Todd Dale
Orientation algorithm to be applied per tile.
Diff: main.cpp
- Revision:
- 2:8667325e74a9
- Parent:
- 1:c573caf40864
--- a/main.cpp Mon Feb 19 13:09:13 2018 +0000
+++ b/main.cpp Fri May 25 23:24:23 2018 +0000
@@ -1,142 +1,256 @@
#include "mbed.h"
-//DigitalIn trigger(p22);
-//DigitalOut transmit(p28);
-
-DigitalIn tl(p17); //change to correct board
-DigitalIn tr(p18);
-DigitalIn bl(p19);
-DigitalIn br(p20);
-
-Serial device(p28,p27); //tx,rx
-
BusOut myleds(LED4, LED3, LED2, LED1);
+DigitalOut NorthLED(LED1); //update pin when known
+DigitalOut EastLED(LED2); //update pin when known
+DigitalOut SouthLED(LED3); //update pin when known
+DigitalOut WestLED(LED4); //update pin when known
-int buffer[4];
-int temp1;
+DigitalIn NorthDetect(p5);
+DigitalIn EastDetect(p6);
+DigitalIn SouthDetect(p7);
+DigitalIn WestDetect(p8);
+
+int NorthPattern[8];
+int EastPattern[8];
+int SouthPattern[8];
+int WestPattern[8];
+
+int NorthPattern2[8];
+int EastPattern2[8];
+int SouthPattern2[8];
+int WestPattern2[8];
+
+int NorthPattern3[8];
+int EastPattern3[8];
+int SouthPattern3[8];
+int WestPattern3[8];
-int row;
-int columns;
+int NorthPattern4[8];
+int EastPattern4[8];
+int SouthPattern4[8];
+int WestPattern4[8];
+
+int NorthDetected[5];
+int EastDetected[5];
+int SouthDetected[5];
+int WestDetected[5];
+
+//counters
+int N1N2;
+int N1N3;
+int N1N4;
+int N1E2;
+int N1E3;
+int N1E4;
+int N1S2;
+int N1S3;
+int N1S4;
+int N1W2;
+int N1W3;
+int N1W4;
-char array[4];
-char matrix[2][2];
+int E1N2;
+int E1N3;
+int E1N4;
+int E1E2;
+int E1E3;
+int E1E4;
+int E1S2;
+int E1S3;
+int E1S4;
+int E1W2;
+int E1W3;
+int E1W4;
+
+int S1N2;
+int S1N3;
+int S1N4;
+int S1E2;
+int S1E3;
+int S1E4;
+int S1S2;
+int S1S3;
+int S1S4;
+int S1W2;
+int S1W3;
+int S1W4;
+
+int W1N2;
+int W1N3;
+int W1N4;
+int W1E2;
+int W1E3;
+int W1E4;
+int W1S2;
+int W1S3;
+int W1S4;
+int W1W2;
+int W1W3;
+int W1W4;
+
+int algorithm_update;
+int number_of_tiles; //value used to represent number of tiles
+
+//orientations : N=1, E=2, S=3, W=4 and Unknown = 0
+int tile1_orientation;
+int tile2_orientation;
+int tile3_orientation;
+int tile4_orientation;
+
int i;
-int j;
+int c; //detectors function counter
+int o; //detectors function variable
+int d; //detectors function variable
-void Array();
-void Matrix();
+void patterns(int m);
+void patternsReset();
+int detectors(int n);
int main()
{
-
- myleds = 0;
+ //please note, some values would have to be adjusted to account for the extra 0 preceding the start bits
+ /*
+ initialise light patterns:
+ start bit || data of defined length (which is 5 bits for 16 sensors)
+ N1 = 111 00001
+ E1 = 111 00010
+ S1 = 111 00011
+ W1 = 111 00100
+ N2 = 111 00101
+ E2 = 111 00110
+ S2 = 111 01000
+ W2 = 111 01001
+ N3 = 111 01010
+ E3 = 111 01011
+ S3 = 111 01100
+ W3 = 111 01101
+ N4 = 111 10000
+ E4 = 111 10001
+ S4 = 111 10010
+ W4 = 111 10011
- device.baud(19200);
- buffer[0] = 1;
- buffer[1] = 0;
- buffer[2] = 1;
- buffer[3] = 0;
-// buffer[4] = 0;
-// buffer[5] = 0;
-// buffer[6] = 1;
-// buffer[7] = 0;
-
- array[0] = 0;
- array[1] = 0;
- array[2] = 0;
- array[3] = 0;
+ 111 00111
+ 111 01110 These combinations skipped due to having 3 1's that are not the start bits
+ 111 01111
- while(1) {
-
- if (tl > 0) {
- myleds = 1;
- } else {
- myleds = 0;
- }
-
- //Array();
+ example of init below, different patterns for different tiles
+ */
+
+ //tile 1 patterns (does not currently include the 0 preceding the start bits, as have had no sensors to test it further)
+ NorthPattern[0] = 1; NorthPattern[1] = 1; NorthPattern[2] = 1; NorthPattern[3] = 0; NorthPattern[4] = 0; NorthPattern[5] = 0; NorthPattern[6] = 0; NorthPattern[7] = 1;
+ EastPattern[0] = 1; EastPattern[1] = 1; EastPattern[2] = 1; EastPattern[3] = 0; EastPattern[4] = 0; EastPattern[5] = 0; EastPattern[6] = 1; EastPattern[7] = 0;
+ SouthPattern[0] = 1; SouthPattern[1] = 1; SouthPattern[2] = 1; SouthPattern[3] = 0; SouthPattern[4] = 0; SouthPattern[5] = 0; SouthPattern[6] = 1; SouthPattern[7] = 1;
+ WestPattern[0] = 1; WestPattern[1] = 1; WestPattern[2] = 1; WestPattern[3] = 0; WestPattern[4] = 0; WestPattern[5] = 1; WestPattern[6] = 0; WestPattern[7] = 0;
+
+ //tile 2 patterns
+
+ //tile 3 patterns
+
+ //tile 4 patterns
+
+ algorithm_update = 1;
- Matrix();
+ while(algorithm_update == 1) { //set algorithm to 0 to end the algorithm
- device.putc(1);
- for (int i=0; i<2; i++) {
- for (int j=0; j<2; j++) {
-
- //device.printf("%i",buffer[i]);
-
- //device.putc(buffer[i]);
- device.putc(matrix[i][j]);
+ for (i = 0; i <= 11; i++) { //11 because start bit not guaranteed to be at 0;
+ patterns(i); //turn on pattern(i)
+ int r = detectors(i); //update detectors(i)
+ if (r == 1) {
+ i = 6;
+ r = 0;
}
}
- //wait(1);
+ patternsReset();
+ results();
+ //output orientation values in desired format
+
}
+}
+void patterns(int m) {
+
+ NorthLED = NorthPattern[m];
+ EastLED = EastPattern[m];
+ SouthLED = SouthPattern[m];
+ WestLED = WestPattern[m];
+
}
-void Array()
-{
- for(i=0; i<=1 ; i=i+1) {
- if (i == 0) {
- if (tl > 0) {
- array[0] = 1;
- } else {
- array[0] = 0;
- }
- } else if (i == 1) {
- if (tr > 0) {
- array[1] = 1;
- } else {
- array[1] = 0;
- }
- }
+void patternsReset() {
+
+ NorthLED = 0;
+ EastLED = 0;
+ SouthLED = 0;
+ WestLED = 0;
+
+}
+
+int detectors(int n) {
+
+ d = 0;
+ o = n - 6; //
+
+ NorthDetected[o] = NorthDetect;
+ EastDetected[o] = EastDetect;
+ SouthDetected[o] = SouthDetect;
+ WestDetected[o] = WestDetect;
+
+ if ((NorthDetected[o] == 1) && (EastDetected[o] == 1) && (SouthDetected[o] == 1) && (WestDetected[o] == 1)) {
+ c++;
+ } else {
+ c = 0;
}
- for(i=0; i<=1 ; i=i+1) {
- if (i == 0) {
- if (bl > 0) {
- array[2] = 1;
- } else {
- array[2] = 0;
- }
- } else if (i == 1) {
- if (br > 0) {
- array[3] = 1;
- } else {
- array[3] = 0;
- }
- }
+
+ if (c == 3) {
+ d = 1;
}
- /*
- for (row=0; row<2; row++) {
- for(columns=0; columns<2; columns++) {
- printf("%d ", array[row][columns]);
- }
- printf("\n");
- }*/
- //printf("\n");
+
+ return d;
+
}
-void Matrix()
-{
-
- if (tl > 0) {
- matrix[0][0] = 1;
- } else {
- matrix[0][0] = 0;
- }
- if (tr > 0) {
- matrix[0][1] = 1;
- } else {
- matrix[0][1] = 0;
+void results() {
+
+ //compare arrays to the predetermined patterns
+ //cycles through all comparisons of data, comparing the detected values to the known patterns of other tiles
+ //adds a value to the specific counter if it is a match
+ //example
+ for (i = 3; i < 8; i++) {//ignore the start bits when comparing
+ if (NorthDetected[i] == NorthPattern2[i]) {
+ N1N2++;
+ }
+ if (NorthDetected[i] == NorthPattern3[i]) {
+ N1N3++;
+ }
+ if (NorthDetected[i] == NorthPattern4[i]) {
+ N1N4++;
+ }
+
+
}
- if (bl > 0) {
- matrix[1][0] = 1;
- } else {
- matrix[1][0] = 0;
+
+ //if any of the variables is 5, you can tell that is the current connection
+ //example
+ if (N1N2 == 5) {
+ tile1_orientation = 1; //always with respect to tile 1
+ tile2_orientation = 3;
+ } else if (N1N3 == 5) {
+ tile1_orientation = 1;
+ tile3_orientation = 3;
+ } else if (N1N4 == 5) {
+ tile1_orientation = 1;
+ tile4_orientation = 3;
}
- if (br > 0) {
- matrix[1][1] = 1;
- } else {
- matrix[1][1] = 0;
+
+ if (N1E2 == 5) {
+ tile1_orientation = 1; //always with respect to tile 1
+ tile2_orientation = 2;
+ } else if (N1E3 == 5) {
+ tile1_orientation = 1;
+ tile3_orientation = 2;
+ } else if (N1E4 == 5) {
+ tile1_orientation = 1;
+ tile4_orientation = 2;
}
-
}