Diff: main.cpp

Revision:

0:f254a3cfe0f6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 08 16:57:36 2019 +0000
@@ -0,0 +1,170 @@
+#include "mbed.h"
+#include "tactile_mouse.hpp"
+#include "braille_mouse.hpp"
+#include "tactile_display.hpp"
+#include "stepper.hpp"
+#include <vector>
+#include <ctime>
+
+//  ***PINS FOR EMBEDDED PCB***
+DigitalOut MotorA1(PD_4);
+DigitalOut MotorA2(PD_3);
+DigitalOut MotorB1(PD_1);
+DigitalOut MotorB2(PD_2);
+DigitalOut MUXA(PD_0);
+DigitalOut MUXB(PC_12);
+DigitalOut MUXC(PC_11);
+DigitalOut BOARD_MUXA(PE_6);
+DigitalOut BOARD_MUXB(PE_5);
+DigitalOut BOARD_MUXC(PE_4);
+DigitalOut step(PD_5);
+DigitalOut motorPower(PC_4);  //Power enable pin 44
+DigitalIn reversePin(PG_0, PullDown);
+
+Thread displayThread;
+bool running;
+
+void refreshDisplay(tactileDisplay *display){
+    int count = 0;
+    while(running){
+        (*display).stepDisplay();
+        //if((count%50)==0){
+            //removePin = !removePin;
+        //}
+        count++;
+    }
+    //Clear all latches
+    for(int m=0 ; m<8 ; m++){
+        for(int n=0 ; n<8 ; n++){
+            selectMotor(m,n);
+            M1stop(0.0005);
+        }
+    }
+}
+
+
+int main() {
+    
+    tactileDisplay display(8,8,3);
+    
+    step = 0;
+    motorPower = 0;
+    running = false;
+    
+    //Clear all latches
+    for(int m=0 ; m<8 ; m++){
+        for(int n=0 ; n<8 ; n++){
+            selectMotor(m,n);
+            M1stop(0.0005);
+        }
+    }
+    
+    motorPower = 1;
+    
+    //Establish serial connection
+    Serial pc(USBTX, USBRX);
+    
+    running = true;
+    displayThread.start(callback(refreshDisplay, &display));
+    char xin,yin;
+    char zin[5];
+    int x,y,z;
+    
+    while(1){
+        if(pc.readable()){
+            xin = pc.getc();
+            pc.getc();      //Throw away separator
+            yin = pc.getc();
+            pc.getc();      //Throw away separator
+            pc.scanf("%s",zin);
+            
+            //Make x integer
+            x = xin - '0';
+            
+            //Make y integer
+            y = yin - '0';
+            
+            //Make z integer
+            if(zin[0] == '-'){        //if negative
+                z = ((zin[1])+(zin[2]*10)+(zin[3]*100)+(zin[4]*1000))*(-1);
+            }
+            else{                   //if positive
+                z = ((zin[0])+(zin[1]*10)+(zin[2]*100)+(zin[3]*1000)+(zin[4]*10000))
+            }
+            
+            display.setTaxel(x,y,z);
+        }
+    }
+    
+    brailleCharacter(display, 0, 'e');
+    brailleCharacter(display, 1, 'i');
+    brailleCharacter(display, 2, 'e');
+    
+    wait(15);
+    
+    brailleCharacter(display, 3, 'n');
+    brailleCharacter(display, 4, 'i');
+    brailleCharacter(display, 5, 'w');
+    
+    wait(15);
+    
+    brailleCharacter(display, 0, 'g');
+    brailleCharacter(display, 1, 'i');
+    brailleCharacter(display, 2, 'b');
+    
+    wait(15);
+    
+    brailleCharacter(display, 0, 'g');
+    brailleCharacter(display, 1, 'o');
+    brailleCharacter(display, 2, 'd');
+    
+    wait(15);
+    
+    /*
+    //SQUARE
+    display.setTaxel(6,3,50);
+    display.setTaxel(3,3,50);
+    display.setTaxel(3,4,50);
+    display.setTaxel(3,5,50);
+    display.setTaxel(6,2,50);
+    display.setTaxel(6,3,50);
+    display.setTaxel(6,4,50);
+    display.setTaxel(6,5,50);
+    display.setTaxel(5,2,50);
+    display.setTaxel(5,5,50);
+    display.setTaxel(4,2,50);
+    display.setTaxel(4,5,50);
+    */
+    /*int dist = -4000;
+    if(reversePin == 1){ dist = dist * (-1);}
+    
+    for(int i=0 ; i<7 ; ++i){
+        for(int j=0 ; j<8 ; ++j){
+            display.setTaxel(i,j,(rand()%50));
+        }
+    }
+    */
+    wait(30);
+    
+    for(int i=0 ; i<7 ; ++i){
+        for(int j=0 ; j<8 ; ++j){
+            display.setTaxel(i,j,0);
+        }
+    }
+    
+    wait(50);
+    
+    running = false;
+    wait(1);
+    displayThread.join();
+    
+    //Clear all latches
+    for(int m=0 ; m<8 ; m++){
+        for(int n=0 ; n<8 ; n++){
+            selectMotor(m,n);
+            M1stop(0.0005);
+        }
+    }    
+}
+
+