Dependencies: 4DGL-uLCD-SE MMA8452Q_1 SDFileSystem bouncing_ball mbed
main.cpp
- Committer:
- rsean10
- Date:
- 2017-12-07
- Revision:
- 0:cd0b1641b303
File content as of revision 0:cd0b1641b303:
/* R. Sean Nagle 0CE306 HW6 */ #include "mbed.h" #include "MMA8452Q.h" //acceleromater library #include "uLCD_4DGL.h" //LCD library #include "bouncing_ball.h" //new ball phyics library #include "SDFileSystem.h" #define UPDATE_TIME_S 0.02 #define START_X_1 10 #define START_Y_1 10 #define START_X_2 20 #define START_Y_2 20 #define RADIUS_1 6 #define RADIUS_2 3 #define DEBUG_MODE 0 #define LCD_UPDATE .091 //11 Hz // Accelerometer - SDA, SCL, and I2C address MMA8452Q accel(p28, p27, 0x1D); //initialize a driver object for an accelerometer connected on pins 27-28. // Analog input (pin 15) AnalogIn tempin(p15); //Initialize Serial communication Serial pc(USBTX, USBRX); // SD card (SPI pins) SDFileSystem sd(p5, p6, p7, p8, "sd"); //Drawing positions int lastx1; int lasty1; int lastx2; int lasty2; //Led Initialization DigitalOut led1(LED1); //update leds DigitalOut led2(LED2); DigitalOut led3(LED3); //Function prototype for color selection function: int get_LCD_color(int color_integer); // Graphic LCD - TX, RX, and RES pins uLCD_4DGL uLCD(p9,p10,p11); //initialize a driver object for an LCD connected on pins 9-11 physics_ball ball1; //initialize two balls for bouncing physics_ball ball2; //the default states from the library will be used initially //Ticker for update Ticker update1; //ball 1 ticker for update position Ticker update2; //ball 2 ticker for update position //Toggle Initialization InterruptIn button(p18); //Interrupt on the button on pin 13 Timer debounce; //defines debounce timer for proper switching Timer logtimer; int updtog = 0; void toggle(){ if(debounce.read_ms()>175){ led3= !led3; debounce.reset(); //restart timer after toggle occurs logtimer.start(); if(logtimer.read()<2){ updtog = 1; } } } /* int v1x; int v1y; int v2x; int v2y; */ void ball1up(){ if (updtog == 0){ ball1.update(UPDATE_TIME_S,accel); //updates position /* v1x = (int)ball1.speedx; v1y = (int)ball1.speedy; */ } else { ball1.set_state(ball1.posx,ball1.posy,0,0); //speeds are set to zero //pc.printf("%i %i\r\n",v1x,v1y); if(logtimer.read()>2){ //ball1.set_state(ball1.posx,ball1.posy,v1x,v1y); logtimer.stop(); logtimer.reset(); updtog = 0; } } led1 = !led1; //changes led state every update } void ball2up(){ if (updtog == 0){ ball2.update(UPDATE_TIME_S,accel); //updates position /* v2x = (int)ball2.speedx; v2y = (int)ball2.speedy; */ } else { ball2.set_state(ball2.posx,ball2.posy,0,0); //speeds are set to zero //pc.printf("%i %i\r\n",v2x,v2y); if(logtimer.read()>2){ //ball2.set_state(ball2.posx,ball2.posy,v2x,v2y); logtimer.stop(); logtimer.reset(); updtog = 0; } } led2 = !led2; //changes led state every update } //Freefall Interrupt InterruptIn FREEFALL(p17); DigitalIn tompetty(p17); //Ticker for display Ticker displayup; //ticker for displaying ball on lcd void display(){ // Erase old circles by writing over there locations using the screen color: uLCD.filled_circle(lastx1, lasty1, ball1.radius, BLACK); uLCD.filled_circle(lastx2, lasty2, ball2.radius, BLACK); // Draw circles in the x and y positions stored by the ball objects: uLCD.filled_circle(ball1.posx, ball1.posy, ball1.radius, get_LCD_color(ball1.color)); uLCD.filled_circle(ball2.posx, ball2.posy, ball2.radius, get_LCD_color(ball2.color)); //Sets previous ball position to be erased in next iteration lastx1 = ball1.posx; lasty1 = ball1.posy; lastx2 = ball2.posx; lasty2 = ball2.posy; } int main(){ // Initialize uLCD uLCD.baudrate(115200); uLCD.background_color(BLACK); uLCD.cls(); // Initialize accelerometer accel.init(); // Initialize freefall accel.freefall(0x04,0x03); //0x04 for pin 1, 0x00 for pin 2, threshold = (threshold)/0.063 = counts to set register to // example, thresh <0.2g, //Initialize balls: ball1.set_state(START_X_1,START_Y_1,0,0); //speeds are set to zero ball1.set_state(START_X_2,START_Y_2,0,0); //Set ball radius and color: ball1.set_param(RADIUS_1,0); //color is unimportant ball2.set_param(RADIUS_2,1); //just making sure the colors are different update1.attach(&ball1up,UPDATE_TIME_S); //ticker force position update ball 1 update2.attach(&ball2up,UPDATE_TIME_S); //ticker force position update ball 2 displayup.attach(&display,LCD_UPDATE); //ticker force lcd update debounce.start(); //starts debounce timer button.rise(&toggle); //toggles on button press //FREEFALL.rise(&toggle); //interrupts on free fall FREEFALL.fall(&toggle); //interrupts on free fall while (1) { //execute 'forever' uint8_t sixteen = accel.readRegister(0x16); sixteen &= 0x80; //pc.printf("%u\n\r",sixteen); if (tompetty == 0){ pc.printf("LOW %u\n\r",sixteen); } else { pc.printf("HIGH %u\n\r",sixteen); } if (DEBUG_MODE) { //If compiled with DEBUG_MODE flag raised, print values to screen. uLCD.locate(0,4); uLCD.printf("X: %d.1\nY: %.1d",ball1.posx,ball1.posy); uLCD.locate(0,6); uLCD.printf("VX: %f.1\nVY: %.1f",ball1.speedx,ball1.speedy); uLCD.locate(0,10); uLCD.printf("AX: %f.1\nAY: %.1f\nAZ: %0.1f",accel.readX(),accel.readY(),accel.readZ()); } } } //Interpret LCD colors. int get_LCD_color(int color_integer) { switch (color_integer) { case 0: return(RED); case 1: return(BLUE); case 2: return(GREEN); default: return(WHITE); } }