Ryan Mulligan
quick and dirty POV for m3pi + better timings
Dependencies: PinDetect mbed m3pi
Revision 0:5c3790819de2, committed 2012-07-05
- Comitter:
- ryantm
- Date:
- Thu Jul 05 18:57:50 2012 +0000
- Commit message:
Changed in this revision
diff -r 000000000000 -r 5c3790819de2 PinDetect.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PinDetect.lib Thu Jul 05 18:57:50 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AjK/code/PinDetect/#cb3afc45028b
diff -r 000000000000 -r 5c3790819de2 m3pi.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/m3pi.lib Thu Jul 05 18:57:50 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/chris/code/m3pi/#9b128cebb3c2
diff -r 000000000000 -r 5c3790819de2 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Jul 05 18:57:50 2012 +0000
@@ -0,0 +1,115 @@
+#include "mbed.h"
+#include "m3pi.h"
+#include "PinDetect.h"
+
+m3pi m3pi(p23,p9,p10);
+PinDetect pin( p21 );
+bool advance = false;
+Timer timer;
+int leds = 0;
+
+inline int ledHelper(bool on1,bool on2,bool on3,bool on4,bool on5,bool on6,bool on7,bool on8)
+{
+ return (on8 << 7) | (on7 << 6) | (on6 << 5) | (on5 << 4) | (on4 << 3) | (on3 << 2) | (on2 << 1) | (on1);
+}
+
+int setLeds(int newLeds)
+{
+ int i;
+ for (i = 0; i < 8; i++)
+ {
+ if (newLeds & (1 << i))
+ leds |= 1 << i;
+ else
+ leds &= ~(1 << i);
+ m3pi.leds(leds);
+ wait(0.0005);
+ }
+}
+
+
+ void keyReleased( void ) {
+ advance = true;
+ }
+
+// Ben's code
+// through trial and error, found out that a full rotation takes ~240 ms
+int main() {
+ float pixel_width = 0.002;
+ float space_width = pixel_width*2;
+ int rotation_time_ms = 234;
+
+ pin.mode( PullUp );
+ pin.attach_deasserted( &keyReleased );
+ pin.setSampleFrequency(); // Defaults to 20ms.
+
+ m3pi.cls();
+ m3pi.locate(0,1);
+ m3pi.printf("%fV ",m3pi.battery());
+
+ wait(1.0);
+ timer.start();
+ while(1)
+ {
+ while(!advance);
+ advance = false;
+
+ m3pi.left_motor(-1.0);
+ m3pi.right_motor(1.0);
+ while(1)
+ {
+ timer.reset();
+ //H
+ setLeds(ledHelper(1,1,1,1,1,1,1,1));
+ wait(pixel_width);
+ setLeds(ledHelper(0,0,0,1,1,0,0,0));
+ wait(pixel_width*3);
+ setLeds(ledHelper(1,1,1,1,1,1,1,1));
+ wait(pixel_width);
+
+ setLeds(ledHelper(0,0,0,0,0,0,0,0));
+ wait(space_width);
+
+ //E
+ setLeds(ledHelper(1,1,1,1,1,1,1,1));
+ wait(pixel_width);
+ setLeds(ledHelper(1,1,0,1,1,0,1,1));
+ wait(pixel_width*4);
+
+ setLeds(ledHelper(0,0,0,0,0,0,0,0));
+ wait(space_width);
+
+ //L
+ setLeds(ledHelper(1,1,1,1,1,1,1,1));
+ wait(pixel_width);
+ setLeds(ledHelper(1,1,0,0,0,0,0,0));
+ wait(pixel_width*4);
+
+ setLeds(ledHelper(0,0,0,0,0,0,0,0));
+ wait(space_width);
+
+ //L
+ setLeds(ledHelper(1,1,1,1,1,1,1,1));
+ wait(pixel_width);
+ setLeds(ledHelper(1,1,0,0,0,0,0,0));
+ wait(pixel_width*4);
+
+ setLeds(ledHelper(0,0,0,0,0,0,0,0));
+ wait(space_width);
+
+ //O
+ setLeds(ledHelper(1,1,1,1,1,1,1,1));
+ wait(pixel_width);
+ setLeds(ledHelper(1,1,0,0,0,0,1,1));
+ wait(pixel_width*3);
+ setLeds(ledHelper(1,1,1,1,1,1,1,1));
+ wait(pixel_width);
+
+ setLeds(ledHelper(0,0,0,0,0,0,0,0));
+
+ int time = timer.read_ms();
+ wait((rotation_time_ms - time) / 1000.);
+ }
+ m3pi.stop();
+ }
+}
diff -r 000000000000 -r 5c3790819de2 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Jul 05 18:57:50 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912