Aleksandar Kodzhabashev / Mbed 2 deprecated TrackballQuery

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Dependencies:   Servo mbed

main.cpp@7:04ddad10a741, 2014-03-05 (annotated)

Committer:
d3alek
Date:
Wed Mar 05 18:53:20 2014 +0000
Revision:
7:04ddad10a741
Parent:
6:83c4801a027d
Child:
8:41b35bda9d48
works but sometimes does not print

Who changed what in which revision?

UserRevisionLine numberNew contents of line
d3alek 0:94cffad90b69 1 #include "PS2MS.h"
d3alek 0:94cffad90b69 2 #include "PS2MS_INIT.h"
d3alek 0:94cffad90b69 3 #include "mbed.h"
d3alek 5:43d5529fbe1e 4 #include "Servo.h"
d3alek 0:94cffad90b69 5
d3alek 2:e35627187804 6 #define ENABLE_1 true
d3alek 2:e35627187804 7 #define ENABLE_2 true
d3alek 6:83c4801a027d 8 #define ENABLE_3 true
d3alek 2:e35627187804 9
d3alek 6:83c4801a027d 10 #define SENSORS_NUM 3
d3alek 6:83c4801a027d 11
d3alek 6:83c4801a027d 12 Servo servo1(p21);
d3alek 6:83c4801a027d 13 Servo servo2(p24);
d3alek 5:43d5529fbe1e 14
d3alek 0:94cffad90b69 15 DigitalOut myled(LED1);
d3alek 0:94cffad90b69 16 Serial pc(USBTX, USBRX); // tx, rx
d3alek 2:e35627187804 17 /*
d3alek 2:e35627187804 18 * 0xFF: Reset command.
d3alek 2:e35627187804 19 * 0xF3: Set sample rate.
d3alek 2:e35627187804 20 * 0xF2: Read device type.
d3alek 2:e35627187804 21 * 0xE8: Set resolution.
d3alek 2:e35627187804 22 * 0xE6: Set scaling.
d3alek 2:e35627187804 23 * 0xF4: Enable device.
d3alek 2:e35627187804 24 */
d3alek 0:94cffad90b69 25
d3alek 6:83c4801a027d 26 //TODO should Iuse sensor1_init? maybe no 255s?
d3alek 6:83c4801a027d 27 PS2MS_INIT sensor1_init(p18, p17);
d3alek 6:83c4801a027d 28 PS2MS sensor1(p18, p17);
d3alek 0:94cffad90b69 29
d3alek 6:83c4801a027d 30 PS2MS_INIT sensor2_init(p23, p22);
d3alek 6:83c4801a027d 31 PS2MS sensor2(p23, p22);
d3alek 2:e35627187804 32
d3alek 6:83c4801a027d 33 PS2MS_INIT sensor3_init(p26, p25);
d3alek 6:83c4801a027d 34 PS2MS sensor3(p26, p25);
d3alek 2:e35627187804 35
d3alek 2:e35627187804 36 int process_sensor_input(char c, int bytenum, char* bytes, int ind);
d3alek 2:e35627187804 37
d3alek 6:83c4801a027d 38 int sensorXs[SENSORS_NUM];
d3alek 6:83c4801a027d 39 int sensorYs[SENSORS_NUM];
d3alek 6:83c4801a027d 40 bool sensorToPrint[SENSORS_NUM];
d3alek 0:94cffad90b69 41
d3alek 2:e35627187804 42 int main()
d3alek 2:e35627187804 43 {
d3alek 5:43d5529fbe1e 44
d3alek 5:43d5529fbe1e 45 float range = 0.00085;
d3alek 6:83c4801a027d 46 float position1 = 0.5;
d3alek 6:83c4801a027d 47 float position2 = 0.5;
d3alek 5:43d5529fbe1e 48 float position_adj = 0.03;
d3alek 5:43d5529fbe1e 49
d3alek 7:04ddad10a741 50 float newPos1 = position1, newPos2 = position2;
d3alek 7:04ddad10a741 51
d3alek 6:83c4801a027d 52 servo1.calibrate(range, 45.0);
d3alek 6:83c4801a027d 53 servo2.calibrate(range, 45.0);
d3alek 6:83c4801a027d 54 servo1 = position1;
d3alek 6:83c4801a027d 55 servo2 = position2;
d3alek 6:83c4801a027d 56 printf("position = %.3f, range = +/-%0.5f\n", position1, range, position_adj);
d3alek 5:43d5529fbe1e 57
d3alek 4:73f9fd797965 58 printf("IMHERE START\n");
d3alek 2:e35627187804 59 int s1bytenum = 0;
d3alek 2:e35627187804 60 char s1bytes[3];
d3alek 2:e35627187804 61
d3alek 2:e35627187804 62 int s2bytenum = 0;
d3alek 2:e35627187804 63 char s2bytes[3];
d3alek 6:83c4801a027d 64
d3alek 6:83c4801a027d 65 int s3bytenum = 0;
d3alek 6:83c4801a027d 66 char s3bytes[3];
d3alek 2:e35627187804 67
d3alek 6:83c4801a027d 68 char s1c, s2c, s3c;
d3alek 4:73f9fd797965 69 printf("IMHERE GET SENSORS\n");
d3alek 2:e35627187804 70 s1c = sensor1.getc();
d3alek 4:73f9fd797965 71 printf("IMHERE GOT S1\n");
d3alek 2:e35627187804 72 s2c = sensor2.getc();
d3alek 4:73f9fd797965 73 printf("IMHERE GOT S2\n");
d3alek 6:83c4801a027d 74 s3c = sensor2.getc();
d3alek 6:83c4801a027d 75 printf("IMHERE GOT S3\n");
d3alek 6:83c4801a027d 76 sensorToPrint[0] = sensorToPrint[1] = sensorToPrint[2] = false;
d3alek 7:04ddad10a741 77 int dir;
d3alek 7:04ddad10a741 78 float servoSpeed = 0.001;
d3alek 2:e35627187804 79
d3alek 0:94cffad90b69 80 while(1) {
d3alek 5:43d5529fbe1e 81 if (pc.readable()) {
d3alek 5:43d5529fbe1e 82 switch(pc.getc()) {
d3alek 7:04ddad10a741 83 case '1': newPos1 = 0.0 + position_adj; break; //position1 = 0.0 + position_adj; break;
d3alek 7:04ddad10a741 84 case '2': newPos1 = 0.5 + position_adj; break; //position1 = 0.5 + position_adj; break;
d3alek 7:04ddad10a741 85 case '3': newPos1 = 1.0 + position_adj; break; //position1 = 1.0 + position_adj; break;
d3alek 7:04ddad10a741 86 case '4': newPos2 = 0.3 + position_adj; break;
d3alek 7:04ddad10a741 87 case '5': newPos2 = 0.5 + position_adj; break;
d3alek 7:04ddad10a741 88 case '6': newPos2 = 0.7 + position_adj; break;
d3alek 5:43d5529fbe1e 89 }
d3alek 5:43d5529fbe1e 90 //printf("position = %.3f, range = +/-%0.5f\n", position, range, position_adj);
d3alek 7:04ddad10a741 91 //dir = position1 < newPos1 ? 1 : -1;
d3alek 7:04ddad10a741 92 /*printf("IMHERE %f %f %d\n", position1, newPos1, dir);
d3alek 7:04ddad10a741 93 for (float i = position1; abs(i - newPos1) > servoSpeed; i += servoSpeed * dir) {
d3alek 7:04ddad10a741 94 servo1 = i;
d3alek 7:04ddad10a741 95 printf("%f %f\n", i, newPos1);
d3alek 7:04ddad10a741 96 }
d3alek 7:04ddad10a741 97 position1 = newPos1;*/
d3alek 7:04ddad10a741 98 //servo1 = position1;
d3alek 7:04ddad10a741 99 //servo2 = position2;
d3alek 7:04ddad10a741 100 }
d3alek 7:04ddad10a741 101
d3alek 7:04ddad10a741 102 if (abs(position1 - newPos1) > servoSpeed) {
d3alek 7:04ddad10a741 103 dir = position1 < newPos1 ? 1 : -1;
d3alek 7:04ddad10a741 104 position1 += servoSpeed * dir;
d3alek 6:83c4801a027d 105 servo1 = position1;
d3alek 7:04ddad10a741 106 }
d3alek 7:04ddad10a741 107 else {
d3alek 7:04ddad10a741 108 position1 = newPos1;
d3alek 7:04ddad10a741 109 }
d3alek 7:04ddad10a741 110
d3alek 7:04ddad10a741 111 if (abs(position2 - newPos2) > servoSpeed) {
d3alek 7:04ddad10a741 112 dir = position2 < newPos2 ? 1 : -1;
d3alek 7:04ddad10a741 113 position2 += servoSpeed * dir;
d3alek 6:83c4801a027d 114 servo2 = position2;
d3alek 5:43d5529fbe1e 115 }
d3alek 7:04ddad10a741 116 else {
d3alek 7:04ddad10a741 117 position2 = newPos2;
d3alek 7:04ddad10a741 118 }
d3alek 5:43d5529fbe1e 119
d3alek 2:e35627187804 120 if (ENABLE_1) {
d3alek 2:e35627187804 121 s1bytenum = process_sensor_input(s1c, s1bytenum, s1bytes, 0);
d3alek 2:e35627187804 122 s1c = sensor1.getc();
d3alek 2:e35627187804 123 }
d3alek 2:e35627187804 124 if (ENABLE_2) {
d3alek 2:e35627187804 125 s2bytenum = process_sensor_input(s2c, s2bytenum, s2bytes, 1);
d3alek 2:e35627187804 126 s2c = sensor2.getc();
d3alek 2:e35627187804 127 }
d3alek 6:83c4801a027d 128 if (ENABLE_3) {
d3alek 6:83c4801a027d 129 s3bytenum = process_sensor_input(s3c, s3bytenum, s3bytes, 2);
d3alek 6:83c4801a027d 130 s3c = sensor3.getc();
d3alek 6:83c4801a027d 131 }
d3alek 2:e35627187804 132 // TODO only prints when both are enabled now
d3alek 6:83c4801a027d 133 if (sensorToPrint[0] && sensorToPrint[1] && sensorToPrint[2]) {
d3alek 6:83c4801a027d 134 printf("%d : %d %d %d %d %d %d\n\r", SENSORS_NUM, sensorXs[0], sensorYs[0], sensorXs[1], sensorYs[1],
d3alek 6:83c4801a027d 135 sensorXs[2], sensorYs[2]);
d3alek 6:83c4801a027d 136 sensorToPrint[0] = sensorToPrint[1] = sensorToPrint[2] = false;
d3alek 6:83c4801a027d 137 sensorXs[0] = sensorYs[0] = sensorXs[1] = sensorYs[1] = sensorXs[2] = sensorYs[2] = 0;
d3alek 0:94cffad90b69 138 }
d3alek 0:94cffad90b69 139 }
d3alek 0:94cffad90b69 140 }
d3alek 0:94cffad90b69 141
d3alek 2:e35627187804 142 int process_sensor_input(char c, int bytenum, char* bytes, int ind)
d3alek 2:e35627187804 143 {
d3alek 2:e35627187804 144 if (c == 255) {
d3alek 2:e35627187804 145 bytenum = -1;
d3alek 2:e35627187804 146 } else if (bytenum % 3 == 0) {
d3alek 2:e35627187804 147 bytes[0] = c;
d3alek 2:e35627187804 148 if (!((1 << 3) & c)) {
d3alek 2:e35627187804 149 // not byte[0] wrong offset, skip c
d3alek 2:e35627187804 150 bytenum = -1;
d3alek 0:94cffad90b69 151 }
d3alek 2:e35627187804 152 } else if (bytenum % 3 == 1) {
d3alek 2:e35627187804 153 bytes[1] = c;
d3alek 2:e35627187804 154 } else if (bytenum % 3 == 2) {
d3alek 2:e35627187804 155 bytes[2] = c;
d3alek 0:94cffad90b69 156
d3alek 2:e35627187804 157 //TODO: check for overflow
d3alek 2:e35627187804 158 if ((1 << 6) & bytes[0]) {
d3alek 3:eb3c3c9587d7 159 //printf("Overflow x!\n\r");
d3alek 3:eb3c3c9587d7 160 bytenum = -1;
d3alek 0:94cffad90b69 161 }
d3alek 3:eb3c3c9587d7 162 else if ((1 << 7) & bytes[0]) {
d3alek 3:eb3c3c9587d7 163 //printf("Overflow y!\n\r");
d3alek 3:eb3c3c9587d7 164 //printf("Byte1 is %d\n\r", bytes[0]);
d3alek 3:eb3c3c9587d7 165 bytenum = -1;
d3alek 0:94cffad90b69 166 }
d3alek 2:e35627187804 167 // check x and y signs
d3alek 3:eb3c3c9587d7 168 else {
d3alek 3:eb3c3c9587d7 169 int x = bytes[1] - ((bytes[0] << 4) & 0x100);
d3alek 3:eb3c3c9587d7 170 int y = bytes[2] - ((bytes[0] << 3) & 0x100);
d3alek 3:eb3c3c9587d7 171 //printf("%s: x = %d y = %d\n\r", id, x, y);
d3alek 3:eb3c3c9587d7 172 sensorXs[ind] = x;
d3alek 3:eb3c3c9587d7 173 sensorYs[ind] = y;
d3alek 3:eb3c3c9587d7 174 sensorToPrint[ind] = true;
d3alek 7:04ddad10a741 175 //printf("To print %d\n\c", ind);
d3alek 3:eb3c3c9587d7 176 bytenum = -1;
d3alek 3:eb3c3c9587d7 177 }
d3alek 0:94cffad90b69 178 }
d3alek 2:e35627187804 179 return (bytenum + 1) % 3;
d3alek 0:94cffad90b69 180 }