Diff: main.cpp

Revision:

2:3834b1d61eff

Parent:

0:a1caba5c4e48

Child:

3:f8a95cb07150

--- a/main.cpp	Wed Feb 07 16:56:55 2018 +0000
+++ b/main.cpp	Fri Feb 16 18:57:48 2018 +0000
@@ -7,26 +7,109 @@
 
 #define MMA8451_I2C_ADDRESS (0x1d<<1)
 
+Serial pc(USBTX, USBRX); // tx, rx
+enum states { flat, right, left, down, up, over, intermediate };
+
+int sequence = 0;
+bool checkSequence(states state, states oldStableState) {
+    switch (state) {
+        case flat:
+            if (sequence == 3) {
+                sequence = 4;
+            } else {
+                sequence = 1;
+            }
+            pc.printf("%d\r\n", sequence);
+            break;
+        case right:
+            if (sequence == 1) {
+                sequence = 2;
+            }
+            pc.printf("%d\r\n", sequence);
+            break;
+        case up:
+            if (sequence == 2) {
+                sequence = 3;
+            }
+            pc.printf("%d\r\n", sequence);
+            break;            
+    }
+}
+
 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
+    
+    
+    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;
+            }
+        }
+        
+        // print the state
+        if (stateCounter == stableState && oldStableState != state) {
+            checkSequence(state, oldStableState);
+            oldStableState = state;
+            switch (state) {
+                case flat:
+                    pc.printf("flat\n\r");
+                    break;
+                case right:
+                    pc.printf("right\n\r");
+                    break;
+                case left:
+                    pc.printf("left\n\r");
+                    break;
+                case down:
+                    pc.printf("down\n\r");
+                    break;
+                case up:
+                    pc.printf("up\n\r");
+                    break;
+                case over:
+                    pc.printf("over\n\r");
+                    break;
+            }
+        }
+        
         Thread::wait(300);
-        pc.printf("X: %1.2f, Y: %1.2f, Z: %1.2f\n", x, y, z);
     }
 }