Revision 2:8667325e74a9, committed 2018-05-25

Comitter:

el15tcd

Date:

Fri May 25 23:24:23 2018 +0000

Parent:

1:c573caf40864

Commit message:

Orientation algorithm to be applied per tile.

Changed in this revision

diff -r c573caf40864 -r 8667325e74a9 main.cpp
--- 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;
     }
-
 }

diff -r c573caf40864 -r 8667325e74a9 mbed-rtos.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Fri May 25 23:24:23 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/teams/ST/code/mbed-rtos/#83895f30f8f2