Diff: main.cpp

Revision:

5:75cd0f7649ca

Parent:

4:efbc5085138a

Child:

6:b4a7a3e46018

--- a/main.cpp	Tue Feb 19 17:29:20 2019 +0000
+++ b/main.cpp	Wed Feb 20 18:28:12 2019 +0000
@@ -19,18 +19,6 @@
 #define Zn  Magenta 
 #define IN  Black
 
-// to convert back to string
-char colours[8][8] = {
-    /*0*/"White",
-    /*1*/"Yellow",
-    /*2*/"Magenta",
-    /*3*/"Red",
-    /*4*/"Cyan",
-    /*5*/"Green",
-    /*6*/"Blue",
-    /*7*/"Black"                                                                                                                                       
-                     };
-
 /*
 assuming (x^2 + y^2 + z^2)^0.5 = 1 
     G-> shared between 2 axes = 0.707 value
@@ -52,20 +40,6 @@
 MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
 Serial pc(USBTX, USBRX); // tx, rx
 
-void led_decode(int ip){ // drives LEDs
-        rled = (ip & 0b0100);
-        gled = (ip & 0b0010);
-        bled = (ip & 0b0001);
-}
-
-void state_report(int ip){//reports on state 
-    static int old_state;
-    if(ip != old_state){
-        pc.printf("Orientation state now: %s \n\r", colours[ip]); 
-        old_state = ip;
-        }//end if
-    }//end func
-
 int orientation_find(float x, float y, float z){
     if      (abs(x) > TH){
         if (x > 0){
@@ -99,46 +73,93 @@
 int main(void)
 {
     int state = IN;
-    //MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
-    //Serial pc(USBTX, USBRX); // tx, rx
+    int tick = 0;    
+    int system = 1;
 
-    pc.printf("MMA8451 ID: %d\n\r", acc.getWhoAmI()); //added carriage return
+    //still needed:
+    pc.printf("MMA8451 ID: %d\n\r", acc.getWhoAmI()); 
     
+    //init leds
+    rled = 1;
+    gled = 1;
+    bled = 1;
+
+
     while (true) {
         float x, y, z;
         x = acc.getAccX();
         y = acc.getAccY();
         z = acc.getAccZ();
         
-        state = orientation_find(x,y,z);
-        
-        led_decode(state);
-        
-        int orientation = 1; 
-        int count;
-        
-        switch(orientation){
-            case 1: //no orientation state 
-                if(state != IN){ // if state is not IN:
-                    state_report(state);
-                    orientation = 2;
-                    count = 3;            
+        state = orientation_find(x,y,z);          
+         
+        switch(system){
+            case 1: //initial flat state
+                if(tick > 100 && state == Yn){
+                    pc.printf("passed first stage \n\r"); 
+                    system = 2;
+                    tick = 0;
+                }
+                else if( tick < 100 && state == Yn){
+                    system = 6; 
+                }
+                else if(state != Zp && state != IN){
+                    system = 5;
                 }
             break;
             
-            case 2: //orientation state
-                state_report(state); //always report
-                if(state == IN && count > 0){  //trying to transition back
-                    count--;
+            case 2: //right orientation state
+                if(tick > 20 && tick < 60 && state == Xn){
+                    pc.printf("passed second stage \n\r");
+                    system = 3;
+                    tick = 0;
+                }
+                else if((tick > 20 && state == Xn) || tick > 60 ){
+                    system = 6; 
+                }
+                else if(state != Yn && state != IN){
+                    system = 5;
+                }
+            break;
+
+            case 3: //upwards orientation
+                if(tick > 40 && tick < 80 && state == Zp){
+                    pc.printf("passed third stage \n\r");
+                    system = 4;
+                    tick = 0;
+                }
+                else if((tick > 40 && state == Zp) || tick > 80 ){
+                    system = 6; 
+                }
+                else if(state != Xn && state != IN){
+                    system = 5;
                 }
-                else if(state == IN && count == 0){ //transition back to no orientation
-                    orientation = 1;    
-                }
-                else if(state != IN){ //reset as there is an orientation
-                    count = 3;
-                }
-        }// end switch
+            break;
+            
+            case 4://flat success
+                pc.printf("Sequence is complete\n\r");
+                system = 7;
+                gled = 0;
+            break;
+            
+            case 5://sequence fail
+                pc.printf("Sequence Error \n\r");
+                system = 7;
+                rled = 0;
+            break;
+
+            case 6://timing fail
+                pc.printf("Time error \n\r");
+                system = 7;
+                rled = 0;
+            break;
+            
+            case 7://idle state
+                // nothing happens
+            break;        
         
-        wait(0.3);
+        }// end switch        
+        wait(0.1); // 100ms timing accuracy, 
+        tick++;
     }//end while
 }//end main