Tobore Denedo
/
Accelerometer_Lab4code2
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Accelerometer_example
by 
William Marsh
Revision 3:2e32120a45f3, committed 2018-02-23
- Comitter:
- Tobden
- Date:
- Fri Feb 23 14:39:04 2018 +0000
- Parent:
- 2:e553dd3fca46
- Commit message:
- Revised version of the part 2 of Lab 4
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Feb 16 23:39:39 2018 +0000
+++ b/main.cpp Fri Feb 23 14:39:04 2018 +0000
@@ -4,9 +4,16 @@
PinName const SDA = PTE25;
PinName const SCL = PTE24;
-
+Timer t;
+Thread change;
+enum orientation { flat, up, right, final, errors };
#define MMA8451_I2C_ADDRESS (0x1d<<1)
+/*void position()
+ {
+
+ }*/
+
int main(void)
{
MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
@@ -14,19 +21,199 @@
PwmOut gled(LED2);
PwmOut bled(LED3);
Serial pc(USBTX, USBRX); // tx, rx
+
pc.printf("MMA8451 ID: %d\n", acc.getWhoAmI());
-
+
+ orientation type = flat;
while (true) {
- float x, y, z;
+ Thread::wait(500);
+ float x, y, z, trled, tgled, tbled;
x = acc.getAccX();
y = acc.getAccY();
z = acc.getAccZ();
- rled = 1.0f - abs(x);
- gled = 1.0f - abs(y);
- bled = 1.0f - abs(z);
- Thread::wait(300);
+ trled = 1.0f - abs(x);
+ tgled = 1.0f - abs(y);
+ tbled = 1.0f - abs(z);
+ int rd = t.read();
+ switch (type) {
+ case flat :
+ t.start();
+
+
+ if (trled>0.8 && tgled > 0.8)
+ {
+ rled = 1;
+ gled = 1;
+ bled = 0;
+ if (z>0){
+ if (rd<10){
+ pc.printf("Current position: FLAT\n\r");
+ // pc.printf("X: %1.2f, Y: %1.2f, Z: %1.2f\n\r", x, y, z);
+ pc.printf("Time remaining: %d seconds\n\r", 10-rd);}
+ else
+ pc.printf("Change to the RIGHT now\n\r");
+ }
+ }
+ if (tgled > 0.8 && tbled > 0.8)
+ { rled = 0;
+ gled = 1;
+ bled = 1;
+ pc.printf("SEQUENCE ERROR\n\r");
+ t.reset();
+ t.stop();
+ type = errors;
+ break;}
+
+ if (rd>=10 && (trled > 0.8 && tbled > 0.8))
+ { t.reset();
+ t.stop();
+ type = right;
+ }
+ if (rd<10 && (trled > 0.8 && tbled > 0.8))
+ { rled = 0;
+ gled = 1;
+ bled = 1;
+ t.reset();
+ t.stop();
+ type = errors;
+ }
+ break;
+
+ case right:
+
+
+ if (trled > 0.8 && tbled > 0.8)
+ {t.start();
+ rled = 1;
+ gled = 1;
+ bled = 0;
+ if (y<0){
+
+ pc.printf("Current position: RIGHT\n");
+ if (rd<2){
+ pc.printf("Please wait %d seconds\n\r ", 2-rd);
+ }
+ else if (rd>=2 && rd<=6)
+ { pc.printf("You have: %d seconds to change to UP: \n\r", 6-rd);}
+ else
+ pc.printf("Too late\n\r");
+ }
+ }
+ if (trled<=0.8 || tbled <= 0.8)
+ {t.stop();}
+ if (trled > 0.8 && tgled > 0.8 && rd > 0)
+ { rled = 0;
+ gled = 1;
+ bled = 1;
+ pc.printf("SEQUENCE ERROR\n\r");
+ t.reset();
+ t.stop();
+ type = errors;
+ break;}
+ if (rd>=2 && rd<=6 && (tgled > 0.8 && tbled > 0.8))
+ { t.reset();
+ type = up;
+
+ }
+ if ((rd<2 || rd>6) && (tgled > 0.8 && tbled > 0.8))
+ { rled = 0;
+ gled = 1;
+ bled = 1;
+ t.reset();
+ t.stop();
+ type = errors;
+ }
+ break;
+
+ case up:
+
+ t.start();
+
+
+ if (tgled > 0.8 && tbled > 0.8)
+ {
+ rled = 1;
+ gled = 1;
+ bled = 0;
+ if (x<0){
+
+
+
+ pc.printf("Current position: UP\n");
+ if (rd<4){
+ pc.printf("Please wait %d seconds\n\r ", 4-rd);
+ }
+ else if (rd>=4 && rd<=8)
+ { pc.printf("You have: %d seconds to change to FLAT: \n\r", 8-rd);}
+ else
+ pc.printf("Too late\n\r");
+ }
+
+
+
+ }
+ if (tgled <= 0.8 || tbled <= 0.8)
+ {t.stop();}
+ if (trled > 0.8 && tbled > 0.8)
+ { rled = 0;
+ gled = 1;
+ bled = 1;
+ pc.printf("SEQUENCE ERROR\n\r");
+ t.reset();
+ t.stop();
+ type = errors;
+ break;}
+ if (rd>=4 && rd<=8 && (tgled > 0.8 && trled > 0.8))
+ {
+ t.reset();
+ type = final;
+
+ }
+ if ((rd<4 || rd>8 )&& (trled > 0.8 && tgled > 0.8))
+ { rled = 0;
+ gled = 1;
+ bled = 1;
+ t.reset();
+ t.stop();
+ type = errors;
+ }
+ break;
+
+case final:
+if (trled>0.8 && tgled > 0.8)
+ {
+ rled = 1;
+ gled = 0;
+ bled = 1;
+ if (z>0){
+ pc.printf("SEQUENCE COMPLETE: SYSTEM TRIGGERED \n\r");
+ }
+ }
+ break;
+
+ case errors:
+ if (trled< 0.8 || tgled < 0.8 || z<0)
+ {pc.printf("Error has occured. Please orientate back to the flat position\n\r");}
+ else if (trled>0.8 && tgled > 0.8 && z>0 && rd<10)
+ {t.start();
+ pc.printf("FLAT\n");
pc.printf("X: %1.2f, Y: %1.2f, Z: %1.2f\n\r", x, y, z);
- }
-}
+ pc.printf("system resetting in %d seconds\n\r", 10-rd);
+ }
+ else if (rd>=10)
+ {
+ rled = 1;
+ gled = 1;
+ bled = 0;
+ pc.printf("Error successfully cleared\n\r");
+ t.reset();
+ t.stop();
+ type = right;
+ break;}
+
+ }
+ }
+ }
+
\ No newline at end of file