Haozun Sun
I got the structure of the code but did not get every details right
Diff: main.cpp
- Revision:
- 6:d58d982c647a
- Parent:
- 4:72b8fb7423dd
- Child:
- 7:884fb008cee8
--- a/main.cpp Thu Feb 27 10:07:17 2020 +0000
+++ b/main.cpp Thu Mar 05 21:13:16 2020 +0000
@@ -3,29 +3,264 @@
PinName const SDA = PTE25;
PinName const SCL = PTE24;
-
+ EventQueue queue;
+ Serial pc(USBTX, USBRX); // tx, rx
+ Thread eventThread ;
+ DigitalOut rled(LED1, 1); //red led
+ DigitalOut gled(LED2,1); //green led
+ DigitalOut bled(LED3,1); //blue led
+ EventFlags event_flags;
+ Timer x;
#define MMA8451_I2C_ADDRESS (0x1d<<1)
-
+ enum pos {up, down, left, right, flat, over, intermediate};
+ volatile int pos = intermediate;
+ enum state {first, second, third, success, e};
+ volatile int state = first;
+ volatile uint32_t flags_read = 1;
+void seqchecking(){
+ switch(state){
+ case first:
+ flags_read = event_flags.wait_any(up|down|right|left|over|flat|intermediate,10000,true);
+ pc.printf("flag_read:%d\r\n", flags_read);
+ //if(flags_read == -2){rled = 1;}
+ //else{
+ if(flags_read == 4){if(flags_read == -2){state = second; x.reset();pc.printf("turn right please");}}
+ if(flags_read != 4 && x.read() < 10){state = e;}
+ if((flags_read != 4 && flags_read != 6) && x.read() < 10){state = e;pc.printf("b");}
+ //}
+ break;
+ case second:
+ flags_read = event_flags.wait_any(up|down|right|left|over|flat|intermediate,6000,true);
+ if(flags_read != 3 && x.read() < 2){state = e;}
+ if(flags_read == 0 && x.read() >= 2){state = second; x.reset();pc.printf("turn upward please");}
+ if((flags_read != 3 && flags_read != 0)){state = e;}
+ break;
+ case third:
+ flags_read = event_flags.wait_any(up|down|right|left|over|flat|intermediate,8000,true);
+ if(flags_read != 0 && x.read() < 4){state = e;}
+ if(flags_read == 4 && x.read() >= 4){state = second; x.reset();}
+ if((flags_read != 4 && flags_read != 0)){state = e;}
+ break;
+ case success:
+ gled = 0;
+ break;
+ case e:
+ rled = 0;
+ event_flags.wait_any(flat, osWaitForever, true);
+ state = first;
+ x.reset();
+ break;
+ }
+}
int main(void)
{
MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
- PwmOut rled(LED1);
- PwmOut gled(LED2);
- PwmOut bled(LED3);
- Serial pc(USBTX, USBRX); // tx, rx
+
pc.printf("MMA8451 ID: %d\n", acc.getWhoAmI());
-
+
+ rled = 1; // turn off all leds when initialising
+ gled = 1;
+ bled = 1;
+ x.start();
+ eventThread.start(callback(&queue, &EventQueue::dispatch_forever));
+ queue.call_every(10, seqchecking) ;
while (true) {
float x, y, z;
- x = acc.getAccX();
- y = acc.getAccY();
- z = acc.getAccZ();
- rled = 1.0f - abs(x);
- gled = 1.0f - abs(y);
- bled = 1.0f - abs(z);
+ x = acc.getAccX(); // get x axis value
+ y = acc.getAccY(); // get y axis value
+ z = acc.getAccZ(); // get z axis value
ThisThread::sleep_for(300); // wait(0.3);
- pc.printf("X: %1.2f, Y: %1.2f, Z: %1.2f\n", x, y, z);
+
+ switch (pos){
+ case intermediate:
+ if(x > 0.9){ //if the board is in position down
+ pos = down;
+ event_flags.set(down);
+ pc.printf("down\n"); // print up on pc screen
+ }
+ if(x < -0.9){ //if the board is in position up
+ pos = up;
+ event_flags.set(up);
+ pc.printf("Up\n");// print down on pc screen
+ }
+ if(y > 0.9){ //if the board is in position left
+ pos = left;
+ event_flags.set(left);
+ pc.printf("left\n");// print left on pc screen
+ }
+ if(y < -0.9){ //if the board is in position right
+ pos = right;
+ event_flags.set(right);
+ pc.printf("right\n");// print right on pc screen
+ }
+ if(z > 0.9){ //if the board is in position flat
+ pos = flat;
+ event_flags.set(flat);
+ pc.printf("Flat\n");// print flat on pc screen
+ }
+ if(z < -0.9){ //if the board is in position over
+ pos = over;
+ event_flags.set(over);
+ pc.printf("Over\n");// print over on pc screen
+ }
+ if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
+ pos = intermediate;
+ event_flags.set(intermediate);
+ }
+ break;
+ case up:
+ if(x > 0.9){ //if the board is in position down
+ pos = down;
+ pc.printf("Down\n");// print down on pc screen
+ }
+ if(y > 0.9){ //if the board is in position left
+ pos = left;
+ pc.printf("left\n");// print left on pc screen
+ }
+ if(y < -0.9){ //if the board is in position right
+ pos = right;
+ pc.printf("right\n");// print right on pc screen
+ }
+ if(z > 0.9){ //if the board is in position flat
+ pos = flat;
+ pc.printf("Flat\n");// print flat on pc screen
+ }
+ if(z < -0.9){ //if the board is in position over
+ pos = over;
+ pc.printf("Over\n");// print over on pc screen
+ }
+ if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
+ pos = intermediate;
+ }
+ break;
+ case down:
+ if(x < -0.9){ //if the board is in position up
+ pos = up;
+ pc.printf("Up\n"); // print up on pc screen
+ }
+ if(y > 0.9){ //if the board is in position left
+ pos = left;
+ pc.printf("left\n");// print left on pc screen
+ }
+ if(y < -0.9){ //if the board is in position right
+ pos = right;
+ pc.printf("right\n");// print right on pc screen
+ }
+ if(z > 0.9){ //if the board is in position flat
+ pos = flat;
+ pc.printf("Flat\n");// print flat on pc screen
+ }
+ if(z < -0.9){ //if the board is in position over
+ pos = over;
+ pc.printf("Over\n");// print over on pc screen
+ }
+ if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
+ pos = intermediate;
+ }
+ break;
+ case left:
+ if(x > 0.9){ //if the board is in position down
+ pos = down;
+ pc.printf("Down\n"); // print up on pc screen
+ }
+ if(x < -0.9){ //if the board is in position up
+ pos = up;
+ pc.printf("Up\n");// print down on pc screen
+ }
+ if(y < -0.9){ //if the board is in position right
+ pos = right;
+ pc.printf("right\n");// print right on pc screen
+ }
+ if(z > 0.9){ //if the board is in position flat
+ pos = flat;
+ pc.printf("Flat\n");// print flat on pc screen
+ }
+ if(z < -0.9){ //if the board is in position over
+ pos = over;
+ pc.printf("Over\n");// print over on pc screen
+ }
+ if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
+ pos = intermediate;
+ }
+ break;
+ case right:
+ if(x > 0.9){ //if the board is in position down
+ pos = down;
+ pc.printf("Down\n"); // print up on pc screen
+ }
+ if(x < -0.9){ //if the board is in position up
+ pos = up;
+ pc.printf("Up\n");// print down on pc screen
+ }
+ if(y > 0.9){ //if the board is in position left
+ pos = left;
+ pc.printf("left\n");// print left on pc screen
+ }
+ if(z > 0.9){ //if the board is in position flat
+ pos = flat;
+ pc.printf("Flat\n");// print flat on pc screen
+ }
+ if(z < -0.9){ //if the board is in position over
+ pos = over;
+ pc.printf("Over\n");// print over on pc screen
+ }
+ if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
+ pos = intermediate;
+ }
+ break;
+ case flat:
+ if(x > 0.9){ //if the board is in position down
+ pos = down;
+ pc.printf("Down\n"); // print up on pc screen
+ }
+ if(x < -0.9){ //if the board is in position up
+ pos = up;
+ pc.printf("Up\n");// print down on pc screen
+ }
+ if(y > 0.9){ //if the board is in position left
+ pos = left;
+ pc.printf("left\n");// print left on pc screen
+ }
+ if(y < -0.9){ //if the board is in position right
+ pos = right;
+ pc.printf("right\n");// print right on pc screen
+ }
+ if(z < -0.9){ //if the board is in position over
+ pos = over;
+ pc.printf("Over\n");// print over on pc screen
+ }
+ if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
+ pos = intermediate;
+ }
+ break;
+ case over:
+ if(x > 0.9){ //if the board is in position down
+ pos = down;
+ pc.printf("Down\n"); // print up on pc screen
+ }
+ if(x < -0.9){ //if the board is in position up
+ pos = up;
+ pc.printf("Up\n");// print down on pc screen
+ }
+ if(y > 0.9){ //if the board is in position left
+ pos = left;
+ pc.printf("left\n");// print left on pc screen
+ }
+ if(y < -0.9){ //if the board is in position right
+ pos = right;
+ pc.printf("right\n");// print right on pc screen
+ }
+ if(z > 0.9){ //if the board is in position flat
+ pos = flat;
+ pc.printf("Flat\n");// print flat on pc screen
+ }
+ if(z<0.8 && z>-0.8 && x<0.8 && x>-0.8 && y<0.8 && y>-0.8){
+ pos = intermediate;
+ }
+ break;
+ }
+
}
}