Revision 2:cc80ef6fc8c2, committed 2018-02-16

Comitter:

natgovor

Date:

Fri Feb 16 18:54:56 2018 +0000

Parent:

1:31f0f53b08bd

Commit message:

Detect 6 states of the board, display state.

Changed in this revision

diff -r 31f0f53b08bd -r cc80ef6fc8c2 main.cpp
--- a/main.cpp	Wed Feb 07 16:56:55 2018 +0000
+++ b/main.cpp	Fri Feb 16 18:54:56 2018 +0000
@@ -7,26 +7,98 @@
 
 #define MMA8451_I2C_ADDRESS (0x1d<<1)
 
+PwmOut rled(LED1);
+PwmOut gled(LED2);
+PwmOut bled(LED3);
+
+void setLeds(float red, float green, float blue) {
+    rled = red;
+    gled = green;
+    bled = blue;
+}
+
 int main(void)
-{
+{    
     MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
-    PwmOut rled(LED1);
-    PwmOut gled(LED2);
-    PwmOut bled(LED3);
     Serial pc(USBTX, USBRX); // tx, rx
-
+    
+    enum states { flat, right, left, down, up, over, intermediate };
+    states state = intermediate;
+    states oldState = intermediate;
+    states oldStableState = intermediate;
+    int stateCounter = 0;
+    int const stableState = 3;
 
-    pc.printf("MMA8451 ID: %d\n", acc.getWhoAmI());
+    pc.printf("MMA8451 ID: %d\n\r", acc.getWhoAmI());
 
     while (true) {
         float x, y, z;
         x = acc.getAccX();
         y = acc.getAccY();
         z = acc.getAccZ();
-        rled = 1.0f - abs(x);
-        gled = 1.0f - abs(y);
-        bled = 1.0f - abs(z);
+        
+        float threshold = 0.10;
+                            
+        if (z > 1 - threshold && z < 1 + threshold) {
+            state = flat;
+        } else if (z > -1 - threshold && z < -1 + threshold) {
+            state = over;
+        } else if (y > 1 - threshold && y < 1 + threshold) {
+            state = left;
+        } else if (y > -1 - threshold && y < -1 + threshold) {
+            state = right;
+        } else if (x > 1 - threshold && x < 1 + threshold) {
+            state = down;
+        } else if (x > -1 - threshold && x < -1 + threshold) {
+            state = up;
+        } else {
+            state = intermediate;
+        }
+        
+        if (state != intermediate) {
+            if (state == oldState) {
+                if (stateCounter < stableState) {
+                    stateCounter ++;
+                }
+            } else {
+                oldState = state;
+                stateCounter = 0;
+            }
+        } else {
+            setLeds(0.99, 0.99, 0.99); // dimmed white led
+        }
+        
+        // print the state
+        if (stateCounter == stableState && oldStableState != state) {
+            oldStableState = state;
+            switch (state) {
+                case flat:
+                    pc.printf("flat\n\r");
+                    setLeds(0.0, 0.0, 1.0); // yellow led
+                    break;
+                case right:
+                    pc.printf("right\n\r");
+                    setLeds(1.0, 0.0, 0.0); // light-blue led
+                    break;
+                case left:
+                    pc.printf("left\n\r");
+                    setLeds(1.0, 1.0, 0.0); // blue led
+                    break;
+                case down:
+                    pc.printf("down\n\r");
+                    setLeds(0.0, 1.0, 0.0); // pink led
+                    break;
+                case up:
+                    pc.printf("up\n\r");
+                    setLeds(0.0, 1.0, 1.0); // red led
+                    break;
+                case over:
+                    pc.printf("over\n\r");
+                    setLeds(1.0, 0.0, 1.0); // green led
+                    break;
+            }
+        }
+        
         Thread::wait(300);
-        pc.printf("X: %1.2f, Y: %1.2f, Z: %1.2f\n", x, y, z);
     }
 }