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Orientation algorithm to be applied per tile.
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
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
mbed-rtos.lib | Show annotated file Show diff for this revision Revisions of this file |
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