Diff: main.cpp

Revision:

1:2250e33823e2

Parent:

0:7b4bbd744f6d

--- a/main.cpp	Tue Oct 20 00:42:42 2015 +0000
+++ b/main.cpp	Tue Oct 20 18:34:56 2015 +0000
@@ -1,4 +1,9 @@
-//Most of the Credit goes to jimblom and Judah Okeleye
+//Daniel Begasse
+//Kieth Nga
+//ECE 4180 Lab 4
+//This game uses reading from the accelerometer on an IMU sensor to move a ball through a maze
+//The goal of the game is to move to yellow ball through the maze, avoiding walls and obstacles along the way
+
 #include "LSM9DS0.h"
 #include "mbed.h"
 #include "uLCD_4DGL.h"
@@ -12,13 +17,7 @@
 
 LSM9DS0 dof(p9, p10,LSM9DS0_G, LSM9DS0_XM);
 uLCD_4DGL uLCD(p28, p27, p30); //create a global lcd project
-
-
-//Uncomment If you want to use interrupts
-/*DigitalIn pinDRDYG(p14);
-DigitalIn pinINTG(p13);
-DigitalIn pinINT1_XM(p14);
-DigitalIn pinINT2_XM(p15);*/
+Serial pc(USBTX, USBRX); // tx, rx
 
 #define PRINT_CALCULATED
 #define PRINT_SPEED 500 // 500 ms between prints
@@ -26,175 +25,76 @@
 //Init Serial port and LSM9DS0 chip
 void setup()
 {
-    // Use the begin() function to initialize the LSM9DS0 library.
-    // You can either call it with no parameters (the easy way):
+    pc.baud(9600);//Had to update the baud rate to match tera term
     uint16_t status = dof.begin();
     
-   
-   //Make sure communication is working
-    pc.printf("LSM9DS0 WHO_AM_I's returned: 0x");
-    pc.printf("%x\n",status);
-    pc.printf("Should be 0x49D4\n");
-    pc.printf("\n");
-}
-
-//This function prints the temperature
-void printTemp()
-{
-    dof.readTemp();
-    //pc.printf("Temperature: ");
-    //pc.printf("%2f",dof.calcTemp(dof.temperature));
-    //pc.printf("\n");
-    
-    //rs232.printf("Temperature: ");
-    
-}
-
-//This funtion get  the accelerometer data and returns it
-//I call this function in the main function to get the data and then send it to the lcd
-float getAccel()
-{
-    
-    dof.readAccel();
-    pc.printf("%2f",dof.calcAccel(dof.ax) - dof.abias[0]);
-    return dof.calcAccel(dof.ax) - dof.abias[0];
-} 
-
-void printGyro()
-{
-    // To read from the gyroscope, you must first call the
-    // readGyro() funct ion. When this exits, it'll update the
-    // gx, gy, and gz variables with the most current data.
-    
-    //Uncomment code if you plan on using interrupts
-    /*while(pinDRDYG == 0)
-    {
-        ;
-    }*/
-    
-    
-    dof.readGyro();
-
-    // Now we can use the gx, gy, and gz variables as we please.
-    // Either print them as raw ADC values, or calculated in DPS.
-    pc.printf("Gyroscope: ");
-    //uLCD.printf("Gyroscope: ");
-#ifdef PRINT_CALCULATED
-    // If you want to print calculated values, you can use the
-    // calcGyro helper function to convert a raw ADC value to
-    // DPS. Give the function the value that you want to convert.
-    //pc.printf("The bias: %2f, %2f, %2f \n", dof.gbias[0], dof.gbias[1], dof.gbias[2]);
-    pc.printf("%2f",dof.calcGyro(dof.gx) - dof.gbias[0]);
-    pc.printf(", ");
-    pc.printf("%2f",dof.calcGyro(dof.gy) - dof.gbias[1]);
-    pc.printf(", ");
-    pc.printf("%2f\n",dof.calcGyro(dof.gz) - dof.gbias[2]);
-#elif defined PRINT_RAW
-    pc.printf("%d", dof.gx);
-    pc.printf(", ");
-    pc.printf("%d",dof.gy);
-    pc.printf(", ");
-    pc.printf("%d\n",dof.gz);
-#endif
-}
-
-void printAccel()
-{
-    //Uncomment code if you plan on using interrupts
-    /*while(pinINT1_XM == 0)
-    {
-        ;
-    }*/
-     
-
-    dof.readAccel();
-    
-    
-    // Now we can use the ax, ay, and az variables as we please.
-    // Either print them as raw ADC values, or calculated in g's.
-    pc.printf("Accellerometer Data: ");
-//#ifdef PRINT_CALCULATED
-    // If you want to print calculated values, you can use the
-    // calcAccel helper function to convert a raw ADC value to
-    // g's. Give the function the value that you want to convert.
-    //pc.printf("The bias: %2f, %2f, %2f \n", dof.abias[0], dof.abias[1], dof.abias[2]);
-    pc.printf("%2f\n",dof.calcAccel(dof.ax) - dof.abias[0]);
-    //pc.printf(", ");
-    //pc.printf("%2f",dof.calcAccel(dof.ay) - dof.abias[1]);
-    //pc.printf(", ");
-    //pc.printf("%2f\n",dof.calcAccel(dof.az) - dof.abias[2]);
-//#elif defined PRINT_RAW
-    //pc.printf("%d",dof.ax);
-   // pc.printf(", ");
-    //pc.printf("%d",dof.ay);
-    //pc.printf(", ");
-    //pc.printf("%d\n",dof.az);
-//#endif
-    
-}
-
-void printMag()
-{
-     //Uncomment code if you plan on using interrupts
-    /*while(pinINT2_XM == 0)
-    {
-        ;
-    }*/
-    
-    // To read from the magnetometer, you must first call the
-    // readMag() function. When this exits, it'll update the
-    // mx, my, and mz variables with the most current data.
-    dof.readMag();
-    
-    // Now we can use the mx, my, and mz variables as we please.
-    // Either print them as raw ADC values, or calculated in Gauss.
-    pc.printf("M: ");
-#ifdef PRINT_CALCULATED
-    // If you want to print calculated values, you can use the
-    // calcMag helper function to convert a raw ADC value to
-    // Gauss. Give the function the value that you want to convert.
-    pc.printf("%2f",dof.calcMag(dof.mx));
-    pc.printf(", ");
-    pc.printf("%2f",dof.calcMag(dof.my));
-    pc.printf(", ");
-    pc.printf("%2f\n",dof.calcMag(dof.mz));
-#elif defined PRINT_RAW
-    pc.printf("%d", dof.mx);
-    pc.printf(", ");
-    pc.printf("%d", dof.my);
-    pc.printf(", ");
-    pc.printf("%d\n", dof.mz);
-#endif
-}
-
-void loop()
-{
-    //pc.printf("\n\nDATA READINGS\n");
-    //printGyro();  // Print "G: gx, gy, gz" 
-    //printAccel(); // Print "A: ax, ay, az"
-    //printMag();   // Print "M: mx, my, mz"  
-    //printTemp();  
-    //wait_ms(PRINT_SPEED);
-    
 }
 
 
+
+void drawMaze(){
+    
+    uLCD.filled_rectangle(20, 0, 23, 40 , 0x00FF00); //Wall 1
+    uLCD.filled_rectangle(0, 105, 40, 108 , 0x00FF00); //Wall 2
+    uLCD.filled_rectangle(25, 70, 127, 73 , 0x00FF00); //Wall 3
+    uLCD.filled_rectangle(45, 40, 48, 70 , 0x00FF00); //Wall 4
+    uLCD.filled_rectangle(45, 40, 75, 43 , 0x00FF00); //Wall 5
+    uLCD.filled_rectangle(75, 73, 78, 108 , 0x00FF00); //Wall 6
+    uLCD.filled_rectangle(90, 15, 127, 18 , 0x00FF00); //Wall 7
+    uLCD.filled_circle(100, 100, 5, BLUE);//End destination
+    uLCD.filled_circle(100, 50, 7, DGREY); //Hole #1
+    uLCD.filled_circle(60, 90, 7, DGREY); //Hole #2
+        
+}
+
+void displayRules(){
+    
+    uLCD.printf(" Labyrinth Danger!\n\n\n");
+    wait(3);
+    uLCD.locate(5,3);
+    uLCD.printf("THE RULES\n");
+    wait(1.5);
+    uLCD.printf("1.)Avoid the walls\n");
+    wait(1.5);
+    uLCD.printf("2.)Avoid the holes\n");
+    wait(1.5);
+    uLCD.printf("3.)Get the yellow ball in the blue hole to win");
+    wait(6); 
+    uLCD.cls();
+    
+    }
+
+void youLose(){
+    
+    uLCD.cls();
+    uLCD.locate(1,4);
+    uLCD.text_width(2);
+    uLCD.text_height(2);
+    uLCD.printf("YOU LOSE\n");
+    }
+
+void youWin(){
+    
+    uLCD.cls();
+    uLCD.locate(1,4);
+    uLCD.text_width(2);
+    uLCD.text_height(2);
+    uLCD.printf("YOU WIN!\n");
+    }
+
 int main()
 {
+    displayRules();//Show the rules before the start of the game
     setup();  //Setup sensor and Serial
-    //int content;
-    
-    
-    
+    drawMaze(); //Draw the maze
 
-    
-    //************************************************
-    //Below is the code for the uLCD bubble level
     int circlex = 0;
-    int circley = 60;
-    int circler = 15;
-    int last_circlex = 0; 
-    float accel;
+    int circley = 0;
+    int circler = 3;
+    int last_circlex = 64;
+    int last_circley = 64; 
+    float accelx;
+    float accely;
          
 
     
@@ -202,19 +102,99 @@
     {
 
          dof.readAccel();
-         accel = dof.calcAccel(dof.ax) - dof.abias[0];
+         accelx = dof.calcAccel(dof.ax) - dof.abias[0];
+         accely = dof.calcAccel(dof.ay) - dof.abias[1];
          //pc.printf("%2f\n", accel);
          wait(0.05);
          
-                   
+            
+         //Get rid of the old circle
+         uLCD.filled_circle(last_circlex, last_circley, circler, BLACK);
+         
+         circlex = 128 - ((1 + accelx) * 64);
+         circley = (1 + accely) * 64;
+         
+         
+         //This checks if the game has been won
+         if( (circlex >= 96 && circlex <= 104) && (circley >= 96 && circley <= 104) ){
+             
+             youWin();
+             break;
+             }
+             
 
-         uLCD.filled_circle(last_circlex, circley, circler, BLACK);
-         circlex = (1 + accel) * 64;
+        //This checks if the ball has hit wall number 1
+        if( (circlex >= 18 && circlex <= 25) && (circley >= 0 && circley <=42) ){
+             
+             youLose();
+             break;
+             }
+        //This checks if the ball has hit wall number 2
+        if( (circlex >= 0 && circlex <= 42) && (circley >= 103 && circley <= 110) ){
+             
+             youLose();
+             break;
+             }
+         
+         //This checks if the ball has hit wall number 3
+         if( (circlex >= 23 && circlex <= 129) && (circley >= 68 && circley <=75) ){
+             
+             youLose();
+             break;
+             }
+             
+        //This checks if the ball has hit wall number 4
+        if( (circlex >= 43 && circlex <= 50) && (circley >= 38 && circley <= 72) ){
+             
+             youLose();
+             break;
+             }
+             
+        //This checks if the ball has hit wall number 5
+        if( (circlex >= 43 && circlex <= 77) && (circley >= 38 && circley <= 45) ){
+             
+             youLose();
+             break;
+             }
+        
+        //This checks if the ball has hit wall number 6
+        if( (circlex >= 73 && circlex <= 80) && (circley >= 72 && circley <= 110) ){
+             
+             youLose();
+             break;
+             }
+             
+             //This checks if the ball has hit wall number 7
+        if( (circlex >= 88 && circlex <= 129) && (circley >= 13 && circley <= 20) ){
+             
+             youLose();
+             break;
+             }
+        
+        //This checks if the ball fell into hole #1
+         if( (circlex >= 95 && circlex <= 105) && (circley >= 45 && circley <= 55) ){
+             
+             youLose();
+             break;
+             }
+             
+        //This checks if the ball fell into hole #2
+         if( (circlex >= 55 && circlex <= 65) && (circley >= 85 && circley <= 95) ){
+             
+             youLose();
+             break;
+             }
+             
+        //If the player has not won or hit a wall, update the location of the ball 
+        else{
+         
          last_circlex = circlex;
+         last_circley = circley;
          uLCD.filled_circle(circlex, circley, circler, 0xFFFF00);
+        }
         
    }
    
-        //************************************************* 
+
 }