Martin Deng / Mbed 2 deprecated mbed_shapedriver

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Dependencies:   mbed

main.cpp@3:7e568908f1c4, 2015-05-01 (annotated)

Committer:
martydd3
Date:
Fri May 01 01:43:57 2015 +0000
Revision:
3:7e568908f1c4
Parent:
2:4b42ccb9df8d
Child:
4:75498bd2e742
Cartesian lines working, decided to get rid of polar lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
martydd3 0:b654a906fb40 1 #include "mbed.h"
martydd3 0:b654a906fb40 2 #include "MRF24J40.h"
martydd3 0:b654a906fb40 3
martydd3 0:b654a906fb40 4 #include <string>
martydd3 0:b654a906fb40 5 #include "constants.h"
martydd3 0:b654a906fb40 6 #include "shape.h"
martydd3 0:b654a906fb40 7
martydd3 0:b654a906fb40 8 // RF tranceiver to link with handheld.
martydd3 0:b654a906fb40 9 MRF24J40 mrf(p11, p12, p13, p14, p26);
martydd3 0:b654a906fb40 10
martydd3 0:b654a906fb40 11 // LEDs you can treat these as variables (led2 = 1 will turn led2 on!)
martydd3 0:b654a906fb40 12 DigitalOut led1(LED1);
martydd3 0:b654a906fb40 13 DigitalOut led2(LED2);
martydd3 0:b654a906fb40 14 DigitalOut led3(LED3);
martydd3 0:b654a906fb40 15 DigitalOut led4(LED4);
martydd3 0:b654a906fb40 16
martydd3 0:b654a906fb40 17 // Timer
martydd3 0:b654a906fb40 18 Timer timer;
martydd3 0:b654a906fb40 19
martydd3 0:b654a906fb40 20 // Serial port for showing RX data.
martydd3 0:b654a906fb40 21 Serial pc(USBTX, USBRX);
martydd3 0:b654a906fb40 22
martydd3 0:b654a906fb40 23 // Used for sending and receiving
martydd3 0:b654a906fb40 24 char txBuffer[128];
martydd3 0:b654a906fb40 25 char rxBuffer[128];
martydd3 0:b654a906fb40 26 int rxLen;
martydd3 0:b654a906fb40 27
martydd3 0:b654a906fb40 28 //***************** Do not change these methods (please) *****************//
martydd3 0:b654a906fb40 29
martydd3 0:b654a906fb40 30 /**
martydd3 0:b654a906fb40 31 * Receive data from the MRF24J40.
martydd3 0:b654a906fb40 32 *
martydd3 0:b654a906fb40 33 * @param data A pointer to a char array to hold the data
martydd3 0:b654a906fb40 34 * @param maxLength The max amount of data to read.
martydd3 0:b654a906fb40 35 */
martydd3 0:b654a906fb40 36 int rf_receive(char *data, uint8_t maxLength)
martydd3 0:b654a906fb40 37 {
martydd3 0:b654a906fb40 38 uint8_t len = mrf.Receive((uint8_t *)data, maxLength);
martydd3 0:b654a906fb40 39 uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
martydd3 0:b654a906fb40 40
martydd3 0:b654a906fb40 41 if(len > 10) {
martydd3 0:b654a906fb40 42 //Remove the header and footer of the message
martydd3 0:b654a906fb40 43 for(uint8_t i = 0; i < len-2; i++) {
martydd3 0:b654a906fb40 44 if(i<8) {
martydd3 0:b654a906fb40 45 //Make sure our header is valid first
martydd3 0:b654a906fb40 46 if(data[i] != header[i])
martydd3 0:b654a906fb40 47 return 0;
martydd3 0:b654a906fb40 48 } else {
martydd3 0:b654a906fb40 49 data[i-8] = data[i];
martydd3 0:b654a906fb40 50 }
martydd3 0:b654a906fb40 51 }
martydd3 0:b654a906fb40 52
martydd3 0:b654a906fb40 53 //pc.printf("Received: %s length:%d\r\n", data, ((int)len)-10);
martydd3 0:b654a906fb40 54 }
martydd3 0:b654a906fb40 55 return ((int)len)-10;
martydd3 0:b654a906fb40 56 }
martydd3 0:b654a906fb40 57
martydd3 0:b654a906fb40 58 /**
martydd3 0:b654a906fb40 59 * Send data to another MRF24J40.
martydd3 0:b654a906fb40 60 *
martydd3 0:b654a906fb40 61 * @param data The string to send
martydd3 0:b654a906fb40 62 * @param maxLength The length of the data to send.
martydd3 0:b654a906fb40 63 * If you are sending a null-terminated string you can pass strlen(data)+1
martydd3 0:b654a906fb40 64 */
martydd3 0:b654a906fb40 65 void rf_send(char *data, uint8_t len)
martydd3 0:b654a906fb40 66 {
martydd3 0:b654a906fb40 67 //We need to prepend the message with a valid ZigBee header
martydd3 0:b654a906fb40 68 uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
martydd3 0:b654a906fb40 69 uint8_t *send_buf = (uint8_t *) malloc( sizeof(uint8_t) * (len+8) );
martydd3 0:b654a906fb40 70
martydd3 0:b654a906fb40 71 for(uint8_t i = 0; i < len+8; i++) {
martydd3 0:b654a906fb40 72 //prepend the 8-byte header
martydd3 0:b654a906fb40 73 send_buf[i] = (i<8) ? header[i] : data[i-8];
martydd3 0:b654a906fb40 74 }
martydd3 0:b654a906fb40 75 //pc.printf("Sent: %s\r\n", send_buf+8);
martydd3 0:b654a906fb40 76
martydd3 0:b654a906fb40 77 mrf.Send(send_buf, len+8);
martydd3 0:b654a906fb40 78 free(send_buf);
martydd3 0:b654a906fb40 79 }
martydd3 0:b654a906fb40 80
martydd3 2:4b42ccb9df8d 81 /*******************************************************************/
martydd3 2:4b42ccb9df8d 82 // Display interrupt and drivers
martydd3 2:4b42ccb9df8d 83
martydd3 2:4b42ccb9df8d 84 int frame_id = 0;
martydd3 2:4b42ccb9df8d 85 char frame_buffer1[SLICES][WIDTH];
martydd3 2:4b42ccb9df8d 86 char frame_buffer2[SLICES][WIDTH];
martydd3 0:b654a906fb40 87 char work_buffer[SLICES][WIDTH];
martydd3 0:b654a906fb40 88
martydd3 2:4b42ccb9df8d 89 int slice_i = 100;
martydd3 0:b654a906fb40 90 BusOut blade(p15, p16, p17, p18, p19, p20, p21, p22);
martydd3 0:b654a906fb40 91 DigitalOut clk(p23);
martydd3 0:b654a906fb40 92 DigitalOut disp(p24);
martydd3 0:b654a906fb40 93 Ticker pixel_ticker;
martydd3 0:b654a906fb40 94
martydd3 2:4b42ccb9df8d 95 void push_pixels(){
martydd3 2:4b42ccb9df8d 96 for(int j = 8; j < WIDTH; j++){
martydd3 2:4b42ccb9df8d 97 if(frame_id == 0)
martydd3 2:4b42ccb9df8d 98 blade = frame_buffer1[slice_i][j];
martydd3 2:4b42ccb9df8d 99 else
martydd3 2:4b42ccb9df8d 100 blade = frame_buffer2[slice_i][j];
martydd3 2:4b42ccb9df8d 101
martydd3 2:4b42ccb9df8d 102 clk = 1;
martydd3 2:4b42ccb9df8d 103 clk = 0;
martydd3 2:4b42ccb9df8d 104 }
martydd3 2:4b42ccb9df8d 105
martydd3 2:4b42ccb9df8d 106 for(int j = 7; j >= 0; j--){
martydd3 2:4b42ccb9df8d 107 if(frame_id == 0)
martydd3 2:4b42ccb9df8d 108 blade = frame_buffer1[slice_i][j];
martydd3 2:4b42ccb9df8d 109 else
martydd3 2:4b42ccb9df8d 110 blade = frame_buffer2[slice_i][j];
martydd3 2:4b42ccb9df8d 111
martydd3 2:4b42ccb9df8d 112 clk = 1;
martydd3 2:4b42ccb9df8d 113 clk = 0;
martydd3 2:4b42ccb9df8d 114 }
martydd3 2:4b42ccb9df8d 115
martydd3 2:4b42ccb9df8d 116 disp = 1;
martydd3 2:4b42ccb9df8d 117 disp = 0;
martydd3 2:4b42ccb9df8d 118
martydd3 2:4b42ccb9df8d 119 slice_i = (slice_i + 1)%SLICES;
martydd3 2:4b42ccb9df8d 120 }
martydd3 2:4b42ccb9df8d 121
martydd3 2:4b42ccb9df8d 122 //Hall sensor interupt
martydd3 2:4b42ccb9df8d 123 double rotate_time;
martydd3 2:4b42ccb9df8d 124 double slice_time;
martydd3 2:4b42ccb9df8d 125
martydd3 2:4b42ccb9df8d 126 Timer hall_timer;
martydd3 2:4b42ccb9df8d 127
martydd3 2:4b42ccb9df8d 128 void rotate_sense(){
martydd3 2:4b42ccb9df8d 129 static bool firstTime = false;
martydd3 2:4b42ccb9df8d 130
martydd3 2:4b42ccb9df8d 131 if (firstTime){
martydd3 2:4b42ccb9df8d 132 hall_timer.reset();
martydd3 2:4b42ccb9df8d 133 hall_timer.start();
martydd3 2:4b42ccb9df8d 134 firstTime = false;
martydd3 2:4b42ccb9df8d 135 return;
martydd3 2:4b42ccb9df8d 136 }
martydd3 2:4b42ccb9df8d 137
martydd3 2:4b42ccb9df8d 138 rotate_time = hall_timer.read_us();
martydd3 2:4b42ccb9df8d 139 hall_timer.reset();
martydd3 2:4b42ccb9df8d 140 hall_timer.start();
martydd3 2:4b42ccb9df8d 141
martydd3 2:4b42ccb9df8d 142 slice_time = (double) rotate_time/SLICES;
martydd3 2:4b42ccb9df8d 143 slice_i = 0;
martydd3 2:4b42ccb9df8d 144 pixel_ticker.attach_us(&push_pixels, slice_time);
martydd3 2:4b42ccb9df8d 145 }
martydd3 2:4b42ccb9df8d 146
martydd3 2:4b42ccb9df8d 147 /***************************************************************/
martydd3 2:4b42ccb9df8d 148 //code to adjust for offset blades and vertical alignment
martydd3 2:4b42ccb9df8d 149
martydd3 0:b654a906fb40 150 int displaces[HEIGHT];
martydd3 0:b654a906fb40 151
martydd3 0:b654a906fb40 152 void init_displaces(){
martydd3 0:b654a906fb40 153 for(int i = 0; i < HEIGHT; i++){
martydd3 0:b654a906fb40 154 switch(i){
martydd3 0:b654a906fb40 155 case 0: displaces[i] = 0; break;
martydd3 0:b654a906fb40 156 case 1: displaces[i] = 4 * SLICES / 8; break;
martydd3 0:b654a906fb40 157 case 2: displaces[i] = 7 * SLICES / 8 - 5; break;
martydd3 0:b654a906fb40 158 case 3: displaces[i] = 3 * SLICES / 8 - 8; break;
martydd3 0:b654a906fb40 159 case 4: displaces[i] = 6 * SLICES / 8 - 6; break;
martydd3 0:b654a906fb40 160 case 5: displaces[i] = 2 * SLICES / 8 - 7; break;
martydd3 0:b654a906fb40 161 case 6: displaces[i] = 5 * SLICES / 8 - 7; break;
martydd3 0:b654a906fb40 162 case 7: displaces[i] = 1 * SLICES / 8 - 8; break;
martydd3 0:b654a906fb40 163 }
martydd3 0:b654a906fb40 164 }
martydd3 0:b654a906fb40 165 }
martydd3 0:b654a906fb40 166
martydd3 0:b654a906fb40 167 void convert_array(){
martydd3 2:4b42ccb9df8d 168 static bool initialized = false;
martydd3 0:b654a906fb40 169 int array_i;
martydd3 0:b654a906fb40 170
martydd3 2:4b42ccb9df8d 171 if(!initialized){
martydd3 2:4b42ccb9df8d 172 init_displaces();
martydd3 2:4b42ccb9df8d 173 }
martydd3 0:b654a906fb40 174
martydd3 0:b654a906fb40 175 for(int i = 0; i < SLICES; i++){
martydd3 0:b654a906fb40 176 for(int j = 0; j < WIDTH; j++){
martydd3 0:b654a906fb40 177 char bit = 0x00;
martydd3 0:b654a906fb40 178
martydd3 0:b654a906fb40 179 for(int h = 0; h < HEIGHT; h++){
martydd3 0:b654a906fb40 180 bit |= (work_buffer[(i + displaces[h]) % SLICES][j] & (0x01 << h));
martydd3 0:b654a906fb40 181 }
martydd3 0:b654a906fb40 182
martydd3 2:4b42ccb9df8d 183 if(frame_id == 0)
martydd3 2:4b42ccb9df8d 184 frame_buffer2[i][j] = bit;
martydd3 2:4b42ccb9df8d 185 else
martydd3 2:4b42ccb9df8d 186 frame_buffer1[i][j] = bit;
martydd3 0:b654a906fb40 187 }
martydd3 0:b654a906fb40 188 }
martydd3 0:b654a906fb40 189
martydd3 2:4b42ccb9df8d 190 if(frame_id == 0)
martydd3 2:4b42ccb9df8d 191 frame_id = 1;
martydd3 2:4b42ccb9df8d 192 else
martydd3 2:4b42ccb9df8d 193 frame_id = 0;
martydd3 2:4b42ccb9df8d 194 }
martydd3 2:4b42ccb9df8d 195
martydd3 2:4b42ccb9df8d 196 int display_mode = 0;
martydd3 2:4b42ccb9df8d 197 Ticker animate_ticker;
martydd3 2:4b42ccb9df8d 198 void animate(){
martydd3 2:4b42ccb9df8d 199 static WaveCircle *wc1 = NULL;
martydd3 2:4b42ccb9df8d 200 static WaveCircle *wc2 = NULL;
martydd3 2:4b42ccb9df8d 201 static WaveCircle *wc3 = NULL;
martydd3 2:4b42ccb9df8d 202 static WaveCircle *wc4 = NULL;
martydd3 2:4b42ccb9df8d 203 static WaveCircle *wc5 = NULL;
martydd3 2:4b42ccb9df8d 204 static WaveCircle *wc6 = NULL;
martydd3 2:4b42ccb9df8d 205 static WaveCircle *wc7 = NULL;
martydd3 2:4b42ccb9df8d 206 static WaveCircle *wc8 = NULL;
martydd3 2:4b42ccb9df8d 207 static WaveCircle *wc9 = NULL;
martydd3 2:4b42ccb9df8d 208 static WaveCircle *wc10 = NULL;
martydd3 2:4b42ccb9df8d 209 static WaveCircle *wc11 = NULL;
martydd3 2:4b42ccb9df8d 210 static WaveCircle *wc12 = NULL;
martydd3 2:4b42ccb9df8d 211 static WaveCircle *wc13 = NULL;
martydd3 2:4b42ccb9df8d 212
martydd3 2:4b42ccb9df8d 213 for(int i = 0; i < SLICES; i++){
martydd3 2:4b42ccb9df8d 214 for(int j = 0; j < WIDTH; j++){
martydd3 2:4b42ccb9df8d 215 work_buffer[i][j] = 0x00;
martydd3 2:4b42ccb9df8d 216 }
martydd3 2:4b42ccb9df8d 217 }
martydd3 2:4b42ccb9df8d 218
martydd3 2:4b42ccb9df8d 219 if(display_mode == 1)
martydd3 2:4b42ccb9df8d 220 {
martydd3 2:4b42ccb9df8d 221 if(wc1 == NULL){
martydd3 2:4b42ccb9df8d 222 wc1 = new WaveCircle(3, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 223 wc2 = new WaveCircle(4, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 224 wc3 = new WaveCircle(5, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 225 wc4 = new WaveCircle(6, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 226 wc5 = new WaveCircle(7, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 227 wc6 = new WaveCircle(8, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 228 wc7 = new WaveCircle(9, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 229 wc8 = new WaveCircle(10, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 230 wc9 = new WaveCircle(11, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 231 wc10 = new WaveCircle(12, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 232 wc11 = new WaveCircle(13, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 233 wc12 = new WaveCircle(14, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 234 wc13 = new WaveCircle(15, 4, &work_buffer);
martydd3 2:4b42ccb9df8d 235 }
martydd3 2:4b42ccb9df8d 236
martydd3 2:4b42ccb9df8d 237 wc1->animate();
martydd3 2:4b42ccb9df8d 238 wc2->animate();
martydd3 2:4b42ccb9df8d 239 wc3->animate();
martydd3 2:4b42ccb9df8d 240 wc4->animate();
martydd3 2:4b42ccb9df8d 241 wc5->animate();
martydd3 2:4b42ccb9df8d 242 wc6->animate();
martydd3 2:4b42ccb9df8d 243 wc7->animate();
martydd3 2:4b42ccb9df8d 244 wc8->animate();
martydd3 2:4b42ccb9df8d 245 wc9->animate();
martydd3 2:4b42ccb9df8d 246 wc10->animate();
martydd3 2:4b42ccb9df8d 247 wc11->animate();
martydd3 2:4b42ccb9df8d 248 wc12->animate();
martydd3 2:4b42ccb9df8d 249 wc13->animate();
martydd3 2:4b42ccb9df8d 250
martydd3 2:4b42ccb9df8d 251 wc1->draw();
martydd3 2:4b42ccb9df8d 252 wc2->draw();
martydd3 2:4b42ccb9df8d 253 wc3->draw();
martydd3 2:4b42ccb9df8d 254 wc4->draw();
martydd3 2:4b42ccb9df8d 255 wc5->draw();
martydd3 2:4b42ccb9df8d 256 wc6->draw();
martydd3 2:4b42ccb9df8d 257 wc7->draw();
martydd3 2:4b42ccb9df8d 258 wc8->draw();
martydd3 2:4b42ccb9df8d 259 wc9->draw();
martydd3 2:4b42ccb9df8d 260 wc10->draw();
martydd3 2:4b42ccb9df8d 261 wc11->draw();
martydd3 2:4b42ccb9df8d 262 wc12->draw();
martydd3 2:4b42ccb9df8d 263 wc13->draw();
martydd3 2:4b42ccb9df8d 264 }
martydd3 2:4b42ccb9df8d 265 else if(display_mode == 2)
martydd3 2:4b42ccb9df8d 266 {
martydd3 2:4b42ccb9df8d 267 // Eight sided star
martydd3 2:4b42ccb9df8d 268 Line line1(15, 0, 0, 15, 90, 7, &work_buffer);
martydd3 2:4b42ccb9df8d 269 Line line2(15, 90, 7, 15, 180, 0, &work_buffer);
martydd3 2:4b42ccb9df8d 270 Line line3(15, 180, 0, 15, 270, 7, &work_buffer);
martydd3 2:4b42ccb9df8d 271 Line line4(15, 270, 7, 15, 0, 0, &work_buffer);
martydd3 2:4b42ccb9df8d 272 line1.draw();
martydd3 2:4b42ccb9df8d 273 line2.draw();
martydd3 2:4b42ccb9df8d 274 line3.draw();
martydd3 2:4b42ccb9df8d 275 line4.draw();
martydd3 2:4b42ccb9df8d 276
martydd3 2:4b42ccb9df8d 277 Line line5(15, 45, 0, 15, 135, 7, &work_buffer);
martydd3 2:4b42ccb9df8d 278 Line line6(15, 135, 7, 15, 225, 0, &work_buffer);
martydd3 2:4b42ccb9df8d 279 Line line7(15, 225, 0, 15, 315, 7, &work_buffer);
martydd3 2:4b42ccb9df8d 280 Line line8(15, 315, 7, 15, 45, 0, &work_buffer);
martydd3 2:4b42ccb9df8d 281 line5.draw();
martydd3 2:4b42ccb9df8d 282 line6.draw();
martydd3 2:4b42ccb9df8d 283 line7.draw();
martydd3 2:4b42ccb9df8d 284 line8.draw();
martydd3 2:4b42ccb9df8d 285 }
martydd3 2:4b42ccb9df8d 286 else if(display_mode == 3)
martydd3 2:4b42ccb9df8d 287 {
martydd3 2:4b42ccb9df8d 288 Line line1(1, 0, 0, 1, 0, 7, &work_buffer);
martydd3 2:4b42ccb9df8d 289 Line line2(9, 35, 0, 9, 35, 7, &work_buffer);
martydd3 2:4b42ccb9df8d 290 Line line3(9, 325, 0, 9, 325, 7, &work_buffer);
martydd3 2:4b42ccb9df8d 291 Line line4(13, 0, 0, 13, 0, 7, &work_buffer);
martydd3 2:4b42ccb9df8d 292
martydd3 2:4b42ccb9df8d 293 line1.draw();
martydd3 2:4b42ccb9df8d 294 line2.draw();
martydd3 2:4b42ccb9df8d 295 line3.draw();
martydd3 2:4b42ccb9df8d 296 line4.draw();
martydd3 2:4b42ccb9df8d 297
martydd3 2:4b42ccb9df8d 298 Line line5(M_PI * 320 / 180, 0.777030, 0, 0, 35, 0, &work_buffer);
martydd3 2:4b42ccb9df8d 299 Line line6(M_PI * 40 / 180, 0.777030, 0, 0, 325, 0, &work_buffer);
martydd3 2:4b42ccb9df8d 300 Line line7(M_PI * 320 / 180, 8.787681, 325, 0, 0, 0, &work_buffer);
martydd3 2:4b42ccb9df8d 301 Line line8(M_PI * 40 / 180, 8.787681, 35, 0, 0, 0, &work_buffer);
martydd3 2:4b42ccb9df8d 302
martydd3 2:4b42ccb9df8d 303 line5.draw();
martydd3 2:4b42ccb9df8d 304 line6.draw();
martydd3 2:4b42ccb9df8d 305 line7.draw();
martydd3 2:4b42ccb9df8d 306 line8.draw();
martydd3 2:4b42ccb9df8d 307
martydd3 2:4b42ccb9df8d 308 Line line9(M_PI * 320 / 180, 0.777030, 0, 7, 35, 7, &work_buffer);
martydd3 2:4b42ccb9df8d 309 Line line10(M_PI * 40 / 180, 0.777030, 0, 7, 325, 7, &work_buffer);
martydd3 2:4b42ccb9df8d 310 Line line11(M_PI * 320 / 180, 8.787681, 325, 7, 0, 7, &work_buffer);
martydd3 2:4b42ccb9df8d 311 Line line12(M_PI * 40 / 180, 8.787681, 35, 7, 0, 7, &work_buffer);
martydd3 2:4b42ccb9df8d 312
martydd3 2:4b42ccb9df8d 313 line9.draw();
martydd3 2:4b42ccb9df8d 314 line10.draw();
martydd3 2:4b42ccb9df8d 315 line11.draw();
martydd3 2:4b42ccb9df8d 316 line12.draw();
martydd3 2:4b42ccb9df8d 317 } else if(display_mode == 4){
martydd3 3:7e568908f1c4 318 CartLine line1(0, 16, 0, 0, -16, 7, &work_buffer);
martydd3 3:7e568908f1c4 319 CartLine line2(4, 16, 0, 4, -16, 7, &work_buffer);
martydd3 3:7e568908f1c4 320 CartLine line3(8, 16, 0, 8, -16, 7, &work_buffer);
martydd3 3:7e568908f1c4 321 CartLine line4(12, 16, 0, 12, -16, 7, &work_buffer);
martydd3 3:7e568908f1c4 322 CartLine line5(-4, 16, 0, -4, -16, 7, &work_buffer);
martydd3 3:7e568908f1c4 323 CartLine line6(-8, 16, 0, -8, -16, 7, &work_buffer);
martydd3 3:7e568908f1c4 324 CartLine line7(-12, 16, 0, -12, -16, 7, &work_buffer);
martydd3 3:7e568908f1c4 325
martydd3 3:7e568908f1c4 326
martydd3 2:4b42ccb9df8d 327
martydd3 2:4b42ccb9df8d 328 line1.draw();
martydd3 2:4b42ccb9df8d 329 line2.draw();
martydd3 2:4b42ccb9df8d 330 line3.draw();
martydd3 2:4b42ccb9df8d 331 line4.draw();
martydd3 2:4b42ccb9df8d 332 line5.draw();
martydd3 2:4b42ccb9df8d 333 line6.draw();
martydd3 2:4b42ccb9df8d 334 line7.draw();
martydd3 2:4b42ccb9df8d 335 }
martydd3 2:4b42ccb9df8d 336
martydd3 2:4b42ccb9df8d 337 convert_array();
martydd3 2:4b42ccb9df8d 338 }
martydd3 2:4b42ccb9df8d 339
martydd3 2:4b42ccb9df8d 340 bool animate_i = false;
martydd3 2:4b42ccb9df8d 341 void animate_int(){
martydd3 2:4b42ccb9df8d 342 animate_i = true;
martydd3 0:b654a906fb40 343 }
martydd3 0:b654a906fb40 344
martydd3 0:b654a906fb40 345 int main (void)
martydd3 0:b654a906fb40 346 {
martydd3 2:4b42ccb9df8d 347 display_mode = 4;
martydd3 2:4b42ccb9df8d 348
martydd3 0:b654a906fb40 349 InterruptIn hall_pin(p25);
martydd3 0:b654a906fb40 350 hall_pin.fall(&rotate_sense);
martydd3 2:4b42ccb9df8d 351 animate_ticker.attach(&animate_int, 3.0);
martydd3 0:b654a906fb40 352
martydd3 0:b654a906fb40 353 uint8_t channel = 2;
martydd3 0:b654a906fb40 354
martydd3 0:b654a906fb40 355 //Set the Channel. 0 is default, 15 is max
martydd3 0:b654a906fb40 356 mrf.SetChannel(channel);
martydd3 0:b654a906fb40 357
martydd3 0:b654a906fb40 358 while(true) {
martydd3 2:4b42ccb9df8d 359 if(animate_i){
martydd3 2:4b42ccb9df8d 360 animate();
martydd3 2:4b42ccb9df8d 361 }
martydd3 0:b654a906fb40 362 }
martydd3 0:b654a906fb40 363 }