Joseph Boettcher / Mbed 2 deprecated uLCD_Robot

uLCD robot moveable via pushbuttons

Dependencies:   4DGL-uLCD-SE PinDetect mbed

main.cpp@0:327ccd5eafc8, 2016-11-06 (annotated)

Committer:
jboettcher
Date:
Sun Nov 06 21:57:20 2016 +0000
Revision:
0:327ccd5eafc8
Complete

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jboettcher 0:327ccd5eafc8 1
jboettcher 0:327ccd5eafc8 2 #include "mbed.h"
jboettcher 0:327ccd5eafc8 3 #include "Speaker.h"
jboettcher 0:327ccd5eafc8 4 #include "PinDetect.h"
jboettcher 0:327ccd5eafc8 5 #include "uLCD_4DGL.h"
jboettcher 0:327ccd5eafc8 6 // setup builtin LEDs
jboettcher 0:327ccd5eafc8 7 DigitalOut myLed1(LED1);
jboettcher 0:327ccd5eafc8 8 DigitalOut myLed2(LED2);
jboettcher 0:327ccd5eafc8 9 DigitalOut myLed3(LED3);
jboettcher 0:327ccd5eafc8 10 DigitalOut myLed4(LED4);
jboettcher 0:327ccd5eafc8 11 // setup pushbuttons for debounced interrupt use
jboettcher 0:327ccd5eafc8 12 PinDetect pb1(p23);
jboettcher 0:327ccd5eafc8 13 PinDetect pb2(p24);
jboettcher 0:327ccd5eafc8 14 PinDetect pb3(p25);
jboettcher 0:327ccd5eafc8 15 PinDetect pb4(p26);
jboettcher 0:327ccd5eafc8 16
jboettcher 0:327ccd5eafc8 17 // setup LCD
jboettcher 0:327ccd5eafc8 18 uLCD_4DGL uLCD(p28, p27, p29); // create a global lcd object
jboettcher 0:327ccd5eafc8 19
jboettcher 0:327ccd5eafc8 20 //moving include down here allows use in uLCD in Robot class draw and erase member functions
jboettcher 0:327ccd5eafc8 21 //easier for now than passing a new uLCD_4DGL object argument to the class
jboettcher 0:327ccd5eafc8 22 #include "Robot.h"
jboettcher 0:327ccd5eafc8 23
jboettcher 0:327ccd5eafc8 24 // setup instance of new Speaker class, mySpeaker using pin 21
jboettcher 0:327ccd5eafc8 25 // the pin must be a PWM output pin
jboettcher 0:327ccd5eafc8 26 Speaker mySpeaker(p21);
jboettcher 0:327ccd5eafc8 27
jboettcher 0:327ccd5eafc8 28 // pushbutton status - need volatile for safe interrupt R/W
jboettcher 0:327ccd5eafc8 29 volatile int pbStatus = 0;
jboettcher 0:327ccd5eafc8 30
jboettcher 0:327ccd5eafc8 31 // Callback routine is interrupt activated by a debounced pb1 hit
jboettcher 0:327ccd5eafc8 32 void pb1_hit_callback (void)
jboettcher 0:327ccd5eafc8 33 {
jboettcher 0:327ccd5eafc8 34 // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED
jboettcher 0:327ccd5eafc8 35 pbStatus = pbStatus | 0x01;
jboettcher 0:327ccd5eafc8 36
jboettcher 0:327ccd5eafc8 37 }
jboettcher 0:327ccd5eafc8 38 // Callback routine is interrupt activated by a debounced pb2 hit
jboettcher 0:327ccd5eafc8 39 void pb2_hit_callback (void)
jboettcher 0:327ccd5eafc8 40 {
jboettcher 0:327ccd5eafc8 41 // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED
jboettcher 0:327ccd5eafc8 42 pbStatus = pbStatus | 0x02;
jboettcher 0:327ccd5eafc8 43 }
jboettcher 0:327ccd5eafc8 44 // Callback routine is interrupt activated by a debounced pb3 hit
jboettcher 0:327ccd5eafc8 45 void pb3_hit_callback (void)
jboettcher 0:327ccd5eafc8 46 {
jboettcher 0:327ccd5eafc8 47 // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED
jboettcher 0:327ccd5eafc8 48 pbStatus = pbStatus | 0x04;
jboettcher 0:327ccd5eafc8 49 }
jboettcher 0:327ccd5eafc8 50 // Callback routine is interrupt activated by a debounced pb4 hit
jboettcher 0:327ccd5eafc8 51 void pb4_hit_callback (void)
jboettcher 0:327ccd5eafc8 52 {
jboettcher 0:327ccd5eafc8 53 // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED
jboettcher 0:327ccd5eafc8 54 pbStatus = pbStatus | 0x08;
jboettcher 0:327ccd5eafc8 55 }
jboettcher 0:327ccd5eafc8 56
jboettcher 0:327ccd5eafc8 57 // main program
jboettcher 0:327ccd5eafc8 58 int main()
jboettcher 0:327ccd5eafc8 59 {
jboettcher 0:327ccd5eafc8 60 uLCD.printf("\nmyTitties!\nJoseph Boettcher");
jboettcher 0:327ccd5eafc8 61 //setup four SPST push buttons
jboettcher 0:327ccd5eafc8 62 pb1.mode(PullUp); //add internal pullup resistor
jboettcher 0:327ccd5eafc8 63 pb2.mode(PullUp);
jboettcher 0:327ccd5eafc8 64 pb3.mode(PullUp);
jboettcher 0:327ccd5eafc8 65 pb4.mode(PullUp);
jboettcher 0:327ccd5eafc8 66 // need a small delay for initial pullup to take effect due to capacitance
jboettcher 0:327ccd5eafc8 67 wait(.01);
jboettcher 0:327ccd5eafc8 68 // Setup Interrupt callback functions for each pb hit
jboettcher 0:327ccd5eafc8 69 pb1.attach_deasserted(&pb1_hit_callback);
jboettcher 0:327ccd5eafc8 70 pb2.attach_deasserted(&pb2_hit_callback);
jboettcher 0:327ccd5eafc8 71 pb3.attach_deasserted(&pb3_hit_callback);
jboettcher 0:327ccd5eafc8 72 pb4.attach_deasserted(&pb4_hit_callback);
jboettcher 0:327ccd5eafc8 73 // Start sampling the pb inputs using interrupts
jboettcher 0:327ccd5eafc8 74 pb1.setSampleFrequency();
jboettcher 0:327ccd5eafc8 75 pb2.setSampleFrequency();
jboettcher 0:327ccd5eafc8 76 pb3.setSampleFrequency();
jboettcher 0:327ccd5eafc8 77 pb4.setSampleFrequency();
jboettcher 0:327ccd5eafc8 78 // pushbuttons are all now setup with pullups and running with a software decounce filter
jboettcher 0:327ccd5eafc8 79
jboettcher 0:327ccd5eafc8 80 // use your modified robot class to move and display robot's new location on LCD
jboettcher 0:327ccd5eafc8 81 Robot myRobot;
jboettcher 0:327ccd5eafc8 82
jboettcher 0:327ccd5eafc8 83 myRobot.draw(); //initial robot display in center of LCD
jboettcher 0:327ccd5eafc8 84 //main loop to control and display robot
jboettcher 0:327ccd5eafc8 85 while(1) {
jboettcher 0:327ccd5eafc8 86 //check pushbutton status for new input
jboettcher 0:327ccd5eafc8 87 switch (pbStatus) {
jboettcher 0:327ccd5eafc8 88 //move forward
jboettcher 0:327ccd5eafc8 89 case 0x01 :
jboettcher 0:327ccd5eafc8 90 myLed1 = 1;
jboettcher 0:327ccd5eafc8 91 pbStatus = 0;
jboettcher 0:327ccd5eafc8 92 mySpeaker.PlayNote(200.0,0.1,0.8);
jboettcher 0:327ccd5eafc8 93 myRobot.erase();
jboettcher 0:327ccd5eafc8 94 myRobot.moveForward(1);
jboettcher 0:327ccd5eafc8 95 myRobot.draw();
jboettcher 0:327ccd5eafc8 96 break;
jboettcher 0:327ccd5eafc8 97 //move backwards
jboettcher 0:327ccd5eafc8 98 case 0x02 :
jboettcher 0:327ccd5eafc8 99 myLed2 = 1;
jboettcher 0:327ccd5eafc8 100 pbStatus = 0;
jboettcher 0:327ccd5eafc8 101 mySpeaker.PlayNote(400.0,0.1,0.8);
jboettcher 0:327ccd5eafc8 102 myRobot.erase();
jboettcher 0:327ccd5eafc8 103 myRobot.moveBackward(1);
jboettcher 0:327ccd5eafc8 104 myRobot.draw();
jboettcher 0:327ccd5eafc8 105 break;
jboettcher 0:327ccd5eafc8 106 //move left
jboettcher 0:327ccd5eafc8 107 case 0x04 :
jboettcher 0:327ccd5eafc8 108 myLed3 = 1;
jboettcher 0:327ccd5eafc8 109 pbStatus = 0;
jboettcher 0:327ccd5eafc8 110 mySpeaker.PlayNote(600.0,0.1,0.8);
jboettcher 0:327ccd5eafc8 111 myRobot.erase();
jboettcher 0:327ccd5eafc8 112 myRobot.moveLeft(1);
jboettcher 0:327ccd5eafc8 113 myRobot.draw();
jboettcher 0:327ccd5eafc8 114 break;
jboettcher 0:327ccd5eafc8 115 //move right
jboettcher 0:327ccd5eafc8 116 case 0x08 :
jboettcher 0:327ccd5eafc8 117 myLed4 = 1;
jboettcher 0:327ccd5eafc8 118 pbStatus = 0;
jboettcher 0:327ccd5eafc8 119 mySpeaker.PlayNote(800.0,0.1,0.8);
jboettcher 0:327ccd5eafc8 120 myRobot.erase();
jboettcher 0:327ccd5eafc8 121 myRobot.moveRight(1);
jboettcher 0:327ccd5eafc8 122 myRobot.draw();
jboettcher 0:327ccd5eafc8 123 break;
jboettcher 0:327ccd5eafc8 124 //no pb or multiple pbs hit
jboettcher 0:327ccd5eafc8 125 default :
jboettcher 0:327ccd5eafc8 126 myLed1 = 0;
jboettcher 0:327ccd5eafc8 127 myLed2 = 0;
jboettcher 0:327ccd5eafc8 128 myLed3 = 0;
jboettcher 0:327ccd5eafc8 129 myLed4 = 0;
jboettcher 0:327ccd5eafc8 130 pbStatus = 0;
jboettcher 0:327ccd5eafc8 131 } //end switch
jboettcher 0:327ccd5eafc8 132 //myLed1 = !myLed1; //blink to show loop is still running
jboettcher 0:327ccd5eafc8 133 wait(.05);
jboettcher 0:327ccd5eafc8 134 } //end while
jboettcher 0:327ccd5eafc8 135 } //end main
jboettcher 0:327ccd5eafc8 136