Sean Nagle / Mbed 2 deprecated Assignment5

Assignment 5 for OCE360, timers, tickers, and interrupts.

Dependencies:   4DGL-uLCD-SE MMA8452Q SDFileSystem bouncing_ball mbed

Fork of OCE360_4 by OCE_360

main.cpp@9:7a577d790538, 2017-11-15 (annotated)

Committer:
rsean10
Date:
Wed Nov 15 20:59:21 2017 +0000
Revision:
9:7a577d790538
Parent:
8:2617100c441d
Child:
10:1fe988d4e61e
SD Write partially working on interupt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
slicht 2:552e6feb8709 1 // A solution to OCE360 Homework #4.
slicht 2:552e6feb8709 2 // Objective: Use object oriented programming to create a system that displays
slicht 2:552e6feb8709 3 // multiple balls bouncing around the LCD screen.
slicht 3:a7f02754bc99 4 // Stephen Licht, 11/7/2017
slicht 1:6b99ffa62cc8 5
slicht 0:8d3812068c6c 6 #include "mbed.h"
slicht 2:552e6feb8709 7 #include "MMA8452Q.h" //acceleromater library
slicht 2:552e6feb8709 8 #include "uLCD_4DGL.h" //LCD library
slicht 2:552e6feb8709 9 #include "bouncing_ball.h" //new ball phyics library
rsean10 8:2617100c441d 10 #include "SDFileSystem.h"
slicht 1:6b99ffa62cc8 11
slicht 2:552e6feb8709 12 #define UPDATE_TIME_S 0.02
slicht 2:552e6feb8709 13 #define START_X_1 10
slicht 2:552e6feb8709 14 #define START_Y_1 10
slicht 2:552e6feb8709 15 #define START_X_2 20
slicht 2:552e6feb8709 16 #define START_Y_2 20
slicht 2:552e6feb8709 17 #define RADIUS_1 6
slicht 2:552e6feb8709 18 #define RADIUS_2 3
slicht 0:8d3812068c6c 19
slicht 2:552e6feb8709 20 #define DEBUG_MODE 0
slicht 2:552e6feb8709 21
rsean10 6:050104c0dc75 22 #define LCD_UPDATE .091 //11 Hz
rsean10 9:7a577d790538 23
rsean10 9:7a577d790538 24 // Analog input (pin 15)
rsean10 9:7a577d790538 25 AnalogIn tempin(p15);
rsean10 5:93f88deda5ba 26
rsean10 5:93f88deda5ba 27 //Initialize Serial communication
rsean10 5:93f88deda5ba 28 Serial pc(USBTX, USBRX);
rsean10 5:93f88deda5ba 29
rsean10 8:2617100c441d 30 // SD card (SPI pins)
rsean10 8:2617100c441d 31 SDFileSystem sd(p5, p6, p7, p8, "sd");
rsean10 8:2617100c441d 32
rsean10 9:7a577d790538 33 //Drawing positions
rsean10 9:7a577d790538 34 int lastx1;
rsean10 9:7a577d790538 35 int lasty1;
rsean10 9:7a577d790538 36 int lastx2;
rsean10 9:7a577d790538 37 int lasty2;
rsean10 9:7a577d790538 38
rsean10 6:050104c0dc75 39 //Led Initialization
rsean10 6:050104c0dc75 40 DigitalOut led1(LED1); //update leds
rsean10 6:050104c0dc75 41 DigitalOut led2(LED2);
rsean10 7:614b40b85579 42 DigitalOut led3(LED3);
rsean10 6:050104c0dc75 43
rsean10 7:614b40b85579 44 //Toggle Initialization
rsean10 7:614b40b85579 45 InterruptIn button(p13); //Interrupt on the button on pin 13
rsean10 7:614b40b85579 46 Timer debounce; //defines debounce timer for proper switching
rsean10 7:614b40b85579 47
rsean10 8:2617100c441d 48 int recorder = 0;
rsean10 8:2617100c441d 49
rsean10 7:614b40b85579 50 void toggle(){
rsean10 7:614b40b85579 51 if(debounce.read_ms()>175){
rsean10 9:7a577d790538 52 led3= !led3;
rsean10 8:2617100c441d 53 recorder = !recorder;
rsean10 7:614b40b85579 54 debounce.reset(); //restart timer after toggle occurs
rsean10 7:614b40b85579 55 }
rsean10 7:614b40b85579 56 }
rsean10 6:050104c0dc75 57
rsean10 8:2617100c441d 58 //Position recorder
rsean10 9:7a577d790538 59 Timer logtimer;
rsean10 9:7a577d790538 60 Ticker logticker;
rsean10 8:2617100c441d 61
rsean10 9:7a577d790538 62 void datarecord(){
rsean10 9:7a577d790538 63 logtimer.start();
rsean10 9:7a577d790538 64 fprintf(file, "Ball 1: %.3g X Position Y Position X Accleration Y Acceleration Temperature\n\r",logtimer.read(),
rsean10 9:7a577d790538 65 ball1.posx,ball1.posy,ball1.speedx,ball1.speedy,);
rsean10 9:7a577d790538 66 logtimer.reset();
rsean10 9:7a577d790538 67 }
rsean10 8:2617100c441d 68
slicht 2:552e6feb8709 69 //Function prototype for color selection function:
slicht 2:552e6feb8709 70 int get_LCD_color(int color_integer);
slicht 1:6b99ffa62cc8 71
slicht 1:6b99ffa62cc8 72 // Graphic LCD - TX, RX, and RES pins
slicht 2:552e6feb8709 73 uLCD_4DGL uLCD(p9,p10,p11); //initialize a driver object for an LCD connected on pins 9-11
slicht 1:6b99ffa62cc8 74
slicht 1:6b99ffa62cc8 75 // Accelerometer - SDA, SCL, and I2C address
slicht 2:552e6feb8709 76 MMA8452Q accel(p28, p27, 0x1D); //initialize a driver object for an accelerometer connected on pins 27-28.
slicht 1:6b99ffa62cc8 77
slicht 2:552e6feb8709 78 physics_ball ball1; //initialize two balls for bouncing
slicht 2:552e6feb8709 79 physics_ball ball2; //the default states from the library will be used initially
slicht 0:8d3812068c6c 80
rsean10 6:050104c0dc75 81 //Ticker for update
rsean10 6:050104c0dc75 82 Ticker update1; //ball 1 ticker for update position
rsean10 6:050104c0dc75 83 Ticker update2; //ball 2 ticker for update position
rsean10 6:050104c0dc75 84
rsean10 6:050104c0dc75 85 void ball1up(){
rsean10 6:050104c0dc75 86 ball1.update(UPDATE_TIME_S,accel); //updates position
rsean10 6:050104c0dc75 87 led1 = !led1; //changes led state every update
rsean10 6:050104c0dc75 88 }
rsean10 6:050104c0dc75 89
rsean10 6:050104c0dc75 90 void ball2up(){
rsean10 6:050104c0dc75 91 ball2.update(UPDATE_TIME_S,accel); //updates position
rsean10 6:050104c0dc75 92 led2 = !led2; //changes led state every update
rsean10 6:050104c0dc75 93 }
rsean10 6:050104c0dc75 94
rsean10 6:050104c0dc75 95 //Ticker for display
rsean10 6:050104c0dc75 96 Ticker displayup; //ticker for displaying ball on lcd
rsean10 6:050104c0dc75 97
rsean10 6:050104c0dc75 98 void display(){
rsean10 9:7a577d790538 99
rsean10 9:7a577d790538 100 // Erase old circles by writing over there locations using the screen color:
rsean10 9:7a577d790538 101 uLCD.filled_circle(lastx1, lasty1, ball1.radius, BLACK);
rsean10 9:7a577d790538 102 uLCD.filled_circle(lastx2, lasty2, ball2.radius, BLACK);
rsean10 9:7a577d790538 103
rsean10 6:050104c0dc75 104 // Draw circles in the x and y positions stored by the ball objects:
rsean10 6:050104c0dc75 105 uLCD.filled_circle(ball1.posx, ball1.posy, ball1.radius, get_LCD_color(ball1.color));
rsean10 6:050104c0dc75 106 uLCD.filled_circle(ball2.posx, ball2.posy, ball2.radius, get_LCD_color(ball2.color));
rsean10 9:7a577d790538 107
rsean10 9:7a577d790538 108 //Sets previous ball position to be erased in next iteration
rsean10 9:7a577d790538 109 lastx1 = ball1.posx;
rsean10 9:7a577d790538 110 lasty1 = ball1.posy;
rsean10 9:7a577d790538 111 lastx2 = ball2.posx;
rsean10 9:7a577d790538 112 lasty2 = ball2.posy;
rsean10 5:93f88deda5ba 113 }
rsean10 5:93f88deda5ba 114
rsean10 5:93f88deda5ba 115 int main(){
rsean10 9:7a577d790538 116
slicht 1:6b99ffa62cc8 117 // Initialize uLCD
slicht 1:6b99ffa62cc8 118 uLCD.baudrate(115200);
slicht 1:6b99ffa62cc8 119 uLCD.background_color(BLACK);
slicht 1:6b99ffa62cc8 120 uLCD.cls();
rsean10 8:2617100c441d 121
slicht 1:6b99ffa62cc8 122 // Initialize accelerometer
slicht 1:6b99ffa62cc8 123 accel.init();
slicht 1:6b99ffa62cc8 124
slicht 2:552e6feb8709 125 //Initialize balls:
slicht 2:552e6feb8709 126 ball1.set_state(START_X_1,START_Y_1,0,0); //speeds are set to zero
slicht 2:552e6feb8709 127 ball1.set_state(START_X_2,START_Y_2,0,0);
slicht 2:552e6feb8709 128
slicht 2:552e6feb8709 129 //Set ball radius and color:
slicht 2:552e6feb8709 130 ball1.set_param(RADIUS_1,0); //color is unimportant
slicht 2:552e6feb8709 131 ball2.set_param(RADIUS_2,1); //just making sure the colors are different
slicht 2:552e6feb8709 132
rsean10 6:050104c0dc75 133 update1.attach(&ball1up,UPDATE_TIME_S); //ticker force position update ball 1
rsean10 6:050104c0dc75 134 update2.attach(&ball2up,UPDATE_TIME_S); //ticker force position update ball 2
rsean10 6:050104c0dc75 135
rsean10 6:050104c0dc75 136 displayup.attach(&display,LCD_UPDATE); //ticker force lcd update
rsean10 6:050104c0dc75 137
rsean10 8:2617100c441d 138 debounce.start(); //starts debounce timer
rsean10 8:2617100c441d 139 button.rise(&toggle); //toggles on button press
rsean10 8:2617100c441d 140
rsean10 9:7a577d790538 141 while (1) { //execute 'forever'
rsean10 8:2617100c441d 142
rsean10 9:7a577d790538 143 if (recorder == 1){
rsean10 9:7a577d790538 144 //File Writing
rsean10 9:7a577d790538 145 FILE *file;
rsean10 9:7a577d790538 146 file = fopen("/sd/ball_data.txt", "w");
rsean10 9:7a577d790538 147 if ( file == NULL ) {
rsean10 9:7a577d790538 148 error("ERROR: Could not open file for writing!\n\r");
rsean10 9:7a577d790538 149 return -1;
rsean10 9:7a577d790538 150 }
rsean10 9:7a577d790538 151 // Tell the user we need to wait while we collect some data
rsean10 9:7a577d790538 152 pc.printf("\nCollecting data (Do not remove SD Card!) ...\n\r");
rsean10 9:7a577d790538 153 fprintf(file, " Time X Position Y Position X Accleration Y Acceleration Temperature\n\r");
rsean10 9:7a577d790538 154
rsean10 9:7a577d790538 155 pc.printf("\nData Recorded Sucessfully! \n\r");
rsean10 9:7a577d790538 156
rsean10 9:7a577d790538 157 // Close file
rsean10 9:7a577d790538 158 fclose(file);
rsean10 9:7a577d790538 159 }
rsean10 6:050104c0dc75 160
slicht 2:552e6feb8709 161 if (DEBUG_MODE) {
slicht 3:a7f02754bc99 162 //If compiled with DEBUG_MODE flag raised, print values to screen.
slicht 2:552e6feb8709 163 uLCD.locate(0,4);
slicht 2:552e6feb8709 164 uLCD.printf("X: %d.1\nY: %.1d",ball1.posx,ball1.posy);
rsean10 9:7a577d790538 165
slicht 2:552e6feb8709 166 uLCD.locate(0,6);
slicht 2:552e6feb8709 167 uLCD.printf("VX: %f.1\nVY: %.1f",ball1.speedx,ball1.speedy);
rsean10 9:7a577d790538 168
slicht 2:552e6feb8709 169 uLCD.locate(0,10);
slicht 2:552e6feb8709 170 uLCD.printf("AX: %f.1\nAY: %.1f\nAZ: %0.1f",accel.readX(),accel.readY(),accel.readZ());
slicht 2:552e6feb8709 171 }
slicht 2:552e6feb8709 172 }
slicht 2:552e6feb8709 173 }
slicht 1:6b99ffa62cc8 174
slicht 3:a7f02754bc99 175 //Interpret LCD colors.
slicht 2:552e6feb8709 176 int get_LCD_color(int color_integer)
slicht 2:552e6feb8709 177 {
slicht 2:552e6feb8709 178 switch (color_integer) {
slicht 2:552e6feb8709 179 case 0:
slicht 2:552e6feb8709 180 return(RED);
slicht 2:552e6feb8709 181 case 1:
slicht 2:552e6feb8709 182 return(BLUE);
slicht 2:552e6feb8709 183 case 2:
slicht 2:552e6feb8709 184 return(GREEN);
slicht 2:552e6feb8709 185 default:
slicht 2:552e6feb8709 186 return(WHITE);
slicht 0:8d3812068c6c 187 }
slicht 1:6b99ffa62cc8 188 }