David Eisner / Mbed 2 deprecated chuk

Wii Nunchuk via RFM69HW to Duplo 9203 Remote Control Car Kit using ARM mbed on a FRDM-KL25Z

Dependencies:   CRC FastPWM RFM69 USBDevice WakeUp WiiChuk_compat mbed-rtos mbed tlc59108

Fork of wiiNunchuk_compat by Greg Brush

main.cpp@11:7c3fb795af73, 2016-06-26 (annotated)

Committer:
eisd
Date:
Sun Jun 26 19:32:04 2016 +0000
Revision:
11:7c3fb795af73
Parent:
10:ba778fc959b8
Child:
12:eec17d54a646
Crazier sirens

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gbrush 0:7c98bcd8a245 1 #include "mbed.h"
eisd 5:7af5760d7e8f 2 #include "rtos.h"
eisd 11:7c3fb795af73 3 #include "FastPWM.h"
eisd 1:de8c34c9ccdf 4 #ifndef M_PI
eisd 1:de8c34c9ccdf 5 #define M_PI 3.14159265358979323846
eisd 1:de8c34c9ccdf 6 #endif
eisd 1:de8c34c9ccdf 7
eisd 1:de8c34c9ccdf 8 #include "WiiChuk_compat.hpp"
eisd 7:f720032c2fb9 9 #include "lib_crc.h"
gbrush 0:7c98bcd8a245 10
eisd 2:04fdd571a385 11 //#include "USBSerial.h"
eisd 2:04fdd571a385 12
eisd 2:04fdd571a385 13 #include "RFM69.h"
eisd 2:04fdd571a385 14 #define GATEWAY_ID 2
eisd 2:04fdd571a385 15 #define NODE_ID 1
eisd 2:04fdd571a385 16 #define NETWORKID 100
gbrush 0:7c98bcd8a245 17
eisd 2:04fdd571a385 18 // Uncomment only one of the following three to match radio frequency
eisd 2:04fdd571a385 19 //#define FREQUENCY RF69_433MHZ
eisd 2:04fdd571a385 20 #define FREQUENCY RF69_868MHZ
eisd 2:04fdd571a385 21 //#define FREQUENCY RF69_915MHZ
eisd 2:04fdd571a385 22
eisd 3:9091adbed369 23 const char *directions[8] = { "XR", "RR", "RX", "FR", "FX", "FF", "XF", "RF" };
eisd 5:7af5760d7e8f 24
eisd 5:7af5760d7e8f 25 #ifdef USBSerial
eisd 5:7af5760d7e8f 26 USBSerial pc;
eisd 5:7af5760d7e8f 27 #else
eisd 2:04fdd571a385 28 Serial pc(USBTX, USBRX);
eisd 1:de8c34c9ccdf 29 #endif
eisd 5:7af5760d7e8f 30
eisd 5:7af5760d7e8f 31 #if TARGET_KL25Z
eisd 5:7af5760d7e8f 32 DigitalOut gnd(PTC0);
eisd 5:7af5760d7e8f 33 PwmOut ir(PTD4);
eisd 5:7af5760d7e8f 34 #endif
eisd 5:7af5760d7e8f 35 #define pulse(x, y) ir = 0.5; wait_us(x); ir = 0.0; wait_us(y);
eisd 5:7af5760d7e8f 36
eisd 5:7af5760d7e8f 37 /* generated in bash from lirc raw codes */
eisd 5:7af5760d7e8f 38 /*
eisd 5:7af5760d7e8f 39 f=duplo.conf
eisd 5:7af5760d7e8f 40 sed -n '/begin raw_codes/,/end raw_codes/s/name //p' $f|
eisd 5:7af5760d7e8f 41 while read n; do
eisd 5:7af5760d7e8f 42 echo -e "void $n() {$(
eisd 5:7af5760d7e8f 43 grep $n -A 1 $f|tail -n1|
eisd 5:7af5760d7e8f 44 sed 's/$/ 1000/;s@\([0-9]\+\)[[:space:]]\+\([0-9]\+\)[[:space:]]*@\n\tpulse(\1, \2);@g'
eisd 5:7af5760d7e8f 45 )\n}"
eisd 5:7af5760d7e8f 46 done
eisd 5:7af5760d7e8f 47 */
eisd 5:7af5760d7e8f 48
eisd 5:7af5760d7e8f 49 void FX() {
eisd 5:7af5760d7e8f 50 pulse(1042, 208);
eisd 5:7af5760d7e8f 51 pulse(208, 208);
eisd 5:7af5760d7e8f 52 pulse(208, 562);
eisd 5:7af5760d7e8f 53 pulse(625, 208);
eisd 5:7af5760d7e8f 54 pulse(208, 625);
eisd 5:7af5760d7e8f 55 pulse(208, 1);
eisd 5:7af5760d7e8f 56 }
eisd 5:7af5760d7e8f 57 void XF() {
eisd 5:7af5760d7e8f 58 pulse(229, 604);
eisd 5:7af5760d7e8f 59 pulse(229, 188);
eisd 5:7af5760d7e8f 60 pulse(229, 188);
eisd 5:7af5760d7e8f 61 pulse(438, 333);
eisd 5:7af5760d7e8f 62 pulse(625, 208);
eisd 5:7af5760d7e8f 63 pulse(1250, 1);
eisd 5:7af5760d7e8f 64 }
eisd 5:7af5760d7e8f 65 void FF() {
eisd 5:7af5760d7e8f 66 pulse(208, 625);
eisd 5:7af5760d7e8f 67 pulse(208, 208);
eisd 5:7af5760d7e8f 68 pulse(208, 208);
eisd 5:7af5760d7e8f 69 pulse(417, 354);
eisd 5:7af5760d7e8f 70 pulse(208, 208);
eisd 5:7af5760d7e8f 71 pulse(208, 1042);
eisd 5:7af5760d7e8f 72 pulse(208, 1);
eisd 5:7af5760d7e8f 73 }
eisd 5:7af5760d7e8f 74 void RX() {
eisd 5:7af5760d7e8f 75 pulse(1042, 208);
eisd 5:7af5760d7e8f 76 pulse(208, 188);
eisd 5:7af5760d7e8f 77 pulse(229, 542);
eisd 5:7af5760d7e8f 78 pulse(646, 1);
eisd 5:7af5760d7e8f 79 }
eisd 5:7af5760d7e8f 80 void XR() {
eisd 5:7af5760d7e8f 81 pulse(208, 1042);
eisd 5:7af5760d7e8f 82 pulse(208, 188);
eisd 5:7af5760d7e8f 83 pulse(229, 542);
eisd 5:7af5760d7e8f 84 pulse(625, 417);
eisd 5:7af5760d7e8f 85 pulse(854, 1);
eisd 5:7af5760d7e8f 86 }
eisd 5:7af5760d7e8f 87 void RR() {
eisd 5:7af5760d7e8f 88 pulse(229, 1021);
eisd 5:7af5760d7e8f 89 pulse(229, 208);
eisd 5:7af5760d7e8f 90 pulse(208, 542);
eisd 5:7af5760d7e8f 91 pulse(229, 188);
eisd 5:7af5760d7e8f 92 pulse(229, 1229);
eisd 5:7af5760d7e8f 93 pulse(229, 1);
eisd 5:7af5760d7e8f 94 }
eisd 5:7af5760d7e8f 95 void RF() {
eisd 5:7af5760d7e8f 96 pulse(208, 625);
eisd 5:7af5760d7e8f 97 pulse(208, 208);
eisd 5:7af5760d7e8f 98 pulse(208, 208);
eisd 5:7af5760d7e8f 99 pulse(417, 333);
eisd 5:7af5760d7e8f 100 pulse(208, 208);
eisd 5:7af5760d7e8f 101 pulse(208, 208);
eisd 5:7af5760d7e8f 102 pulse(208, 1);
eisd 5:7af5760d7e8f 103 }
eisd 5:7af5760d7e8f 104 void FR() {
eisd 5:7af5760d7e8f 105 pulse(229, 1021);
eisd 5:7af5760d7e8f 106 pulse(229, 188);
eisd 5:7af5760d7e8f 107 pulse(229, 542);
eisd 5:7af5760d7e8f 108 pulse(208, 208);
eisd 5:7af5760d7e8f 109 pulse(208, 208);
eisd 5:7af5760d7e8f 110 pulse(208, 625);
eisd 5:7af5760d7e8f 111 pulse(417, 1);
eisd 5:7af5760d7e8f 112 }
eisd 5:7af5760d7e8f 113 void BB() {
eisd 5:7af5760d7e8f 114 pulse(1042, 208);
eisd 5:7af5760d7e8f 115 pulse(208, 208);
eisd 5:7af5760d7e8f 116 pulse(208, 542);
eisd 5:7af5760d7e8f 117 pulse(208, 417);
eisd 5:7af5760d7e8f 118 pulse(208, 208);
eisd 5:7af5760d7e8f 119 pulse(1042, 1);
eisd 5:7af5760d7e8f 120 }
eisd 5:7af5760d7e8f 121
eisd 5:7af5760d7e8f 122 bool central = true;
eisd 7:f720032c2fb9 123 int stops_sent = 0;
eisd 5:7af5760d7e8f 124 int direction = -1;
eisd 5:7af5760d7e8f 125 Thread *thread;
eisd 5:7af5760d7e8f 126 void ir_thread(void const *args) {
eisd 5:7af5760d7e8f 127 while(1) {
eisd 5:7af5760d7e8f 128 //if (!central)
eisd 5:7af5760d7e8f 129 for(int x = 0; x < 5; x++) {
eisd 10:ba778fc959b8 130 pc.printf(central? "stop %s %d\r\n" : "direction %s %d\r\n", directions[direction], stops_sent);
eisd 9:dc6ffa2ef179 131 if (central) {
eisd 10:ba778fc959b8 132 if (stops_sent < 50) {
eisd 10:ba778fc959b8 133 stops_sent++;
eisd 9:dc6ffa2ef179 134 BB();
eisd 10:ba778fc959b8 135 }
eisd 9:dc6ffa2ef179 136 } else {
eisd 7:f720032c2fb9 137 stops_sent = 0;
eisd 7:f720032c2fb9 138 switch(direction) {
eisd 7:f720032c2fb9 139 case 0: XR(); break;
eisd 7:f720032c2fb9 140 case 1: RR(); break;
eisd 7:f720032c2fb9 141 case 2: RX(); break;
eisd 7:f720032c2fb9 142 case 3: FR(); break;
eisd 7:f720032c2fb9 143 case 4: FX(); break;
eisd 7:f720032c2fb9 144 case 5: FF(); break;
eisd 7:f720032c2fb9 145 case 6: XF(); break;
eisd 7:f720032c2fb9 146 case 7: RF(); break;
eisd 7:f720032c2fb9 147 }
eisd 5:7af5760d7e8f 148 }
eisd 6:3482f1e19d71 149 Thread::wait(10);
eisd 5:7af5760d7e8f 150 }
eisd 5:7af5760d7e8f 151 Thread::wait(50);
eisd 5:7af5760d7e8f 152 }
eisd 5:7af5760d7e8f 153 }
eisd 5:7af5760d7e8f 154
eisd 11:7c3fb795af73 155 FastPWM speaker(PTA12);
eisd 7:f720032c2fb9 156 DigitalOut speaker_gnd(PTC4);
eisd 7:f720032c2fb9 157 //float speaker = 0;
eisd 7:f720032c2fb9 158 //float speaker_gnd = 0;
eisd 7:f720032c2fb9 159
eisd 7:f720032c2fb9 160 //global variables used by interrupt routine
eisd 11:7c3fb795af73 161 volatile int i=512;
eisd 11:7c3fb795af73 162 float wave[512];
eisd 7:f720032c2fb9 163
eisd 7:f720032c2fb9 164 // Interrupt routine
eisd 7:f720032c2fb9 165 // used to output next analog sample whenever a timer interrupt occurs
eisd 7:f720032c2fb9 166 void Sample_timer_interrupt(void)
eisd 7:f720032c2fb9 167 {
eisd 7:f720032c2fb9 168 // send next analog sample out to D to A
eisd 7:f720032c2fb9 169 speaker = wave[i];
eisd 7:f720032c2fb9 170 // increment pointer and wrap around back to 0 at 128
eisd 7:f720032c2fb9 171 i = (i+1) & 0x07F;
eisd 7:f720032c2fb9 172 }
eisd 7:f720032c2fb9 173
eisd 7:f720032c2fb9 174 int Siren_pitch = 1;
eisd 7:f720032c2fb9 175 void Siren_pitch_flip() {
eisd 11:7c3fb795af73 176 speaker.period(wave[--i]);
eisd 11:7c3fb795af73 177 if (i == 0)
eisd 11:7c3fb795af73 178 i = 128;
eisd 7:f720032c2fb9 179 }
eisd 7:f720032c2fb9 180
eisd 7:f720032c2fb9 181 Ticker siren_pitch;
eisd 11:7c3fb795af73 182 Timeout siren_pitch_switch;
eisd 7:f720032c2fb9 183 bool Siren_last = 0;
eisd 11:7c3fb795af73 184 void Siren_faster() {
eisd 11:7c3fb795af73 185 siren_pitch.detach();
eisd 11:7c3fb795af73 186 siren_pitch.attach(&Siren_pitch_flip, 0.6/128);
eisd 11:7c3fb795af73 187 }
eisd 7:f720032c2fb9 188 void Siren_state(bool on) {
eisd 7:f720032c2fb9 189 if (Siren_last != on) {
eisd 7:f720032c2fb9 190 pc.printf("siren %d\r\n", on);
eisd 7:f720032c2fb9 191 siren_pitch.detach();
eisd 7:f720032c2fb9 192 Siren_pitch = 1;
eisd 7:f720032c2fb9 193 Siren_pitch_flip();
eisd 11:7c3fb795af73 194 siren_pitch.detach();
eisd 11:7c3fb795af73 195 if (on)
eisd 11:7c3fb795af73 196 siren_pitch.attach(&Siren_pitch_flip, 0.6/128);
eisd 11:7c3fb795af73 197 //siren_pitch_switch.attach(&Siren_faster, 2.0);
eisd 11:7c3fb795af73 198 speaker = on ? 0.1 : 0;
eisd 7:f720032c2fb9 199 }
eisd 7:f720032c2fb9 200 Siren_last = on;
eisd 7:f720032c2fb9 201 }
eisd 7:f720032c2fb9 202
eisd 8:5f933580b560 203 DigitalOut Headlight_l(PTD7);
eisd 8:5f933580b560 204 DigitalOut Headlight_r(PTB8);
eisd 8:5f933580b560 205
eisd 8:5f933580b560 206 #define Headlight_swap 3
eisd 8:5f933580b560 207 #define Headlight_flicker 15
eisd 8:5f933580b560 208 uint8_t Headlight_mode = 0;
eisd 8:5f933580b560 209 uint8_t Headlight_phase = 0;
eisd 8:5f933580b560 210 Ticker Headlight_pattern;
eisd 8:5f933580b560 211 void Headlight_interrupt() {
eisd 8:5f933580b560 212 Headlight_phase = (Headlight_phase + 1) % Headlight_flicker;
eisd 8:5f933580b560 213 Headlight_l = Headlight_mode == 1 || (Headlight_mode == 2) && ((Headlight_phase % 2) == 0) && (Headlight_phase * 2 > Headlight_flicker);
eisd 8:5f933580b560 214 Headlight_r = Headlight_mode == 1 || (Headlight_mode == 2) && ((Headlight_phase % 2) == 0) && (Headlight_phase * 2 < Headlight_flicker);
eisd 8:5f933580b560 215 }
eisd 8:5f933580b560 216 void Headlight_state(bool a, bool b) {
eisd 8:5f933580b560 217 uint8_t mode = b ? 1 : a ? 2 : 0;
eisd 8:5f933580b560 218 if (Headlight_mode != mode) {
eisd 11:7c3fb795af73 219 if (mode == 1)
eisd 11:7c3fb795af73 220 i = 512;
eisd 8:5f933580b560 221 Headlight_mode = mode;
eisd 8:5f933580b560 222 Headlight_interrupt();
eisd 8:5f933580b560 223 }
eisd 8:5f933580b560 224 }
eisd 8:5f933580b560 225
eisd 7:f720032c2fb9 226 int main()
eisd 7:f720032c2fb9 227 {
eisd 8:5f933580b560 228 Headlight_pattern.attach_us(&Headlight_interrupt, (timestamp_t)(1000000/Headlight_swap/Headlight_flicker));
eisd 7:f720032c2fb9 229
eisd 1:de8c34c9ccdf 230 #ifndef USBSerial
eisd 1:de8c34c9ccdf 231 pc.baud(115200);
eisd 1:de8c34c9ccdf 232 #endif
gbrush 0:7c98bcd8a245 233
eisd 2:04fdd571a385 234 #ifdef TARGET_KL25Z
eisd 6:3482f1e19d71 235 PwmOut r(LED_RED);
eisd 6:3482f1e19d71 236 //float r = 1.0f;
eisd 6:3482f1e19d71 237 PwmOut g(LED_GREEN);
eisd 6:3482f1e19d71 238 //float g = 1.0f;
eisd 6:3482f1e19d71 239 PwmOut b(LED_BLUE);
eisd 5:7af5760d7e8f 240 //while(1){FF();wait(0.01);}
eisd 6:3482f1e19d71 241 //float b = 1.0f;
eisd 3:9091adbed369 242 WiiChuck nun(PTE0, PTE1, pc);
eisd 2:04fdd571a385 243 RFM69 radio(PTD2, PTD3, PTC5, PTD0, PTA13);
eisd 2:04fdd571a385 244 #else
eisd 2:04fdd571a385 245 WiiChuck nun(p9, p10, pc);
eisd 2:04fdd571a385 246 #endif
eisd 2:04fdd571a385 247
eisd 6:3482f1e19d71 248 gnd = 0;
eisd 6:3482f1e19d71 249 ir.period_us(1000/38);
eisd 6:3482f1e19d71 250
eisd 7:f720032c2fb9 251 speaker_gnd = 0;
eisd 7:f720032c2fb9 252 speaker = 0;
eisd 7:f720032c2fb9 253 //speaker.period(1.0/200000.0);
eisd 7:f720032c2fb9 254
eisd 11:7c3fb795af73 255 int m = i-128;
eisd 11:7c3fb795af73 256 for(int k = 0; k < m; k++) {
eisd 11:7c3fb795af73 257 // ramp up
eisd 11:7c3fb795af73 258 wave[i-k-1] = 1.0/(1000+k*400.0/m);
eisd 11:7c3fb795af73 259 }
eisd 11:7c3fb795af73 260 for(int k = 0; k < 128; k++) {
eisd 11:7c3fb795af73 261 // LFO
eisd 11:7c3fb795af73 262 wave[127-k] = 1.0/(1400+200*sin(k/128.0*6.28318530717959));
eisd 11:7c3fb795af73 263 }
eisd 7:f720032c2fb9 264 /*
eisd 7:f720032c2fb9 265 speaker = 0.2;
eisd 7:f720032c2fb9 266 while(1) {
eisd 7:f720032c2fb9 267 speaker.period(.8/554.365);
eisd 7:f720032c2fb9 268 wait(.8);
eisd 7:f720032c2fb9 269 speaker.period(.8/523.251);
eisd 7:f720032c2fb9 270 wait(.8);
eisd 7:f720032c2fb9 271 }
eisd 7:f720032c2fb9 272 //speaker = 0.2;
eisd 7:f720032c2fb9 273 // set up a timer to be used for sample rate interrupts
eisd 7:f720032c2fb9 274 Ticker Sample_Period;
eisd 7:f720032c2fb9 275 // precompute 128 sample points on one sine wave cycle
eisd 7:f720032c2fb9 276 // used for continuous sine wave output later
eisd 7:f720032c2fb9 277 for(int k=0; k<128; k++) {
eisd 7:f720032c2fb9 278 wave[k]=((1.0 + sin((float(k)/128.0*6.28318530717959)))/2.0);
eisd 7:f720032c2fb9 279 // scale the sine wave from 0.0 to 1.0 - as needed for AnalogOut arg
eisd 7:f720032c2fb9 280 }
eisd 7:f720032c2fb9 281 // turn on timer interrupts to start sine wave output
eisd 7:f720032c2fb9 282 // sample rate is 500Hz with 128 samples per cycle on sine wave
eisd 7:f720032c2fb9 283 while(1) {
eisd 7:f720032c2fb9 284 Sample_Period.detach();
eisd 7:f720032c2fb9 285 Sample_Period.attach(&Sample_timer_interrupt, 1.0/(554.365*128));
eisd 7:f720032c2fb9 286 wait(.8);
eisd 7:f720032c2fb9 287 Sample_Period.detach();
eisd 7:f720032c2fb9 288 Sample_Period.attach(&Sample_timer_interrupt, 1.0/(523.251*128));
eisd 7:f720032c2fb9 289 wait(.8);
eisd 7:f720032c2fb9 290 }
eisd 7:f720032c2fb9 291 // everything else needed is already being done by the interrupt routine
eisd 7:f720032c2fb9 292 */
eisd 7:f720032c2fb9 293
eisd 5:7af5760d7e8f 294 nunchuk n1, n2;
eisd 5:7af5760d7e8f 295 nunchuk *n = &n1, *next = &n2;
eisd 5:7af5760d7e8f 296 bool sender = nun.Read(&n->X, &n->Y, &n->aX, &n->aY, &n->aZ, &n->C, &n->Z);
eisd 4:c9711f0cd097 297 if (sender) {
eisd 4:c9711f0cd097 298 pc.printf("chuck attached\r\n");
eisd 4:c9711f0cd097 299 radio.initialize(FREQUENCY, NODE_ID, NETWORKID);
eisd 4:c9711f0cd097 300 } else {
eisd 4:c9711f0cd097 301 pc.printf("chuck unavailable\r\n");
eisd 4:c9711f0cd097 302 radio.initialize(FREQUENCY, GATEWAY_ID, NETWORKID);
eisd 5:7af5760d7e8f 303 thread = new Thread(ir_thread);
eisd 5:7af5760d7e8f 304 }
eisd 3:9091adbed369 305 radio.encrypt("0123456789054321");
eisd 2:04fdd571a385 306 //radio.promiscuous(false);
eisd 3:9091adbed369 307 radio.setHighPower(true);
eisd 3:9091adbed369 308 radio.setPowerLevel(20);
eisd 3:9091adbed369 309 radio.rcCalibration();
eisd 2:04fdd571a385 310 //radio.readAllRegs();
eisd 2:04fdd571a385 311 pc.printf("temp %d\r\n", radio.readTemperature(-1));
eisd 1:de8c34c9ccdf 312
eisd 6:3482f1e19d71 313 bool read = false;
eisd 1:de8c34c9ccdf 314 while(1) {
eisd 7:f720032c2fb9 315 if (sender) {
eisd 5:7af5760d7e8f 316 read = nun.Read(&n->X, &n->Y, &n->aX, &n->aY, &n->aZ, &n->C, &n->Z);
eisd 7:f720032c2fb9 317 n->sum = 0;
eisd 7:f720032c2fb9 318 n->sum = calculate_crc8((char*)n, sizeof(struct nunchuk));
eisd 7:f720032c2fb9 319 }
eisd 6:3482f1e19d71 320 else if (radio.receiveDone()) {
eisd 7:f720032c2fb9 321 //pc.printf("rssi %d\r\n", radio.RSSI);
eisd 4:c9711f0cd097 322 read = (radio.DATALEN == sizeof(struct nunchuk));
eisd 5:7af5760d7e8f 323 if (read) {
eisd 6:3482f1e19d71 324 memcpy((void*)next, (const void*)radio.DATA, radio.DATALEN);
eisd 7:f720032c2fb9 325 uint8_t sum = next->sum;
eisd 7:f720032c2fb9 326 next->sum = 0;
eisd 7:f720032c2fb9 327 read = sum == calculate_crc8((char*)next, sizeof(struct nunchuk));
eisd 7:f720032c2fb9 328 if (read) {
eisd 7:f720032c2fb9 329 nunchuk *last = n;
eisd 7:f720032c2fb9 330 n = next;
eisd 7:f720032c2fb9 331 next = last;
eisd 7:f720032c2fb9 332 }
eisd 7:f720032c2fb9 333 }
eisd 7:f720032c2fb9 334 if (!read)
eisd 7:f720032c2fb9 335 pc.printf("len %d\r\n", radio.DATALEN);
eisd 4:c9711f0cd097 336 }
eisd 1:de8c34c9ccdf 337 if(read)
eisd 1:de8c34c9ccdf 338 {
eisd 7:f720032c2fb9 339 Siren_state(n->C);
eisd 8:5f933580b560 340 Headlight_state(n->C, n->Z);
eisd 5:7af5760d7e8f 341 float x = n->X - 128, y = n->Y - 128;
eisd 3:9091adbed369 342 float R = x*x + y*y, p = atan2(y, x) * 4 / M_PI - 0.5;
eisd 1:de8c34c9ccdf 343 int c = 0;
eisd 3:9091adbed369 344 if (p > -4) c = 0;
eisd 3:9091adbed369 345 if (p > -3) c = 1;
eisd 3:9091adbed369 346 if (p > -2) c = 2;
eisd 3:9091adbed369 347 if (p > -1) c = 3;
eisd 3:9091adbed369 348 if (p > 0) c = 4;
eisd 3:9091adbed369 349 if (p > 1) c = 5;
eisd 3:9091adbed369 350 if (p > 2) c = 6;
eisd 3:9091adbed369 351 if (p > 3) c = 7;
eisd 5:7af5760d7e8f 352 direction = c;
eisd 1:de8c34c9ccdf 353
eisd 6:3482f1e19d71 354 #if DEBUG
eisd 6:3482f1e19d71 355 pc.printf("%d: ", sizeof(struct nunchuk));
eisd 6:3482f1e19d71 356 pc.printf("x%3d y%3d c%1d z%1d --", n->X, n->Y, n->C, n->Z);
eisd 6:3482f1e19d71 357 pc.printf("x%d y%d z%d -- %.3f %s \r\n", n->aX, n->aY, n->aZ, R, direction);//s[c]);
eisd 3:9091adbed369 358
eisd 3:9091adbed369 359 //radio.send(GATEWAY_ID, (const void*)"AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA", 50, false);
eisd 3:9091adbed369 360 #endif
eisd 4:c9711f0cd097 361 if (sender)
eisd 6:3482f1e19d71 362 radio.send(GATEWAY_ID, (const void*)n, sizeof(struct nunchuk), false);
eisd 3:9091adbed369 363
eisd 1:de8c34c9ccdf 364 #ifdef TARGET_KL25Z
eisd 3:9091adbed369 365 if (R < 20) {
eisd 3:9091adbed369 366 if (!central) {
eisd 3:9091adbed369 367 pc.printf("central\r\n");
eisd 3:9091adbed369 368 central = true;
eisd 3:9091adbed369 369 }
eisd 1:de8c34c9ccdf 370 r = 1.0f;
eisd 1:de8c34c9ccdf 371 g = 1.0f;
eisd 1:de8c34c9ccdf 372 b = 1.0f;
eisd 1:de8c34c9ccdf 373 } else {
eisd 3:9091adbed369 374 if (central) {
eisd 6:3482f1e19d71 375 pc.printf("go %s\r\n", directions[direction]);
eisd 3:9091adbed369 376 central = false;
eisd 3:9091adbed369 377 }
eisd 3:9091adbed369 378 R = R/20000;
eisd 1:de8c34c9ccdf 379 float pal[8][3] = {
eisd 1:de8c34c9ccdf 380 { 0, 0, 1 },
eisd 1:de8c34c9ccdf 381 { 0, 1, 1 },
eisd 1:de8c34c9ccdf 382 { 0, 1, 0 },
eisd 1:de8c34c9ccdf 383 { 1, 1, 0 },
eisd 1:de8c34c9ccdf 384 { 1, 0.5, 0 },
eisd 1:de8c34c9ccdf 385 { 1, 0, 0 },
eisd 1:de8c34c9ccdf 386 { 1, 0, 1 },
eisd 1:de8c34c9ccdf 387 { 0.5, 0, 1 },
eisd 1:de8c34c9ccdf 388 };
eisd 6:3482f1e19d71 389 c = (c + 4) % 8;
eisd 1:de8c34c9ccdf 390 r = 1.0f - pal[c][0] * R;
eisd 1:de8c34c9ccdf 391 g = 1.0f - pal[c][1] * R;
eisd 1:de8c34c9ccdf 392 b = 1.0f - pal[c][2] * R;
eisd 1:de8c34c9ccdf 393 }
eisd 1:de8c34c9ccdf 394 #endif
eisd 1:de8c34c9ccdf 395 }
eisd 4:c9711f0cd097 396 else if (sender)
eisd 1:de8c34c9ccdf 397 {
eisd 1:de8c34c9ccdf 398 pc.printf("Error\r\n");
eisd 3:9091adbed369 399 return 0;
eisd 1:de8c34c9ccdf 400 }
eisd 4:c9711f0cd097 401 if (sender)
eisd 4:c9711f0cd097 402 wait(0.01);
eisd 5:7af5760d7e8f 403 else
eisd 5:7af5760d7e8f 404 Thread::wait(10);
eisd 1:de8c34c9ccdf 405 }
eisd 1:de8c34c9ccdf 406 }