Sean Nagle / Mbed 2 deprecated OCE360_6

Dependencies:   4DGL-uLCD-SE MMA8452Q_1 SDFileSystem bouncing_ball mbed

main.cpp@0:cd0b1641b303, 2017-12-07 (annotated)

Committer:
rsean10
Date:
Thu Dec 07 15:31:17 2017 +0000
Revision:
0:cd0b1641b303
Full Working Version of OCE360 HW6

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rsean10 0:cd0b1641b303 1 /*
rsean10 0:cd0b1641b303 2 R. Sean Nagle
rsean10 0:cd0b1641b303 3 0CE306 HW6
rsean10 0:cd0b1641b303 4 */
rsean10 0:cd0b1641b303 5
rsean10 0:cd0b1641b303 6 #include "mbed.h"
rsean10 0:cd0b1641b303 7 #include "MMA8452Q.h" //acceleromater library
rsean10 0:cd0b1641b303 8 #include "uLCD_4DGL.h" //LCD library
rsean10 0:cd0b1641b303 9 #include "bouncing_ball.h" //new ball phyics library
rsean10 0:cd0b1641b303 10 #include "SDFileSystem.h"
rsean10 0:cd0b1641b303 11
rsean10 0:cd0b1641b303 12 #define UPDATE_TIME_S 0.02
rsean10 0:cd0b1641b303 13 #define START_X_1 10
rsean10 0:cd0b1641b303 14 #define START_Y_1 10
rsean10 0:cd0b1641b303 15 #define START_X_2 20
rsean10 0:cd0b1641b303 16 #define START_Y_2 20
rsean10 0:cd0b1641b303 17 #define RADIUS_1 6
rsean10 0:cd0b1641b303 18 #define RADIUS_2 3
rsean10 0:cd0b1641b303 19
rsean10 0:cd0b1641b303 20 #define DEBUG_MODE 0
rsean10 0:cd0b1641b303 21
rsean10 0:cd0b1641b303 22 #define LCD_UPDATE .091 //11 Hz
rsean10 0:cd0b1641b303 23
rsean10 0:cd0b1641b303 24 // Accelerometer - SDA, SCL, and I2C address
rsean10 0:cd0b1641b303 25 MMA8452Q accel(p28, p27, 0x1D); //initialize a driver object for an accelerometer connected on pins 27-28.
rsean10 0:cd0b1641b303 26
rsean10 0:cd0b1641b303 27 // Analog input (pin 15)
rsean10 0:cd0b1641b303 28 AnalogIn tempin(p15);
rsean10 0:cd0b1641b303 29
rsean10 0:cd0b1641b303 30 //Initialize Serial communication
rsean10 0:cd0b1641b303 31 Serial pc(USBTX, USBRX);
rsean10 0:cd0b1641b303 32
rsean10 0:cd0b1641b303 33 // SD card (SPI pins)
rsean10 0:cd0b1641b303 34 SDFileSystem sd(p5, p6, p7, p8, "sd");
rsean10 0:cd0b1641b303 35
rsean10 0:cd0b1641b303 36 //Drawing positions
rsean10 0:cd0b1641b303 37 int lastx1;
rsean10 0:cd0b1641b303 38 int lasty1;
rsean10 0:cd0b1641b303 39 int lastx2;
rsean10 0:cd0b1641b303 40 int lasty2;
rsean10 0:cd0b1641b303 41
rsean10 0:cd0b1641b303 42 //Led Initialization
rsean10 0:cd0b1641b303 43 DigitalOut led1(LED1); //update leds
rsean10 0:cd0b1641b303 44 DigitalOut led2(LED2);
rsean10 0:cd0b1641b303 45 DigitalOut led3(LED3);
rsean10 0:cd0b1641b303 46
rsean10 0:cd0b1641b303 47 //Function prototype for color selection function:
rsean10 0:cd0b1641b303 48 int get_LCD_color(int color_integer);
rsean10 0:cd0b1641b303 49
rsean10 0:cd0b1641b303 50 // Graphic LCD - TX, RX, and RES pins
rsean10 0:cd0b1641b303 51 uLCD_4DGL uLCD(p9,p10,p11); //initialize a driver object for an LCD connected on pins 9-11
rsean10 0:cd0b1641b303 52
rsean10 0:cd0b1641b303 53 physics_ball ball1; //initialize two balls for bouncing
rsean10 0:cd0b1641b303 54 physics_ball ball2; //the default states from the library will be used initially
rsean10 0:cd0b1641b303 55
rsean10 0:cd0b1641b303 56 //Ticker for update
rsean10 0:cd0b1641b303 57 Ticker update1; //ball 1 ticker for update position
rsean10 0:cd0b1641b303 58 Ticker update2; //ball 2 ticker for update position
rsean10 0:cd0b1641b303 59
rsean10 0:cd0b1641b303 60 //Toggle Initialization
rsean10 0:cd0b1641b303 61 InterruptIn button(p18); //Interrupt on the button on pin 13
rsean10 0:cd0b1641b303 62 Timer debounce; //defines debounce timer for proper switching
rsean10 0:cd0b1641b303 63 Timer logtimer;
rsean10 0:cd0b1641b303 64 int updtog = 0;
rsean10 0:cd0b1641b303 65
rsean10 0:cd0b1641b303 66 void toggle(){
rsean10 0:cd0b1641b303 67 if(debounce.read_ms()>175){
rsean10 0:cd0b1641b303 68 led3= !led3;
rsean10 0:cd0b1641b303 69 debounce.reset(); //restart timer after toggle occurs
rsean10 0:cd0b1641b303 70 logtimer.start();
rsean10 0:cd0b1641b303 71 if(logtimer.read()<2){
rsean10 0:cd0b1641b303 72 updtog = 1;
rsean10 0:cd0b1641b303 73 }
rsean10 0:cd0b1641b303 74 }
rsean10 0:cd0b1641b303 75 }
rsean10 0:cd0b1641b303 76 /*
rsean10 0:cd0b1641b303 77 int v1x;
rsean10 0:cd0b1641b303 78 int v1y;
rsean10 0:cd0b1641b303 79 int v2x;
rsean10 0:cd0b1641b303 80 int v2y;
rsean10 0:cd0b1641b303 81 */
rsean10 0:cd0b1641b303 82
rsean10 0:cd0b1641b303 83 void ball1up(){
rsean10 0:cd0b1641b303 84 if (updtog == 0){
rsean10 0:cd0b1641b303 85 ball1.update(UPDATE_TIME_S,accel); //updates position
rsean10 0:cd0b1641b303 86 /*
rsean10 0:cd0b1641b303 87 v1x = (int)ball1.speedx;
rsean10 0:cd0b1641b303 88 v1y = (int)ball1.speedy;
rsean10 0:cd0b1641b303 89 */
rsean10 0:cd0b1641b303 90 }
rsean10 0:cd0b1641b303 91 else {
rsean10 0:cd0b1641b303 92 ball1.set_state(ball1.posx,ball1.posy,0,0); //speeds are set to zero
rsean10 0:cd0b1641b303 93 //pc.printf("%i %i\r\n",v1x,v1y);
rsean10 0:cd0b1641b303 94 if(logtimer.read()>2){
rsean10 0:cd0b1641b303 95 //ball1.set_state(ball1.posx,ball1.posy,v1x,v1y);
rsean10 0:cd0b1641b303 96 logtimer.stop();
rsean10 0:cd0b1641b303 97 logtimer.reset();
rsean10 0:cd0b1641b303 98 updtog = 0;
rsean10 0:cd0b1641b303 99 }
rsean10 0:cd0b1641b303 100 }
rsean10 0:cd0b1641b303 101 led1 = !led1; //changes led state every update
rsean10 0:cd0b1641b303 102 }
rsean10 0:cd0b1641b303 103
rsean10 0:cd0b1641b303 104 void ball2up(){
rsean10 0:cd0b1641b303 105 if (updtog == 0){
rsean10 0:cd0b1641b303 106 ball2.update(UPDATE_TIME_S,accel); //updates position
rsean10 0:cd0b1641b303 107 /*
rsean10 0:cd0b1641b303 108 v2x = (int)ball2.speedx;
rsean10 0:cd0b1641b303 109 v2y = (int)ball2.speedy;
rsean10 0:cd0b1641b303 110 */
rsean10 0:cd0b1641b303 111 }
rsean10 0:cd0b1641b303 112 else {
rsean10 0:cd0b1641b303 113 ball2.set_state(ball2.posx,ball2.posy,0,0); //speeds are set to zero
rsean10 0:cd0b1641b303 114 //pc.printf("%i %i\r\n",v2x,v2y);
rsean10 0:cd0b1641b303 115 if(logtimer.read()>2){
rsean10 0:cd0b1641b303 116 //ball2.set_state(ball2.posx,ball2.posy,v2x,v2y);
rsean10 0:cd0b1641b303 117 logtimer.stop();
rsean10 0:cd0b1641b303 118 logtimer.reset();
rsean10 0:cd0b1641b303 119 updtog = 0;
rsean10 0:cd0b1641b303 120 }
rsean10 0:cd0b1641b303 121 }
rsean10 0:cd0b1641b303 122 led2 = !led2; //changes led state every update
rsean10 0:cd0b1641b303 123 }
rsean10 0:cd0b1641b303 124
rsean10 0:cd0b1641b303 125 //Freefall Interrupt
rsean10 0:cd0b1641b303 126 InterruptIn FREEFALL(p17);
rsean10 0:cd0b1641b303 127 DigitalIn tompetty(p17);
rsean10 0:cd0b1641b303 128
rsean10 0:cd0b1641b303 129 //Ticker for display
rsean10 0:cd0b1641b303 130 Ticker displayup; //ticker for displaying ball on lcd
rsean10 0:cd0b1641b303 131
rsean10 0:cd0b1641b303 132 void display(){
rsean10 0:cd0b1641b303 133
rsean10 0:cd0b1641b303 134 // Erase old circles by writing over there locations using the screen color:
rsean10 0:cd0b1641b303 135 uLCD.filled_circle(lastx1, lasty1, ball1.radius, BLACK);
rsean10 0:cd0b1641b303 136 uLCD.filled_circle(lastx2, lasty2, ball2.radius, BLACK);
rsean10 0:cd0b1641b303 137
rsean10 0:cd0b1641b303 138 // Draw circles in the x and y positions stored by the ball objects:
rsean10 0:cd0b1641b303 139 uLCD.filled_circle(ball1.posx, ball1.posy, ball1.radius, get_LCD_color(ball1.color));
rsean10 0:cd0b1641b303 140 uLCD.filled_circle(ball2.posx, ball2.posy, ball2.radius, get_LCD_color(ball2.color));
rsean10 0:cd0b1641b303 141
rsean10 0:cd0b1641b303 142 //Sets previous ball position to be erased in next iteration
rsean10 0:cd0b1641b303 143 lastx1 = ball1.posx;
rsean10 0:cd0b1641b303 144 lasty1 = ball1.posy;
rsean10 0:cd0b1641b303 145 lastx2 = ball2.posx;
rsean10 0:cd0b1641b303 146 lasty2 = ball2.posy;
rsean10 0:cd0b1641b303 147 }
rsean10 0:cd0b1641b303 148
rsean10 0:cd0b1641b303 149 int main(){
rsean10 0:cd0b1641b303 150
rsean10 0:cd0b1641b303 151 // Initialize uLCD
rsean10 0:cd0b1641b303 152 uLCD.baudrate(115200);
rsean10 0:cd0b1641b303 153 uLCD.background_color(BLACK);
rsean10 0:cd0b1641b303 154 uLCD.cls();
rsean10 0:cd0b1641b303 155
rsean10 0:cd0b1641b303 156 // Initialize accelerometer
rsean10 0:cd0b1641b303 157 accel.init();
rsean10 0:cd0b1641b303 158 // Initialize freefall
rsean10 0:cd0b1641b303 159 accel.freefall(0x04,0x03); //0x04 for pin 1, 0x00 for pin 2, threshold = (threshold)/0.063 = counts to set register to
rsean10 0:cd0b1641b303 160 // example, thresh <0.2g,
rsean10 0:cd0b1641b303 161
rsean10 0:cd0b1641b303 162 //Initialize balls:
rsean10 0:cd0b1641b303 163 ball1.set_state(START_X_1,START_Y_1,0,0); //speeds are set to zero
rsean10 0:cd0b1641b303 164 ball1.set_state(START_X_2,START_Y_2,0,0);
rsean10 0:cd0b1641b303 165
rsean10 0:cd0b1641b303 166 //Set ball radius and color:
rsean10 0:cd0b1641b303 167 ball1.set_param(RADIUS_1,0); //color is unimportant
rsean10 0:cd0b1641b303 168 ball2.set_param(RADIUS_2,1); //just making sure the colors are different
rsean10 0:cd0b1641b303 169
rsean10 0:cd0b1641b303 170 update1.attach(&ball1up,UPDATE_TIME_S); //ticker force position update ball 1
rsean10 0:cd0b1641b303 171 update2.attach(&ball2up,UPDATE_TIME_S); //ticker force position update ball 2
rsean10 0:cd0b1641b303 172
rsean10 0:cd0b1641b303 173 displayup.attach(&display,LCD_UPDATE); //ticker force lcd update
rsean10 0:cd0b1641b303 174
rsean10 0:cd0b1641b303 175 debounce.start(); //starts debounce timer
rsean10 0:cd0b1641b303 176 button.rise(&toggle); //toggles on button press
rsean10 0:cd0b1641b303 177 //FREEFALL.rise(&toggle); //interrupts on free fall
rsean10 0:cd0b1641b303 178 FREEFALL.fall(&toggle); //interrupts on free fall
rsean10 0:cd0b1641b303 179
rsean10 0:cd0b1641b303 180 while (1) { //execute 'forever'
rsean10 0:cd0b1641b303 181
rsean10 0:cd0b1641b303 182 uint8_t sixteen = accel.readRegister(0x16);
rsean10 0:cd0b1641b303 183 sixteen &= 0x80;
rsean10 0:cd0b1641b303 184 //pc.printf("%u\n\r",sixteen);
rsean10 0:cd0b1641b303 185
rsean10 0:cd0b1641b303 186
rsean10 0:cd0b1641b303 187 if (tompetty == 0){
rsean10 0:cd0b1641b303 188 pc.printf("LOW %u\n\r",sixteen);
rsean10 0:cd0b1641b303 189 }
rsean10 0:cd0b1641b303 190 else {
rsean10 0:cd0b1641b303 191 pc.printf("HIGH %u\n\r",sixteen);
rsean10 0:cd0b1641b303 192 }
rsean10 0:cd0b1641b303 193
rsean10 0:cd0b1641b303 194
rsean10 0:cd0b1641b303 195 if (DEBUG_MODE) {
rsean10 0:cd0b1641b303 196 //If compiled with DEBUG_MODE flag raised, print values to screen.
rsean10 0:cd0b1641b303 197 uLCD.locate(0,4);
rsean10 0:cd0b1641b303 198 uLCD.printf("X: %d.1\nY: %.1d",ball1.posx,ball1.posy);
rsean10 0:cd0b1641b303 199
rsean10 0:cd0b1641b303 200 uLCD.locate(0,6);
rsean10 0:cd0b1641b303 201 uLCD.printf("VX: %f.1\nVY: %.1f",ball1.speedx,ball1.speedy);
rsean10 0:cd0b1641b303 202
rsean10 0:cd0b1641b303 203 uLCD.locate(0,10);
rsean10 0:cd0b1641b303 204 uLCD.printf("AX: %f.1\nAY: %.1f\nAZ: %0.1f",accel.readX(),accel.readY(),accel.readZ());
rsean10 0:cd0b1641b303 205 }
rsean10 0:cd0b1641b303 206 }
rsean10 0:cd0b1641b303 207 }
rsean10 0:cd0b1641b303 208
rsean10 0:cd0b1641b303 209 //Interpret LCD colors.
rsean10 0:cd0b1641b303 210 int get_LCD_color(int color_integer)
rsean10 0:cd0b1641b303 211 {
rsean10 0:cd0b1641b303 212 switch (color_integer) {
rsean10 0:cd0b1641b303 213 case 0:
rsean10 0:cd0b1641b303 214 return(RED);
rsean10 0:cd0b1641b303 215 case 1:
rsean10 0:cd0b1641b303 216 return(BLUE);
rsean10 0:cd0b1641b303 217 case 2:
rsean10 0:cd0b1641b303 218 return(GREEN);
rsean10 0:cd0b1641b303 219 default:
rsean10 0:cd0b1641b303 220 return(WHITE);
rsean10 0:cd0b1641b303 221 }
rsean10 0:cd0b1641b303 222 }