Diff: main.cpp

Revision:

0:411f355688a5

Child:

1:ff57945c704c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu May 07 11:26:58 2015 +0000
@@ -0,0 +1,1019 @@
+#include "mbed.h"
+#include "N5110.h"
+#include "beep.h"
+
+using namespace mbed;
+ // constructor
+ /** Create a Beep object connected to the specified PwmOut pin
+  *
+  * @param pin PwmOut pin to connect to 
+  */
+
+BusOut leds(LED1,LED2,LED3,LED4);
+BusOut myled(p24);
+
+InterruptIn buttonA(p29);
+InterruptIn buttonB(p28);
+   
+Beep::Beep(PinName pin) : _pwm(pin) {
+    _pwm.write(0.0);     // after creating it have to be off
+}
+ 
+ /** stop the beep instantaneous 
+  * usually not used 
+  */
+void Beep::nobeep() {
+    _pwm.write(0.0);
+}
+ 
+/** Beep with given frequency and duration.
+ *
+ * @param frequency - the frequency of the tone in Hz
+ * @param time - the duration of the tone in seconds
+ */
+     
+void Beep::beep(float freq, float time) {
+ 
+    _pwm.period(1.0/freq);
+    _pwm.write(0.5);            // 50% duty cycle - beep on
+    toff.attach(this,&Beep::nobeep, time);   // time to off
+}
+
+Beep buzzer(p21);
+ 
+// change this to alter tolerance of joystick direction
+#define DIRECTION_TOLERANCE 0.05
+
+// connections for joystick
+DigitalIn button(p17);
+AnalogIn xPot(p15);
+AnalogIn yPot(p16);
+
+// timer to regularly read the joystick
+Ticker pollJoystick;
+
+// create enumerated type (0,1,2,3 etc. for direction)
+// could be extended for diagonals etc.
+enum DirectionName {
+    UP,
+    DOWN,
+    LEFT,
+    RIGHT,
+    CENTRE,
+    UNKNOWN
+};
+
+// struct for Joystick
+typedef struct JoyStick Joystick;
+struct JoyStick {
+    float x;    // current x value
+    float x0;   // 'centred' x value
+    float y;    // current y value
+    float y0;   // 'centred' y value
+    int button; // button state (assume pull-down used, so 1 = pressed, 0 = unpressed)
+    DirectionName direction;  // current direction
+};
+// create struct variable
+Joystick joystick;
+
+// function prototypes
+void calibrateJoystick();
+void updateJoystick();
+
+// read default positions of the joystick to calibrate later readings
+void calibrateJoystick()
+{
+    button.mode(PullDown);
+    // must not move during calibration
+    joystick.x0 = xPot;  // initial positions in the range 0.0 to 1.0 (0.5 if centred exactly)
+    joystick.y0 = yPot;
+}
+void updateJoystick()
+{
+    // read current joystick values relative to calibrated values (in range -0.5 to 0.5, 0.0 is centred)
+    joystick.x = xPot - joystick.x0;
+    joystick.y = yPot - joystick.y0;
+    // read button state
+    joystick.button = button;
+
+    // calculate direction depending on x,y values
+    // tolerance allows a little lee-way in case joystick not exactly in the stated direction
+    if ( fabs(joystick.y) < DIRECTION_TOLERANCE && fabs(joystick.x) < DIRECTION_TOLERANCE) {
+        joystick.direction = CENTRE;
+    } else if ( joystick.y > DIRECTION_TOLERANCE && fabs(joystick.x) < DIRECTION_TOLERANCE) {
+        joystick.direction = DOWN;
+    } else if ( joystick.y < DIRECTION_TOLERANCE && fabs(joystick.x) < DIRECTION_TOLERANCE) {
+        joystick.direction = UP;
+    } else if ( joystick.x > DIRECTION_TOLERANCE && fabs(joystick.y) < DIRECTION_TOLERANCE) {
+        joystick.direction = RIGHT;
+    } else if ( joystick.x < DIRECTION_TOLERANCE && fabs(joystick.y) < DIRECTION_TOLERANCE) {
+        joystick.direction = LEFT;
+    } else {
+        joystick.direction = UNKNOWN;
+    }
+}
+
+N5110::N5110(PinName pwrPin, PinName scePin, PinName rstPin, PinName dcPin, PinName mosiPin, PinName sclkPin, PinName ledPin)
+{
+ 
+    spi = new SPI(mosiPin,NC,sclkPin); // create new SPI instance and initialise
+    initSPI();
+ 
+    // set up pins as required
+    led = new PwmOut(ledPin);
+    pwr = new DigitalOut(pwrPin);
+    sce = new DigitalOut(scePin);
+    rst = new DigitalOut(rstPin);
+    dc = new DigitalOut(dcPin);
+ 
+}
+ 
+// initialise function - powers up and sends the initialisation commands
+void N5110::init()
+{
+    turnOn();     // power up
+    wait_ms(10);  // small delay seems to prevent spurious pixels during mbed reset
+    reset();      // reset LCD - must be done within 100 ms
+ 
+    // function set - extended
+    sendCommand(0x20 | CMD_FS_ACTIVE_MODE | CMD_FS_HORIZONTAL_MODE | CMD_FS_EXTENDED_MODE);
+    // Don't completely understand these parameters - they seem to work as they are
+    // Consult the datasheet if you need to change them
+    sendCommand(CMD_VOP_7V38);    // operating voltage - these values are from Chris Yan's Library
+    sendCommand(CMD_TC_TEMP_2);   // temperature control
+    sendCommand(CMD_BI_MUX_48);   // bias
+ 
+    // function set - basic
+    sendCommand(0x20 | CMD_FS_ACTIVE_MODE | CMD_FS_HORIZONTAL_MODE | CMD_FS_BASIC_MODE);
+    normalMode();  // normal video mode by default
+    sendCommand(CMD_DC_NORMAL_MODE);  // black on white
+ 
+    // RAM is undefined at power-up so clear
+    clearRAM();
+ 
+}
+ 
+// sets normal video mode (black on white)
+void N5110::normalMode()
+{
+    sendCommand(CMD_DC_NORMAL_MODE);
+ 
+}
+ 
+// sets normal video mode (white on black)
+void N5110::inverseMode()
+{
+    sendCommand(CMD_DC_INVERT_VIDEO);
+}
+ 
+// function to power up the LCD and backlight
+void N5110::turnOn()
+{
+    // set brightness of LED - 0.0 to 1.0 - default is 50%
+    setBrightness(0.5);
+    pwr->write(1);  // apply power
+}
+ 
+// function to power down LCD
+void N5110::turnOff()
+{
+    setBrightness(0.0);  // turn backlight off
+    clearRAM();   // clear RAM to ensure specified current consumption
+    // send command to ensure we are in basic mode
+    sendCommand(0x20 | CMD_FS_ACTIVE_MODE | CMD_FS_HORIZONTAL_MODE | CMD_FS_BASIC_MODE);
+    // clear the display
+    sendCommand(CMD_DC_CLEAR_DISPLAY);
+    // enter the extended mode and power down
+    sendCommand(0x20 | CMD_FS_POWER_DOWN_MODE | CMD_FS_HORIZONTAL_MODE | CMD_FS_EXTENDED_MODE);
+    // small delay and then turn off the power pin
+    wait_ms(10);
+    pwr->write(0);
+ 
+}
+ 
+// function to change LED backlight brightness
+void N5110::setBrightness(float brightness)
+{
+    // check whether brightness is within range
+    if (brightness < 0.0)
+        brightness = 0.0;
+    if (brightness > 1.0)
+        brightness = 1.0;
+    // set PWM duty cycle
+    led->write(brightness);
+}
+ 
+ 
+// pulse the active low reset line
+void N5110::reset()
+{
+    rst->write(0);  // reset the LCD
+    rst->write(1);
+}
+ 
+// function to initialise SPI peripheral
+void N5110::initSPI()
+{
+    spi->format(8,1);    // 8 bits, Mode 1 - polarity 0, phase 1 - base value of clock is 0, data captured on falling edge/propagated on rising edge
+    spi->frequency(4000000);  // maximum of screen is 4 MHz
+}
+ 
+// send a command to the display
+void N5110::sendCommand(unsigned char command)
+{
+    dc->write(0);  // set DC low for command
+    sce->write(0); // set CE low to begin frame
+    spi->write(command);  // send command
+    dc->write(1);  // turn back to data by default
+    sce->write(1); // set CE high to end frame (expected for transmission of single byte)
+ 
+}
+ 
+// send data to the display at the current XY address
+// dc is set to 1 (i.e. data) after sending a command and so should
+// be the default mode.
+void N5110::sendData(unsigned char data)
+{
+    sce->write(0);   // set CE low to begin frame
+    spi->write(data);
+    sce->write(1);  // set CE high to end frame (expected for transmission of single byte)
+}
+ 
+// this function writes 0 to the 504 bytes to clear the RAM
+void N5110::clearRAM()
+{
+    int i;
+    sce->write(0);  //set CE low to begin frame
+    for(i = 0; i < WIDTH * HEIGHT; i++) { // 48 x 84 bits = 504 bytes
+        spi->write(0x00);  // send 0's
+    }
+    sce->write(1); // set CE high to end frame
+ 
+}
+ 
+// function to set the XY address in RAM for subsequenct data write
+void N5110::setXYAddress(int x, int y)
+{
+    if (x>=0 && x<WIDTH && y>=0 && y<HEIGHT) {  // check within range
+        sendCommand(0x80 | x);  // send addresses to display with relevant mask
+        sendCommand(0x40 | y);
+    }
+}
+ 
+// These functions are used to set, clear and get the value of pixels in the display
+// Pixels are addressed in the range of 0 to 47 (y) and 0 to 83 (x).  The refresh()
+// function must be called after set and clear in order to update the display
+void N5110::setPixel(int x, int y)
+{
+    if (x>=0 && x<WIDTH && y>=0 && y<HEIGHT) {  // check within range
+        // calculate bank and shift 1 to required position in the data byte
+        buffer[x][y/8] |= (1 << y%8);
+    }
+}
+ 
+void N5110::clearPixel(int x, int y)
+{
+    if (x>=0 && x<WIDTH && y>=0 && y<HEIGHT) {  // check within range
+        // calculate bank and shift 1 to required position (using bit clear)
+        buffer[x][y/8] &= ~(1 << y%8);
+    }
+}
+ 
+int N5110::getPixel(int x, int y)
+{
+    if (x>=0 && x<WIDTH && y>=0 && y<HEIGHT) {  // check within range
+        // return relevant bank and mask required bit
+        return (int) buffer[x][y/8] & (1 << y%8);
+        // note this does not necessarily return 1 - a non-zero number represents a pixel
+    } else {
+        return 0;
+    }
+}
+ 
+// function to refresh the display
+void N5110::refresh()
+{
+    int i,j;
+ 
+    setXYAddress(0,0);  // important to set address back to 0,0 before refreshing display
+    // address auto increments after printing string, so buffer[0][0] will not coincide
+    // with top-left pixel after priting string
+ 
+    sce->write(0);  //set CE low to begin frame
+ 
+    for(j = 0; j < BANKS; j++) {  // be careful to use correct order (j,i) for horizontal addressing
+        for(i = 0; i < WIDTH; i++) {
+            spi->write(buffer[i][j]);  // send buffer
+        }
+    }
+    sce->write(1); // set CE high to end frame
+ 
+}
+ 
+// fills the buffer with random bytes.  Can be used to test the display.
+// The rand() function isn't seeded so it probably creates the same pattern everytime
+void N5110::randomiseBuffer()
+{
+    int i,j;
+    for(j = 0; j < BANKS; j++) {  // be careful to use correct order (j,i) for horizontal addressing
+        for(i = 0; i < WIDTH; i++) {
+            buffer[i][j] = rand()%256;  // generate random byte
+        }
+    }
+ 
+}
+ 
+// function to print 5x7 font
+void N5110::printChar(char c,int x,int y)
+{
+    if (y>=0 && y<BANKS) {  // check if printing in range of y banks
+ 
+        for (int i = 0; i < 5 ; i++ ) {
+            int pixel_x = x+i;
+            if (pixel_x > WIDTH-1)  // ensure pixel isn't outside the buffer size (0 - 83)
+                break;
+            buffer[pixel_x][y] = font5x7[(c - 32)*5 + i];
+            // array is offset by 32 relative to ASCII, each character is 5 pixels wide
+        }
+ 
+        refresh();  // this sends the buffer to the display and sets address (cursor) back to 0,0
+    }
+}
+ 
+// function to print string at specified position
+void N5110::printString(const char * str,int x,int y)
+{
+    if (y>=0 && y<BANKS) {  // check if printing in range of y banks
+ 
+        int n = 0 ; // counter for number of characters in string
+        // loop through string and print character
+        while(*str) {
+ 
+            // writes the character bitmap data to the buffer, so that
+            // text and pixels can be displayed at the same time
+            for (int i = 0; i < 5 ; i++ ) {
+                int pixel_x = x+i+n*6;
+                if (pixel_x > WIDTH-1) // ensure pixel isn't outside the buffer size (0 - 83)
+                    break;
+                buffer[pixel_x][y] = font5x7[(*str - 32)*5 + i];
+            }
+ 
+            str++;  // go to next character in string
+ 
+            n++;    // increment index
+ 
+        }
+ 
+        refresh();  // this sends the buffer to the display and sets address (cursor) back to 0,0
+    }
+}
+ 
+// function to clear the screen
+void N5110::clear()
+{
+    clearBuffer();  // clear the buffer then call the refresh function
+    refresh();
+}
+ 
+// function to clear the buffer
+void N5110::clearBuffer()
+{
+    int i,j;
+    for (i=0; i<WIDTH; i++) {  // loop through the banks and set the buffer to 0
+        for (j=0; j<BANKS; j++) {
+            buffer[i][j]=0;
+        }
+    }
+}
+ 
+// function to plot array on display
+void N5110::plotArray(float array[])
+{
+ 
+    int i;
+ 
+    for (i=0; i<WIDTH; i++) {  // loop through array
+        // elements are normalised from 0.0 to 1.0, so multiply
+        // by 47 to convert to pixel range, and subtract from 47
+        // since top-left is 0,0 in the display geometry
+        setPixel(i,47 - int(array[i]*47.0));
+    }
+ 
+    refresh();
+ 
+}
+ 
+// function to draw circle
+void N5110:: drawCircle(int x0,int y0,int radius,int fill)
+{
+    // from http://en.wikipedia.org/wiki/Midpoint_circle_algorithm
+    int x = radius;
+    int y = 0;
+    int radiusError = 1-x;
+ 
+    while(x >= y) {
+ 
+        // if transparent, just draw outline
+        if (fill == 0) {
+            setPixel( x + x0,  y + y0);
+            setPixel(-x + x0,  y + y0);
+            setPixel( y + x0,  x + y0);
+            setPixel(-y + x0,  x + y0);
+            setPixel(-y + x0, -x + y0);
+            setPixel( y + x0, -x + y0);
+            setPixel( x + x0, -y + y0);
+            setPixel(-x + x0, -y + y0);
+        } else {  // drawing filled circle, so draw lines between points at same y value
+ 
+            int type = (fill==1) ? 1:0;  // black or white fill
+ 
+            drawLine(x+x0,y+y0,-x+x0,y+y0,type);
+            drawLine(y+x0,x+y0,-y+x0,x+y0,type);
+            drawLine(y+x0,-x+y0,-y+x0,-x+y0,type);
+            drawLine(x+x0,-y+y0,-x+x0,-y+y0,type);
+        }
+ 
+ 
+        y++;
+        if (radiusError<0) {
+            radiusError += 2 * y + 1;
+        } else {
+            x--;
+            radiusError += 2 * (y - x) + 1;
+        }
+    }
+ 
+}
+ 
+void N5110::drawLine(int x0,int y0,int x1,int y1,int type)
+{
+    int y_range = y1-y0;  // calc range of y and x
+    int x_range = x1-x0;
+    int start,stop,step;
+ 
+    // if dotted line, set step to 2, else step is 1
+    step = (type==2) ? 2:1;
+ 
+    // make sure we loop over the largest range to get the most pixels on the display
+    // for instance, if drawing a vertical line (x_range = 0), we need to loop down the y pixels
+    // or else we'll only end up with 1 pixel in the x column
+    if ( abs(x_range) > abs(y_range) ) {
+ 
+        // ensure we loop from smallest to largest or else for-loop won't run as expected
+        start = x1>x0 ? x0:x1;
+        stop =  x1>x0 ? x1:x0;
+ 
+        // loop between x pixels
+        for (int x = start; x<= stop ; x+=step) {
+            // do linear interpolation
+            int y = y0 + (y1-y0)*(x-x0)/(x1-x0);
+ 
+            if (type == 0)   // if 'white' line, turn off pixel
+                clearPixel(x,y);
+            else
+                setPixel(x,y);  // else if 'black' or 'dotted' turn on pixel
+        }
+    } else {
+ 
+        // ensure we loop from smallest to largest or else for-loop won't run as expected
+        start = y1>y0 ? y0:y1;
+        stop =  y1>y0 ? y1:y0;
+ 
+        for (int y = start; y<= stop ; y+=step) {
+            // do linear interpolation
+            int x = x0 + (x1-x0)*(y-y0)/(y1-y0);
+ 
+            if (type == 0)   // if 'white' line, turn off pixel
+                clearPixel(x,y);
+            else
+                setPixel(x,y);  // else if 'black' or 'dotted' turn on pixel
+ 
+        }
+    }
+ 
+}
+ 
+void N5110::drawRect(int x0,int y0,int width,int height,int fill)
+{
+ 
+    if (fill == 0) { // transparent, just outline
+        drawLine(x0,y0,x0+width,y0,1);  // top
+        drawLine(x0,y0+height,x0+width,y0+height,1);  // bottom
+        drawLine(x0,y0,x0,y0+height,1);  // left
+        drawLine(x0+width,y0,x0+width,y0+height,1);  // right
+    } else { // filled rectangle
+        int type = (fill==1) ? 1:0;  // black or white fill
+        for (int y = y0; y<= y0+height; y++) {  // loop through rows of rectangle
+            drawLine(x0,y,x0+width,y,type);  // draw line across screen
+        }
+    }
+ 
+}
+
+N5110 lcd(p7,p8,p9,p10,p11,p13,p26);  // Initialization of Nokia5110 LCD screen
+
+void flip()  // flip 4 LEDs on mbed and 1 peripheral LED
+{
+    leds=15;
+    myled=1;
+    wait(0.5);
+    leds=0;
+    myled=0;
+}
+void buttonApressed() // when A button is pressed, turn off the backlight of the screen
+{
+    lcd.setBrightness(0.0);
+}
+void buttonBpressed()  // when B button is pressed, turn on the backlight of the screen
+{
+    lcd.setBrightness(1.0);
+}
+void changeBrightness()  // a function to include two buttons to make main function simpler and this can also increase the efficiency
+{
+    buttonA.rise(&buttonApressed);
+    buttonB.rise(&buttonBpressed);
+}
+void gameOver()  // when the car hits the roadblock, clear the screen and display game over and beep/flash to tell the user obviously
+{
+    lcd.clear();
+    lcd.printString("Game Over!",0,0);
+    buzzer.beep(5000,0.1);
+    wait(0.1);
+    buzzer.beep(4000,0.1);
+    wait(0.1);
+    buzzer.beep(3000,0.1);
+    wait(0.1);
+    buzzer.beep(2000,0.1);
+    wait(0.1);
+    buzzer.beep(1000,0.1);
+    for(int i = 1;i<4;i++)
+    {
+        flip();
+        wait(0.5);
+    }
+    lcd.refresh();
+}
+
+void welcome()  // when begin the game, display the name and beep to welcome the user
+{
+    lcd.printString("Fast&Furious-8",0,0);
+    lcd.refresh();
+    buzzer.beep(1000,0.1);
+    wait(0.5);
+    buzzer.beep(2000,0.1);
+    wait(0.5);
+    buzzer.beep(3000,0.1);
+    wait(0.5);
+    buzzer.beep(30000,0.1);
+    wait(0.2);
+    buzzer.beep(30000,0.1);
+    wait(0.2);
+    buzzer.beep(30000,0.1);
+    wait(2);
+    lcd.clear();
+}
+
+void drawBorder()  // 3 lines to distinguish 4 roadways
+{
+    lcd.drawLine(0,12,83,12,1);
+    lcd.drawLine(0,24,83,24,1);
+    lcd.drawLine(0,36,83,36,1);
+    lcd.refresh();
+}
+
+void car_L1()  // when the car is in the first roadway
+{
+    lcd.clear();
+    drawBorder();
+    lcd.drawRect(0,4,15,3,1);
+    lcd.refresh();
+}
+
+void car_L2()  // when the car is in the second roadway
+{
+    lcd.clear();
+    drawBorder();
+    lcd.drawRect(0,17,15,3,1);
+    lcd.refresh();
+}
+
+void car_R1()  // when the car is in the third roadway
+{
+    lcd.clear();
+    drawBorder();
+    lcd.drawRect(0,28,15,3,1);
+    lcd.refresh();
+}
+
+void car_R2()  // when the car is in the fourth roadway
+{
+    lcd.clear();
+    drawBorder();
+    lcd.drawRect(0,40,15,3,1);
+    lcd.refresh();
+}
+
+void moveCar()  // move the car between roadways by using the joystick, and when the car is moving, buzzer will beep
+{
+    if(joystick.direction == LEFT) // move to roadway L1
+    {
+        car_L1();
+        buzzer.beep(3000,0.1);
+        wait(0.2);
+        buzzer.beep(3000,0.1);
+    }
+    if(joystick.direction == UP) // move to roadway L2
+    {
+        car_L2();
+        buzzer.beep(3000,0.1);
+        wait(0.2);
+        buzzer.beep(3000,0.1);
+    }
+    if(joystick.direction == DOWN) // move to roadway R1
+    {
+        car_R1();
+        buzzer.beep(3000,0.1);
+        wait(0.2);
+        buzzer.beep(3000,0.1);
+    }
+    if(joystick.direction == RIGHT)  // move to roadway R2
+    {
+        car_R2();
+        buzzer.beep(3000,0.1);
+        wait(0.2);
+        buzzer.beep(3000,0.1);
+    }
+}
+
+//Basic theory for moving is to clear the original pixels and create new.
+void roadBlock_L1(int x)  // creat the roadblock on roadway L1
+{
+    drawBorder();  // draw the border to avoid if the lines are cleared by unexpected refresh/clear function call.
+    lcd.drawRect(x,0,1,12,1);
+    for(int b=0;b<12;b++)
+    {
+        lcd.clearPixel(x+1,b);
+    }
+    for(int c=0;c<12;c++)
+    {
+        lcd.clearPixel(0,c);
+    }
+    moveCar();
+    lcd.refresh();
+}
+void roadBlock_L2(int x)  // creat the roadblock on roadway L2
+{
+    drawBorder();  // draw the border to avoid if the lines are cleared by unexpected refresh/clear function call.
+    lcd.drawRect(x,12,1,12,1);
+    for(int b=13;b<24;b++)
+    {
+        lcd.clearPixel(x+1,b);
+    }
+    for(int c=13;c<24;c++)
+    {
+        lcd.clearPixel(0,c);
+    }
+    moveCar();
+    lcd.refresh();
+}
+void roadBlock_R1(int x)  // create the roadblock on roadway R1
+{
+    drawBorder();  // draw the border to avoid if the lines are cleared by unexpected refresh/clear function call.
+    lcd.drawRect(x,24,1,12,1);
+    for(int b=25;b<36;b++)
+    {
+        lcd.clearPixel(x+1,b);
+    }
+    for(int c=25;c<36;c++)
+    {
+        lcd.clearPixel(0,c);
+    }
+    moveCar();
+    lcd.refresh();
+}
+void roadBlock_R2(int x) // create the roadblock on roadway R2
+{
+    drawBorder();  // draw the border to avoid if the lines are cleared by unexpected refresh/clear function call.
+    lcd.drawRect(x,36,1,12,1);
+    for(int b=37;b<48;b++)
+    {
+        lcd.clearPixel(x+1,b);
+    }
+    for(int c=37;c<48;c++)
+    {
+        lcd.clearPixel(0,c);
+    }
+    moveCar();
+    lcd.refresh();
+}
+void roadBlock_L1L2(int x)  // create the roadblock on roadway L1 and L2
+{
+    drawBorder();  // draw the border to avoid if the lines are cleared by unexpected refresh/clear function call.
+    lcd.drawRect(x,0,1,24,1);
+    for(int b=0;b<24;b++)
+    {
+        lcd.clearPixel(x+1,b);
+    }
+    for(int c=0;c<24;c++)
+    {
+        lcd.clearPixel(0,c);
+    }
+    moveCar();
+    lcd.refresh();
+}
+void roadBlock_L2R1(int x)  // create the roadblock on roadway L2 and R1
+{
+    drawBorder();  // draw the border to avoid if the lines are cleared by unexpected refresh/clear function call.
+    lcd.drawRect(x,12,1,24,1);
+    for(int b=12;b<36;b++)
+    {
+        lcd.clearPixel(x+1,b);
+    }
+    for(int c=12;c<36;c++)
+    {
+        lcd.clearPixel(0,c);
+    }
+    moveCar();
+    lcd.refresh();
+}
+void roadBlock_R1R2(int x)  //create the roadblock on roadway R1 and R2
+{
+    drawBorder();  // draw the border to avoid if the lines are cleared by unexpected refresh/clear function call.
+    lcd.drawRect(x,24,1,24,1);
+    for(int b=24;b<48;b++)
+    {
+        lcd.clearPixel(x+1,b);
+    }
+    for(int c=24;c<48;c++)
+    {
+        lcd.clearPixel(0,c);
+    }
+    moveCar();
+    lcd.refresh();
+}
+void roadBlock_L1L2R1(int x)  // create the roadblock on roadway L1, L2 and R1
+{
+    drawBorder();  // draw the border to avoid if the lines are cleared by unexpected refresh/clear function call.
+    lcd.drawRect(x,0,1,36,1);
+    for(int b=0;b<36;b++)
+    {
+        lcd.clearPixel(x+1,b);
+    }
+    for(int c=0;c<36;c++)
+    {
+        lcd.clearPixel(0,c);
+    }
+    moveCar();
+    lcd.refresh();
+}
+void roadBlock_L2R1R2(int x)  // create the roadblock on roadway L2, R1 and R2
+{
+    drawBorder();  // draw the border to avoid if the lines are cleared by unexpected refresh/clear function call.
+    lcd.drawRect(x,12,1,36,1);
+    for(int b=12;b<48;b++)
+    {
+        lcd.clearPixel(x+1,b);
+    }
+    for(int c=12;c<48;c++)
+    {
+        lcd.clearPixel(0,c);
+    }
+    moveCar();
+    lcd.refresh();
+}
+// move theory is to clear the original pixels and create new one.
+void moveRoadBlock_L1()  // move roadblock down and call game over fuction if hitting occurs
+{
+    for(int a=82;a>=0;a--)
+    {
+        roadBlock_L1(a);
+        buzzer.beep(1000,0.1);
+        wait(0.2);
+        buzzer.beep(1000,0.1);
+        wait(0.01);
+        if(joystick.direction == LEFT and a<18)
+        {
+            gameOver();
+            a=-1;
+            while(1)
+            {
+                flip();
+            }
+        }
+    }
+    wait(0.1);
+}
+void moveRoadBlock_L2()  // move roadblock down and call game over fuction if hitting occurs
+{
+    for(int a=82;a>=0;a--)
+    {
+        roadBlock_L2(a);
+        buzzer.beep(1000,0.1);
+        wait(0.2);
+        buzzer.beep(1000,0.1);
+        wait(0.01);
+        if(joystick.direction == UP and a<18)
+        {
+            gameOver();
+            a=-1;
+            while(1)
+            {
+                flip();
+            }
+        }
+    }
+    wait(0.1);
+}
+void moveRoadBlock_R1()  // move roadblock down and call game over fuction if hitting occurs
+{
+    for(int a=82;a>=0;a--)
+    {
+        roadBlock_R1(a);
+        buzzer.beep(1000,0.1);
+        wait(0.2);
+        buzzer.beep(1000,0.1);
+        wait(0.01);
+        if(joystick.direction == DOWN and a<18)
+        {
+            gameOver();
+            a=-1;
+            while(1)
+            {
+                flip();
+            }
+        }
+    }
+    wait(0.1);
+}
+void moveRoadBlock_R2()  // move roadblock down and call game over fuction if hitting occurs
+{
+    for(int a=82;a>=0;a--)
+    {
+        roadBlock_R2(a);
+        buzzer.beep(1000,0.1);
+        wait(0.2);
+        buzzer.beep(1000,0.1);
+        wait(0.01);
+        if(joystick.direction == RIGHT and a<18)
+        {
+            gameOver();
+            a=-1;
+            while(1)
+            {
+                flip();
+            }
+        }
+    }
+    wait(0.1);
+}
+void moveRoadBlock_L1L2()  // move roadblock down and call game over fuction if hitting occurs
+{
+    for(int a=82;a>=0;a--)
+    {
+        roadBlock_L1L2(a);
+        buzzer.beep(1000,0.1);
+        wait(0.2);
+        buzzer.beep(1000,0.1);
+        wait(0.01);
+        if((joystick.direction == LEFT or joystick.direction == UP) and a<18)
+        {
+            gameOver();
+            a=-1;
+            while(1)
+            {
+                flip();
+            }
+        }
+    }
+    wait(0.1);
+}
+void moveRoadBlock_L2R1()  // move roadblock down and call game over fuction if hitting occurs
+{
+    for(int a=82;a>=0;a--)
+    {
+        roadBlock_L2R1(a);
+        buzzer.beep(1000,0.1);
+        wait(0.2);
+        buzzer.beep(1000,0.1);
+        wait(0.01);
+        if((joystick.direction == UP or joystick.direction == DOWN) and a<18)
+        {
+            gameOver();
+            a=-1;
+            while(1)
+            {
+                flip();
+            }
+        }
+    }
+    wait(0.1);
+}
+void moveRoadBlock_R1R2()  // move roadblock down and call game over fuction if hitting occurs
+{
+    for(int a=82;a>=0;a--)
+    {
+        roadBlock_R1R2(a);
+        buzzer.beep(1000,0.1);
+        wait(0.2);
+        buzzer.beep(1000,0.1);
+        wait(0.01);
+        if((joystick.direction == DOWN or joystick.direction == RIGHT) and a<18)
+        {
+            gameOver();
+            a=-1;
+            while(1)
+            {
+                flip();
+            }
+        }
+    }
+    wait(0.1);
+}
+void moveRoadBlock_L1L2R1()  // move roadblock down and call game over fuction if hitting occurs
+{
+    for(int a=82;a>=0;a--)
+    {
+        roadBlock_L1L2R1(a);
+        buzzer.beep(1000,0.1);
+        wait(0.2);
+        buzzer.beep(1000,0.1);
+        wait(0.01);
+        if((joystick.direction == LEFT or joystick.direction == UP or joystick.direction == DOWN) and a<18)
+        {
+            gameOver();
+            a=-1;
+            while(1)
+            {
+                flip();
+            }
+        }
+    }
+    wait(0.1);
+}
+void moveRoadBlock_L2R1R2()  // move roadblock down and call game over fuction if hitting occurs
+{
+    for(int a=82;a>=0;a--)
+    {
+        roadBlock_L2R1R2(a);
+        buzzer.beep(1000,0.1);
+        wait(0.2);
+        buzzer.beep(1000,0.1);
+        wait(0.01);
+        if((joystick.direction == UP or joystick.direction == DOWN or joystick.direction == RIGHT) and a<18)
+        {
+            gameOver();
+            a=-1;
+            while(1)
+            {
+                flip();
+            }
+        }
+    }
+    wait(0.1);
+}
+void win()  // when the car passes all of the roadblocks, the user wins the game, this function is used to display "win" interface
+{
+    lcd.clear();
+    lcd.printString("YOU WIN!!!",0,0);
+    buzzer.beep(1000,0.2);
+    wait(0.1);
+    buzzer.beep(2000,0.2);
+    wait(0.1);
+    buzzer.beep(3000,0.2);
+    while(1)
+    {
+        flip();
+    }
+}
+void start()  // to simplify the main function, this function is added which contains to call all above relative move functions.
+{
+    moveRoadBlock_L1();
+    moveRoadBlock_L1L2R1();
+    moveRoadBlock_L2();
+    moveRoadBlock_L1L2();
+    moveRoadBlock_R1();
+    moveRoadBlock_R2();
+    moveRoadBlock_L2R1R2();
+    moveRoadBlock_R1R2();
+    win();
+}
+
+
+
+int main()
+{
+    lcd.init();  // fist need to initilize the screen
+    
+    welcome();  // dislpay welcome interface
+    
+    calibrateJoystick();  // get centred values of joystick
+    pollJoystick.attach(&updateJoystick,1.0/10.0);  // read joystick 10 times per second
+    
+    changeBrightness();  // used to read from buttons to turn on/off the backlight of the screen
+    
+    start();
+    
+    while(1)
+    {        
+    }
+}
\ No newline at end of file