Mark Petovello / Mbed 2 deprecated tilt_angles

Framework of classes and program to measure tilt angles using accelerometers

Dependencies:   C12832 mbed

Fork of tilt_angles by Mark Petovello

main.cpp@0:3bffc1862262, 2016-11-24 (annotated)

Committer:
mpetovello
Date:
Thu Nov 24 23:02:42 2016 +0000
Revision:
0:3bffc1862262
Lab 10 draft, 2016

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mpetovello 0:3bffc1862262 1 #include "mbed.h"
mpetovello 0:3bffc1862262 2 #include <string>
mpetovello 0:3bffc1862262 3 #include "C12832.h"
mpetovello 0:3bffc1862262 4 #include "ENGO333_MMA7660.h"
mpetovello 0:3bffc1862262 5 #include "ENGO333_MPU9150.h"
mpetovello 0:3bffc1862262 6 #include "Tiltmeter.h"
mpetovello 0:3bffc1862262 7
mpetovello 0:3bffc1862262 8
mpetovello 0:3bffc1862262 9 enum AccelType
mpetovello 0:3bffc1862262 10 {
mpetovello 0:3bffc1862262 11 MMA7660, // MMA7660 accelerometer on the mbed application board
mpetovello 0:3bffc1862262 12 MPU9150 // MPU9150 IMU (external to mbed application board)
mpetovello 0:3bffc1862262 13 };
mpetovello 0:3bffc1862262 14
mpetovello 0:3bffc1862262 15
mpetovello 0:3bffc1862262 16 // Function to prompt the user to select between the MMA7660 accelerometer or
mpetovello 0:3bffc1862262 17 // the MPU9150 IMU. The user can select between these choices by moving the
mpetovello 0:3bffc1862262 18 // joystick left or right; they make their selection by pressing the joystick
mpetovello 0:3bffc1862262 19 // button.
mpetovello 0:3bffc1862262 20 //
mpetovello 0:3bffc1862262 21 // Arguments:
mpetovello 0:3bffc1862262 22 // lcd = The LCD screen to use for display
mpetovello 0:3bffc1862262 23 // joystick = Object linked to the joystick to be used
mpetovello 0:3bffc1862262 24 //
mpetovello 0:3bffc1862262 25 // Returns:
mpetovello 0:3bffc1862262 26 // The function returns an enumeration identifying the sensor selected
mpetovello 0:3bffc1862262 27 AccelType SelectAccelerometer( C12832& lcd, BusIn& joystick );
mpetovello 0:3bffc1862262 28
mpetovello 0:3bffc1862262 29
mpetovello 0:3bffc1862262 30 int main()
mpetovello 0:3bffc1862262 31 {
mpetovello 0:3bffc1862262 32 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
mpetovello 0:3bffc1862262 33 // START: Setup/variable declaration
mpetovello 0:3bffc1862262 34
mpetovello 0:3bffc1862262 35
mpetovello 0:3bffc1862262 36 // Create LCD object for LCD screen operations
mpetovello 0:3bffc1862262 37 C12832 lcd(p5, p7, p6, p8, p11);
mpetovello 0:3bffc1862262 38
mpetovello 0:3bffc1862262 39 // Create digital outputs for LED1 and LED2 that will be used to indicate
mpetovello 0:3bffc1862262 40 // if things are working properly -- both values are to LOW (off)
mpetovello 0:3bffc1862262 41 DigitalOut led1(LED1);
mpetovello 0:3bffc1862262 42 DigitalOut led2(LED2);
mpetovello 0:3bffc1862262 43 led1 = 0;
mpetovello 0:3bffc1862262 44 led2 = 0;
mpetovello 0:3bffc1862262 45
mpetovello 0:3bffc1862262 46 // Create bus input for joystick
mpetovello 0:3bffc1862262 47 BusIn joystick(p13, p16, p14); // Binary [ Centre | Right | Left ] joystick
mpetovello 0:3bffc1862262 48
mpetovello 0:3bffc1862262 49
mpetovello 0:3bffc1862262 50 // END: Setup/variable declaration
mpetovello 0:3bffc1862262 51 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
mpetovello 0:3bffc1862262 52 // START: Take Measurements
mpetovello 0:3bffc1862262 53
mpetovello 0:3bffc1862262 54
mpetovello 0:3bffc1862262 55 // Create an accelerometer object
mpetovello 0:3bffc1862262 56 ENGO333_MMA7660 accelerometer;
mpetovello 0:3bffc1862262 57
mpetovello 0:3bffc1862262 58
mpetovello 0:3bffc1862262 59 // Detect sensor
mpetovello 0:3bffc1862262 60 if( accelerometer.TestConnection() )
mpetovello 0:3bffc1862262 61 {
mpetovello 0:3bffc1862262 62 // Turn on the first LED to show that the connection was detected
mpetovello 0:3bffc1862262 63 led1 = 1;
mpetovello 0:3bffc1862262 64 }
mpetovello 0:3bffc1862262 65 else
mpetovello 0:3bffc1862262 66 {
mpetovello 0:3bffc1862262 67 lcd.locate(1, 11);
mpetovello 0:3bffc1862262 68 lcd.printf("ERROR: Unknown sensor");
mpetovello 0:3bffc1862262 69 return 1;
mpetovello 0:3bffc1862262 70 }
mpetovello 0:3bffc1862262 71
mpetovello 0:3bffc1862262 72
mpetovello 0:3bffc1862262 73 // Prepare the screen
mpetovello 0:3bffc1862262 74 lcd.cls();
mpetovello 0:3bffc1862262 75 lcd.locate(1, 1);
mpetovello 0:3bffc1862262 76 lcd.printf("Press joystick to measure");
mpetovello 0:3bffc1862262 77
mpetovello 0:3bffc1862262 78
mpetovello 0:3bffc1862262 79 // Variable to store the value/status of the joystick. It is initialized
mpetovello 0:3bffc1862262 80 // to represent pushing the joystick button. Since the loop below
mpetovello 0:3bffc1862262 81 while( true )
mpetovello 0:3bffc1862262 82 {
mpetovello 0:3bffc1862262 83 // Check if the joystick button is being pressed
mpetovello 0:3bffc1862262 84 if (joystick.read() == 4)
mpetovello 0:3bffc1862262 85 {
mpetovello 0:3bffc1862262 86 // Turn on second LED to indicate a measurement is being made
mpetovello 0:3bffc1862262 87 led2 = 1;
mpetovello 0:3bffc1862262 88
mpetovello 0:3bffc1862262 89
mpetovello 0:3bffc1862262 90 // Get the tilt angles
mpetovello 0:3bffc1862262 91 accelerometer.ComputeTiltAngles();
mpetovello 0:3bffc1862262 92
mpetovello 0:3bffc1862262 93
mpetovello 0:3bffc1862262 94 // Print the roll
mpetovello 0:3bffc1862262 95 lcd.locate(1, 11);
mpetovello 0:3bffc1862262 96 lcd.printf("Roll (deg)");
mpetovello 0:3bffc1862262 97 lcd.locate(50, 11);
mpetovello 0:3bffc1862262 98 lcd.printf(": % 8.2f", accelerometer.GetRoll());
mpetovello 0:3bffc1862262 99
mpetovello 0:3bffc1862262 100 // Print the pitch
mpetovello 0:3bffc1862262 101 lcd.locate(1, 21);
mpetovello 0:3bffc1862262 102 lcd.printf("Pitch (deg)");
mpetovello 0:3bffc1862262 103 lcd.locate(50, 21);
mpetovello 0:3bffc1862262 104 lcd.printf(": % 8.2f", accelerometer.GetPitch());
mpetovello 0:3bffc1862262 105
mpetovello 0:3bffc1862262 106
mpetovello 0:3bffc1862262 107 // Short delay to avoid multiple measurements being displayed
mpetovello 0:3bffc1862262 108 wait_ms(250);
mpetovello 0:3bffc1862262 109
mpetovello 0:3bffc1862262 110
mpetovello 0:3bffc1862262 111 // Turn off second LED to indicate a measurement is complete
mpetovello 0:3bffc1862262 112 led2 = 0;
mpetovello 0:3bffc1862262 113 }
mpetovello 0:3bffc1862262 114
mpetovello 0:3bffc1862262 115 }
mpetovello 0:3bffc1862262 116
mpetovello 0:3bffc1862262 117
mpetovello 0:3bffc1862262 118 // END: Take Measurements
mpetovello 0:3bffc1862262 119 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
mpetovello 0:3bffc1862262 120
mpetovello 0:3bffc1862262 121 }
mpetovello 0:3bffc1862262 122
mpetovello 0:3bffc1862262 123
mpetovello 0:3bffc1862262 124 AccelType SelectAccelerometer( C12832& lcd, BusIn& joystick )
mpetovello 0:3bffc1862262 125 {
mpetovello 0:3bffc1862262 126 // This is the current choice
mpetovello 0:3bffc1862262 127 AccelType choice = MMA7660;
mpetovello 0:3bffc1862262 128
mpetovello 0:3bffc1862262 129 // This is the string to display the current choice (using asterisk)
mpetovello 0:3bffc1862262 130 string sensorChoice = "MMA7660 * MPU9150";
mpetovello 0:3bffc1862262 131
mpetovello 0:3bffc1862262 132 // Print the default choice
mpetovello 0:3bffc1862262 133 lcd.cls();
mpetovello 0:3bffc1862262 134 lcd.locate(1, 1);
mpetovello 0:3bffc1862262 135 lcd.printf("Move L/R to select sensor:");
mpetovello 0:3bffc1862262 136 lcd.locate(1, 18);
mpetovello 0:3bffc1862262 137 lcd.printf("%s", sensorChoice.c_str());
mpetovello 0:3bffc1862262 138
mpetovello 0:3bffc1862262 139
mpetovello 0:3bffc1862262 140 // Create while-loop for user to select sensor
mpetovello 0:3bffc1862262 141 while(1)
mpetovello 0:3bffc1862262 142 {
mpetovello 0:3bffc1862262 143 // read the joystick
mpetovello 0:3bffc1862262 144 int joy = joystick.read();
mpetovello 0:3bffc1862262 145
mpetovello 0:3bffc1862262 146
mpetovello 0:3bffc1862262 147 if (joy == 2) // joystick pushed to the right
mpetovello 0:3bffc1862262 148 {
mpetovello 0:3bffc1862262 149 sensorChoice = "MMA7660 * MPU9150";
mpetovello 0:3bffc1862262 150 choice = MPU9150;
mpetovello 0:3bffc1862262 151 lcd.locate(1, 18);
mpetovello 0:3bffc1862262 152 lcd.printf("%s", sensorChoice.c_str());
mpetovello 0:3bffc1862262 153 }
mpetovello 0:3bffc1862262 154 else if (joy == 1) // joystick pushed to the left
mpetovello 0:3bffc1862262 155 {
mpetovello 0:3bffc1862262 156 sensorChoice = "MMA7660 * MPU9150";
mpetovello 0:3bffc1862262 157 choice = MMA7660;
mpetovello 0:3bffc1862262 158 lcd.locate(1, 18);
mpetovello 0:3bffc1862262 159 lcd.printf("%s", sensorChoice.c_str());
mpetovello 0:3bffc1862262 160 }
mpetovello 0:3bffc1862262 161 else if (joy == 4) // joystick "button" pushed (i.e., "select")
mpetovello 0:3bffc1862262 162 {
mpetovello 0:3bffc1862262 163 break;
mpetovello 0:3bffc1862262 164 }
mpetovello 0:3bffc1862262 165 }
mpetovello 0:3bffc1862262 166
mpetovello 0:3bffc1862262 167 // return the current choice
mpetovello 0:3bffc1862262 168 return choice;
mpetovello 0:3bffc1862262 169 }