File content as of revision 5:68a1ce96bfeb:

//TABLE CONTROLLER
//-Reads Sensors
//-Decides table target position & movement speed
//-Sends data via RF

#include "mbed.h"
#include "main.h"
#include "communications.h"
#include "display.h"        //Display driver for the Midas 16x2 I2C Display
LocalFileSystem local("local");  
//OBJECTS
PwmOut ir_pwm_out(p21);     //PWM Output for the IR LED driver
DigitalOut ir_led(LED1);
DigitalOut tx_led(LED3);
DigitalOut pir_led(LED4);    
DigitalIn input_1(p20);
AnalogIn input_2(p19);
DigitalIn input_3(p18);
DigitalIn input_4(p17);
DigitalIn input_5(p16);
DigitalIn input_6(p15);
Serial pc (USBTX, USBRX);
Display display;
Alpha433 rf;
Timer ir_led_timer;         //System timer is used for timer the on-off periods for the LEDs
Timer command_timer;        //Timer for sending rf messages
Ticker polling_ticker;      //Ticker for polling the input sensors
Ticker sound_ticker;

//VARIABLES
int off_period = 975000;    //Off-period for the IR LEDs in microseconds
int on_period = 25000;      //On-period for the IR LEDs in microseconds
char power = 1;             //Output power for the IR LEDs : 0=25%, 1=50%, 2=75%, 3=100% (700mA)  [NB The LEDs are rated 20mA and are in parallel runs of 20, so a maximum power of 50% is recommended for long term use]
char use_ir_leds = 1;       //Set to 0 to disable IR LEDs, 1 to enable
char input_3_active = 0;
char input_4_active = 0;
char input_5_active = 0;
char input_6_active = 0;
int input_3_window = 0;
int input_4_window = 0;
int input_5_window = 0;
int input_6_window = 0;
float polling_rate = 0.1;   // Period in seconds to poll sensors
int polling_decay = 300;    // Number of polls to decrement counters
int polling_count = 0;

float speed = 0;
int sound = 0;
float soundLevel = 0.00;
float soundRaw = 0;
float soundFiltered = 0;
float soundFilteredPrev = 0;
float targetX = 0;
float targetY = 0;
char data[13];//0-3:speed, 4:sound, 5-8:targetX, 9-12:targetY
char * dataP;
char text[17];
char *textP = &text[0];
int level_3 = 0;
int level_4 = 0;
int level_5 = 0;
int level_6 = 0;
int pir[3];
int fileCount = 0;
char fileName[50];

FILE *fp;

//int counter = 0;//for Edgar to try effect of sound change

//PROTOTYPES
void broadcast_user_rf_command(int function, char * message, int length);
int get_output_power();
void polling();
void soundReading();

int main()
{
    init();
    char phase = 0;
    char motor_step = 0;
    pc.baud(9600);
    //pc.printf("hello");
    ir_led_timer.start();
    ir_pwm_out.period_us(1000);
    ir_pwm_out.pulsewidth_us(0);
    polling_ticker.attach(&polling,0.2); 
    soundFiltered = 3400.00;//R17=137K, background~3400    
    sound_ticker.attach(&soundReading,1.0);

    while(1) {
        if(command_timer.read_us() > 500000){
            command_timer.reset();
            motor_step ++;
            if(motor_step > 4) motor_step = 0;
            switch(motor_step){            
                case 0: broadcast_user_rf_command(0,"Hello",5);break;
                case 1: broadcast_user_rf_command(1,"there",5);break;   
                case 2: broadcast_user_rf_command(2,"you",3);break;
                case 3: broadcast_user_rf_command(3,"munters",7);break;   
            }   
        }
        if(phase==0){//IRs OFF
          if(ir_led_timer.read_us() >= off_period){
            ir_led_timer.reset();
            int pw = get_output_power();
            if(use_ir_leds) ir_pwm_out.pulsewidth_us(pw);
            ir_led=1;
            phase = 1;
          }
        }else{//IRs ON
          if(ir_led_timer.read_us() >= on_period){
            ir_led_timer.reset();
            ir_pwm_out.pulsewidth_us(0);
            ir_led=0;
            phase = 0;
          }
        }
    }
}

void broadcast_user_rf_command(int function, char * message, int length)
{
    //This function augments the communications stack 
    //It sends a 'user' RF command to all members (ie target_id = 0)
    //It sends a 'request', not a 'command', meaning it will still be handled if commands are disabled (RF_ALLOW_COMMANDS set to 0, recommended)     
    //It takes three inputs: 
    // * function (an integer from 0 to 15) 
    // * message  (a char array)
    // * length   (length of message in bytes) 
    send_rf_message(0,48+(function % 16),message,length);
}
        

int get_output_power(){
    switch(power){
        case 1: return 500;
        case 2: return 750;
        case 3: return 1000;   
    }   
    return 250;
}

void polling(){
    /*Movement*/
    pir[0] = input_3.read();
    if(pir[0] == 1){
        if(level_3 < 10){
            level_3++;
        }
    }
    else{
        if(level_3 > 0){
            level_3--;
        }
    }
    pir[1] = input_4.read();
    if(pir[1] == 1){
        if(level_4 < 10){
            level_4++;
        }
    }
    else{
        if(level_4 > 0){
            level_4--;
        }
    }
    pir[2] = input_5.read();
    if(pir[2] == 1){
        if(level_5 < 10){
            level_5++;
        }
    }
    else{
        if(level_5 > 0){
            level_5--;
        }
    }
    speed = level_3 + level_4 + level_5;
    speed /= 3.0;
    speed /= 10.0;
    speed *= 0.15;
    speed += 0.05;
    targetX = 0.5 - level_4 * 0.05;
    targetY = 0.5 + level_3 * 0.05;
    targetY = 0.5 - level_5 * 0.05;

    snprintf(data,13,"%0.2f%c%0.2f%0.2f", speed, sound, targetX, targetY);
    char * dataP = &data[0];
    broadcast_user_rf_command(0, dataP, 13);
    display.clear_display();
    display.write_string(dataP,14);
    
    /*Sound*/
    snprintf(data,15,"%0.2f %d",soundFiltered,sound);
    display.set_position(1,0);//2nd line
    display.write_string(dataP,16);

/*    polling_count ++;
    char pir_active = 0;
    char state_changed = 0;
    if(input_3.read()==1){
        pir_active = 1;
        if(input_3_active == 0){
            state_changed = 1;
            input_3_active = 1;
            input_3_window ++;
        }   
    }else {
        input_3_active = 0;
        if(polling_count == polling_decay){
        input_3_window --;
        if(input_3_window < 0) input_3_window = 0;
        }   
    }
    
    if(input_4.read()==1){
        pir_active = 1;
        if(input_4_active == 0){
            state_changed = 1;
            input_4_active = 1;
            input_4_window ++;
        }   
    }else { 
        input_4_active = 0;
        if(polling_count == polling_decay){
        input_4_window --;
        if(input_4_window < 0) input_4_window = 0;  
        } 
    }
    
    if(input_5.read()==1){
        pir_active = 1;
        if(input_5_active == 0){
            state_changed = 1;
            input_5_active = 1;
            input_5_window ++;
        }   
    }else {
        input_5_active = 0; 
        if(polling_count == polling_decay){
        input_5_window --;
        if(input_5_window < 0) input_5_window = 0;  
        } 
    }
    
    if(input_6.read()==1){
        pir_active = 1;
        if(input_6_active == 0){
            state_changed = 1;
            input_6_active = 1;
            input_6_window ++;
        }   
    }else {
        input_6_active = 0;
        if(polling_count == polling_decay){
        input_6_window --;
        if(input_6_window < 0) input_6_window = 0; 
        }  
    }
    
    pir_led=pir_active;
    if(polling_count == polling_decay) {
        polling_count = 0;
        state_changed = 1;
    }
    if(state_changed == 1){
        display.clear_display();
        display.set_position(0,0);
        char text [17];
        snprintf(text,17,"3:%i 4:%i 5:%i 6:%i",input_3_window,input_4_window,input_5_window,input_6_window);
        display.write_string(text,16);
    }*/
    /*sprintf(fileName,"%s%d%s","/local/",fileCount,".txt");
    fp = fopen(fileName, "w"); 
    snprintf(text,17,"%d,%d,%d,%0.2f,%d\n", pir[0],pir[1],pir[2],speed, sound);
    fprintf(fp, "text/n/r");
    fclose(fp);
    fileCount++;*/
}

void soundReading(void){
    //soundFilteredPrev = soundFiltered;//save previous value
    //sound = input_1.read_u16();//read new value
    if(input_1){
        soundLevel+=0.1;
        if(soundLevel > 1.0)
            soundLevel = 1.0;
    }
    else{
        soundLevel-=0.07;
        if(soundLevel < 0.00)
            soundLevel = 0.00;
    }
    if(soundLevel > 0.5){
        sound = 1;
    }
    else{
        sound = 0;
    }
    //soundFiltered *= 0.96;//filter new value
    //soundRaw = sound * 0.04;
    //soundFiltered += soundRaw;  
    /*if((soundFiltered - soundFilteredPrev) > 10.00)
        soundFiltered = soundFilteredPrev + 10.00;
    if((soundFiltered - soundFilteredPrev) < -10.00)
        soundFiltered = soundFilteredPrev - 10.00;*/        
}

void handleUserRFCommand(char sender, char broadcast_message, char request_response, char id, char is_command, char function, char * data, char length){ 
}    

void handleUserRFResponse(char sender, char broadcast_message, char success, char id, char is_command, char function, char * data, char length){
}    

void processRawRFData(char * rstring, char cCount){
}


void handleData(char * data, char length)
{
    display.set_position(1,1);
    display.write_string(data,length);
}


void init()
{
    display.init_display();
    display.set_position(0,2);
    display.write_string("YORK ROBOTICS",13);
    display.set_position(1,3);
    display.write_string("LABORATORY",10);
    wait(0.45);
    display.clear_display();
    display.set_position(0,1);
    display.write_string("Pi Swarm Table",14);
    display.set_position(1,3);
    display.write_string("Controller",10);
    wait(0.45);
    rf.rf_init();
    rf.setFrequency(435000000);
    rf.setDatarate(57600);
}