Assignment 5 for OCE360, timers, tickers, and interrupts.
Dependencies: 4DGL-uLCD-SE MMA8452Q SDFileSystem bouncing_ball mbed
Fork of OCE360_4 by
main.cpp@5:93f88deda5ba, 2017-11-07 (annotated)
- Committer:
- rsean10
- Date:
- Tue Nov 07 15:24:31 2017 +0000
- Revision:
- 5:93f88deda5ba
- Parent:
- 3:a7f02754bc99
- Child:
- 6:050104c0dc75
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 | 5:93f88deda5ba | 21 | #define LOG_UPDATE .091 //11 Hz |
rsean10 | 5:93f88deda5ba | 22 | |
rsean10 | 5:93f88deda5ba | 23 | //Initialize Serial communication |
rsean10 | 5:93f88deda5ba | 24 | Serial pc(USBTX, USBRX); |
rsean10 | 5:93f88deda5ba | 25 | |
slicht | 2:552e6feb8709 | 26 | //Function prototype for color selection function: |
slicht | 2:552e6feb8709 | 27 | int get_LCD_color(int color_integer); |
slicht | 1:6b99ffa62cc8 | 28 | |
slicht | 1:6b99ffa62cc8 | 29 | // Graphic LCD - TX, RX, and RES pins |
slicht | 2:552e6feb8709 | 30 | uLCD_4DGL uLCD(p9,p10,p11); //initialize a driver object for an LCD connected on pins 9-11 |
slicht | 1:6b99ffa62cc8 | 31 | |
slicht | 1:6b99ffa62cc8 | 32 | // Accelerometer - SDA, SCL, and I2C address |
slicht | 2:552e6feb8709 | 33 | MMA8452Q accel(p28, p27, 0x1D); //initialize a driver object for an accelerometer connected on pins 27-28. |
slicht | 1:6b99ffa62cc8 | 34 | |
slicht | 2:552e6feb8709 | 35 | physics_ball ball1; //initialize two balls for bouncing |
slicht | 2:552e6feb8709 | 36 | physics_ball ball2; //the default states from the library will be used initially |
slicht | 0:8d3812068c6c | 37 | |
rsean10 | 5:93f88deda5ba | 38 | //Ticker for logging |
rsean10 | 5:93f88deda5ba | 39 | Ticker logger1; |
rsean10 | 5:93f88deda5ba | 40 | Ticker logger2; |
rsean10 | 5:93f88deda5ba | 41 | |
rsean10 | 5:93f88deda5ba | 42 | void pos_log1(){ |
rsean10 | 5:93f88deda5ba | 43 | pc.printf("Ball 1 (x): %i Ball 1 (y): %i \n\r",ball1.posx,ball1.posy); |
rsean10 | 5:93f88deda5ba | 44 | } |
rsean10 | 5:93f88deda5ba | 45 | |
rsean10 | 5:93f88deda5ba | 46 | void pos_log2(){ |
rsean10 | 5:93f88deda5ba | 47 | pc.printf("Ball 2 (x): %i Ball 2 (y): %i \n\r",ball2.posx,ball2.posy); |
rsean10 | 5:93f88deda5ba | 48 | } |
rsean10 | 5:93f88deda5ba | 49 | |
rsean10 | 5:93f88deda5ba | 50 | int main(){ |
rsean10 | 5:93f88deda5ba | 51 | /* |
rsean10 | 5:93f88deda5ba | 52 | logger1.attach(&pos_log1, LOG_UPDATE); |
rsean10 | 5:93f88deda5ba | 53 | logger2.attach(&pos_log2, LOG_UPDATE); |
rsean10 | 5:93f88deda5ba | 54 | */ |
slicht | 1:6b99ffa62cc8 | 55 | // Initialize uLCD |
slicht | 1:6b99ffa62cc8 | 56 | uLCD.baudrate(115200); |
slicht | 1:6b99ffa62cc8 | 57 | uLCD.background_color(BLACK); |
slicht | 1:6b99ffa62cc8 | 58 | uLCD.cls(); |
slicht | 1:6b99ffa62cc8 | 59 | |
slicht | 1:6b99ffa62cc8 | 60 | // Initialize accelerometer |
slicht | 1:6b99ffa62cc8 | 61 | accel.init(); |
slicht | 1:6b99ffa62cc8 | 62 | |
slicht | 2:552e6feb8709 | 63 | //Initialize balls: |
slicht | 2:552e6feb8709 | 64 | ball1.set_state(START_X_1,START_Y_1,0,0); //speeds are set to zero |
slicht | 2:552e6feb8709 | 65 | ball1.set_state(START_X_2,START_Y_2,0,0); |
slicht | 2:552e6feb8709 | 66 | |
slicht | 2:552e6feb8709 | 67 | //Set ball radius and color: |
slicht | 2:552e6feb8709 | 68 | ball1.set_param(RADIUS_1,0); //color is unimportant |
slicht | 2:552e6feb8709 | 69 | ball2.set_param(RADIUS_2,1); //just making sure the colors are different |
slicht | 2:552e6feb8709 | 70 | |
slicht | 2:552e6feb8709 | 71 | /* Make the balls "fall" in direction of accelerometer by forcing the ball objects |
slicht | 2:552e6feb8709 | 72 | to update themselves at regular intervals, and te drawing the locations reported |
slicht | 2:552e6feb8709 | 73 | by the ball objects on the LCD screen: */ |
slicht | 2:552e6feb8709 | 74 | while (1) { //execute 'forever' |
slicht | 3:a7f02754bc99 | 75 | // Draw circles in the x and y positions stored by the ball objects: |
slicht | 2:552e6feb8709 | 76 | uLCD.filled_circle(ball1.posx, ball1.posy, ball1.radius, get_LCD_color(ball1.color)); |
slicht | 2:552e6feb8709 | 77 | uLCD.filled_circle(ball2.posx, ball2.posy, ball2.radius, get_LCD_color(ball2.color)); |
slicht | 2:552e6feb8709 | 78 | |
slicht | 2:552e6feb8709 | 79 | // Wait before erasing old circles: |
slicht | 2:552e6feb8709 | 80 | wait(UPDATE_TIME_S); // In seconds |
slicht | 2:552e6feb8709 | 81 | |
slicht | 2:552e6feb8709 | 82 | // Erase old circles by writing over there locations using the screen color: |
slicht | 2:552e6feb8709 | 83 | uLCD.filled_circle(ball1.posx, ball1.posy, ball1.radius, BLACK); |
slicht | 2:552e6feb8709 | 84 | uLCD.filled_circle(ball2.posx, ball2.posy, ball2.radius, BLACK); |
slicht | 1:6b99ffa62cc8 | 85 | |
slicht | 2:552e6feb8709 | 86 | // Force the objects 'ball1' and 'ball2' to update their stored positions |
slicht | 2:552e6feb8709 | 87 | // and velocities: |
slicht | 2:552e6feb8709 | 88 | ball1.update(UPDATE_TIME_S,accel); |
slicht | 2:552e6feb8709 | 89 | ball2.update(UPDATE_TIME_S,accel); |
slicht | 2:552e6feb8709 | 90 | |
slicht | 2:552e6feb8709 | 91 | if (DEBUG_MODE) { |
slicht | 3:a7f02754bc99 | 92 | //If compiled with DEBUG_MODE flag raised, print values to screen. |
slicht | 2:552e6feb8709 | 93 | uLCD.locate(0,4); |
slicht | 2:552e6feb8709 | 94 | uLCD.printf("X: %d.1\nY: %.1d",ball1.posx,ball1.posy); |
slicht | 2:552e6feb8709 | 95 | |
slicht | 2:552e6feb8709 | 96 | uLCD.locate(0,6); |
slicht | 2:552e6feb8709 | 97 | uLCD.printf("VX: %f.1\nVY: %.1f",ball1.speedx,ball1.speedy); |
slicht | 1:6b99ffa62cc8 | 98 | |
slicht | 2:552e6feb8709 | 99 | uLCD.locate(0,10); |
slicht | 2:552e6feb8709 | 100 | uLCD.printf("AX: %f.1\nAY: %.1f\nAZ: %0.1f",accel.readX(),accel.readY(),accel.readZ()); |
slicht | 2:552e6feb8709 | 101 | } |
slicht | 2:552e6feb8709 | 102 | } |
slicht | 2:552e6feb8709 | 103 | } |
slicht | 1:6b99ffa62cc8 | 104 | |
slicht | 3:a7f02754bc99 | 105 | //Interpret LCD colors. |
slicht | 2:552e6feb8709 | 106 | int get_LCD_color(int color_integer) |
slicht | 2:552e6feb8709 | 107 | { |
slicht | 2:552e6feb8709 | 108 | switch (color_integer) { |
slicht | 2:552e6feb8709 | 109 | case 0: |
slicht | 2:552e6feb8709 | 110 | return(RED); |
slicht | 2:552e6feb8709 | 111 | case 1: |
slicht | 2:552e6feb8709 | 112 | return(BLUE); |
slicht | 2:552e6feb8709 | 113 | case 2: |
slicht | 2:552e6feb8709 | 114 | return(GREEN); |
slicht | 2:552e6feb8709 | 115 | default: |
slicht | 2:552e6feb8709 | 116 | return(WHITE); |
slicht | 0:8d3812068c6c | 117 | } |
slicht | 1:6b99ffa62cc8 | 118 | } |