Andrew Mkpanam / Mbed OS Accelerometer_pt2

Final

main.cpp@6:65d8a80eb0b6, 2020-03-05 (annotated)

Committer:
ex19397
Date:
Thu Mar 05 23:04:02 2020 +0000
Revision:
6:65d8a80eb0b6
Parent:
4:72b8fb7423dd 
Final

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WilliamMarshQMUL 0:a1caba5c4e48 1 #include "mbed.h"
WilliamMarshQMUL 0:a1caba5c4e48 2 #include "MMA8451Q.h"
WilliamMarshQMUL 0:a1caba5c4e48 3
WilliamMarshQMUL 0:a1caba5c4e48 4 PinName const SDA = PTE25;
WilliamMarshQMUL 0:a1caba5c4e48 5 PinName const SCL = PTE24;
WilliamMarshQMUL 0:a1caba5c4e48 6
WilliamMarshQMUL 0:a1caba5c4e48 7 #define MMA8451_I2C_ADDRESS (0x1d<<1)
ex19397 6:65d8a80eb0b6 8 int getOrientation(float x, float y, float z)
ex19397 6:65d8a80eb0b6 9 {
ex19397 6:65d8a80eb0b6 10 int retval = 6;
ex19397 6:65d8a80eb0b6 11 if (z > 0.9) // State = Flat
ex19397 6:65d8a80eb0b6 12 {
ex19397 6:65d8a80eb0b6 13 retval = 0;
ex19397 6:65d8a80eb0b6 14 } else if (x < -0.9) //state is up
ex19397 6:65d8a80eb0b6 15 {
ex19397 6:65d8a80eb0b6 16 retval = 1;
ex19397 6:65d8a80eb0b6 17 } else if (y < -0.9) //State = Right
ex19397 6:65d8a80eb0b6 18 {
ex19397 6:65d8a80eb0b6 19
ex19397 6:65d8a80eb0b6 20 retval = 2;
ex19397 6:65d8a80eb0b6 21 } else if (y > 0.9) // state is left
ex19397 6:65d8a80eb0b6 22 {
ex19397 6:65d8a80eb0b6 23 retval = 3;
ex19397 6:65d8a80eb0b6 24 } else if (x > 0.9) //state is Down
ex19397 6:65d8a80eb0b6 25 {
ex19397 6:65d8a80eb0b6 26 retval = 4;
ex19397 6:65d8a80eb0b6 27 } else if (z < -0.9) //state is over
ex19397 6:65d8a80eb0b6 28 {
ex19397 6:65d8a80eb0b6 29 retval = 5;
ex19397 6:65d8a80eb0b6 30 }
ex19397 6:65d8a80eb0b6 31
ex19397 6:65d8a80eb0b6 32 return retval;
ex19397 6:65d8a80eb0b6 33 }
WilliamMarshQMUL 0:a1caba5c4e48 34 int main(void)
WilliamMarshQMUL 0:a1caba5c4e48 35 {
WilliamMarshQMUL 0:a1caba5c4e48 36 MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
WilliamMarshQMUL 0:a1caba5c4e48 37 PwmOut rled(LED1);
WilliamMarshQMUL 0:a1caba5c4e48 38 PwmOut gled(LED2);
WilliamMarshQMUL 0:a1caba5c4e48 39 PwmOut bled(LED3);
WilliamMarshQMUL 0:a1caba5c4e48 40 Serial pc(USBTX, USBRX); // tx, rx
ex19397 6:65d8a80eb0b6 41 enum states {FLAT, UP, RIGHT, LEFT, DOWN, OVER, INTERMEDIATE};
ex19397 6:65d8a80eb0b6 42
ex19397 6:65d8a80eb0b6 43 int devFlat = 0;
ex19397 6:65d8a80eb0b6 44 int devUp = 0;
ex19397 6:65d8a80eb0b6 45 int devRight = 0;
ex19397 6:65d8a80eb0b6 46 bool sequence = true;
ex19397 6:65d8a80eb0b6 47 bool trigger = false;
ex19397 6:65d8a80eb0b6 48 float elapsed = 0;
ex19397 6:65d8a80eb0b6 49 Timer t;
ex19397 6:65d8a80eb0b6 50 t.start(); //incase t.read() throws an error in the first loop
ex19397 6:65d8a80eb0b6 51
WilliamMarshQMUL 0:a1caba5c4e48 52
WilliamMarshQMUL 0:a1caba5c4e48 53
WilliamMarshQMUL 0:a1caba5c4e48 54 pc.printf("MMA8451 ID: %d\n", acc.getWhoAmI());
WilliamMarshQMUL 0:a1caba5c4e48 55
WilliamMarshQMUL 0:a1caba5c4e48 56 while (true) {
WilliamMarshQMUL 0:a1caba5c4e48 57 float x, y, z;
ex19397 6:65d8a80eb0b6 58 int devState = 0;
WilliamMarshQMUL 0:a1caba5c4e48 59 x = acc.getAccX();
WilliamMarshQMUL 0:a1caba5c4e48 60 y = acc.getAccY();
WilliamMarshQMUL 0:a1caba5c4e48 61 z = acc.getAccZ();
ex19397 6:65d8a80eb0b6 62
ex19397 6:65d8a80eb0b6 63 //enum states deviceState;
ex19397 6:65d8a80eb0b6 64 devState = getOrientation(x,y,z);
ex19397 6:65d8a80eb0b6 65
ex19397 6:65d8a80eb0b6 66 if (sequence == false )
ex19397 6:65d8a80eb0b6 67 {
ex19397 6:65d8a80eb0b6 68 pc.printf("Invalid Sequence. Sequence is broken \n\r");
ex19397 6:65d8a80eb0b6 69 if (devState == FLAT) {
ex19397 6:65d8a80eb0b6 70 t.stop();
ex19397 6:65d8a80eb0b6 71 elapsed = t.read();
ex19397 6:65d8a80eb0b6 72 if (elapsed <= 4) {
ex19397 6:65d8a80eb0b6 73 pc.printf("Sequence is broken. Keep flat for 10 Seconds to reset %f\n\r", elapsed);
ex19397 6:65d8a80eb0b6 74 t.start();
ex19397 6:65d8a80eb0b6 75 } else {
ex19397 6:65d8a80eb0b6 76 pc.printf("Resetting is complete %f\n\r", elapsed);
ex19397 6:65d8a80eb0b6 77 sequence = true;
ex19397 6:65d8a80eb0b6 78 t.reset();
ex19397 6:65d8a80eb0b6 79 t.start();
ex19397 6:65d8a80eb0b6 80 devUp = 0;
ex19397 6:65d8a80eb0b6 81 devRight = 0;
ex19397 6:65d8a80eb0b6 82 devFlat = 0;
ex19397 6:65d8a80eb0b6 83 }
ex19397 6:65d8a80eb0b6 84 } else {
ex19397 6:65d8a80eb0b6 85 t.stop();
ex19397 6:65d8a80eb0b6 86 elapsed = t.read();
ex19397 6:65d8a80eb0b6 87 pc.printf("Device must be flat for 10 seconds, %f \n", elapsed);
ex19397 6:65d8a80eb0b6 88 t.reset();
ex19397 6:65d8a80eb0b6 89 t.start();
ex19397 6:65d8a80eb0b6 90 sequence = false;
ex19397 6:65d8a80eb0b6 91 }
ex19397 6:65d8a80eb0b6 92 }
ex19397 6:65d8a80eb0b6 93 else
ex19397 6:65d8a80eb0b6 94 {
ex19397 6:65d8a80eb0b6 95 if ((devFlat == 0) && (devUp == 0) && (devRight == 0)) //Check if device is initialized with no state
ex19397 6:65d8a80eb0b6 96 {
ex19397 6:65d8a80eb0b6 97 if (devState == FLAT) { //Check if device is flat
ex19397 6:65d8a80eb0b6 98 t.stop();
ex19397 6:65d8a80eb0b6 99 elapsed = t.read();
ex19397 6:65d8a80eb0b6 100 if (elapsed < 10 ) { // ... check if it is still under 10 secs
ex19397 6:65d8a80eb0b6 101 sequence = true;
ex19397 6:65d8a80eb0b6 102 t.start();
ex19397 6:65d8a80eb0b6 103 pc.printf("Correct State. State is FLAT Time is < 10 SECS %d %f\n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 104 rled = 1;
ex19397 6:65d8a80eb0b6 105 gled = 0;
ex19397 6:65d8a80eb0b6 106 bled = 1;
ex19397 6:65d8a80eb0b6 107 } else {
ex19397 6:65d8a80eb0b6 108 pc.printf("10 seconds have elapsed, expect transition %d %f\n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 109 devFlat = 1; // 10 secs has elapsed, move to the next state
ex19397 6:65d8a80eb0b6 110 t.start();
ex19397 6:65d8a80eb0b6 111 }
ex19397 6:65d8a80eb0b6 112 } else if (devState == RIGHT) { // state has changed to right
ex19397 6:65d8a80eb0b6 113 t.stop();
ex19397 6:65d8a80eb0b6 114 elapsed = t.read();
ex19397 6:65d8a80eb0b6 115 if (elapsed > 10 ) // It is over 10 seconds
ex19397 6:65d8a80eb0b6 116 {
ex19397 6:65d8a80eb0b6 117 pc.printf("10 seconds have elapsed, State is now right %d %f\n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 118 sequence = true;
ex19397 6:65d8a80eb0b6 119 devFlat = 1;
ex19397 6:65d8a80eb0b6 120 t.reset();
ex19397 6:65d8a80eb0b6 121 t.start();
ex19397 6:65d8a80eb0b6 122 } else { // State changed to right before 10 secs elapsed
ex19397 6:65d8a80eb0b6 123 sequence = false;
ex19397 6:65d8a80eb0b6 124 pc.printf("Incorrect state. Turned right too early, State is now right %d %f\n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 125 t.stop();
ex19397 6:65d8a80eb0b6 126 t.reset();
ex19397 6:65d8a80eb0b6 127 t.start();
ex19397 6:65d8a80eb0b6 128 }
ex19397 6:65d8a80eb0b6 129
ex19397 6:65d8a80eb0b6 130 }
ex19397 6:65d8a80eb0b6 131 else if (devState == INTERMEDIATE) {
ex19397 6:65d8a80eb0b6 132 pc.printf("Intermediate State. %f\n\r", elapsed);
ex19397 6:65d8a80eb0b6 133 sequence = true;
ex19397 6:65d8a80eb0b6 134 }
ex19397 6:65d8a80eb0b6 135 else { //This is the invalid state in this case.
ex19397 6:65d8a80eb0b6 136 sequence = false;
ex19397 6:65d8a80eb0b6 137 t.stop();
ex19397 6:65d8a80eb0b6 138 elapsed = t.read();
ex19397 6:65d8a80eb0b6 139 pc.printf("Invalid State, State should be FLAT or RIGHT after 10 secs %f\n\r", elapsed);
ex19397 6:65d8a80eb0b6 140 t.reset();
ex19397 6:65d8a80eb0b6 141 t.start();
ex19397 6:65d8a80eb0b6 142 }
ex19397 6:65d8a80eb0b6 143 } else if ((devFlat == 1) && (devRight == 0) && (devUp == 0)) //check that the previous state was flat
ex19397 6:65d8a80eb0b6 144 {
ex19397 6:65d8a80eb0b6 145 if (devState == RIGHT) // Device is in the correct state.
ex19397 6:65d8a80eb0b6 146 {
ex19397 6:65d8a80eb0b6 147 t.stop();
ex19397 6:65d8a80eb0b6 148 elapsed = t.read();
ex19397 6:65d8a80eb0b6 149 if (elapsed > 10) { // ... but check if it entered this state after the elapsed time
ex19397 6:65d8a80eb0b6 150 sequence = true;
ex19397 6:65d8a80eb0b6 151 t.reset(); // reset the previous timer
ex19397 6:65d8a80eb0b6 152 t.start();
ex19397 6:65d8a80eb0b6 153 pc.printf("Correct State. State is RIGHT TIME IS > 10 SECS %d %f\n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 154 } else if ((elapsed > 2) && (elapsed <= 6)) {
ex19397 6:65d8a80eb0b6 155 t.start();
ex19397 6:65d8a80eb0b6 156 pc.printf("Correct State. State is RIGHT: %d, Time is %f \n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 157 sequence = true;
ex19397 6:65d8a80eb0b6 158 } else if (elapsed < 2) { // still in right, do nothing
ex19397 6:65d8a80eb0b6 159 t.start();
ex19397 6:65d8a80eb0b6 160 rled = 1;
ex19397 6:65d8a80eb0b6 161 gled = 1;
ex19397 6:65d8a80eb0b6 162 bled = 1;
ex19397 6:65d8a80eb0b6 163 pc.printf("Correct State. State is RIGHT, Time is %f \n\r", elapsed);
ex19397 6:65d8a80eb0b6 164 sequence = true;
ex19397 6:65d8a80eb0b6 165 } else if (elapsed > 6) {
ex19397 6:65d8a80eb0b6 166 devRight = 1;
ex19397 6:65d8a80eb0b6 167 t.reset();
ex19397 6:65d8a80eb0b6 168 t.start();
ex19397 6:65d8a80eb0b6 169 sequence = true;
ex19397 6:65d8a80eb0b6 170 pc.printf("Correct State. Expecting new state. time is %f \n\r", elapsed);
ex19397 6:65d8a80eb0b6 171 }
ex19397 6:65d8a80eb0b6 172
ex19397 6:65d8a80eb0b6 173 } else if (devState == FLAT) //it will never enter this state
ex19397 6:65d8a80eb0b6 174 {
ex19397 6:65d8a80eb0b6 175 t.stop();
ex19397 6:65d8a80eb0b6 176 elapsed = t.read();
ex19397 6:65d8a80eb0b6 177
ex19397 6:65d8a80eb0b6 178 if (elapsed > 10 ) { //check if it is within the expected duration
ex19397 6:65d8a80eb0b6 179 sequence = true;
ex19397 6:65d8a80eb0b6 180 pc.printf("Correct State. State is still Flat: %d, However TIME > 10 SECS Timer is %f \n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 181 rled = 1;
ex19397 6:65d8a80eb0b6 182 gled = 0;
ex19397 6:65d8a80eb0b6 183 bled = 1;
ex19397 6:65d8a80eb0b6 184 t.start();
ex19397 6:65d8a80eb0b6 185 } else {
ex19397 6:65d8a80eb0b6 186 pc.printf("Incorrect State. I shouldn't even be here. State is RIGHT: %d, BUT TIME < 10 SECS Timer is %f \n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 187 rled = 0;
ex19397 6:65d8a80eb0b6 188 gled = 1;
ex19397 6:65d8a80eb0b6 189 bled = 1;
ex19397 6:65d8a80eb0b6 190 t.reset();
ex19397 6:65d8a80eb0b6 191 t.start();
ex19397 6:65d8a80eb0b6 192 sequence = false;
ex19397 6:65d8a80eb0b6 193 }
ex19397 6:65d8a80eb0b6 194 }
ex19397 6:65d8a80eb0b6 195 else if (devState == INTERMEDIATE) {
ex19397 6:65d8a80eb0b6 196 pc.printf("Intermediate State. %f\n\r", elapsed);
ex19397 6:65d8a80eb0b6 197 sequence = true;
ex19397 6:65d8a80eb0b6 198 }
ex19397 6:65d8a80eb0b6 199 else { //Device is in the wrong state
ex19397 6:65d8a80eb0b6 200 pc.printf("Inorrect State. State should be flat or right: %d, and TIME < 10 SECS Timer is %f \n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 201 t.stop();
ex19397 6:65d8a80eb0b6 202 t.reset();
ex19397 6:65d8a80eb0b6 203 t.start();
ex19397 6:65d8a80eb0b6 204 sequence = false;
ex19397 6:65d8a80eb0b6 205 rled = 0;
ex19397 6:65d8a80eb0b6 206 gled = 1;
ex19397 6:65d8a80eb0b6 207 bled = 1;
ex19397 6:65d8a80eb0b6 208 }
ex19397 6:65d8a80eb0b6 209 } else if ((devFlat == 1) && (devRight == 1) && (devUp == 0)) //DO THE SAME THING FOR THIS ONE
ex19397 6:65d8a80eb0b6 210 {
ex19397 6:65d8a80eb0b6 211 if (devState == UP) // Device is in the correct state
ex19397 6:65d8a80eb0b6 212 {
ex19397 6:65d8a80eb0b6 213 t.stop();
ex19397 6:65d8a80eb0b6 214 elapsed = t.read();
ex19397 6:65d8a80eb0b6 215 if (elapsed < 9) { // ... but check if it entered this state after the elapsed time (fix this one o)
ex19397 6:65d8a80eb0b6 216 t.start();
ex19397 6:65d8a80eb0b6 217 rled = 1;
ex19397 6:65d8a80eb0b6 218 gled = 1;
ex19397 6:65d8a80eb0b6 219 bled = 1;
ex19397 6:65d8a80eb0b6 220 pc.printf("Correct State. State is UP %d and time is %f \n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 221 sequence = true;
ex19397 6:65d8a80eb0b6 222 } else {
ex19397 6:65d8a80eb0b6 223 t.reset();
ex19397 6:65d8a80eb0b6 224 t.start();
ex19397 6:65d8a80eb0b6 225 devUp = 1;
ex19397 6:65d8a80eb0b6 226 sequence = true;
ex19397 6:65d8a80eb0b6 227 pc.printf("Sequence Complete! %f\n\r", elapsed);
ex19397 6:65d8a80eb0b6 228 }
ex19397 6:65d8a80eb0b6 229
ex19397 6:65d8a80eb0b6 230 }
ex19397 6:65d8a80eb0b6 231 else if (devState == RIGHT) {
ex19397 6:65d8a80eb0b6 232 t.stop();
ex19397 6:65d8a80eb0b6 233 elapsed = t.read();
ex19397 6:65d8a80eb0b6 234 if (elapsed <= 3) {
ex19397 6:65d8a80eb0b6 235 pc.printf("Go up Now. %f\n\r", elapsed);
ex19397 6:65d8a80eb0b6 236 t.start();
ex19397 6:65d8a80eb0b6 237 sequence = true;
ex19397 6:65d8a80eb0b6 238 } else {
ex19397 6:65d8a80eb0b6 239 sequence = false;
ex19397 6:65d8a80eb0b6 240 t.reset();
ex19397 6:65d8a80eb0b6 241 t.start();
ex19397 6:65d8a80eb0b6 242 pc.printf("Cannot help you. Should have gone up. %f\n\r", elapsed);
ex19397 6:65d8a80eb0b6 243 }
ex19397 6:65d8a80eb0b6 244 }
ex19397 6:65d8a80eb0b6 245 else if (devState == INTERMEDIATE) {
ex19397 6:65d8a80eb0b6 246 pc.printf("Intermediate State. %f\n\r", elapsed);
ex19397 6:65d8a80eb0b6 247 sequence = true;
ex19397 6:65d8a80eb0b6 248 }
ex19397 6:65d8a80eb0b6 249 else
ex19397 6:65d8a80eb0b6 250 {
ex19397 6:65d8a80eb0b6 251 rled = 0;
ex19397 6:65d8a80eb0b6 252 gled = 1;
ex19397 6:65d8a80eb0b6 253 bled = 1;
ex19397 6:65d8a80eb0b6 254
ex19397 6:65d8a80eb0b6 255 t.stop();
ex19397 6:65d8a80eb0b6 256 elapsed = t.read();
ex19397 6:65d8a80eb0b6 257 if ((elapsed < 4) ) {
ex19397 6:65d8a80eb0b6 258 pc.printf("Incorrect State. State is NOT UP %d and time is %f \n\r", devState, elapsed); // its entering this state
ex19397 6:65d8a80eb0b6 259 t.reset();
ex19397 6:65d8a80eb0b6 260 sequence = false;
ex19397 6:65d8a80eb0b6 261 t.start();
ex19397 6:65d8a80eb0b6 262
ex19397 6:65d8a80eb0b6 263 } else {
ex19397 6:65d8a80eb0b6 264 pc.printf("WHERE AM I %d and time is %f \n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 265 t.reset();
ex19397 6:65d8a80eb0b6 266 t.start();
ex19397 6:65d8a80eb0b6 267 }
ex19397 6:65d8a80eb0b6 268
ex19397 6:65d8a80eb0b6 269 }
ex19397 6:65d8a80eb0b6 270 } else if ((devFlat == 1) && (devRight == 1) && (devUp == 1)) //Last State
ex19397 6:65d8a80eb0b6 271 {
ex19397 6:65d8a80eb0b6 272 if (devState == FLAT) // Device is flat (correct state)
ex19397 6:65d8a80eb0b6 273 {
ex19397 6:65d8a80eb0b6 274 t.stop();
ex19397 6:65d8a80eb0b6 275 elapsed = t.read();
ex19397 6:65d8a80eb0b6 276 if (elapsed < 10) { // ... if time is less than 10 secs, do nothing
ex19397 6:65d8a80eb0b6 277 t.start();
ex19397 6:65d8a80eb0b6 278 pc.printf("Correct State Device should be flat for 10 secs, %f\n\r", elapsed);
ex19397 6:65d8a80eb0b6 279 sequence = true;
ex19397 6:65d8a80eb0b6 280 } else { // if time is >= 10 seconds do trigger reset all states
ex19397 6:65d8a80eb0b6 281 pc.printf("Trigger Activated. State is %d \n\r", devState);
ex19397 6:65d8a80eb0b6 282 trigger = true;
ex19397 6:65d8a80eb0b6 283 t.reset();
ex19397 6:65d8a80eb0b6 284 t.start();
ex19397 6:65d8a80eb0b6 285 sequence = true;
ex19397 6:65d8a80eb0b6 286 devFlat = 0;
ex19397 6:65d8a80eb0b6 287 devUp = 0;
ex19397 6:65d8a80eb0b6 288 devRight = 0;
ex19397 6:65d8a80eb0b6 289 }
ex19397 6:65d8a80eb0b6 290
ex19397 6:65d8a80eb0b6 291 }
ex19397 6:65d8a80eb0b6 292 else if (devState == INTERMEDIATE) {
ex19397 6:65d8a80eb0b6 293 pc.printf("Intermediate State. %f\n\r", elapsed);
ex19397 6:65d8a80eb0b6 294 sequence = true;
ex19397 6:65d8a80eb0b6 295 }
ex19397 6:65d8a80eb0b6 296 else //device is not flat, show error
ex19397 6:65d8a80eb0b6 297 {
ex19397 6:65d8a80eb0b6 298 t.stop();
ex19397 6:65d8a80eb0b6 299 elapsed = t.read();
ex19397 6:65d8a80eb0b6 300 t.reset();
ex19397 6:65d8a80eb0b6 301 pc.printf("Device should be flat for 10 seconds. State is %d, timer is %f \n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 302 // measure time. If time has elapsed, sequence is false else sequence is true
ex19397 6:65d8a80eb0b6 303 }
ex19397 6:65d8a80eb0b6 304 }
ex19397 6:65d8a80eb0b6 305 else
ex19397 6:65d8a80eb0b6 306 {
ex19397 6:65d8a80eb0b6 307 t.stop();
ex19397 6:65d8a80eb0b6 308 t.start();
ex19397 6:65d8a80eb0b6 309 sequence = false;
ex19397 6:65d8a80eb0b6 310 }
ex19397 6:65d8a80eb0b6 311 }
ex19397 6:65d8a80eb0b6 312
ex19397 6:65d8a80eb0b6 313 if (sequence == true)
ex19397 6:65d8a80eb0b6 314 {
ex19397 6:65d8a80eb0b6 315 // pc.printf("Sequence Correct %d, Timer: %f\n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 316 } else {
ex19397 6:65d8a80eb0b6 317 // pc.printf("Sequence False %d, Timer: %f\n\r", devState, elapsed);
ex19397 6:65d8a80eb0b6 318 }
ex19397 6:65d8a80eb0b6 319
ex19397 6:65d8a80eb0b6 320 if (trigger == true) { //do trigger thing
ex19397 6:65d8a80eb0b6 321 }
ex19397 6:65d8a80eb0b6 322
ex19397 6:65d8a80eb0b6 323
ex19397 6:65d8a80eb0b6 324 ThisThread::sleep_for(300);
ex19397 6:65d8a80eb0b6 325
ex19397 6:65d8a80eb0b6 326 /* if (orientation == flat)
ex19397 6:65d8a80eb0b6 327 {
ex19397 6:65d8a80eb0b6 328 pc.printf("flat\n");
ex19397 6:65d8a80eb0b6 329 } else if (orientation == up)
ex19397 6:65d8a80eb0b6 330 {
ex19397 6:65d8a80eb0b6 331 pc.printf("up\n");
ex19397 6:65d8a80eb0b6 332 } else if (orientation == right)
ex19397 6:65d8a80eb0b6 333 {
ex19397 6:65d8a80eb0b6 334 pc.printf("right\n");
ex19397 6:65d8a80eb0b6 335 } else {
ex19397 6:65d8a80eb0b6 336 pc.printf("Unknown State\n");
ex19397 6:65d8a80eb0b6 337 }*/
ex19397 6:65d8a80eb0b6 338
ex19397 6:65d8a80eb0b6 339 /*rled = 1.0f - abs(x);
WilliamMarshQMUL 0:a1caba5c4e48 340 gled = 1.0f - abs(y);
ex19397 6:65d8a80eb0b6 341 bled = 1.0f - abs(z);*/
ex19397 6:65d8a80eb0b6 342
ex19397 6:65d8a80eb0b6 343 //ThisThread::sleep_for(300); // wait(0.3);
ex19397 6:65d8a80eb0b6 344 //pc.printf("X: %1.2f, Y: %1.2f, Z: %1.2f\n", x, y, z);
WilliamMarshQMUL 0:a1caba5c4e48 345 }
WilliamMarshQMUL 0:a1caba5c4e48 346 }