Revision 0:79485480cd7e, committed 2014-11-13

Comitter:

hotwheelharry

Date:

Thu Nov 13 23:20:02 2014 +0000

Child:

1:3bae10d2507c

Commit message:

first commit - compile ok;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Audio.h	Thu Nov 13 23:20:02 2014 +0000
@@ -0,0 +1,352 @@
+
+#include "Speaker.h"
+
+
+class Audio{
+private:
+    Mutex mutex;
+    Speaker& speaker;
+public:
+    Audio(Speaker& ao) : speaker(ao)
+    {   
+    }
+    void playSong(/**/){
+        mutex.lock();
+        
+        mutex.unlock();
+    }
+    void triggerShot(){
+        mutex.lock();
+        
+        mutex.unlock();   
+    }
+    
+    void run(){
+        while(true){    //service audio requests...
+            
+            Thread::wait(100);   //ms        
+        }
+    }
+    void playNote(float a, float b, float c){
+        mutex.lock();
+        speaker.PlayNote(a,b,c);
+        mutex.unlock(); 
+    }
+    
+    void playMario(){
+          
+        playNote(660.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(660.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(660.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(510.0, 0.08, 1.0);
+        Thread::wait(75);
+        playNote(660.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(770.0, 0.08, 1.0);
+        Thread::wait(413);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(431);
+        playNote(510.0, 0.08, 1.0);
+        Thread::wait(338);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(300);
+        playNote(320.0, 0.08, 1.0);
+        Thread::wait(375);
+        playNote(440.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(480.0, 0.06, 1.0);
+        Thread::wait(248);
+        playNote(450.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(430.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(150);
+        playNote(660.0, 0.06, 1.0);
+        Thread::wait(150);
+        playNote(760.0, 0.04, 1.0);
+        Thread::wait(113);
+        playNote(860.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(700.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(760.0, 0.04, 1.0);
+        Thread::wait(263);
+        playNote(660.0, 0.06, 1.0);
+        Thread::wait(225);
+        playNote(520.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(580.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(480.0, 0.06, 1.0);
+        Thread::wait(375);
+        playNote(510.0, 0.08, 1.0);
+        Thread::wait(338);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(300);
+        playNote(320.0, 0.08, 1.0);
+        Thread::wait(375);
+        playNote(440.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(480.0, 0.06, 1.0);
+        Thread::wait(248);
+        playNote(450.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(430.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(150);
+        playNote(660.0, 0.06, 1.0);
+        Thread::wait(150);
+        playNote(760.0, 0.04, 1.0);
+        Thread::wait(113);
+        playNote(860.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(700.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(760.0, 0.04, 1.0);
+        Thread::wait(263);
+        playNote(660.0, 0.06, 1.0);
+        Thread::wait(225);
+        playNote(520.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(580.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(480.0, 0.06, 1.0);
+        Thread::wait(375);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(760.0, 0.08, 1.0);
+        Thread::wait(75);
+        playNote(720.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(680.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(620.0, 0.11, 1.0);
+        Thread::wait(225);
+        playNote(650.0, 0.11, 1.0);
+        Thread::wait(225);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(430.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(430.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(75);
+        playNote(570.0, 0.08, 1.0);
+        Thread::wait(165);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(760.0, 0.08, 1.0);
+        Thread::wait(75);
+        playNote(720.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(680.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(620.0, 0.11, 1.0);
+        Thread::wait(225);
+        playNote(650.0, 0.15, 1.0);
+        Thread::wait(225);
+        playNote(1020.0, 0.06, 1.0);
+        Thread::wait(225);
+        playNote(1020.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(1020.0, 0.06, 1.0);
+        Thread::wait(225);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(760.0, 0.08, 1.0);
+        Thread::wait(75);
+        playNote(720.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(680.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(620.0, 0.11, 1.0);
+        Thread::wait(225);
+        playNote(650.0, 0.11, 1.0);
+        Thread::wait(225);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(430.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(430.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(75);
+        playNote(570.0, 0.08, 1.0);
+        Thread::wait(315);
+        playNote(585.0, 0.08, 1.0);
+        Thread::wait(338);
+        playNote(550.0, 0.08, 1.0);
+        Thread::wait(315);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(270);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(760.0, 0.08, 1.0);
+        Thread::wait(75);
+        playNote(720.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(680.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(620.0, 0.11, 1.0);
+        Thread::wait(225);
+        playNote(650.0, 0.11, 1.0);
+        Thread::wait(225);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(430.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(430.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(75);
+        playNote(570.0, 0.08, 1.0);
+        Thread::wait(165);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(760.0, 0.08, 1.0);
+        Thread::wait(75);
+        playNote(720.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(680.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(620.0, 0.11, 1.0);
+        Thread::wait(225);
+        playNote(650.0, 0.15, 1.0);
+        Thread::wait(225);
+        playNote(1020.0, 0.06, 1.0);
+        Thread::wait(225);
+        playNote(1020.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(1020.0, 0.06, 1.0);
+        Thread::wait(225);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(760.0, 0.08, 1.0);
+        Thread::wait(75);
+        playNote(720.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(680.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(620.0, 0.11, 1.0);
+        Thread::wait(225);
+        playNote(650.0, 0.11, 1.0);
+        Thread::wait(225);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(430.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(430.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(75);
+        playNote(570.0, 0.08, 1.0);
+        Thread::wait(315);
+        playNote(585.0, 0.08, 1.0);
+        Thread::wait(338);
+        playNote(550.0, 0.08, 1.0);
+        Thread::wait(315);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(270);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(500.0, 0.04, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.06, 1.0);
+        Thread::wait(225);
+        playNote(500.0, 0.04, 1.0);
+        Thread::wait(263);
+        playNote(500.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(580.0, 0.06, 1.0);
+        Thread::wait(263);
+        playNote(660.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.06, 1.0);
+        Thread::wait(225);
+        playNote(430.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(380.0, 0.06, 1.0);
+        Thread::wait(450);
+        playNote(500.0, 0.04, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.06, 1.0);
+        Thread::wait(225);
+        playNote(500.0, 0.04, 1.0);
+        Thread::wait(263);
+        playNote(500.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(580.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(660.0, 0.06, 1.0);
+        Thread::wait(413);
+        playNote(870.0, 0.06, 1.0);
+        Thread::wait(244);
+        playNote(760.0, 0.06, 1.0);
+        Thread::wait(450);
+        playNote(500.0, 0.04, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.06, 1.0);
+        Thread::wait(225);
+        playNote(500.0, 0.04, 1.0);
+        Thread::wait(263);
+        playNote(500.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(580.0, 0.06, 1.0);
+        Thread::wait(263);
+        playNote(660.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(500.0, 0.06, 1.0);
+        Thread::wait(225);
+        playNote(430.0, 0.06, 1.0);
+        Thread::wait(113);
+        playNote(380.0, 0.06, 1.0);
+        Thread::wait(450);
+        playNote(660.0, 0.08, 1.0);
+        Thread::wait(113);
+        playNote(660.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(660.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(510.0, 0.08, 1.0);
+        Thread::wait(75);
+        playNote(660.0, 0.08, 1.0);
+        Thread::wait(225);
+        playNote(770.0, 0.08, 1.0);
+        Thread::wait(413);
+        playNote(380.0, 0.08, 1.0);
+        Thread::wait(431);
+   
+    }
+};
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Speaker.h	Thu Nov 13 23:20:02 2014 +0000
@@ -0,0 +1,52 @@
+class Speaker
+{
+public:
+    Speaker(PinName pin) : _pin(pin) {
+// _pin(pin) means pass pin to the Speaker Constructor
+// precompute 32 sample points on one sine wave cycle
+// used for continuous sine wave output later
+        for(int k=0; k<32; k++) {
+            Analog_out_data[k] = int (65536.0 * ((1.0 + sin((float(k)/32.0*6.28318530717959)))/2.0));
+            // scale the sine wave to 16-bits - as needed for AnalogOut write_u16 arg
+        }
+
+    }
+// class method to play a note based on AnalogOut class
+    void PlayNote(float frequency, float duration, float volume) {
+        // scale samples using current volume level arg
+        for(int k=0; k<32; k++) {
+            Analog_scaled_data[k] = Analog_out_data[k] * volume;
+        }
+        // reset to start of sample array
+        i=0;
+        // turn on timer interrupts to start sine wave output
+        Sample_Period.attach(this, &Speaker::Sample_timer_interrupt, 1.0/(frequency*32.0));
+        // play note for specified time
+        wait(duration);
+        // turns off timer interrupts
+        Sample_Period.detach();
+        // sets output to mid range - analog zero
+        this->_pin.write_u16(32768);
+
+    }
+private:
+// sets up specified pin for analog using AnalogOut class
+    AnalogOut _pin;
+    // set up a timer to be used for sample rate interrupts
+    Ticker Sample_Period;
+
+    //variables used by interrupt routine and PlayNote
+    volatile int i;
+    short unsigned Analog_out_data[32];
+    short unsigned Analog_scaled_data[32];
+
+// Interrupt routine
+// used to output next analog sample whenever a timer interrupt occurs
+    void Sample_timer_interrupt(void) {
+        // send next analog sample out to D to A
+        this->_pin.write_u16(Analog_scaled_data[i]);
+        // increment pointer and wrap around back to 0 at 32
+        i = (i+1) & 0x01F;
+    }
+};
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Traxster.cpp	Thu Nov 13 23:20:02 2014 +0000
@@ -0,0 +1,33 @@
+
+#include "Traxster.h"
+#include "utils.h"
+
+int getMotorSpeedInt(float f){
+    
+    int max = 100;
+    
+    if(f > 1.0)
+        f = 1.0;
+
+    if(f < -1.0)
+        f = -1.0;
+    
+    return   (int)round( (float)max * f );
+}
+
+void Traxster::SetMotors(float fm1, float fm2)
+{
+    int m1 = getMotorSpeedInt(fm1);
+    int m2 = getMotorSpeedInt(fm2);
+    
+    if (m1 == 0 && m2 == 0)
+    {
+        rob.puts("stop\r");
+    }
+    else
+    {
+        rob.printf("mogo 1:%d 2:%d\r", m1, m2);
+    }
+    while (rob.readable())
+        rob.getc();
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Traxster.h	Thu Nov 13 23:20:02 2014 +0000
@@ -0,0 +1,16 @@
+#include "mbed.h"
+
+class Traxster { 
+private:
+    Serial& rob;
+public:   
+    Traxster(Serial& robotComm  /* and other controls or sensors...*/)
+    : rob(robotComm)
+    {
+        rob.baud(19200);
+    };
+    
+    // Set motor speeds. [-1, +1] of max speed for motor.
+    void SetMotors(float m1, float m2);
+    
+};
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHost.lib	Thu Nov 13 23:20:02 2014 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/hotwheelharry/code/USBHost/#367b884e5041

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBHostXpad.lib	Thu Nov 13 23:20:02 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/okini3939/code/USBHostXpad/#4254192898a9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Nov 13 23:20:02 2014 +0000
@@ -0,0 +1,64 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "Traxster.h"
+#include "USBHostXpad.h"
+#include "utils.h"
+#include "Audio.h"
+
+Serial pc(USBTX, USBRX);
+Serial robotCom(p13, p14);
+AnalogIn ir(p20);
+Speaker speaker(p18);  // the pin must be the AnalogOut pin - p18
+
+
+Audio audio(speaker);
+USBHostXpad controller;
+Xbox360ControllerState controlState;
+Traxster tank(robotCom);
+
+
+
+void onControlInput(int buttons, int stick_lx, int stick_ly, int stick_rx, int stick_ry, int trigger_l, int trigger_r){
+    pc.printf("buttons: %04x   Lstick X,Y: %-5d, %-5d    Rstick X,Y: %-5d, %-5d   LTrig: %02x (%d)    RTrig: %02x (%d)\n", buttons, stick_lx, stick_ly, stick_rx, stick_ry, trigger_l,trigger_l, trigger_r,trigger_r);
+    controlState = Xbox360ControllerState(buttons, stick_lx, stick_ly, stick_rx, stick_ry, trigger_l, trigger_r);
+};
+
+void thread_audio_run(void const* arg){
+    audio.run();
+}
+
+int main() {
+    pc.baud(19200);
+    
+    controller.attachEvent(&onControlInput);
+    
+    Thread audio_thread(thread_audio_run);
+    
+    audio.playMario();
+    
+    while(1){
+        //acts as a failsafe
+        while(controller.connected()) {
+            if(ir > 0.5){
+                controller.rumble(255,255);
+            }
+            if( controller.read(USBHostXpad::XPAD_PAD_Y) ) {
+                controller.led( USBHostXpad::LED_ROTATE );   
+            } else {
+                controller.led( USBHostXpad::LED_OFF ); 
+            }
+            if(controlState.triggerRight > 0){
+                controller.rumble(255,255);
+            }
+           
+            if( controller.read(USBHostXpad::XPAD_PAD_X) ) {
+                tank.SetMotors(1.0,1.0);
+            } else {
+                tank.SetMotors(0.0,0.0);    //stop, wait for controller to reconnect for a second.   
+            }
+        }
+        tank.SetMotors(0.0,0.0);    //stop, wait for controller to reconnect for a second.
+        Thread::wait(500);
+        controller.connect();
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/utils.cpp	Thu Nov 13 23:20:02 2014 +0000
@@ -0,0 +1,9 @@
+#include "utils.h"
+
+double ghettoFloor(double d){
+    return double((long long)d);
+}
+double round(double d)
+{
+  return ghettoFloor(d + 0.5);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/utils.h	Thu Nov 13 23:20:02 2014 +0000
@@ -0,0 +1,24 @@
+
+#ifndef utilshhh
+#define utilshhh
+
+
+double ghettoFloor(double d);
+double round(double d);
+
+struct Xbox360ControllerState{
+    int buttons;
+    int analogLeftX;
+    int analogLeftY;
+    int analogRightX;
+    int analogRightY;
+    int triggerLeft;
+    int triggerRight;
+    Xbox360ControllerState(){};
+    Xbox360ControllerState(int buttons, int stick_lx, int stick_ly, int stick_rx, int stick_ry, int trigger_l, int trigger_r)
+    : buttons(buttons), analogLeftX(stick_lx), analogLeftY(stick_ly), analogRightX(stick_rx), analogRightY(stick_ry), triggerLeft(trigger_l), triggerRight(trigger_r)
+    {}
+};
+
+
+#endif
\ No newline at end of file