Diff: main.cpp

Revision:

0:343fbeea672c

Child:

1:5a1311f0ea06

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jan 23 13:47:32 2015 +0000
@@ -0,0 +1,136 @@
+
+#include "mbed.h"
+#include "Speaker.h"
+#include "PinDetect.h"
+#include "uLCD_4DGL.h"
+// setup builtin LEDs
+DigitalOut myLed1(LED1);
+DigitalOut myLed2(LED2);
+DigitalOut myLed3(LED3);
+DigitalOut myLed4(LED4);
+// setup pushbuttons for debounced interrupt use
+PinDetect pb1(p23);
+PinDetect pb2(p24);
+PinDetect pb3(p25);
+PinDetect pb4(p26);
+
+// setup LCD
+uLCD_4DGL uLCD(p28, p27, p29); // create a global lcd object
+
+//moving include down here allows use in uLCD in Robot class draw and erase member functions
+//easier for now than passing a new uLCD_4DGL object argument to the class
+#include "Robot.h"
+
+// setup instance of new Speaker class, mySpeaker using pin 21
+// the pin must be a PWM output pin
+Speaker mySpeaker(p21);
+
+// pushbutton status - need volatile for safe interrupt R/W
+volatile int pbStatus = 0;
+
+// Callback routine is interrupt activated by a debounced pb1 hit
+void pb1_hit_callback (void)
+{
+    // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED
+    pbStatus = pbStatus | 0x01;
+
+}
+// Callback routine is interrupt activated by a debounced pb2 hit
+void pb2_hit_callback (void)
+{
+    // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED
+    pbStatus = pbStatus | 0x02;
+}
+// Callback routine is interrupt activated by a debounced pb3 hit
+void pb3_hit_callback (void)
+{
+    // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED
+    pbStatus = pbStatus | 0x04;
+}
+// Callback routine is interrupt activated by a debounced pb4 hit
+void pb4_hit_callback (void)
+{
+    // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED
+    pbStatus = pbStatus | 0x08;
+}
+
+// main program
+int main()
+{
+    uLCD.printf("\nmyRobot!\nyourname");
+//setup four SPST push buttons
+    pb1.mode(PullUp); //add internal pullup resistor
+    pb2.mode(PullUp);
+    pb3.mode(PullUp);
+    pb4.mode(PullUp);
+    // need a small delay for initial pullup to take effect due to capacitance
+    wait(.01);
+    // Setup Interrupt callback functions for each pb hit
+    pb1.attach_deasserted(&pb1_hit_callback);
+    pb2.attach_deasserted(&pb2_hit_callback);
+    pb3.attach_deasserted(&pb3_hit_callback);
+    pb4.attach_deasserted(&pb4_hit_callback);
+    // Start sampling the pb inputs using interrupts
+    pb1.setSampleFrequency();
+    pb2.setSampleFrequency();
+    pb3.setSampleFrequency();
+    pb4.setSampleFrequency();
+// pushbuttons are all now setup with pullups and running with a software decounce filter
+
+// use your modified robot class to move and display robot's new location on LCD
+    Robot myRobot;
+
+    myRobot.draw(); //initial robot display in center of LCD
+//main loop to control and display robot
+    while(1) {
+        //check pushbutton status for new input
+        switch (pbStatus) {
+                //move forward
+            case 0x01 :
+                myLed1 = 1;
+                pbStatus = 0;
+                mySpeaker.PlayNote(200.0,0.1,0.8);
+                myRobot.erase();
+                myRobot.moveForward(1);
+                myRobot.draw();
+                break;
+                //move backwards
+            case 0x02 :
+                myLed2 = 1;
+                pbStatus = 0;
+                mySpeaker.PlayNote(400.0,0.1,0.8);
+                myRobot.erase();
+                myRobot.moveBackward(1);
+                myRobot.draw();
+                break;
+                //move left
+            case 0x04 :
+                myLed3 = 1;
+                pbStatus = 0;
+                mySpeaker.PlayNote(600.0,0.1,0.8);
+                myRobot.erase();
+                myRobot.moveLeft(1);
+                myRobot.draw();
+                break;
+                //move right
+            case 0x08 :
+                myLed4 = 1;
+                pbStatus = 0;
+                mySpeaker.PlayNote(800.0,0.1,0.8);
+                myRobot.erase();
+                myRobot.moveRight(1);
+                myRobot.draw();
+                break;
+                //no pb or multiple pbs hit
+            default :
+//               myLed1 = 0;
+                myLed2 = 0;
+                myLed3 = 0;
+                myLed4 = 0;
+                pbStatus = 0;
+        } //end switch
+        myLed1 = !myLed1; //blink to show loop is still running
+        wait(.05);
+    } //end while
+} //end main
+