Diff: PositionSystem.h

Revision:

3:6a7620e9abd9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PositionSystem.h	Fri Apr 25 23:06:47 2014 +0000
@@ -0,0 +1,77 @@
+#include "USBHostMouse.h"
+#include "HMC6352.h"
+
+#define PFLAG_ON 0
+#define PFLAG_OFF 1
+#define PFLAG_CALIB 2
+#define PTURN_SPEED (0.5)
+
+float PTURN_RIGHT = 0;
+
+extern Serial pc(USBTX, USBRX);
+
+// updates xy position if on, does nothing if off
+extern char PFlag = PFLAG_ON;
+
+// whenever a turn is complete, this should store 
+// the degrees facing (0, 90, 180, 270) in system
+extern int t_position = 0;
+
+// variables to keep track of coordinate position
+float x_position = 0;
+float y_position = 0;
+
+// variables to keep track of movement during turning
+float pturn_x = 0;
+float pturn_y = 0;
+
+/* mouse event handler */
+void onMouseEvent(uint8_t buttons, int8_t x_mickey, int8_t y_mickey, int8_t z) {
+    
+    // calculate new position 
+    if(PFlag == PFLAG_ON) {
+        
+        // mouse movements are in mickeys. 1 mickey = ~230 DPI = ~1/230th of an inch
+        float temp = y_mickey / 232.6;
+        
+        // determine direction we are facing and add to that direction
+        if(t_position == 0)
+            y_position += temp;
+        else if(t_position == 90)
+            x_position += temp;
+        else if(t_position == 180)
+            y_position -= temp;
+        else
+            x_position -= temp;
+    } else if(PFlag == PFLAG_CALIB) {    
+        PTURN_RIGHT += x_mickey / 232.6;
+    } else {
+        pturn_x += x_mickey / 232.6;
+        pturn_y += y_mickey / 232.6;
+    }
+}
+
+// intialize x and y variables for turning
+void turnInit() {
+    pturn_x = 0;
+    pturn_y = 0;
+}
+    
+/* positioning system thread function */
+void PositionSystemMain(void const *) {
+    
+    USBHostMouse mouse;
+    
+    while(1) {
+        // try to connect a USB mouse
+        while(!mouse.connect())
+            Thread::wait(500);
+    
+        // when connected, attach handler called on mouse event
+        mouse.attachEvent(onMouseEvent);
+        
+        // wait until the mouse is disconnected
+        while(mouse.connected())
+            Thread::wait(500);
+    }
+}
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