(arrow_BottomRight);  break;
+        case Stop:          uBit.display.printAsync(cross);              break;
+        case Clear:         uBit.display.clear();                        break;
+    }
+}
+extern void pointNorth() //This function Will direct the buggy to face North
+{
+    int direction = uBit.compass.heading(); //Declare a variable to store the direction in
+    while((direction > 2) && (direction < 358)) // While it is not facing north
+    {
+        if (direction <= 180) // if it is less then 180 then turn left
+        {
+            left(0.1);
+        }
+        if (direction > 180) // if it is more then 180 then turn right
+        {
+            right(0.1);
+        }
+        direction = uBit.compass.heading(); // check the direction again
+    }
+}
+
+extern void pointSouth() // this function is similar to hedNorth but will point to South instead
+{
+    int direction = uBit.compass.heading(); //Declares a variable which will be used to store the direction
+    while((direction < 178) || (direction > 182)) //While it is not pointing South
+    {
+        if ((direction > 180) && (direction <= 360)) // if it is between 180 and 360 turn left.
+        {
+            left(0.1);
+        }
+        if ((direction > 0) && (direction <=180)) // if it is less than 180 turn right.
+        {
+            right(0.1);
+        }
+        direction = uBit.compass.heading(); // check the direction again
+    }
+}
+
+extern Compass_Dirs Compass() // this function is designed to display the direction the microbit is facing, and returns that value.
+{
+    int direction = uBit.compass.heading(); // declare a variable to be used for storing the direction.
+    if((direction < 45) || (direction >= 325)) // if the direciton is pointing generally north then output North.
+    {
+        uBit.display.print("N");
+        return North;
+    }
+    else if((direction < 135) && (direction >= 45)) // if the direction is generally east then output east.
+    {
+        uBit.display.print("E");
+        return East;
+    }
+    else if((direction < 225) && (direction >= 135)) // if the direction is generally South then output south
+    {
+        uBit.display.print("S");
+        return South;
+    }
+    else if((direction < 325) && (direction >= 225)) // if the direction is generally West then output West.
+    {
+        uBit.display.print("W");
+        return West;
+    }
+    return Default;
+}
+
+extern int left_Sensor()// This function returns the analogue voltage on the left sensor.
+{
+    return P0.getAnalogValue(); //This is the function that actually get the voltage.
+}
+
+extern int right_Sensor() //This function returns the analogue voltage of the right sensor.
+{
+    return P1.getAnalogValue(); //gets the voltage on P1, should be connected to the right sensor.
+}
\ No newline at end of file