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

diff -r e553dd3fca46 -r 2e32120a45f3 main.cpp
--- 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