Edward Leland / Mbed 2 deprecated app-board-Bubble-Level

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Dependencies:   C12832_lcd FatFileSystemCpp MMA7660 mbed

Fork of app-board-Bubble-Level by jim hamblen

main.cpp@2:2fb847807890, 2015-08-04 (annotated)

Committer:
ecleland
Date:
Tue Aug 04 15:01:11 2015 +0000
Revision:
2:2fb847807890
Parent:
1:876f52a697c1
Child:
3:6dae4f871cdc
Work please

Who changed what in which revision?

UserRevisionLine numberNew contents of line
4180_1 1:876f52a697c1 1 //Uses x & y acceleration to simulate a bubble level
4180_1 1:876f52a697c1 2 //on the application board LCD display
Sissors 0:bd0546063b0a 3 #include "mbed.h"
Sissors 0:bd0546063b0a 4 #include "MMA7660.h"
4180_1 1:876f52a697c1 5 #include "C12832_lcd.h"
ecleland 2:2fb847807890 6 #include "USBHostMSD.h"
ecleland 2:2fb847807890 7
ecleland 2:2fb847807890 8 Serial pc(USBTX, USBRX); // tx, rx
Sissors 0:bd0546063b0a 9
4180_1 1:876f52a697c1 10 C12832_LCD lcd; //On board LCD display
4180_1 1:876f52a697c1 11 MMA7660 MMA(p28, p27); //I2C Accelerometer
4180_1 1:876f52a697c1 12 DigitalOut connectionLed(LED1);//Accel OK LED
Sissors 0:bd0546063b0a 13
ecleland 2:2fb847807890 14 #include "mbed.h"
ecleland 2:2fb847807890 15 #include <string>
ecleland 2:2fb847807890 16
ecleland 2:2fb847807890 17 //opens mbed memory for writing
ecleland 2:2fb847807890 18 LocalFileSystem local("local");
ecleland 2:2fb847807890 19 FILE *fp = fopen("/local/MovementData.txt", "w");
ecleland 2:2fb847807890 20
ecleland 2:2fb847807890 21 //PwmOut strafe(p22);
ecleland 2:2fb847807890 22 DigitalOut strafe(p21);
ecleland 2:2fb847807890 23 DigitalOut forback(p22);
ecleland 2:2fb847807890 24 DigitalOut updown(p23);
ecleland 2:2fb847807890 25 DigitalOut rlturn(p24);
ecleland 2:2fb847807890 26 AnalogOut output(p18);
ecleland 2:2fb847807890 27
ecleland 2:2fb847807890 28 float StrafeVM = 0.48638;
ecleland 2:2fb847807890 29 float ForBackVM = .508172;
ecleland 2:2fb847807890 30 float UpDownVM = .50424;
ecleland 2:2fb847807890 31 float RLTurnVM = .508475;
ecleland 2:2fb847807890 32
ecleland 2:2fb847807890 33 float step = .001;
ecleland 2:2fb847807890 34
ecleland 2:2fb847807890 35 void NoOut()
ecleland 2:2fb847807890 36 {
ecleland 2:2fb847807890 37 strafe = 1;
ecleland 2:2fb847807890 38 forback = 1;
ecleland 2:2fb847807890 39 updown = 1;
ecleland 2:2fb847807890 40 rlturn = 1;
ecleland 2:2fb847807890 41 }
ecleland 2:2fb847807890 42
ecleland 2:2fb847807890 43 void SET(string movement, float Out)
ecleland 2:2fb847807890 44 {
ecleland 2:2fb847807890 45
ecleland 2:2fb847807890 46 NoOut();
ecleland 2:2fb847807890 47
ecleland 2:2fb847807890 48 output = Out;
ecleland 2:2fb847807890 49
ecleland 2:2fb847807890 50 if (movement == "s") {
ecleland 2:2fb847807890 51 strafe = 0;
ecleland 2:2fb847807890 52 }
ecleland 2:2fb847807890 53
ecleland 2:2fb847807890 54 if (movement == "fb") {
ecleland 2:2fb847807890 55 forback = 0;
ecleland 2:2fb847807890 56 }
ecleland 2:2fb847807890 57
ecleland 2:2fb847807890 58 if (movement == "ud") {
ecleland 2:2fb847807890 59 updown = 0;
ecleland 2:2fb847807890 60 }
ecleland 2:2fb847807890 61
ecleland 2:2fb847807890 62 if (movement == "rl") {
ecleland 2:2fb847807890 63 rlturn = 0;
ecleland 2:2fb847807890 64 }
ecleland 2:2fb847807890 65
ecleland 2:2fb847807890 66 wait(.005);
ecleland 2:2fb847807890 67
ecleland 2:2fb847807890 68 fprintf(fp,"%s ", (string)movement);
ecleland 2:2fb847807890 69 fprintf(fp,"%f ", (float)Out);
ecleland 2:2fb847807890 70
ecleland 2:2fb847807890 71 NoOut();
ecleland 2:2fb847807890 72
ecleland 2:2fb847807890 73 }
ecleland 2:2fb847807890 74
ecleland 2:2fb847807890 75 //latch chip drifts voltage up pretty quickly beyond the limits of the phantom if we reset the values though all is good.
ecleland 2:2fb847807890 76 void REFRESH()
ecleland 2:2fb847807890 77 {
ecleland 2:2fb847807890 78 SET("s", StrafeVM);
ecleland 2:2fb847807890 79 SET("fb", ForBackVM);
ecleland 2:2fb847807890 80 SET("ud", UpDownVM);
ecleland 2:2fb847807890 81 SET("rl", RLTurnVM);
ecleland 2:2fb847807890 82 }
ecleland 2:2fb847807890 83
ecleland 2:2fb847807890 84 void IDLE()
ecleland 2:2fb847807890 85 {
ecleland 2:2fb847807890 86 SET("s", 0.48638);
ecleland 2:2fb847807890 87 SET("fb", 0.508172);
ecleland 2:2fb847807890 88 SET("ud", 0.50424);
ecleland 2:2fb847807890 89 SET("rl", 0.508475);
ecleland 2:2fb847807890 90 }
ecleland 2:2fb847807890 91
ecleland 2:2fb847807890 92 void START()
ecleland 2:2fb847807890 93 {
ecleland 2:2fb847807890 94 SET("s", 0.575379);
ecleland 2:2fb847807890 95 SET("fb", 0.592171);
ecleland 2:2fb847807890 96 SET("ud", 0.421241);
ecleland 2:2fb847807890 97 SET("rl", 0.589474);
ecleland 2:2fb847807890 98 wait(3);
ecleland 2:2fb847807890 99 }
ecleland 2:2fb847807890 100
4180_1 1:876f52a697c1 101 int main()
4180_1 1:876f52a697c1 102 {
ecleland 2:2fb847807890 103 bool on = false;
ecleland 2:2fb847807890 104 bool YN = true;
ecleland 2:2fb847807890 105
ecleland 2:2fb847807890 106 pc.printf("\n");
ecleland 2:2fb847807890 107
ecleland 2:2fb847807890 108 lcd.cls();
ecleland 2:2fb847807890 109 lcd.locate(0,3);
ecleland 2:2fb847807890 110 lcd.printf("Turn Phantom 2 Drone On? (Y/N) ");
ecleland 2:2fb847807890 111
ecleland 2:2fb847807890 112 while(YN) {
ecleland 2:2fb847807890 113 char a = pc.getc();
ecleland 2:2fb847807890 114 if (a == 'y' || a == 'Y') {
ecleland 2:2fb847807890 115 on = true;
ecleland 2:2fb847807890 116 YN = false;
ecleland 2:2fb847807890 117 }
ecleland 2:2fb847807890 118 if (a == 'n' || a == 'N') {
ecleland 2:2fb847807890 119 YN = false;
ecleland 2:2fb847807890 120 }
ecleland 2:2fb847807890 121
Sissors 0:bd0546063b0a 122 }
Sissors 0:bd0546063b0a 123
ecleland 2:2fb847807890 124 if(on) {
ecleland 2:2fb847807890 125
ecleland 2:2fb847807890 126 //all limits need to be investigatged as vcc is not actually +3.304V also phantom 2 voltages vary based on battery charge in controller.
ecleland 2:2fb847807890 127 while(on) {
ecleland 2:2fb847807890 128
ecleland 2:2fb847807890 129 if(MMA.z() < 0) {
ecleland 2:2fb847807890 130 IDLE();
ecleland 2:2fb847807890 131 START();
ecleland 2:2fb847807890 132 IDLE();
ecleland 2:2fb847807890 133 }
ecleland 2:2fb847807890 134
ecleland 2:2fb847807890 135 //set c to be arbitrary
ecleland 2:2fb847807890 136 char c = '?';
ecleland 2:2fb847807890 137
ecleland 2:2fb847807890 138 REFRESH();
ecleland 2:2fb847807890 139
ecleland 2:2fb847807890 140 //pc.getc() hangs (stops) the loop until a caracter is read. due to the need to
ecleland 2:2fb847807890 141 if (pc.readable()) {
ecleland 2:2fb847807890 142 c = pc.getc();
ecleland 2:2fb847807890 143 }
ecleland 2:2fb847807890 144
ecleland 2:2fb847807890 145 //strafing
ecleland 2:2fb847807890 146 if((c == 'a') && (StrafeVM < /*0.57234*/ .6)) {
ecleland 2:2fb847807890 147 StrafeVM += step;
ecleland 2:2fb847807890 148 SET("s", StrafeVM);
ecleland 2:2fb847807890 149 pc.printf("%f%", StrafeVM);
ecleland 2:2fb847807890 150 }
ecleland 2:2fb847807890 151 if((c == 'd') && (StrafeVM > 0.410714)) {
ecleland 2:2fb847807890 152 StrafeVM -= step;
ecleland 2:2fb847807890 153 SET("s", StrafeVM);
ecleland 2:2fb847807890 154 pc.printf("%f%", StrafeVM);
ecleland 2:2fb847807890 155 }
ecleland 2:2fb847807890 156
ecleland 2:2fb847807890 157 //Forward and Backwards
ecleland 2:2fb847807890 158 if((c == 'w') && (ForBackVM > 0.424031)) {
ecleland 2:2fb847807890 159 ForBackVM -= step;
ecleland 2:2fb847807890 160 SET("fb", ForBackVM);
ecleland 2:2fb847807890 161 pc.printf("%f%", ForBackVM);
ecleland 2:2fb847807890 162 }
ecleland 2:2fb847807890 163 if((c == 's') && (ForBackVM < /*0.58535*/ .6)) {
ecleland 2:2fb847807890 164 ForBackVM += step;
ecleland 2:2fb847807890 165 SET("fb", ForBackVM);
ecleland 2:2fb847807890 166 pc.printf("%f%", ForBackVM);
ecleland 2:2fb847807890 167 }
ecleland 2:2fb847807890 168
ecleland 2:2fb847807890 169 //Up and Down Issues with being off by .08v ish
ecleland 2:2fb847807890 170 if((c == 'i') && (UpDownVM < 0.58323)) {
ecleland 2:2fb847807890 171 UpDownVM += step;
ecleland 2:2fb847807890 172 SET("ud", UpDownVM);
ecleland 2:2fb847807890 173 pc.printf("%f%", UpDownVM);
ecleland 2:2fb847807890 174 }
ecleland 2:2fb847807890 175 if((c == 'k') && (UpDownVM > 0.42161)) {
ecleland 2:2fb847807890 176 UpDownVM -= step;
ecleland 2:2fb847807890 177 SET("ud", UpDownVM);
ecleland 2:2fb847807890 178 pc.printf("%f%", UpDownVM);
ecleland 2:2fb847807890 179 }
ecleland 2:2fb847807890 180
ecleland 2:2fb847807890 181 //Turning
ecleland 2:2fb847807890 182 if((c == 'j') && (RLTurnVM < 0.5905)) {
ecleland 2:2fb847807890 183 RLTurnVM += step;
ecleland 2:2fb847807890 184 SET("rl", RLTurnVM);
ecleland 2:2fb847807890 185 pc.printf("%f%", RLTurnVM);
ecleland 2:2fb847807890 186 }
ecleland 2:2fb847807890 187 if((c == 'l') && (RLTurnVM > 0.42615)) {
ecleland 2:2fb847807890 188 RLTurnVM -= step;
ecleland 2:2fb847807890 189 SET("rl", RLTurnVM);
ecleland 2:2fb847807890 190 pc.printf("%f%", RLTurnVM);
ecleland 2:2fb847807890 191 }
ecleland 2:2fb847807890 192
ecleland 2:2fb847807890 193 //emergency idle
ecleland 2:2fb847807890 194 if(c == ' ') {
ecleland 2:2fb847807890 195 IDLE();
ecleland 2:2fb847807890 196 }
ecleland 2:2fb847807890 197
ecleland 2:2fb847807890 198 //ground/turn off the drone
ecleland 2:2fb847807890 199 if(c == 'g') {
ecleland 2:2fb847807890 200 IDLE();
ecleland 2:2fb847807890 201
ecleland 2:2fb847807890 202 while(UpDownVM > 0.48) {
ecleland 2:2fb847807890 203 UpDownVM -= .01;
ecleland 2:2fb847807890 204 SET("ud", UpDownVM);
ecleland 2:2fb847807890 205 wait(0.1);
ecleland 2:2fb847807890 206 }
ecleland 2:2fb847807890 207 wait(2);
ecleland 2:2fb847807890 208
ecleland 2:2fb847807890 209 on = false;
ecleland 2:2fb847807890 210
ecleland 2:2fb847807890 211 }
ecleland 2:2fb847807890 212
ecleland 2:2fb847807890 213 }
ecleland 2:2fb847807890 214
ecleland 2:2fb847807890 215 }
ecleland 2:2fb847807890 216
ecleland 2:2fb847807890 217 fclose(fp);
ecleland 2:2fb847807890 218 pc.printf("Drone off");
ecleland 2:2fb847807890 219 while(1) {
ecleland 2:2fb847807890 220 SET("s", 0.48638);
ecleland 2:2fb847807890 221 SET("fb", 0.508172);
ecleland 2:2fb847807890 222 SET("ud", .421);
ecleland 2:2fb847807890 223 SET("rl", 0.508475);
ecleland 2:2fb847807890 224 }
ecleland 2:2fb847807890 225 return 0;
Sissors 0:bd0546063b0a 226 }