Derek Travisano
4180 Final Project Jenny Hunter, Derek Travisano, Sandeep Vijayasekar, Zechariah Lin
Dependencies: LSM9DS0 PinDetect mbed
Revision 0:1fa4ca8a4394, committed 2015-12-09
- Comitter:
- dtravisano3
- Date:
- Wed Dec 09 17:51:26 2015 +0000
- Commit message:
- 4180 Final Project; Jenny Hunter, Derek Travisano, Zechariah Lin, Sandeep Vijayasekar
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS0.lib Wed Dec 09 17:51:26 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/aswild/code/LSM9DS0/#5556e6fb99f5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PinDetect.lib Wed Dec 09 17:51:26 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/AjK/code/PinDetect/#cb3afc45028b
--- /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);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Dec 09 17:51:26 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9296ab0bfc11 \ No newline at end of file