Tobore Denedo / Mbed OS Accelerometer_Lab4code2

Lab4Code2(modified version)

Dependencies:   MMA8451Q

Fork of Accelerometer_example by William Marsh

main.cpp@3:2e32120a45f3, 2018-02-23 (annotated)

Committer:
Tobden
Date:
Fri Feb 23 14:39:04 2018 +0000
Revision:
3:2e32120a45f3
Parent:
2:e553dd3fca46 
Revised version of the part 2 of Lab 4

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WilliamMarshQMUL 0:a1caba5c4e48 1 #include "mbed.h"
WilliamMarshQMUL 0:a1caba5c4e48 2 #include "rtos.h"
WilliamMarshQMUL 0:a1caba5c4e48 3 #include "MMA8451Q.h"
WilliamMarshQMUL 0:a1caba5c4e48 4
WilliamMarshQMUL 0:a1caba5c4e48 5 PinName const SDA = PTE25;
WilliamMarshQMUL 0:a1caba5c4e48 6 PinName const SCL = PTE24;
Tobden 3:2e32120a45f3 7 Timer t;
Tobden 3:2e32120a45f3 8 Thread change;
Tobden 3:2e32120a45f3 9 enum orientation { flat, up, right, final, errors };
WilliamMarshQMUL 0:a1caba5c4e48 10 #define MMA8451_I2C_ADDRESS (0x1d<<1)
WilliamMarshQMUL 0:a1caba5c4e48 11
Tobden 3:2e32120a45f3 12 /*void position()
Tobden 3:2e32120a45f3 13 {
Tobden 3:2e32120a45f3 14
Tobden 3:2e32120a45f3 15 }*/
Tobden 3:2e32120a45f3 16
WilliamMarshQMUL 0:a1caba5c4e48 17 int main(void)
WilliamMarshQMUL 0:a1caba5c4e48 18 {
WilliamMarshQMUL 0:a1caba5c4e48 19 MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
WilliamMarshQMUL 0:a1caba5c4e48 20 PwmOut rled(LED1);
WilliamMarshQMUL 0:a1caba5c4e48 21 PwmOut gled(LED2);
WilliamMarshQMUL 0:a1caba5c4e48 22 PwmOut bled(LED3);
WilliamMarshQMUL 0:a1caba5c4e48 23 Serial pc(USBTX, USBRX); // tx, rx
Tobden 3:2e32120a45f3 24
WilliamMarshQMUL 0:a1caba5c4e48 25
WilliamMarshQMUL 0:a1caba5c4e48 26
WilliamMarshQMUL 0:a1caba5c4e48 27 pc.printf("MMA8451 ID: %d\n", acc.getWhoAmI());
Tobden 3:2e32120a45f3 28
Tobden 3:2e32120a45f3 29 orientation type = flat;
WilliamMarshQMUL 0:a1caba5c4e48 30 while (true) {
Tobden 3:2e32120a45f3 31 Thread::wait(500);
Tobden 3:2e32120a45f3 32 float x, y, z, trled, tgled, tbled;
WilliamMarshQMUL 0:a1caba5c4e48 33 x = acc.getAccX();
WilliamMarshQMUL 0:a1caba5c4e48 34 y = acc.getAccY();
WilliamMarshQMUL 0:a1caba5c4e48 35 z = acc.getAccZ();
Tobden 3:2e32120a45f3 36 trled = 1.0f - abs(x);
Tobden 3:2e32120a45f3 37 tgled = 1.0f - abs(y);
Tobden 3:2e32120a45f3 38 tbled = 1.0f - abs(z);
Tobden 3:2e32120a45f3 39 int rd = t.read();
Tobden 3:2e32120a45f3 40 switch (type) {
Tobden 3:2e32120a45f3 41 case flat :
Tobden 3:2e32120a45f3 42 t.start();
Tobden 3:2e32120a45f3 43
Tobden 3:2e32120a45f3 44
Tobden 3:2e32120a45f3 45 if (trled>0.8 && tgled > 0.8)
Tobden 3:2e32120a45f3 46 {
Tobden 3:2e32120a45f3 47 rled = 1;
Tobden 3:2e32120a45f3 48 gled = 1;
Tobden 3:2e32120a45f3 49 bled = 0;
Tobden 3:2e32120a45f3 50 if (z>0){
Tobden 3:2e32120a45f3 51 if (rd<10){
Tobden 3:2e32120a45f3 52 pc.printf("Current position: FLAT\n\r");
Tobden 3:2e32120a45f3 53 // pc.printf("X: %1.2f, Y: %1.2f, Z: %1.2f\n\r", x, y, z);
Tobden 3:2e32120a45f3 54 pc.printf("Time remaining: %d seconds\n\r", 10-rd);}
Tobden 3:2e32120a45f3 55 else
Tobden 3:2e32120a45f3 56 pc.printf("Change to the RIGHT now\n\r");
Tobden 3:2e32120a45f3 57 }
Tobden 3:2e32120a45f3 58 }
Tobden 3:2e32120a45f3 59 if (tgled > 0.8 && tbled > 0.8)
Tobden 3:2e32120a45f3 60 { rled = 0;
Tobden 3:2e32120a45f3 61 gled = 1;
Tobden 3:2e32120a45f3 62 bled = 1;
Tobden 3:2e32120a45f3 63 pc.printf("SEQUENCE ERROR\n\r");
Tobden 3:2e32120a45f3 64 t.reset();
Tobden 3:2e32120a45f3 65 t.stop();
Tobden 3:2e32120a45f3 66 type = errors;
Tobden 3:2e32120a45f3 67 break;}
Tobden 3:2e32120a45f3 68
Tobden 3:2e32120a45f3 69 if (rd>=10 && (trled > 0.8 && tbled > 0.8))
Tobden 3:2e32120a45f3 70 { t.reset();
Tobden 3:2e32120a45f3 71 t.stop();
Tobden 3:2e32120a45f3 72 type = right;
Tobden 3:2e32120a45f3 73 }
Tobden 3:2e32120a45f3 74 if (rd<10 && (trled > 0.8 && tbled > 0.8))
Tobden 3:2e32120a45f3 75 { rled = 0;
Tobden 3:2e32120a45f3 76 gled = 1;
Tobden 3:2e32120a45f3 77 bled = 1;
Tobden 3:2e32120a45f3 78 t.reset();
Tobden 3:2e32120a45f3 79 t.stop();
Tobden 3:2e32120a45f3 80 type = errors;
Tobden 3:2e32120a45f3 81 }
Tobden 3:2e32120a45f3 82 break;
Tobden 3:2e32120a45f3 83
Tobden 3:2e32120a45f3 84 case right:
Tobden 3:2e32120a45f3 85
Tobden 3:2e32120a45f3 86
Tobden 3:2e32120a45f3 87 if (trled > 0.8 && tbled > 0.8)
Tobden 3:2e32120a45f3 88 {t.start();
Tobden 3:2e32120a45f3 89 rled = 1;
Tobden 3:2e32120a45f3 90 gled = 1;
Tobden 3:2e32120a45f3 91 bled = 0;
Tobden 3:2e32120a45f3 92 if (y<0){
Tobden 3:2e32120a45f3 93
Tobden 3:2e32120a45f3 94 pc.printf("Current position: RIGHT\n");
Tobden 3:2e32120a45f3 95 if (rd<2){
Tobden 3:2e32120a45f3 96 pc.printf("Please wait %d seconds\n\r ", 2-rd);
Tobden 3:2e32120a45f3 97 }
Tobden 3:2e32120a45f3 98 else if (rd>=2 && rd<=6)
Tobden 3:2e32120a45f3 99 { pc.printf("You have: %d seconds to change to UP: \n\r", 6-rd);}
Tobden 3:2e32120a45f3 100 else
Tobden 3:2e32120a45f3 101 pc.printf("Too late\n\r");
Tobden 3:2e32120a45f3 102 }
Tobden 3:2e32120a45f3 103 }
Tobden 3:2e32120a45f3 104 if (trled<=0.8 || tbled <= 0.8)
Tobden 3:2e32120a45f3 105 {t.stop();}
Tobden 3:2e32120a45f3 106 if (trled > 0.8 && tgled > 0.8 && rd > 0)
Tobden 3:2e32120a45f3 107 { rled = 0;
Tobden 3:2e32120a45f3 108 gled = 1;
Tobden 3:2e32120a45f3 109 bled = 1;
Tobden 3:2e32120a45f3 110 pc.printf("SEQUENCE ERROR\n\r");
Tobden 3:2e32120a45f3 111 t.reset();
Tobden 3:2e32120a45f3 112 t.stop();
Tobden 3:2e32120a45f3 113 type = errors;
Tobden 3:2e32120a45f3 114 break;}
Tobden 3:2e32120a45f3 115 if (rd>=2 && rd<=6 && (tgled > 0.8 && tbled > 0.8))
Tobden 3:2e32120a45f3 116 { t.reset();
Tobden 3:2e32120a45f3 117 type = up;
Tobden 3:2e32120a45f3 118
Tobden 3:2e32120a45f3 119 }
Tobden 3:2e32120a45f3 120 if ((rd<2 || rd>6) && (tgled > 0.8 && tbled > 0.8))
Tobden 3:2e32120a45f3 121 { rled = 0;
Tobden 3:2e32120a45f3 122 gled = 1;
Tobden 3:2e32120a45f3 123 bled = 1;
Tobden 3:2e32120a45f3 124 t.reset();
Tobden 3:2e32120a45f3 125 t.stop();
Tobden 3:2e32120a45f3 126 type = errors;
Tobden 3:2e32120a45f3 127 }
Tobden 3:2e32120a45f3 128 break;
Tobden 3:2e32120a45f3 129
Tobden 3:2e32120a45f3 130 case up:
Tobden 3:2e32120a45f3 131
Tobden 3:2e32120a45f3 132 t.start();
Tobden 3:2e32120a45f3 133
Tobden 3:2e32120a45f3 134
Tobden 3:2e32120a45f3 135 if (tgled > 0.8 && tbled > 0.8)
Tobden 3:2e32120a45f3 136 {
Tobden 3:2e32120a45f3 137 rled = 1;
Tobden 3:2e32120a45f3 138 gled = 1;
Tobden 3:2e32120a45f3 139 bled = 0;
Tobden 3:2e32120a45f3 140 if (x<0){
Tobden 3:2e32120a45f3 141
Tobden 3:2e32120a45f3 142
Tobden 3:2e32120a45f3 143
Tobden 3:2e32120a45f3 144 pc.printf("Current position: UP\n");
Tobden 3:2e32120a45f3 145 if (rd<4){
Tobden 3:2e32120a45f3 146 pc.printf("Please wait %d seconds\n\r ", 4-rd);
Tobden 3:2e32120a45f3 147 }
Tobden 3:2e32120a45f3 148 else if (rd>=4 && rd<=8)
Tobden 3:2e32120a45f3 149 { pc.printf("You have: %d seconds to change to FLAT: \n\r", 8-rd);}
Tobden 3:2e32120a45f3 150 else
Tobden 3:2e32120a45f3 151 pc.printf("Too late\n\r");
Tobden 3:2e32120a45f3 152 }
Tobden 3:2e32120a45f3 153
Tobden 3:2e32120a45f3 154
Tobden 3:2e32120a45f3 155
Tobden 3:2e32120a45f3 156 }
Tobden 3:2e32120a45f3 157 if (tgled <= 0.8 || tbled <= 0.8)
Tobden 3:2e32120a45f3 158 {t.stop();}
Tobden 3:2e32120a45f3 159 if (trled > 0.8 && tbled > 0.8)
Tobden 3:2e32120a45f3 160 { rled = 0;
Tobden 3:2e32120a45f3 161 gled = 1;
Tobden 3:2e32120a45f3 162 bled = 1;
Tobden 3:2e32120a45f3 163 pc.printf("SEQUENCE ERROR\n\r");
Tobden 3:2e32120a45f3 164 t.reset();
Tobden 3:2e32120a45f3 165 t.stop();
Tobden 3:2e32120a45f3 166 type = errors;
Tobden 3:2e32120a45f3 167 break;}
Tobden 3:2e32120a45f3 168 if (rd>=4 && rd<=8 && (tgled > 0.8 && trled > 0.8))
Tobden 3:2e32120a45f3 169 {
Tobden 3:2e32120a45f3 170 t.reset();
Tobden 3:2e32120a45f3 171 type = final;
Tobden 3:2e32120a45f3 172
Tobden 3:2e32120a45f3 173 }
Tobden 3:2e32120a45f3 174 if ((rd<4 || rd>8 )&& (trled > 0.8 && tgled > 0.8))
Tobden 3:2e32120a45f3 175 { rled = 0;
Tobden 3:2e32120a45f3 176 gled = 1;
Tobden 3:2e32120a45f3 177 bled = 1;
Tobden 3:2e32120a45f3 178 t.reset();
Tobden 3:2e32120a45f3 179 t.stop();
Tobden 3:2e32120a45f3 180 type = errors;
Tobden 3:2e32120a45f3 181 }
Tobden 3:2e32120a45f3 182 break;
Tobden 3:2e32120a45f3 183
Tobden 3:2e32120a45f3 184 case final:
Tobden 3:2e32120a45f3 185 if (trled>0.8 && tgled > 0.8)
Tobden 3:2e32120a45f3 186 {
Tobden 3:2e32120a45f3 187 rled = 1;
Tobden 3:2e32120a45f3 188 gled = 0;
Tobden 3:2e32120a45f3 189 bled = 1;
Tobden 3:2e32120a45f3 190 if (z>0){
Tobden 3:2e32120a45f3 191 pc.printf("SEQUENCE COMPLETE: SYSTEM TRIGGERED \n\r");
Tobden 3:2e32120a45f3 192 }
Tobden 3:2e32120a45f3 193 }
Tobden 3:2e32120a45f3 194 break;
Tobden 3:2e32120a45f3 195
Tobden 3:2e32120a45f3 196 case errors:
Tobden 3:2e32120a45f3 197 if (trled< 0.8 || tgled < 0.8 || z<0)
Tobden 3:2e32120a45f3 198 {pc.printf("Error has occured. Please orientate back to the flat position\n\r");}
Tobden 3:2e32120a45f3 199 else if (trled>0.8 && tgled > 0.8 && z>0 && rd<10)
Tobden 3:2e32120a45f3 200 {t.start();
Tobden 3:2e32120a45f3 201 pc.printf("FLAT\n");
Tobden 2:e553dd3fca46 202 pc.printf("X: %1.2f, Y: %1.2f, Z: %1.2f\n\r", x, y, z);
Tobden 3:2e32120a45f3 203 pc.printf("system resetting in %d seconds\n\r", 10-rd);
Tobden 3:2e32120a45f3 204 }
Tobden 3:2e32120a45f3 205 else if (rd>=10)
Tobden 3:2e32120a45f3 206 {
Tobden 3:2e32120a45f3 207 rled = 1;
Tobden 3:2e32120a45f3 208 gled = 1;
Tobden 3:2e32120a45f3 209 bled = 0;
Tobden 3:2e32120a45f3 210 pc.printf("Error successfully cleared\n\r");
Tobden 3:2e32120a45f3 211 t.reset();
Tobden 3:2e32120a45f3 212 t.stop();
Tobden 3:2e32120a45f3 213 type = right;
Tobden 3:2e32120a45f3 214 break;}
Tobden 3:2e32120a45f3 215
Tobden 3:2e32120a45f3 216 }
Tobden 3:2e32120a45f3 217 }
Tobden 3:2e32120a45f3 218 }
Tobden 3:2e32120a45f3 219