Assignment 5 for OCE360, timers, tickers, and interrupts.
Dependencies: 4DGL-uLCD-SE MMA8452Q SDFileSystem bouncing_ball mbed
Fork of OCE360_4 by
main.cpp@7:614b40b85579, 2017-11-09 (annotated)
- Committer:
- rsean10
- Date:
- Thu Nov 09 16:01:24 2017 +0000
- Revision:
- 7:614b40b85579
- Parent:
- 6:050104c0dc75
- Child:
- 8:2617100c441d
Interrupt added, non-functioning, attempting comment blocking to find error
Who changed what in which revision?
User | Revision | Line number | New 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 |
slicht | 1:6b99ffa62cc8 | 10 | |
slicht | 2:552e6feb8709 | 11 | #define UPDATE_TIME_S 0.02 |
slicht | 2:552e6feb8709 | 12 | #define START_X_1 10 |
slicht | 2:552e6feb8709 | 13 | #define START_Y_1 10 |
slicht | 2:552e6feb8709 | 14 | #define START_X_2 20 |
slicht | 2:552e6feb8709 | 15 | #define START_Y_2 20 |
slicht | 2:552e6feb8709 | 16 | #define RADIUS_1 6 |
slicht | 2:552e6feb8709 | 17 | #define RADIUS_2 3 |
slicht | 0:8d3812068c6c | 18 | |
slicht | 2:552e6feb8709 | 19 | #define DEBUG_MODE 0 |
slicht | 2:552e6feb8709 | 20 | |
rsean10 | 6:050104c0dc75 | 21 | #define LCD_UPDATE .091 //11 Hz |
rsean10 | 6:050104c0dc75 | 22 | #define DRAW_UPDATE 0.075 |
rsean10 | 5:93f88deda5ba | 23 | |
rsean10 | 5:93f88deda5ba | 24 | //Initialize Serial communication |
rsean10 | 5:93f88deda5ba | 25 | Serial pc(USBTX, USBRX); |
rsean10 | 5:93f88deda5ba | 26 | |
rsean10 | 6:050104c0dc75 | 27 | //Led Initialization |
rsean10 | 6:050104c0dc75 | 28 | DigitalOut led1(LED1); //update leds |
rsean10 | 6:050104c0dc75 | 29 | DigitalOut led2(LED2); |
rsean10 | 7:614b40b85579 | 30 | DigitalOut led3(LED3); |
rsean10 | 6:050104c0dc75 | 31 | |
rsean10 | 7:614b40b85579 | 32 | //Toggle Initialization |
rsean10 | 7:614b40b85579 | 33 | InterruptIn button(p13); //Interrupt on the button on pin 13 |
rsean10 | 7:614b40b85579 | 34 | Timer debounce; //defines debounce timer for proper switching |
rsean10 | 7:614b40b85579 | 35 | |
rsean10 | 7:614b40b85579 | 36 | void toggle(){ |
rsean10 | 7:614b40b85579 | 37 | if(debounce.read_ms()>175){ |
rsean10 | 7:614b40b85579 | 38 | led3=!led3; |
rsean10 | 7:614b40b85579 | 39 | debounce.reset(); //restart timer after toggle occurs |
rsean10 | 7:614b40b85579 | 40 | } |
rsean10 | 7:614b40b85579 | 41 | } |
rsean10 | 6:050104c0dc75 | 42 | |
slicht | 2:552e6feb8709 | 43 | //Function prototype for color selection function: |
slicht | 2:552e6feb8709 | 44 | int get_LCD_color(int color_integer); |
slicht | 1:6b99ffa62cc8 | 45 | |
slicht | 1:6b99ffa62cc8 | 46 | // Graphic LCD - TX, RX, and RES pins |
slicht | 2:552e6feb8709 | 47 | uLCD_4DGL uLCD(p9,p10,p11); //initialize a driver object for an LCD connected on pins 9-11 |
slicht | 1:6b99ffa62cc8 | 48 | |
slicht | 1:6b99ffa62cc8 | 49 | // Accelerometer - SDA, SCL, and I2C address |
slicht | 2:552e6feb8709 | 50 | MMA8452Q accel(p28, p27, 0x1D); //initialize a driver object for an accelerometer connected on pins 27-28. |
slicht | 1:6b99ffa62cc8 | 51 | |
slicht | 2:552e6feb8709 | 52 | physics_ball ball1; //initialize two balls for bouncing |
slicht | 2:552e6feb8709 | 53 | physics_ball ball2; //the default states from the library will be used initially |
slicht | 0:8d3812068c6c | 54 | |
rsean10 | 5:93f88deda5ba | 55 | //Ticker for logging |
rsean10 | 6:050104c0dc75 | 56 | Ticker logger1; //ball 1 ticker (position log) |
rsean10 | 6:050104c0dc75 | 57 | Ticker logger2; //ball 2 ticker (position log) |
rsean10 | 5:93f88deda5ba | 58 | |
rsean10 | 5:93f88deda5ba | 59 | void pos_log1(){ |
rsean10 | 5:93f88deda5ba | 60 | pc.printf("Ball 1 (x): %i Ball 1 (y): %i \n\r",ball1.posx,ball1.posy); |
rsean10 | 6:050104c0dc75 | 61 | //prints ball 1 position to terminal |
rsean10 | 5:93f88deda5ba | 62 | } |
rsean10 | 5:93f88deda5ba | 63 | |
rsean10 | 5:93f88deda5ba | 64 | void pos_log2(){ |
rsean10 | 5:93f88deda5ba | 65 | pc.printf("Ball 2 (x): %i Ball 2 (y): %i \n\r",ball2.posx,ball2.posy); |
rsean10 | 6:050104c0dc75 | 66 | //prints ball 2 position to terminal |
rsean10 | 6:050104c0dc75 | 67 | } |
rsean10 | 6:050104c0dc75 | 68 | |
rsean10 | 6:050104c0dc75 | 69 | //Ticker for update |
rsean10 | 6:050104c0dc75 | 70 | Ticker update1; //ball 1 ticker for update position |
rsean10 | 6:050104c0dc75 | 71 | Ticker update2; //ball 2 ticker for update position |
rsean10 | 6:050104c0dc75 | 72 | |
rsean10 | 6:050104c0dc75 | 73 | void ball1up(){ |
rsean10 | 6:050104c0dc75 | 74 | ball1.update(UPDATE_TIME_S,accel); //updates position |
rsean10 | 6:050104c0dc75 | 75 | led1 = !led1; //changes led state every update |
rsean10 | 6:050104c0dc75 | 76 | } |
rsean10 | 6:050104c0dc75 | 77 | |
rsean10 | 6:050104c0dc75 | 78 | void ball2up(){ |
rsean10 | 6:050104c0dc75 | 79 | ball2.update(UPDATE_TIME_S,accel); //updates position |
rsean10 | 6:050104c0dc75 | 80 | led2 = !led2; //changes led state every update |
rsean10 | 6:050104c0dc75 | 81 | } |
rsean10 | 6:050104c0dc75 | 82 | |
rsean10 | 6:050104c0dc75 | 83 | //Ticker for display |
rsean10 | 6:050104c0dc75 | 84 | Ticker displayup; //ticker for displaying ball on lcd |
rsean10 | 6:050104c0dc75 | 85 | |
rsean10 | 6:050104c0dc75 | 86 | void display(){ |
rsean10 | 6:050104c0dc75 | 87 | // Draw circles in the x and y positions stored by the ball objects: |
rsean10 | 6:050104c0dc75 | 88 | uLCD.filled_circle(ball1.posx, ball1.posy, ball1.radius, get_LCD_color(ball1.color)); |
rsean10 | 6:050104c0dc75 | 89 | uLCD.filled_circle(ball2.posx, ball2.posy, ball2.radius, get_LCD_color(ball2.color)); |
rsean10 | 6:050104c0dc75 | 90 | |
rsean10 | 6:050104c0dc75 | 91 | // Wait before erasing old circles: |
rsean10 | 6:050104c0dc75 | 92 | wait(DRAW_UPDATE); // In seconds |
rsean10 | 6:050104c0dc75 | 93 | |
rsean10 | 6:050104c0dc75 | 94 | // Erase old circles by writing over there locations using the screen color: |
rsean10 | 6:050104c0dc75 | 95 | uLCD.filled_circle(ball1.posx, ball1.posy, ball1.radius, BLACK); |
rsean10 | 6:050104c0dc75 | 96 | uLCD.filled_circle(ball2.posx, ball2.posy, ball2.radius, BLACK); |
rsean10 | 5:93f88deda5ba | 97 | } |
rsean10 | 5:93f88deda5ba | 98 | |
rsean10 | 5:93f88deda5ba | 99 | int main(){ |
rsean10 | 7:614b40b85579 | 100 | |
rsean10 | 7:614b40b85579 | 101 | debounce.start(); //starts debounce timer |
rsean10 | 7:614b40b85579 | 102 | button.rise(&toggle); //toggles on button press |
rsean10 | 7:614b40b85579 | 103 | |
rsean10 | 5:93f88deda5ba | 104 | /* |
rsean10 | 7:614b40b85579 | 105 | logger1.attach(&pos_log1, LCD_UPDATE); |
rsean10 | 7:614b40b85579 | 106 | logger2.attach(&pos_log2, LCD_UPDATE); |
rsean10 | 5:93f88deda5ba | 107 | */ |
rsean10 | 7:614b40b85579 | 108 | |
slicht | 1:6b99ffa62cc8 | 109 | // Initialize uLCD |
slicht | 1:6b99ffa62cc8 | 110 | uLCD.baudrate(115200); |
slicht | 1:6b99ffa62cc8 | 111 | uLCD.background_color(BLACK); |
slicht | 1:6b99ffa62cc8 | 112 | uLCD.cls(); |
slicht | 1:6b99ffa62cc8 | 113 | |
slicht | 1:6b99ffa62cc8 | 114 | // Initialize accelerometer |
slicht | 1:6b99ffa62cc8 | 115 | accel.init(); |
slicht | 1:6b99ffa62cc8 | 116 | |
slicht | 2:552e6feb8709 | 117 | //Initialize balls: |
slicht | 2:552e6feb8709 | 118 | ball1.set_state(START_X_1,START_Y_1,0,0); //speeds are set to zero |
slicht | 2:552e6feb8709 | 119 | ball1.set_state(START_X_2,START_Y_2,0,0); |
slicht | 2:552e6feb8709 | 120 | |
slicht | 2:552e6feb8709 | 121 | //Set ball radius and color: |
slicht | 2:552e6feb8709 | 122 | ball1.set_param(RADIUS_1,0); //color is unimportant |
slicht | 2:552e6feb8709 | 123 | ball2.set_param(RADIUS_2,1); //just making sure the colors are different |
slicht | 2:552e6feb8709 | 124 | |
rsean10 | 6:050104c0dc75 | 125 | update1.attach(&ball1up,UPDATE_TIME_S); //ticker force position update ball 1 |
rsean10 | 6:050104c0dc75 | 126 | update2.attach(&ball2up,UPDATE_TIME_S); //ticker force position update ball 2 |
rsean10 | 6:050104c0dc75 | 127 | |
rsean10 | 6:050104c0dc75 | 128 | displayup.attach(&display,LCD_UPDATE); //ticker force lcd update |
rsean10 | 6:050104c0dc75 | 129 | |
slicht | 2:552e6feb8709 | 130 | while (1) { //execute 'forever' |
rsean10 | 6:050104c0dc75 | 131 | |
slicht | 2:552e6feb8709 | 132 | if (DEBUG_MODE) { |
slicht | 3:a7f02754bc99 | 133 | //If compiled with DEBUG_MODE flag raised, print values to screen. |
slicht | 2:552e6feb8709 | 134 | uLCD.locate(0,4); |
slicht | 2:552e6feb8709 | 135 | uLCD.printf("X: %d.1\nY: %.1d",ball1.posx,ball1.posy); |
slicht | 2:552e6feb8709 | 136 | |
slicht | 2:552e6feb8709 | 137 | uLCD.locate(0,6); |
slicht | 2:552e6feb8709 | 138 | uLCD.printf("VX: %f.1\nVY: %.1f",ball1.speedx,ball1.speedy); |
slicht | 1:6b99ffa62cc8 | 139 | |
slicht | 2:552e6feb8709 | 140 | uLCD.locate(0,10); |
slicht | 2:552e6feb8709 | 141 | uLCD.printf("AX: %f.1\nAY: %.1f\nAZ: %0.1f",accel.readX(),accel.readY(),accel.readZ()); |
slicht | 2:552e6feb8709 | 142 | } |
slicht | 2:552e6feb8709 | 143 | } |
slicht | 2:552e6feb8709 | 144 | } |
slicht | 1:6b99ffa62cc8 | 145 | |
slicht | 3:a7f02754bc99 | 146 | //Interpret LCD colors. |
slicht | 2:552e6feb8709 | 147 | int get_LCD_color(int color_integer) |
slicht | 2:552e6feb8709 | 148 | { |
slicht | 2:552e6feb8709 | 149 | switch (color_integer) { |
slicht | 2:552e6feb8709 | 150 | case 0: |
slicht | 2:552e6feb8709 | 151 | return(RED); |
slicht | 2:552e6feb8709 | 152 | case 1: |
slicht | 2:552e6feb8709 | 153 | return(BLUE); |
slicht | 2:552e6feb8709 | 154 | case 2: |
slicht | 2:552e6feb8709 | 155 | return(GREEN); |
slicht | 2:552e6feb8709 | 156 | default: |
slicht | 2:552e6feb8709 | 157 | return(WHITE); |
slicht | 0:8d3812068c6c | 158 | } |
slicht | 1:6b99ffa62cc8 | 159 | } |