main.cpp

00001 #include "mbed.h"
00002 #include "LSM9DS0.h"
00003 #include "PinDetect.h"
00004 
00005 // SDO_XM and SDO_G are pulled up, so our addresses are:
00006 #define LSM9DS0_XM_ADDR  0x1D // Would be 0x1E if SDO_XM is LOW
00007 #define LSM9DS0_G_ADDR   0x6B // Would be 0x6A if SDO_G is LOW
00008 
00009 LSM9DS0 imu(p9, p10, LSM9DS0_G_ADDR, LSM9DS0_XM_ADDR); // IMU
00010 DigitalIn L(p21); // Left flipper
00011 DigitalIn R(p22); // Right flipper
00012 Serial pc(USBTX, USBRX); // Serial read out
00013 AnalogIn plunger(p20); // Slide potentiometer
00014 DigitalOut led1(LED1); //left
00015 DigitalOut led2(LED2); //right
00016 DigitalOut led3(LED3); //coin
00017 AnalogIn coin(p19); // IR Sensor
00018 
00019 //variables changed by callback functions to be printed to serial
00020 int coins=0;
00021 int volatile left=0;
00022 int volatile right=0;
00023 int  plungers=0;
00024 void L_hit_callback (void)
00025 {
00026     left=1;
00027 }
00028 
00029 void R_hit_callback (void)
00030 {
00031     right=1;
00032 }
00033 
00034 int main()
00035 {
00036     // Use the begin() function to initialize the LSM9DS0 library.
00037     // You can either call it with no parameters (the easy way):
00038     uint16_t status = imu.begin();
00039 
00040     //Make sure communication is working (DEBUG)
00041     pc.printf("LSM9DS0 WHO_AM_I's returned: 0x%X\n", status);
00042     pc.printf("Should be 0x49D4\n\n");
00043     while(1) {
00044         //Setup default values
00045         plungers=0;
00046         led1=L;
00047         led2=R;
00048         left=L;
00049         right=R;
00050 
00051         // imu readings
00052         imu.readAccel();
00053         float heading = imu.calcHeading();
00054 
00055         //detect if coin was inserted
00056         if (coin>0.35f) { 
00057             led3=1;
00058             coins=1;
00059         } else {
00060             led3=0;
00061             coins=0;
00062         }
00063         // which speed to launch ball at
00064         if (plunger<0.25f) {
00065             plungers=1;
00066         } else if(plunger<0.5f) {
00067             plungers=2;
00068         } else if(plunger<0.75f) {
00069             plungers=3;
00070         } else if(plunger<2.0f) {
00071             plungers=4;
00072         }
00073         // Write to serial - order matters (left, right coin, plunger, imu)
00074         pc.printf("%i,%i,%i,%i,%.1f\r\n",left,right,coins,plungers, imu.ay);
00075         wait(0.20);
00076     }
00077 }