Krishan Bhagat
This program is a user interface to send gesture commands to the Magician Robot.
Dependencies: 4DGL-uLCD-SE APDS_9960 PinDetect SDFileSystem mbed wave_player
Diff: main.cpp
- Revision:
- 0:cf5720bcf459
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Apr 27 02:07:10 2015 +0000
@@ -0,0 +1,379 @@
+#include "mbed.h"
+#include "uLCD_4DGL.h"
+#include "glibr.h"
+#include "PinDetect.h"
+#include "string"
+#include "SDFileSystem.h"
+#include "wave_player.h"
+
+glibr GSensor(p9,p10);
+
+PinDetect pb2(p15);
+SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card
+AnalogOut DACout(p18);
+wave_player waver(&DACout);
+DigitalOut myled(LED1);
+DigitalOut myled2(LED2);
+Serial xbee2(p13, p14);
+uLCD_4DGL lcd(p28, p27, p30);
+
+#define DEBUGLCD 0
+#ifdef DEBUGLCD
+Serial pc2(USBTX,USBRX);
+#endif
+//DigitalOut INT(p11);
+//uint16_t ambient_light = 0;
+//uint16_t red_light = 0;
+//uint16_t green_light = 0;
+//uint16_t blue_light = 0;
+//int volatile stop=0;
+//int volatile go=0;
+string str;
+
+
+void setup()
+{
+
+ lcd.baudrate(3000000);
+ lcd.background_color(0);
+ lcd.cls();
+
+ lcd.printf("Initializing...");
+ wait(0.2);
+ lcd.cls();
+ lcd.color(RED);
+}
+
+void printRIG(int column, int roww){
+ lcd.cls();
+ lcd.text_width(1);
+ lcd.text_height(1);
+ int col, row, r, c;
+
+ /* Draw staff of arrow */
+ for(col=3; col<13; col++)
+ for(row=5; row<10; row++)
+ lcd.text_char('=', col, row, GREEN);
+
+ /* Draw arrowhead */
+ lcd.text_char('*', col-2, 4, GREEN); lcd.text_char('*', col-2, 3, GREEN);
+ lcd.text_char('*', col-1, 4, GREEN);
+ int a = 5, b=5;
+ for(c = col; c<(col+3); c++){
+ for(r = a; r<(a+b); r++)
+ lcd.text_char('*', c, r, GREEN);
+ a++; b-=2;
+ }
+ lcd.text_char('*', 11, row, GREEN); lcd.text_char('*', 11, row+1, GREEN);
+ lcd.text_char('*', 12, row, GREEN);
+
+ /* Print Command String */
+ lcd.text_width(2);
+ lcd.text_height(2);
+ lcd.text_string("RIG", column, roww, FONT_7X8, WHITE);
+}
+
+void printLEF(int column, int roww){
+ lcd.cls();
+ lcd.text_width(1);
+ lcd.text_height(1);
+ int col, row, r, c;
+
+ /* Draw staff of arrow */
+ for(col=15; col>=6; col--)
+ for(row=5; row<10; row++)
+ lcd.text_char('=', col, row, GREEN);
+ /* Draw arrowhead */
+ lcd.text_char('*', col+2, 4, GREEN); lcd.text_char('*', col+2, 3, GREEN); lcd.text_char('*', col+1, 4, GREEN);
+ lcd.text_char('*', col+2, row, GREEN); lcd.text_char('*', col+1, row, GREEN); lcd.text_char('*', col+2, row+1, GREEN);
+ int a = 5, b=5;
+ for(c = col; c>(col-3); c--){
+ for(r = a; r<(a+b); r++)
+ lcd.text_char('*', c, r, GREEN);
+ a++; b-=2;
+ }
+
+ /* Print Command String */
+ lcd.text_width(2);
+ lcd.text_height(2);
+ lcd.text_string("LEF", column, roww, FONT_7X8, WHITE);
+}
+
+void printBWD(int column, int roww){
+ lcd.cls();
+ lcd.text_width(1);
+ lcd.text_height(1);
+ int col, row, r, c;
+
+ /* Draw staff of arrow */
+ for(row = 2; row<7; row++)
+ for(col = 5; col<14; col++)
+ lcd.text_char('|',col, row, GREEN);
+
+ /* Draw arrowhead */
+ lcd.text_char('_', col, row-1, GREEN); lcd.text_char('_', col+1, row-1, GREEN);
+ lcd.text_char('_', 4, row-1, GREEN); lcd.text_char('_', 3, row-1, GREEN);
+ int a = 5, b=8;
+ for(r=row; r<=(row+5); r++){
+ for(c=a; c<=(a+b); c++)
+ lcd.text_char('*', c, r, GREEN);
+ a++; b-=2;
+ }
+
+ /* Print Command String */
+ lcd.text_width(2);
+ lcd.text_height(2);
+ lcd.text_string("BWD", column, roww, FONT_7X8, WHITE);
+}
+
+void printFWD(int column, int roww){
+ lcd.cls();
+ lcd.text_width(1);
+ lcd.text_height(1);
+ int col, row, r, c;
+
+ /* Draw staff of arrow */
+ for(row = 10; row>=6; row--)
+ for(col = 5; col<14; col++)
+ lcd.text_char('|',col, row, GREEN);
+
+ /* Draw arrowhead */
+ lcd.text_char('_', col, row, GREEN); lcd.text_char('_', col+1, row, GREEN);
+ lcd.text_char('_', 4, row, GREEN); lcd.text_char('_', 3, row, GREEN);
+ int a = 5, b=8;
+ for(r=row; r>=(row-5); r--){
+ for(c=a; c<=(a+b); c++)
+ lcd.text_char('*', c, r, GREEN);
+ a++; b-=2;
+ }
+
+ /* Print Command String */
+ lcd.text_width(2);
+ lcd.text_height(2);
+ lcd.text_string("FWD", column, roww, FONT_7X8, WHITE);
+}
+
+void printERR(int column, int roww){
+ lcd.cls();
+ // lcd.filled_circle(64 , 60 , 20, WHITE);
+ lcd.text_width(8);
+ lcd.text_height(8);
+ lcd.text_string("!!!", column, roww, FONT_7X8, RED);
+ lcd.text_string("!!!", column, roww+1, FONT_7X8, RED);
+ lcd.text_width(2);
+ lcd.text_height(2);
+ lcd.text_string("ERR", 3, 7, FONT_7X8, WHITE);
+
+}
+
+void printSTOP(int column, int roww){
+ lcd.cls();
+ lcd.filled_circle(64 , 60 , 35, RED);
+ lcd.text_width(2);
+ lcd.text_height(2);
+ lcd.text_string("STP", column, roww, FONT_7X8, WHITE);
+}
+
+
+
+
+void pb2_hit_callback (void) {
+ myled2 =!myled2;
+ str.append("S");
+ #ifdef DEBUGLCD
+ pc2.printf("%s\n", str);
+ #endif
+ xbee2.putc('S');
+ printSTOP(3, 7);
+ // FILE *Stop;
+// Stop=fopen("/sd/Stop.wav","r");
+// if(Stop!=NULL){
+// waver.play(Stop);
+// }else{
+// pc2.printf("Stop not open");
+// }
+// fclose(Stop);
+ str.clear();
+}
+
+int main()
+{
+
+ bool gerror=false;
+
+ if (GSensor.ginit()) {
+
+ #ifdef DEBUGLCD
+ pc2.printf("APDS-9960 initialization complete\n\r");
+ #endif
+ } else {
+ #ifdef DEBUGLCD
+ pc2.printf("Something went wrong during APDS-9960 init\n\r");
+ #endif
+ gerror=true;
+ }
+
+ // Start running the APDS-9960 gesture sensor engine
+ if ( GSensor.enableGestureSensor(true) ) {
+ #ifdef DEBUGLCD
+ pc2.printf("Gesture sensor is now running\n\r");
+ #endif
+ } else {
+ #ifdef DEBUGLCD
+ pc2.printf("Something went wrong during gesture sensor init!\n\r");
+ #endif
+ gerror=true;
+
+ }
+
+
+
+ pb2.mode(PullUp);
+ // Delay for initial pullup to take effect
+ wait(.01);
+ // Setup Interrupt callback function for a pb hit
+ pb2.attach_deasserted(&pb2_hit_callback);
+ // Start sampling pb input using interrupts
+ pb2.setSampleFrequency();
+ setup();
+
+ while(!(GSensor.isGestureAvailable())){
+ lcd.text_width(2);
+ lcd.text_height(2);
+ lcd.text_string("READY", 2, 2, FONT_12X16, WHITE);
+ lcd.text_string("FOR", 3, 3, FONT_12X16, WHITE);
+ lcd.text_string("INPUT", 2, 4, FONT_12X16, WHITE);
+ wait(0.5);
+ lcd.cls();
+ wait(0.5);
+ }
+
+ int temp;
+ FILE *Forward;
+ FILE *Backward;
+ FILE *Left;
+ FILE *Right;
+ FILE *Error;
+ FILE *Stop;
+
+ while(gerror==false) {
+
+ /*ret = GSensor.isGestureAvailable();
+ pc2.printf("Is Gesture Available?: %d\n", ret);
+ myled = ret;
+ val = GSensor.readGesture();
+ */
+
+
+ if ( GSensor.isGestureAvailable() || xbee2.readable()) {
+
+ if(xbee2.readable()&& xbee2.getc()=='C'){
+ temp= 67;
+ }else if(GSensor.isGestureAvailable()){
+ temp=GSensor.readGesture();
+ }
+
+
+ switch ( temp) {
+ case DIR_UP:
+ #ifdef DEBUGLCD
+ pc2.printf("Forward\n");
+ #endif
+ xbee2.putc('F');
+ printFWD(3, 7);
+ Forward=fopen("/sd/Forward.wav","r");
+ if(Forward!=NULL){
+ waver.play(Forward);
+ }else{pc2.printf("Forward not open");}
+ fclose(Forward);
+ str.append("F");
+ break;
+ case DIR_DOWN:
+ #ifdef DEBUGLCD
+ pc2.printf("Backward\n");
+ #endif
+ xbee2.putc('B');
+ printBWD(3, 7);
+ Backward=fopen("/sd/Backward.wav","r");
+ if(Backward!=NULL){
+ waver.play(Backward);
+ }else{pc2.printf("Backward not open");}
+ fclose(Backward);
+ str.append("B");
+ break;
+ case DIR_LEFT:
+ #ifdef DEBUGLCD
+ pc2.printf("LEFT\n");
+ #endif
+ xbee2.putc('L');
+ printLEF(3, 7);
+ Left=fopen("/sd/Left.wav","r");
+ if(Left!=NULL){
+ waver.play(Left);
+ }else{pc2.printf("Left not open");}
+ fclose(Left);
+ str.append("L");
+ break;
+ case DIR_RIGHT:
+ #ifdef DEBUGLCD
+ pc2.printf("RIGHT\n");
+ #endif
+ xbee2.putc('R');
+ printRIG(3, 7);
+
+ Right=fopen("/sd/Right.wav","r");
+ if(Right!=NULL){
+ waver.play(Right);
+ }else{ pc2.printf("Right not open"); }
+ fclose(Right);
+ str.append("R");
+ break;
+ case 67:
+ #ifdef DEBUGLCD
+ pc2.printf("Collision\n");
+ #endif
+ printSTOP(3, 7);
+ Stop=fopen("/sd/Stop.wav","r");
+ if(Stop!=NULL){
+ waver.play(Stop);
+ }else{ pc2.printf("Stop not open");}
+ fclose(Stop);
+ str.append("C");
+ break;
+
+ case DIR_NEAR:
+ #ifdef DEBUGLCD
+ pc2.printf("NEAR\n");
+ #endif
+ break;
+ case DIR_FAR:
+ #ifdef DEBUGLCD
+ pc2.printf("FAR\n");
+ #endif
+ break;
+ default:
+ #ifdef DEBUGLCD
+ pc2.printf("NONE\n");
+ #endif
+ printERR(0, 0);
+ Error=fopen("/sd/R2D2a.wav","r");
+ if(Error!=NULL){
+ waver.play(Error);
+ }else{ pc2.printf("Error not open");}
+ fclose(Error);
+ break;
+
+ }
+ }
+
+
+
+ // wait(1);
+
+ }
+
+
+
+
+}
+