Revision 3:a59397561c9d, committed 2012-10-11

Comitter:

luckybug38

Date:

Thu Oct 11 20:59:05 2012 +0000

Parent:

2:ad0b044d0a10

Commit message:

PROJECT3;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motordriver.lib	Thu Oct 11 20:59:05 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/farbodjam/code/Motordriver/#541fb1742c8b

--- a/main.cpp	Sat Dec 04 11:31:07 2010 +0000
+++ b/main.cpp	Thu Oct 11 20:59:05 2012 +0000
@@ -1,10 +1,430 @@
-// Hello World! for the TextLCD
+#include "mbed.h" 
+#include "TextLCD.h"
+#include <string.h>
+#include "motordriver.h"
+#include "mpr121.h"
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+DigitalIn a(p5);
+DigitalIn b(p6);
+DigitalIn c(p7);
+DigitalIn d(p8);
+
+InterruptIn interrupt(p11);
+// Setup the i2c bus on pins 28 and 27
+I2C i2c(p9, p10);
+// Setup the Mpr121:
+// constructor(i2c object, i2c address of the mpr121)
+Mpr121 mpr121(&i2c, Mpr121::ADD_VSS);
+
+//Motor
+Motor left(p21, p22, p23, 1); // pwm, fwd, rev, has brake feature
+Motor right(p26, p25, p24, 1);
+
+//TextLCD lcd(p15, p16, p17, p18, p19, p20); // rs, e, d4-d7
+TextLCD lcd(p15, p16, p17, p18, p19, p20);
+Serial pc(USBTX, USBRX); // tx, rx 
+Serial device(p13, p14);  // tx, rx 
+
+//forward or in reverse mode
+int forward;
+
+//stores directions
+int direction[10];
+
+//stores speeds
+float speed[10];
+
+//stores durations
+int duration[10];
+
+//speed of the car
+float car_speed;
+
+//duration of the car
+int car_duration;
+
+//stores the command of the touchpad
+int _command;
+
+//check if there has been input to the touchpad
+bool no_command;
+
+//count variable for card reader
+int count=0; 
+
+//Number of total moves 
+int num_moves;
+
+//stores buzzcard information
+char output[50];
+
+//number of card swipes on the reader
+int num_swipe=0;
+int o_a, o_b;
+//int count,ch, ignore_count;
+int command[12];
+int count_1=0; 
+
+
+//password variables
+int p_1, p_2,p_3,p_4;
 
-#include "mbed.h"
-#include "TextLCD.h"
+//interrupt routine for touchpad
+void fallInterrupt() {
+    no_command = true;
+    int s2=0;
+    int key_code=0;
+    int i=0;
+    int value=mpr121.read(0x00);
+    value +=mpr121.read(0x01)<<8;
+    // LED demo mod by J. Hamblen
+    //pc.printf("MPR value: %x \r\n", value);
+    i=0;
+    // puts key number out to LEDs for demo
+    for (i=0; i<12; i++) {
+        if (((value>>i)&0x01)==1) key_code=i+1;
+        }
+       
+    s2 = key_code - 1;
+    if(s2 > 0){
+    
+    _command=s2;
+    no_command = false;
+    led4=s2 & 0x01;
+    led3=(s2>>1) & 0x01;
+    led2=(s2>>2) & 0x01;
+    led1=(s2>>3) & 0x01;
+    }
+    
+    count_1++;
+    //pc.printf("hello %f\n",s);
+
+}
+
+//function to turn left
+void turnLeft(){
+  lcd.cls();
+  lcd.printf("Turning Left");
+  left.speed(0);
+  right.speed(0.4);
+  wait(2);
+  right.speed(0);
+  wait(1);
+}
+ 
+//function to turn right
+void turnRight(){
+  lcd.cls();
+  lcd.printf("Turning Right");
+  left.speed(0.4);
+  right.speed(0);
+  wait(2);
+  left.speed(0);
+  wait(1);
+}
+
+//function to turn around
+void turnAround(){
+  lcd.cls();
+  lcd.printf("Turning Around");
+  
+  left.speed(0.4);
+  right.speed(0);
+  wait(4);
+  left.speed(0);
+  wait(1);
+}
+
+
+//to move with input speed and duration of time
+void go(float _speed, int _time){
+    lcd.cls();
+    lcd.printf("Speed %f Duration %d sec", _speed, _time);
+    left.speed(_speed);
+    right.speed(_speed);
+    wait(_time);
+    left.speed(0);
+    right.speed(0);
+    wait(1);
+}
+
+//starts the card reader and verifies the user
+int cardReader(){
+    num_swipe++;  
+    int count=0;
+    int ch=0;
+    int ignore_count=0;
+   // char output[50];
+    while(1){
+        if(device.readable()){
 
-TextLCD lcd(p15, p16, p17, p18, p19, p20); // rs, e, d4-d7
+            ch=device.getc();
+            if(ignore_count>5){
+            output[count]=ch;
+            count++;
+            }
+            ignore_count++;
+            pc.putc(ch);
+            }
+            if (ignore_count>14){
+                lcd.cls();
+                
+                 if (strcmp(output,"902512409")==0){
+                   lcd.printf("Confirmed\n");
+                   lcd.printf("Welcome Sehoon\n");
+                   for (int i=0; i<1000; i++){
+                        if(device.readable())
+                        device.getc();
+                        }
+                   return 1;               
+                  }
+                  else if (strcmp(output,"902536564")==0){
+                   lcd.printf("Confirmed\n");
+                   lcd.printf("Welcome Tanvir\n");
+                   for (int i=0; i<1000; i++){
+                        if(device.readable())
+                        device.getc();
+                        }
+                   return 1;   
+                   }       
+                  else {
+                       for (int i=0; i<100; i++){
+                             if(device.readable())
+                             ch=device.getc();
+                             wait(.01);
+                        }
+                if (num_swipe==5){
+                    lcd.printf("Too many tries\nEnter password");
+                   
+                    _command=0;
+                    no_command=true;
+                    while(1){
+                    while(no_command){
+                        wait(0.1);
+                        }
+                        p_1=_command;
+                        _command=0;
+                        no_command=true;
+                        while(no_command){
+                        wait(0.1);
+                        }
+                        p_2=_command;
+                        _command=0;
+                        no_command=true;
+                        while(no_command){
+                        wait(0.1);
+                        }
+                        p_3=_command;
+                        _command=0;
+                        no_command=true;
+                        while(no_command){
+                        wait(0.1);
+                        }
+                        p_4=_command;
+                        _command=0;
+                        no_command=true;
+                        
+                        if (p_1==1&&p_2==3&&p_3==5&&p_4==7)
+                        {
+                        lcd.cls();
+                        lcd.printf("Correct!!!");
+                        wait(2);
+                        lcd.cls();
+                        lcd.printf("Try swiping AGAIN!!");
+                           break;
+                           }
+                           else{
+                           lcd.cls();
+                           lcd.printf("WRONG WRONG wROGNWRWEWERWER!@#!@");
+                           wait(2);
+                           lcd.cls();
+                           } 
+                           
+                        }
+                        
+                        
+                    }
+                else
+                lcd.printf("Try again\n");
+                return 0;
+                }
+        }
+    }    
+    
+}
+
+//number of moves for the car
+int number_of_moves(){
+      //select duration
+   //Selecting number of moves
+   lcd.printf("Select Number of Moves");
+   num_moves=100;
+   _command=100;
+   no_command = true;
+   while(no_command){
+    wait(0.1);
+
+   }
+
+   num_moves = _command;
+
+    
+ 
+    lcd.cls();
+    lcd.printf("Number of Moves: %d", num_moves); 
+    wait(2);
+    return 0;
+    }
+    
+int main() { 
+
+    interrupt.fall(&fallInterrupt);   
+  interrupt.mode(PullUp); 
+  //Swiping buzz card 
+   lcd.printf("Please Swipe your Buzzcard");
+  while(!cardReader());
+   wait(2);
+   lcd.cls();
+
+
 
-int main() {
-    lcd.printf("Hello World!\n");
+    number_of_moves();
+   if (a||b||c||d){
+        lcd.cls();
+        lcd.printf("please turn off all switches");
+        while(1){
+            if (!(a||b||c||d))
+            break;
+        }
+    }
+ 
+    lcd.cls();
+    
+   
+    for (int i=0; i<num_moves; i++){
+    
+    //select direction
+   lcd.printf("Select Direction2=L 10=R 7=F 5=B");
+   no_command = true;
+   _command=0;
+   while(_command!=2&&_command!=10&&_command!=7&&_command!=5){
+    wait(0.1);
+   }
+        if(_command==2){
+            direction[i]=1;
+            lcd.cls();
+            lcd.printf("Left");
+  
+            }
+        else if (_command==10){
+            direction[i]=2;
+            lcd.cls();
+            lcd.printf("Right");
+
+            
+            }
+        else if (_command==7){
+            direction[i]=3;
+            lcd.cls();
+            lcd.printf("Forward");
+
+            }
+        else if (_command==5){
+            direction[i]=4;
+            lcd.cls();
+            lcd.printf("Reverse");
+  
+            }
+            
+       
+   
+   wait(2);
+    lcd.cls();
+    
+    
+    //select speed
+   lcd.printf("Move Forward-1 or in Reverse-2");
+   car_speed=0;
+   _command=0;
+   forward=0;;
+   no_command = true;
+   while(_command!=1&&_command!=2){
+    wait(0.1);
+   }
+   if (_command==1){
+        forward=1;
+        lcd.cls();
+        lcd.printf("Car moves forward");
+        }
+        else if (_command==2){
+        forward=-1;
+        lcd.cls();
+        lcd.printf("Car moves in reverse");
+        }
+        wait(2);
+        lcd.cls();
+        _command=0;
+   lcd.printf("Select Car Speed 1-10");
+   while(_command!=1&&_command!=2&&_command!=3&&_command!=4&&_command!=5&&_command!=6&&_command!=7&&_command!=8&&_command!=9&&_command!=10){
+        wait(0.1);
+        }
+        car_speed=forward*_command*0.1;
+   
+   speed[i]=car_speed;
+   lcd.cls();
+   lcd.printf("car speed: %d\n", _command);
+   wait(2);
+   
+    lcd.cls();
+    
+    
+     //select duration
+ 
+   lcd.printf("Select Car duration 1-10 seconds");
+   car_duration=0;
+   _command=0;
+   while(_command!=1&&_command!=2&&_command!=3&&_command!=4&&_command!=5&&_command!=6&&_command!=7&&_command!=8&&_command!=9&&_command!=10){
+        wait(0.1);
+        }
+    car_duration=_command;
+    duration[i]=car_duration;
+    lcd.cls();
+   lcd.printf("car duration: %d seconds\n", _command);
+   wait(2);
+   
+
+ 
+    lcd.cls();
+    
+    }
+    
+    for (int i=10; i>0; i--){
+        lcd.printf("Car will start in %d seconds",i);
+        wait(1);
+        lcd.cls();
+    }
+    lcd.printf("GO GO GO GO GO GO GO GO GO !!!");
+    wait(1);
+    for (int i=0; i<num_moves; i++){
+ 
+       switch (direction[i]){
+            case 1:
+                turnLeft();
+                break;
+            case 2:
+                turnRight();
+                break;
+            case 3:
+                break;
+            case 4:
+                turnAround();
+                break;
+                }
+      go(speed[i], duration[i]);
+      }
+      lcd.cls();
+      lcd.printf("Finished");
 }

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mpr121.cpp	Thu Oct 11 20:59:05 2012 +0000
@@ -0,0 +1,221 @@
+/*
+Copyright (c) 2011 Anthony Buckton (abuckton [at] blackink [dot} net {dot} au)
+ 
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+ 
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+ 
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#include <mbed.h>
+#include <sstream>
+#include <string>
+#include <list>
+
+#include <mpr121.h>
+    
+Mpr121::Mpr121(I2C *i2c, Address i2cAddress)
+{
+    this->i2c = i2c;
+    
+    address = i2cAddress;
+           
+    // Configure the MPR121 settings to default
+    this->configureSettings();
+}
+
+   
+void Mpr121::configureSettings()
+{
+    // Put the MPR into setup mode
+    this->write(ELE_CFG,0x00);
+    
+    // Electrode filters for when data is > baseline
+    unsigned char gtBaseline[] = {
+         0x01,  //MHD_R
+         0x01,  //NHD_R 
+         0x00,  //NCL_R
+         0x00   //FDL_R
+         };
+         
+    writeMany(MHD_R,gtBaseline,4);   
+                 
+     // Electrode filters for when data is < baseline   
+     unsigned char ltBaseline[] = {
+        0x01,   //MHD_F
+        0x01,   //NHD_F
+        0xFF,   //NCL_F
+        0x02    //FDL_F
+        };
+        
+    writeMany(MHD_F,ltBaseline,4);
+        
+    // Electrode touch and release thresholds
+    unsigned char electrodeThresholds[] = {
+        E_THR_T, // Touch Threshhold
+        E_THR_R  // Release Threshold
+        };
+
+    for(int i=0; i<12; i++){
+        int result = writeMany((ELE0_T+(i*2)),electrodeThresholds,2);
+    }   
+
+    // Proximity Settings
+    unsigned char proximitySettings[] = {
+        0xff,   //MHD_Prox_R
+        0xff,   //NHD_Prox_R
+        0x00,   //NCL_Prox_R
+        0x00,   //FDL_Prox_R
+        0x01,   //MHD_Prox_F
+        0x01,   //NHD_Prox_F
+        0xFF,   //NCL_Prox_F
+        0xff,   //FDL_Prox_F
+        0x00,   //NHD_Prox_T
+        0x00,   //NCL_Prox_T
+        0x00    //NFD_Prox_T
+        };
+    writeMany(MHDPROXR,proximitySettings,11);
+
+    unsigned char proxThresh[] = {
+        PROX_THR_T, // Touch Threshold
+        PROX_THR_R  // Release Threshold
+        };
+    writeMany(EPROXTTH,proxThresh,2); 
+       
+    this->write(FIL_CFG,0x04);
+    
+    // Set the electrode config to transition to active mode
+    this->write(ELE_CFG,0x0c);
+}
+
+void Mpr121::setElectrodeThreshold(int electrode, unsigned char touch, unsigned char release){
+    
+    if(electrode > 11) return;
+    
+    // Get the current mode
+    unsigned char mode = this->read(ELE_CFG);
+    
+    // Put the MPR into setup mode
+    this->write(ELE_CFG,0x00);
+    
+    // Write the new threshold
+    this->write((ELE0_T+(electrode*2)), touch);
+    this->write((ELE0_T+(electrode*2)+1), release);
+    
+    //Restore the operating mode
+    this->write(ELE_CFG, mode);
+}
+    
+    
+unsigned char Mpr121::read(int key){
+
+    unsigned char data[2];
+    
+    //Start the command
+    i2c->start();
+
+    // Address the target (Write mode)
+    int ack1= i2c->write(address);
+
+    // Set the register key to read
+    int ack2 = i2c->write(key);
+
+    // Re-start for read of data
+    i2c->start();
+
+    // Re-send the target address in read mode
+    int ack3 = i2c->write(address+1);
+
+    // Read in the result
+    data[0] = i2c->read(0); 
+
+    // Reset the bus        
+    i2c->stop();
+
+    return data[0];
+}
+
+
+int Mpr121::write(int key, unsigned char value){
+    
+    //Start the command
+    i2c->start();
+
+    // Address the target (Write mode)
+    int ack1= i2c->write(address);
+
+    // Set the register key to write
+    int ack2 = i2c->write(key);
+
+    // Read in the result
+    int ack3 = i2c->write(value); 
+
+    // Reset the bus        
+    i2c->stop();
+    
+    return (ack1+ack2+ack3)-3;
+}
+
+
+int Mpr121::writeMany(int start, unsigned char* dataSet, int length){
+    //Start the command
+    i2c->start();
+
+    // Address the target (Write mode)
+    int ack= i2c->write(address);
+    if(ack!=1){
+        return -1;
+    }
+    
+    // Set the register key to write
+    ack = i2c->write(start);
+    if(ack!=1){
+        return -1;
+    }
+
+    // Write the date set
+    int count = 0;
+    while(ack==1 && (count < length)){
+        ack = i2c->write(dataSet[count]);
+        count++;
+    } 
+    // Stop the cmd
+    i2c->stop();
+    
+    return count;
+}
+      
+
+bool Mpr121::getProximityMode(){
+    if(this->read(ELE_CFG) > 0x0c)
+        return true;
+    else
+        return false;
+}
+
+void Mpr121::setProximityMode(bool mode){
+    this->write(ELE_CFG,0x00);
+    if(mode){
+        this->write(ELE_CFG,0x30); //Sense proximity from ALL pads
+    } else {
+        this->write(ELE_CFG,0x0c); //Sense touch, all 12 pads active.
+    }
+}
+
+
+int Mpr121::readTouchData(){
+    return this->read(0x00);
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mpr121.h	Thu Oct 11 20:59:05 2012 +0000
@@ -0,0 +1,157 @@
+/*
+Copyright (c) 2011 Anthony Buckton (abuckton [at] blackink [dot} net {dot} au)
+
+ 
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+ 
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+ 
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+   Parts written by Jim Lindblom of Sparkfun
+   Ported to mbed by A.Buckton, Feb 2011
+*/
+
+#ifndef MPR121_H
+#define MPR121_H
+
+//using namespace std;
+
+class Mpr121 
+{
+
+public:
+    // i2c Addresses, bit-shifted
+    enum Address { ADD_VSS = 0xb4,// ADD->VSS = 0x5a <-wiring on Sparkfun board
+                   ADD_VDD = 0xb6,// ADD->VDD = 0x5b
+                   ADD_SCL = 0xb8,// ADD->SDA = 0x5c
+                   ADD_SDA = 0xba // ADD->SCL = 0x5d
+                 };
+
+    // Real initialiser, takes the i2c address of the device.
+    Mpr121(I2C *i2c, Address i2cAddress);
+    
+    bool getProximityMode();
+    
+    void setProximityMode(bool mode);
+    
+    int readTouchData();
+               
+    unsigned char read(int key);
+    
+    int write(int address, unsigned char value);
+    int writeMany(int start, unsigned char* dataSet, int length);
+
+    void setElectrodeThreshold(int electrodeId, unsigned char touchThreshold, unsigned char releaseThreshold);
+        
+protected:
+    // Configures the MPR with standard settings. This is permitted to be overwritten by sub-classes.
+    void configureSettings();
+    
+private:
+    // The I2C bus instance.
+    I2C *i2c;
+
+    // i2c address of this mpr121
+    Address address;
+};
+
+
+// MPR121 Register Defines
+#define    MHD_R        0x2B
+#define    NHD_R        0x2C
+#define    NCL_R        0x2D
+#define    FDL_R        0x2E
+#define    MHD_F        0x2F
+#define    NHD_F        0x30
+#define    NCL_F        0x31
+#define    FDL_F        0x32
+#define    NHDT         0x33
+#define    NCLT         0x34
+#define    FDLT         0x35
+// Proximity sensing controls
+#define    MHDPROXR     0x36
+#define    NHDPROXR     0x37
+#define    NCLPROXR     0x38
+#define    FDLPROXR     0x39
+#define    MHDPROXF     0x3A
+#define    NHDPROXF     0x3B
+#define    NCLPROXF     0x3C
+#define    FDLPROXF     0x3D
+#define    NHDPROXT     0x3E
+#define    NCLPROXT     0x3F
+#define    FDLPROXT     0x40
+// Electrode Touch/Release thresholds
+#define    ELE0_T       0x41
+#define    ELE0_R       0x42
+#define    ELE1_T       0x43
+#define    ELE1_R       0x44
+#define    ELE2_T       0x45
+#define    ELE2_R       0x46
+#define    ELE3_T       0x47
+#define    ELE3_R       0x48
+#define    ELE4_T       0x49
+#define    ELE4_R       0x4A
+#define    ELE5_T       0x4B
+#define    ELE5_R       0x4C
+#define    ELE6_T       0x4D
+#define    ELE6_R       0x4E
+#define    ELE7_T       0x4F
+#define    ELE7_R       0x50
+#define    ELE8_T       0x51
+#define    ELE8_R       0x52
+#define    ELE9_T       0x53
+#define    ELE9_R       0x54
+#define    ELE10_T      0x55
+#define    ELE10_R      0x56
+#define    ELE11_T      0x57
+#define    ELE11_R      0x58
+// Proximity Touch/Release thresholds
+#define    EPROXTTH     0x59
+#define    EPROXRTH     0x5A
+// Debounce configuration
+#define    DEB_CFG      0x5B
+// AFE- Analogue Front End configuration
+#define    AFE_CFG      0x5C 
+// Filter configuration
+#define    FIL_CFG      0x5D
+// Electrode configuration - transistions to "active mode"
+#define    ELE_CFG      0x5E
+
+#define GPIO_CTRL0      0x73
+#define GPIO_CTRL1      0x74
+#define GPIO_DATA       0x75
+#define    GPIO_DIR     0x76
+#define    GPIO_EN      0x77
+#define    GPIO_SET     0x78
+#define GPIO_CLEAR      0x79
+#define GPIO_TOGGLE     0x7A
+// Auto configration registers
+#define    AUTO_CFG_0   0x7B
+#define    AUTO_CFG_U   0x7D
+#define    AUTO_CFG_L   0x7E
+#define    AUTO_CFG_T   0x7F
+
+// Threshold defaults
+// Electrode touch threshold
+#define    E_THR_T      0x0F   
+// Electrode release threshold 
+#define    E_THR_R      0x0A    
+// Prox touch threshold
+#define    PROX_THR_T   0x02
+// Prox release threshold
+#define    PROX_THR_R   0x02
+
+#endif