Revision 3:660252b9fa29, committed 2018-12-12

Comitter:

amitchell41

Date:

Wed Dec 12 17:11:24 2018 +0000

Parent:

2:59677142d3dd

Commit message:

Final version

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Speaker.h	Wed Dec 12 17:11:24 2018 +0000
@@ -0,0 +1,19 @@
+#include "mbed.h"
+// a new class to play a note on Speaker based on PwmOut class
+class Speaker
+{
+public:
+    Speaker(PinName pin) : _pin(pin) {
+// _pin(pin) means pass pin to the Speaker Constructor
+    }
+// class method to play a note based on PwmOut class
+    void PlayNote(float frequency, float duration, float volume) {
+        _pin.period(1.0/frequency);
+        _pin = volume/2.0;
+        wait(duration);
+        _pin = 0.0;
+    }
+
+private:
+    PwmOut _pin;
+};
\ No newline at end of file

--- a/main.cpp	Tue Dec 11 00:56:05 2018 +0000
+++ b/main.cpp	Wed Dec 12 17:11:24 2018 +0000
@@ -2,45 +2,45 @@
  #include "Servo.h"
  #include "MMA8452.h"
  #include "PinDetect.h"
- 
-        Serial pc(USBTX,USBRX);
-        DigitalOut myLed(LED1);
-        PinDetect pb1(p20);
 
-        DigitalOut Comm(p11); //If master
-        //DigitalIn Comm(p11);  //If slave
+Serial pc(USBTX,USBRX);
+DigitalOut myLed(LED1);
+PinDetect pb1(p26);
+
+
 
-        DigitalOut Red4(p5);
-        DigitalOut Red3(p6);
-        DigitalOut Yel2(p7);
-        DigitalOut Grn1(p8);
+DigitalOut Red4(p5);
+DigitalOut Red3(p6);
+DigitalOut Yel2(p7);
+DigitalOut Grn1(p8);
+
 
-        Servo _base(p21);
-        Servo _shoulder(p22);
-        Servo _elbow(p23);
-        Servo _sword(p24);
+Servo _base(p21);
+Servo _shoulder(p22);
+Servo _elbow(p23);
+Servo _sword(p24);
+
 
 void countdown(){
-    Comm = 1;
     Red4 = 1;
-    wait(1);
+    wait(.75);
     Red4 = 0;
     Red3 = 1;
-    wait(1);
+    wait(.75);
     Red3 = 0;
     Yel2 = 1;
-    wait(1);
+    wait(.75);
     Red4 = 1;
     Red3 = 1;
     Grn1 = 1;
-    wait(1);
+    wait(.75);
     Red4 = 0;
     Red3 = 0;
     Yel2 = 0;
     Grn1 = 0;
-    Comm = 0;
   }
 
+
 void swing(){
     _sword.write(1.0);
     wait(.1);
@@ -51,6 +51,7 @@
 
    pb1.mode(PullUp);
    int timer = 0;
+   //float _baseRead = 0, _shoulderRead = 0, _elbowRead = 0;
    double x = 0, y = 0, z = 0;
    MMA8452 acc(p28, p27, 40000);  //instantiate an acc object 
    
@@ -58,22 +59,16 @@
    acc.setBitDepth(MMA8452::BIT_DEPTH_12);
    acc.setDynamicRange(MMA8452::DYNAMIC_RANGE_4G);
    acc.setDataRate(MMA8452::RATE_100);
-   
-   countdown(); //If master
-   
-   /*
-   while(Comm = 1) {
-       wait(.1);
-       }
-       */
+   countdown();
    
    while(1) {
+    
 
       acc.readXYZGravity(&x,&y,&z); //notice this is passed by reference use pointers
 
-      _base.write((y+1)/2);
-      _shoulder.write((x+1)/2);
-      _elbow.write((x+1)/4);
+      _base.write((-y+1)/2);
+      _shoulder.write((-x+1)/2);
+      //_elbow.write((x+1)/2);
 
       if(!pb1){
         myLed=1;
@@ -82,7 +77,9 @@
     }
                           
       // You can uncomment this line to see the values coming off the MMA8452           
-      //printf("\n(%.2f,%.2f,%.2f)", x,y,z);
+      //printf("(%.2f,%.2f,%.2f)", x,y,z);
+      //printf("(%.5f,%.5f,%.5f)", _baseRead, _shoulderRead, _elbowRead);
+      //printf("\n");
       
       timer++;      
       } //infinite while loop