Diff: main.cpp

Revision:

0:1fa4ca8a4394

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 09 17:51:26 2015 +0000
@@ -0,0 +1,77 @@
+#include "mbed.h"
+#include "LSM9DS0.h"
+#include "PinDetect.h"
+
+// SDO_XM and SDO_G are pulled up, so our addresses are:
+#define LSM9DS0_XM_ADDR  0x1D // Would be 0x1E if SDO_XM is LOW
+#define LSM9DS0_G_ADDR   0x6B // Would be 0x6A if SDO_G is LOW
+
+LSM9DS0 imu(p9, p10, LSM9DS0_G_ADDR, LSM9DS0_XM_ADDR); // IMU
+DigitalIn L(p21); // Left flipper
+DigitalIn R(p22); // Right flipper
+Serial pc(USBTX, USBRX); // Serial read out
+AnalogIn plunger(p20); // Slide potentiometer
+DigitalOut led1(LED1); //left
+DigitalOut led2(LED2); //right
+DigitalOut led3(LED3); //coin
+AnalogIn coin(p19); // IR Sensor
+
+//variables changed by callback functions to be printed to serial
+int coins=0;
+int volatile left=0;
+int volatile right=0;
+int  plungers=0;
+void L_hit_callback (void)
+{
+    left=1;
+}
+
+void R_hit_callback (void)
+{
+    right=1;
+}
+
+int main()
+{
+    // Use the begin() function to initialize the LSM9DS0 library.
+    // You can either call it with no parameters (the easy way):
+    uint16_t status = imu.begin();
+
+    //Make sure communication is working (DEBUG)
+    pc.printf("LSM9DS0 WHO_AM_I's returned: 0x%X\n", status);
+    pc.printf("Should be 0x49D4\n\n");
+    while(1) {
+        //Setup default values
+        plungers=0;
+        led1=L;
+        led2=R;
+        left=L;
+        right=R;
+
+        // imu readings
+        imu.readAccel();
+        float heading = imu.calcHeading();
+
+        //detect if coin was inserted
+        if (coin>0.35f) { 
+            led3=1;
+            coins=1;
+        } else {
+            led3=0;
+            coins=0;
+        }
+        // which speed to launch ball at
+        if (plunger<0.25f) {
+            plungers=1;
+        } else if(plunger<0.5f) {
+            plungers=2;
+        } else if(plunger<0.75f) {
+            plungers=3;
+        } else if(plunger<2.0f) {
+            plungers=4;
+        }
+        // Write to serial - order matters (left, right coin, plunger, imu)
+        pc.printf("%i,%i,%i,%i,%.1f\r\n",left,right,coins,plungers, imu.ay);
+        wait(0.20);
+    }
+}