Derek Travisano / Mbed 2 deprecated UnityPinballController

4180 Final Project Jenny Hunter, Derek Travisano, Sandeep Vijayasekar, Zechariah Lin

Dependencies:   LSM9DS0 PinDetect mbed

main.cpp@0:1fa4ca8a4394, 2015-12-09 (annotated)

Committer:
dtravisano3
Date:
Wed Dec 09 17:51:26 2015 +0000
Revision:
0:1fa4ca8a4394
4180 Final Project; Jenny Hunter, Derek Travisano, Zechariah Lin, Sandeep Vijayasekar

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dtravisano3 0:1fa4ca8a4394 1 #include "mbed.h"
dtravisano3 0:1fa4ca8a4394 2 #include "LSM9DS0.h"
dtravisano3 0:1fa4ca8a4394 3 #include "PinDetect.h"
dtravisano3 0:1fa4ca8a4394 4
dtravisano3 0:1fa4ca8a4394 5 // SDO_XM and SDO_G are pulled up, so our addresses are:
dtravisano3 0:1fa4ca8a4394 6 #define LSM9DS0_XM_ADDR 0x1D // Would be 0x1E if SDO_XM is LOW
dtravisano3 0:1fa4ca8a4394 7 #define LSM9DS0_G_ADDR 0x6B // Would be 0x6A if SDO_G is LOW
dtravisano3 0:1fa4ca8a4394 8
dtravisano3 0:1fa4ca8a4394 9 LSM9DS0 imu(p9, p10, LSM9DS0_G_ADDR, LSM9DS0_XM_ADDR); // IMU
dtravisano3 0:1fa4ca8a4394 10 DigitalIn L(p21); // Left flipper
dtravisano3 0:1fa4ca8a4394 11 DigitalIn R(p22); // Right flipper
dtravisano3 0:1fa4ca8a4394 12 Serial pc(USBTX, USBRX); // Serial read out
dtravisano3 0:1fa4ca8a4394 13 AnalogIn plunger(p20); // Slide potentiometer
dtravisano3 0:1fa4ca8a4394 14 DigitalOut led1(LED1); //left
dtravisano3 0:1fa4ca8a4394 15 DigitalOut led2(LED2); //right
dtravisano3 0:1fa4ca8a4394 16 DigitalOut led3(LED3); //coin
dtravisano3 0:1fa4ca8a4394 17 AnalogIn coin(p19); // IR Sensor
dtravisano3 0:1fa4ca8a4394 18
dtravisano3 0:1fa4ca8a4394 19 //variables changed by callback functions to be printed to serial
dtravisano3 0:1fa4ca8a4394 20 int coins=0;
dtravisano3 0:1fa4ca8a4394 21 int volatile left=0;
dtravisano3 0:1fa4ca8a4394 22 int volatile right=0;
dtravisano3 0:1fa4ca8a4394 23 int plungers=0;
dtravisano3 0:1fa4ca8a4394 24 void L_hit_callback (void)
dtravisano3 0:1fa4ca8a4394 25 {
dtravisano3 0:1fa4ca8a4394 26 left=1;
dtravisano3 0:1fa4ca8a4394 27 }
dtravisano3 0:1fa4ca8a4394 28
dtravisano3 0:1fa4ca8a4394 29 void R_hit_callback (void)
dtravisano3 0:1fa4ca8a4394 30 {
dtravisano3 0:1fa4ca8a4394 31 right=1;
dtravisano3 0:1fa4ca8a4394 32 }
dtravisano3 0:1fa4ca8a4394 33
dtravisano3 0:1fa4ca8a4394 34 int main()
dtravisano3 0:1fa4ca8a4394 35 {
dtravisano3 0:1fa4ca8a4394 36 // Use the begin() function to initialize the LSM9DS0 library.
dtravisano3 0:1fa4ca8a4394 37 // You can either call it with no parameters (the easy way):
dtravisano3 0:1fa4ca8a4394 38 uint16_t status = imu.begin();
dtravisano3 0:1fa4ca8a4394 39
dtravisano3 0:1fa4ca8a4394 40 //Make sure communication is working (DEBUG)
dtravisano3 0:1fa4ca8a4394 41 pc.printf("LSM9DS0 WHO_AM_I's returned: 0x%X\n", status);
dtravisano3 0:1fa4ca8a4394 42 pc.printf("Should be 0x49D4\n\n");
dtravisano3 0:1fa4ca8a4394 43 while(1) {
dtravisano3 0:1fa4ca8a4394 44 //Setup default values
dtravisano3 0:1fa4ca8a4394 45 plungers=0;
dtravisano3 0:1fa4ca8a4394 46 led1=L;
dtravisano3 0:1fa4ca8a4394 47 led2=R;
dtravisano3 0:1fa4ca8a4394 48 left=L;
dtravisano3 0:1fa4ca8a4394 49 right=R;
dtravisano3 0:1fa4ca8a4394 50
dtravisano3 0:1fa4ca8a4394 51 // imu readings
dtravisano3 0:1fa4ca8a4394 52 imu.readAccel();
dtravisano3 0:1fa4ca8a4394 53 float heading = imu.calcHeading();
dtravisano3 0:1fa4ca8a4394 54
dtravisano3 0:1fa4ca8a4394 55 //detect if coin was inserted
dtravisano3 0:1fa4ca8a4394 56 if (coin>0.35f) {
dtravisano3 0:1fa4ca8a4394 57 led3=1;
dtravisano3 0:1fa4ca8a4394 58 coins=1;
dtravisano3 0:1fa4ca8a4394 59 } else {
dtravisano3 0:1fa4ca8a4394 60 led3=0;
dtravisano3 0:1fa4ca8a4394 61 coins=0;
dtravisano3 0:1fa4ca8a4394 62 }
dtravisano3 0:1fa4ca8a4394 63 // which speed to launch ball at
dtravisano3 0:1fa4ca8a4394 64 if (plunger<0.25f) {
dtravisano3 0:1fa4ca8a4394 65 plungers=1;
dtravisano3 0:1fa4ca8a4394 66 } else if(plunger<0.5f) {
dtravisano3 0:1fa4ca8a4394 67 plungers=2;
dtravisano3 0:1fa4ca8a4394 68 } else if(plunger<0.75f) {
dtravisano3 0:1fa4ca8a4394 69 plungers=3;
dtravisano3 0:1fa4ca8a4394 70 } else if(plunger<2.0f) {
dtravisano3 0:1fa4ca8a4394 71 plungers=4;
dtravisano3 0:1fa4ca8a4394 72 }
dtravisano3 0:1fa4ca8a4394 73 // Write to serial - order matters (left, right coin, plunger, imu)
dtravisano3 0:1fa4ca8a4394 74 pc.printf("%i,%i,%i,%i,%.1f\r\n",left,right,coins,plungers, imu.ay);
dtravisano3 0:1fa4ca8a4394 75 wait(0.20);
dtravisano3 0:1fa4ca8a4394 76 }
dtravisano3 0:1fa4ca8a4394 77 }