Haozun Sun
I got the structure of the code but did not get every details right
Revision 7:884fb008cee8, committed 2020-03-06
- Comitter:
- hzsun
- Date:
- Fri Mar 06 02:13:24 2020 +0000
- Parent:
- 6:d58d982c647a
- Commit message:
- zxzx
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r d58d982c647a -r 884fb008cee8 main.cpp
--- a/main.cpp Thu Mar 05 21:13:16 2020 +0000
+++ b/main.cpp Fri Mar 06 02:13:24 2020 +0000
@@ -1,45 +1,76 @@
#include "mbed.h"
#include "MMA8451Q.h"
- 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;
+PinName const SDA = PTE25;
+PinName const SCL = PTE24;
+EventQueue queue;
+Serial pc(USBTX, USBRX); // tx, rx
+
+Thread eventThread ;
+DigitalOut rled(LED1); //red led
+DigitalOut gled(LED2); //green led
+DigitalOut bled(LED3); //blue led
+
+
+EventFlags event_flags;
+Timer A1;
#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){
+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");}
+ if(flags_read == 4) {
+ if(flags_read == -2) {
+ state = second;
+ A1.reset();
+ pc.printf("turn right please");
+ }
+ }
+ if(flags_read != 4 && A1.read() < 10) {
+ state = e;
+ }
+ if((flags_read != 4 && flags_read != 6) && A1.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;}
+ if(flags_read != 3 && A1.read() < 2) {
+ state = e;
+ }
+ if(flags_read == 0 && A1.read() >= 2) {
+ state = second;
+ A1.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;}
+ if(flags_read != 0 && A1.read() < 4) {
+ state = e;
+ }
+ if(flags_read == 4 && A1.read() >= 4) {
+ state = second;
+ A1.reset();
+ }
+ if((flags_read != 4 && flags_read != 0)) {
+ state = e;
+ }
break;
case success:
gled = 0;
@@ -48,9 +79,9 @@
rled = 0;
event_flags.wait_any(flat, osWaitForever, true);
state = first;
- x.reset();
+ A1.reset();
break;
- }
+ }
}
int main(void)
{
@@ -110,157 +141,44 @@
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;
+ case flat:
+ if(z<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;
+
+ case over:
+ if(z>-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;
+ if(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;
+ if(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;
+
+ case up:
+ if(x<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;
+
+ case down:
+ if(x>-0.8) {
+ pos=intermediate;
}
break;
}
+
+ }
}
}