Diff: main.cpp

Revision:

14:2c2395937c57

Parent:

13:c14dc22c38ba

--- a/main.cpp	Mon Sep 26 21:58:59 2016 +0000
+++ b/main.cpp	Tue Oct 18 18:34:44 2016 +0000
@@ -1,51 +1,92 @@
-#include "mbed.h"
-#include "uLCD_4DGL.h"
-//#include "LSM9DS1.h"
-#include "math.h"
-//#include "SongPlayer.h"
 #include <fstream>
 #include <string>
+#include "mbed.h"
+#include "LSM9DS1.h"
+#include "math.h"
+#include "uLCD_4DGL.h"
+#include "Servo.h"
+#include "Motor.h"
+#include "StepperMotor_X27168.h"
 #include "SDFileSystem.h"
+#include "SongPlayer.h"
 
 
-/* serial
+/* Serial via USB
 Serial pc(USBTX, USBRX);
 */
 
-/* PART 1
+/* Sine wave output pin
 AnalogOut aout(p18);
-AnalogIn ain(p15);
+*/
+
+/* IR distance sensor
+AnalogIn ain(p15);                // p15 <- senor out, yellow
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
 */
 
-/* PART 3
+/* IMU, using I2C
+LSM9DS1 imu(p9, p10, 0xD6, 0x3C); // dev SDA, SCL
+*/
+
+/* RS232 Serial
+Serial pc(p13, p14);              // dev RX, TX (serial)
+*/
 
-Serial pc(p13, p14); // TX, RX
+/* LCD level and compass
+uLCD_4DGL lcd(p28, p27, p30);     // dev RX, TX, reset. Use +5 (Vu)
+int ax, ay;
+double theta;
+*/
+
+/* Control high current device with xtor/relay
+DigitalOut binaryCtrl(p25);       // control signal
+DigitalOut myled(LED1);
 */
 
-/* PART 8
+/* With Power MOSFET for pwm */          
+PwmOut pwmCtrl(p25);              // digital control with pwm
+PwmOut myled(LED1);
+
+/* Servo movement
+Servo myservo(p21);               // dev yellow. Use Vu
+*/
+
+/* DC Motor control with H-bridge
+Motor m(p23, p11, p12);           // pwm control, fwd, rev
+*/
+
+/* Stepper motor
+// pwmA and B set to 3.3V (no speed control, only directional)
+// A poles on left side (top view). A1 pole to A02, etc.
+StepperMotor_X27168 smotor(p25, p26, p23, p22); // bfwd, brev, afwd, arev
+*/
+
+/* MEMS microphone
 BusOut myleds(LED1,LED2,LED3,LED4);
 
 class microphone
 {
-public :
-    microphone(PinName pin);
-    float read();
-    operator float ();
-private :
-    AnalogIn _pin;
+    public :
+        microphone(PinName pin);
+        float read();
+        operator float ();
+    private :
+        AnalogIn _pin;
 };
+
 microphone::microphone (PinName pin):
     _pin(pin)
 {
 }
+
 float microphone::read()
 {
     return _pin.read();
 }
+
 inline microphone::operator float ()
 {
     return _pin.read();
@@ -54,22 +95,12 @@
 microphone mymicrophone(p16);
 */
 
-/* PART 4
-uLCD_4DGL lcd(p13,p14,p12);
-int ax, ay;
+/* SPI bus: microSD card
+SDFileSystem sd(p5, p6, p7, p8, "sd");  mosi -> DI, miso <- DO, slck -> sclck, CS -> CS
+// CD on device could be used in PullUp mode to check if a card is present
 */
 
-/* PART 6 */
-DigitalOut myled(LED1);
-DigitalOut Ctrl(p25); // comment this out for digital, comment below
-//PwmOut Ctrl(p25);
-
-
-/*PART 9, SD CARD
-SDFileSystem sd(p5, p6, p7, p8, "sd");
-*/
-
-/* PART 9B, SOUND
+/* Speaker
 float note[16]= {329.628,329.628,329.628,349.228,391.995,391.995,391.995,349.228,
                  329.628,349.228,391.995,349.228,329.628,293.665,329.628,349.228
                 };
@@ -81,16 +112,15 @@
 
 int main() {
     
-    /* PART 1
+    /* Sine wave output pin
     const double pi = 3.141592653589793238462;
-    const double amplitude = 1.0f;
-    const double offset = 65535/2; // 0xFFFF/2
+    const double amplitude = 1.0f; // 3.3 V
+    const double offset = 65535/2; // 0xFFFF/2, half the full 3.3V
     double rads = 0.0;
     uint16_t sample = 0;
     */
     
-    /* PART 4, BUBBLE, PART 3
-    LSM9DS1 imu(p9, p10, 0xD6, 0x3C);
+    /* RS232 Serial, LCD bubble level
     imu.begin();
     if (!imu.begin()) {
         pc.printf("Failed to communicate with imu9DS1.\n");
@@ -98,13 +128,45 @@
     imu.calibrate();
     */
     
+    /* Servo movement
+    // servo adjusts until desired angle is sensed, determind by the pulse width
+    // width varies from 1 - 2 ms, 1ms - 0 deg, 1.5 - 90 deg, 2 ms - 180
+    // servo updates below every 20ms
+    for(float p=0; p<1.0; p += 0.1) {
+        myservo = p;
+        wait(0.2);
+    }
+    */
+        
+    /* DC Motor control with H-bridge
+    for (float s= -1.0; s < 1.0 ; s += 0.01) {
+        m.speed(s); 
+        wait(0.02);
+    }
+    */
+        
+    /* Stepper motor
+    smotor.step_position(180);
+    wait(0.5);
+        
+    smotor.step_position(100);
+    wait(0.5);
+        
+    smotor.angle_position(270);
+    wait(0.5);
+
+    smotor.step_position(0);
+    wait(0.5);
+    */
     
-    /* PART 9, SD CARD
+    /* SPI bus: microSD card
     mkdir("/sd/mydir", 0777);
+    
     FILE *fp = fopen("/sd/mydir/sdtest.txt", "w");
     if(fp == NULL) {
         error("Could not open file for write\n");
     }
+    
     fprintf(fp, "Hello SD file World!");
     fclose(fp); 
     
@@ -118,130 +180,84 @@
     }
     */
     
-    /* PART 9, SPEAKER
-    // setup instance of new SongPlayer class, mySpeaker using pin 26
-    // the pin must be a PWM output pin
-    SongPlayer mySpeaker(p26);
+    /* Speaker
+    SongPlayer mySpeaker(p26); // pwm pin
     // Start song and return once playing starts
-    mySpeaker.PlaySong(note,duration);
-    double theta;
+    mySpeaker.PlaySong(note, duration);
     */
     
     while (1) {
         
-        /* PART 1
-        
-        // analog out 
+        /* Sine wave output pin
         for (int i = 0; i < 720; i++) {
             rads = (pi * i) / 180.0f;
             sample = (uint16_t)(amplitude * (offset * (cos(rads + pi))) + offset);
             aout.write_u16(sample);
         }
+        */
         
-        // analog in
-        led1 = (ain > 0.2f) ? 1 : 0;
+        /* IR distance sensor
+        led1 = (ain > 0.2f) ? 1 : 0; // more LEDs with increasing distance
         led2 = (ain > 0.4f) ? 1 : 0;
         led3 = (ain > 0.6f) ? 1 : 0;
         led4 = (ain > 0.8f) ? 1 : 0;
         wait(.01);
         */
         
-        /* PART 8
-        //read in, subtract 0.67 DC bias, take absolute value, and scale up .1Vpp to 15 for builtin LED display
-        myleds = int(abs((mymicrophone - (0.67/3.3)))*500.0);
-        //Use an 8kHz audio sample rate (phone quality audio);
-        wait(1.0/8000.0);
-        */
-        
-        /* PART 3
-        
-        
+        /* RS232 Serial
         imu.readAccel();
         imu.readMag();
         imu.readGyro();
         
-
         pc.printf("gyro: %d %d %d\n\r", imu.gx, imu.gy, imu.gz);
         pc.printf("accel: %d %d %d\n\r", imu.ax, imu.ay, imu.az);
         pc.printf("mag: %d %d %d\n\n\r", imu.mx, imu.my, imu.mz);
         */
         
-        /* PART 4, BUBBLE/COMPASS
-        
+        /* LCD level and compass
         imu.readAccel();
         imu.readMag();
         imu.readGyro();
+        
+        // level
 
-        lcd.filled_circle(64 + ax / 250, 64 + ay/ 250 , 8, BLACK);
-        ax = imu.ax, ay = imu.ay;
-        lcd.filled_circle(64 + ax / 250, 64 + ay/ 250 , 8, WHITE);
-        lcd.circle(64, 64, 10, WHITE);
+        lcd.filled_circle(64 + ax / 250, 64 + ay/ 250 , 8, BLACK);  // write over past circle
+        ax = imu.ax, ay = imu.ay;                                   // get data
+        lcd.filled_circle(64 + ax / 250, 64 + ay/ 250 , 8, WHITE);  // draw new 'reading'
+        lcd.circle(64, 64, 10, WHITE);                              // redraw the center (constant)
         
-        // compass, PART 4 extra credit
+        // compass
  
-        lcd.line(64,64,64+60*cos(theta), 64+60*sin(theta), BLACK);
-        theta = atan2((double)imu.mx, (double)imu.my);
-        lcd.line(64,64,64+60*cos(theta), 64+60*sin(theta), GREEN);
+        lcd.line(64,64,64+60*cos(theta), 64+60*sin(theta), BLACK);  // write over past heading
+        theta = atan2((double)imu.mx, (double)imu.my);              // get data
+        lcd.line(64,64,64+60*cos(theta), 64+60*sin(theta), GREEN);  // draw new heading
         lcd.locate(0,1);
-        lcd.printf("%f",180 * theta / 3.14159);
-        
+        lcd.printf("%f",180 * theta / 3.14159);                     // write degree heading at the top left
         */
         
-        /* PART 6 */
-        
-        // using DigitalOut
-        Ctrl = 1;
+        /* Control high current device with xtor/relay
+        binaryCtrl = 1;           // slow out because of relay
         myled = 1;
         wait(.2);
-        Ctrl = 0;
+        binaryCtrl = 0;
         myled = 0;
         wait(.2);
+        */
      
-        // using PwmOut
-        /*
-        myled = 1;
+        /* With Power MOSFET for pwm */
+        myled = 1.0f;
 
         for (int i = 0; i < 5; i++) {
-            Ctrl = i*0.2f;
-            wait(.1);
-            myled = 0;
-            wait(.1);
+            pwmCtrl = i*0.2f;
+            myled = pwmCtrl;
+            wait(.2);
         }
+        
+        /* MEMS microphone
+        //read in, subtract 0.67 DC bias, take absolute value, and scale up from .1Vpp to 15 (0xFFFF) for builtin LEDs
+        myleds = (int) abs( mymicrophone - 0.67/3.3 ) * 500.0;
+        //Use an 8kHz audio sample rate (phone quality audio);
+        wait(1.0/8000.0);
         */
     }
-}
-
-
-
-/*
-                 ,
-                / \
-               {   }
-               p   !
-               ; : ;
-               | : |
-               | : |
-               l ; l
-               l ; l
-               I ; I
-               I ; I
-               I ; I
-               I ; I
-               d | b    
-               H | H
-               H | H
-               H I H
-       ,;,     H I H     ,;,
-      ;H@H;    ;_H_;,   ;H@H;
-      `\Y/d_,;|4H@HK|;,_b\Y/'
-       '\;MMMMM$@@@$MMMMM;/'
-         "~~~*;!8@8!;*~~~"
-               ;888;
-               ;888;
-               ;888;
-               ;888;
-               d8@8b
-               O8@8O
-               T808T
-                `~`     
-*/
\ No newline at end of file
+}
\ No newline at end of file