Joe Shotton / Mbed 2 deprecated ELEC2645_Project_ll16j23s

testing documentation

Dependencies:   mbed ll16j23s_test_docs

main.cpp@1:985dfa6cee28, 2020-04-05 (annotated)

Committer:
JoeShotton
Date:
Sun Apr 05 20:00:17 2020 +0000
Revision:
1:985dfa6cee28
Parent:
0:b7f1f47bb26a
Child:
2:86b67b492cbc
Basic movement implemented with an fsm and cell alignment

Who changed what in which revision?

UserRevisionLine numberNew contents of line
eencae 0:b7f1f47bb26a 1 /*
eencae 0:b7f1f47bb26a 2 ELEC2645 Embedded Systems Project
eencae 0:b7f1f47bb26a 3 School of Electronic & Electrical Engineering
eencae 0:b7f1f47bb26a 4 University of Leeds
eencae 0:b7f1f47bb26a 5 2019/20
eencae 0:b7f1f47bb26a 6
eencae 0:b7f1f47bb26a 7 Name:
eencae 0:b7f1f47bb26a 8 Username:
eencae 0:b7f1f47bb26a 9 Student ID Number:
eencae 0:b7f1f47bb26a 10 Date:
eencae 0:b7f1f47bb26a 11 */
eencae 0:b7f1f47bb26a 12
eencae 0:b7f1f47bb26a 13 // includes
eencae 0:b7f1f47bb26a 14 #include "mbed.h"
eencae 0:b7f1f47bb26a 15 #include "Gamepad.h"
eencae 0:b7f1f47bb26a 16 #include "N5110.h"
eencae 0:b7f1f47bb26a 17
JoeShotton 1:985dfa6cee28 18 #define X_MAX 84
JoeShotton 1:985dfa6cee28 19 #define Y_MAX 48
eencae 0:b7f1f47bb26a 20
eencae 0:b7f1f47bb26a 21 // objects
eencae 0:b7f1f47bb26a 22 Gamepad pad;
eencae 0:b7f1f47bb26a 23 N5110 lcd;
eencae 0:b7f1f47bb26a 24
JoeShotton 1:985dfa6cee28 25 int main() {
JoeShotton 1:985dfa6cee28 26
JoeShotton 1:985dfa6cee28 27 lcd.init();
JoeShotton 1:985dfa6cee28 28 pad.init();
JoeShotton 1:985dfa6cee28 29
JoeShotton 1:985dfa6cee28 30 float speed = 0.5;
JoeShotton 1:985dfa6cee28 31 int cell_size = 2;
JoeShotton 1:985dfa6cee28 32 int fps = 25;
JoeShotton 1:985dfa6cee28 33 int frame_t = 1000/fps;
JoeShotton 1:985dfa6cee28 34
JoeShotton 1:985dfa6cee28 35 int x = X_MAX/2; //start coords are centre of the screen
JoeShotton 1:985dfa6cee28 36 int y = Y_MAX/2;
JoeShotton 1:985dfa6cee28 37
JoeShotton 1:985dfa6cee28 38 struct Dir {
JoeShotton 1:985dfa6cee28 39 int output; // output value
JoeShotton 1:985dfa6cee28 40 int delta_x; //increment value for x
JoeShotton 1:985dfa6cee28 41 int delta_y; //increment value for y
JoeShotton 1:985dfa6cee28 42 int nextState[5]; // array of next states
JoeShotton 1:985dfa6cee28 43 };
JoeShotton 1:985dfa6cee28 44
JoeShotton 1:985dfa6cee28 45 int d = 0; //direction starts in centre
JoeShotton 1:985dfa6cee28 46 int state = 0; //first state is centre of joystick
eencae 0:b7f1f47bb26a 47
JoeShotton 1:985dfa6cee28 48 Dir fsm[5] = {
JoeShotton 1:985dfa6cee28 49 {0, 0, 0, {0,1,2,3,4}}, // Centred
JoeShotton 1:985dfa6cee28 50 {1, 0, -1, {1,1,2,1,4}}, // North, will not go to centre or south
JoeShotton 1:985dfa6cee28 51 {2, 1, 0, {2,1,2,3,2}}, // East, will not go to centre or west
JoeShotton 1:985dfa6cee28 52 {3, 0, 1, {3,3,2,3,4}}, // South, will not go to centre or north
JoeShotton 1:985dfa6cee28 53 {4, -1, 0, {4,1,4,3,4}} // West, will not go to centre or east
JoeShotton 1:985dfa6cee28 54 };
JoeShotton 1:985dfa6cee28 55
JoeShotton 1:985dfa6cee28 56 while(1){
JoeShotton 1:985dfa6cee28 57
JoeShotton 1:985dfa6cee28 58 speed = pad.read_pot2();
JoeShotton 1:985dfa6cee28 59
JoeShotton 1:985dfa6cee28 60 if ((x % cell_size) + (y % cell_size) == 0) { //only allows changing movement when the snake is cell-aligned
JoeShotton 1:985dfa6cee28 61 d = pad.get_cardinal(); //gets joystick cardinal direction: 0 for centre, 1 - 4 for NESW respectively
JoeShotton 1:985dfa6cee28 62 state = fsm[state].nextState[d]; //adjusts direction fsm state based on direction
JoeShotton 1:985dfa6cee28 63 }
JoeShotton 1:985dfa6cee28 64
JoeShotton 1:985dfa6cee28 65 x += fsm[state].delta_x; //increments x value based on fsm state value
JoeShotton 1:985dfa6cee28 66 y += fsm[state].delta_y; //increments y value based on fsm state value
JoeShotton 1:985dfa6cee28 67
JoeShotton 1:985dfa6cee28 68 x = ((x % X_MAX) + X_MAX)% X_MAX; //wraps x back to within range 0-83
JoeShotton 1:985dfa6cee28 69 y = ((y % Y_MAX) + Y_MAX)% Y_MAX; //wraps y back to within range 0-83
JoeShotton 1:985dfa6cee28 70
JoeShotton 1:985dfa6cee28 71 lcd.clear();
JoeShotton 1:985dfa6cee28 72 lcd.setContrast(0.5);
JoeShotton 1:985dfa6cee28 73 lcd.drawRect(x,y,cell_size,cell_size,FILL_BLACK);
JoeShotton 1:985dfa6cee28 74 lcd.refresh();
JoeShotton 1:985dfa6cee28 75 wait_ms(25/speed);
JoeShotton 1:985dfa6cee28 76 }
eencae 0:b7f1f47bb26a 77 }
eencae 0:b7f1f47bb26a 78