main.cpp

00001 #include "mbed.h"
00002 #include "Grove_temperature.h"
00003 #include "LED_Bar.h"
00004 #include "DigitDisplay.h"
00005 #include "RangeFinder.h"
00006 #include "FXOS8700Q.h"
00007 
00008 #define V_SERVO_CENTER 1400
00009 #define V_SERVO_MAX 2200
00010 #define V_SERVO_MIN 800
00011 
00012 Serial pc(USBTX, USBRX); // Serial Port 115200
00013 
00014 I2C i2c( PTE25, PTE24 );
00015 FXOS8700QAccelerometer  acc( i2c, FXOS8700CQ_SLAVE_ADDR1 ); // Accelerometer
00016 
00017 Grove_temperature temp(A3); // Temperature GPIO
00018 DigitalOut myled(LED2);  //Red LED
00019 DigitDisplay display(D7, D8); // Digital Display GPIO
00020 
00021 AnalogIn xAxis(A0);  // Joystick x GPIO
00022 AnalogIn yAxis(A1);  // Joystick y GPIO
00023 
00024 // Servo
00025 PwmOut v_servo(D3); // D3 output
00026 
00027 LED_Bar bar(D6, D5); // LED_Bar GPIO
00028 
00029 int x,y,button;  // global variables to hold values
00030 
00031 // Seeed ultrasound range finder
00032 RangeFinder rf(A2, 10, 5800.0, 100000);
00033 DigitalOut led(LED1);
00034 
00035 
00036 Ticker joystick; // recurring interrupt to get joystick data
00037 Ticker tick; // Digital display clock
00038 
00039 // Digital Display variables
00040 uint8_t hour   = 20;
00041 uint8_t minute = 14;
00042 uint8_t second = 0;
00043 
00044 // Digital Display Algorythm Function
00045 void beat()
00046 {
00047     static uint8_t colon = 0;
00048     
00049     display.setColon(colon);
00050     if (colon) {
00051         second++;
00052         if (second >= 60) {
00053             second = 0;
00054             minute++;
00055             if (minute >= 60) {
00056                 minute = 0;
00057                 
00058                 hour++;
00059                 if (hour >= 24) {
00060                     hour = 0;
00061                 }
00062                 display.write(0, hour / 10);
00063                 display.write(1, hour % 10);
00064             }
00065             display.write(2, minute / 10);
00066             display.write(3, minute % 10);
00067         }
00068     }
00069     colon = 1 - colon;
00070 }
00071 
00072 // Joystick Algorythm Function
00073 void joystick_Int_Handler()
00074 {
00075     x = xAxis.read() * 1000; // float (0->1) to int (0-1000)
00076     y = yAxis.read() * 1000;
00077     if ( (x > 900) || (y > 900) )
00078         button = 1;
00079     else
00080         button = 0;
00081 }
00082 
00083 // main() runs in its own thread in the OS
00084 int main() {
00085     int i;
00086     pc.baud(115200); // Serial Port 115200
00087     
00088     led = 1; //Rangefinder
00089     float d; //Rangefinder
00090     
00091     float   acc_x, acc_y, acc_z; //Accelerometer
00092     
00093     // Servo
00094     int v_pulse = V_SERVO_CENTER;
00095     v_servo.period_us(20000);          // servo requires a 20ms period
00096     v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
00097     wait(1);
00098     
00099     // Joystick interrupt, call every .2s
00100     joystick.attach(joystick_Int_Handler,0.2);
00101     display.write(0, hour / 10);
00102     display.write(1, hour % 10);
00103     display.write(2, minute / 10);
00104     display.write(3, minute % 10);
00105     display.setColon(true);
00106     
00107     // Dig Display interrupt, call every .5s  
00108     tick.attach(&beat, 0.5);
00109     
00110     // Enable Accelerometer
00111     acc.enable();
00112     
00113     while (true) {
00114         printf("\r\nTemperature Measurement\r\n");
00115         pc.printf("\rtemperature = %2.2f\n", temp.getTemperature());
00116         
00117         printf("\r\nJoystick Status, Meters\r\n");
00118         pc.printf("\rX=%3d, Y=%3d, Button=%d\n",x,y,button);
00119         
00120         //for (i=0; i<=10; i++) {
00121         //bar.setLevel(i);
00122         //wait(0.1);
00123         //}
00124         bar.setLevel((x-250)/50);
00125         
00126         
00127         //Servo
00128         v_pulse =  v_pulse - 20;
00129         if (v_pulse <= V_SERVO_MIN) v_pulse = V_SERVO_MIN;
00130         if (v_pulse >= V_SERVO_MAX) v_pulse = V_SERVO_MAX;
00131         v_servo.pulsewidth_us(v_pulse); // servo position determined by a pulsewidth between 1-2ms
00132         //wait(3);       
00133         printf("\n\rPulse = %d\n\r",v_pulse); 
00134 
00135         
00136         //Range sensor
00137         d = rf.read_m();
00138         if (d == -1.0)  {
00139             printf("\rTimeout Error.\n");   
00140         } else if (d > 5.0) {  
00141             // Seeed's sensor has a maximum range of 4m, it returns
00142             // something like 7m if the ultrasound pulse isn't reflected. 
00143             printf("\rNo object within detection range.\n");
00144         } else  {
00145             printf("\r\nUltra Sonic Rangefinder, Meters\r\n");
00146             printf("\rDistance = %f m.\n", d);
00147         }
00148         
00149         // get Accelerometer values
00150         acc.getX( acc_x );
00151         acc.getY( acc_y );
00152         acc.getZ( acc_z );
00153         
00154         printf("\r\nAccelerometer Values\r\n");
00155         printf("X:%6.1f, Y:%6.1f, Z:%6.1f\r\n\r\n", acc_x * 90.0, acc_y * 90.0, acc_z * 90.0 );
00156         
00157         myled = 1;
00158         wait(0.5);
00159         myled = 0;
00160         wait(0.5);
00161         
00162         led = !led;
00163     }
00164 }
00165 
00166