Revision 0:5e1d466088b4, committed 2014-08-27

Comitter:

s1222546

Date:

Wed Aug 27 08:32:11 2014 +0000

Commit message:

program for RoPiT

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.lib	Wed Aug 27 08:32:11 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/Servo/#36b69a7ced07

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Aug 27 08:32:11 2014 +0000
@@ -0,0 +1,678 @@
+#include "mbed.h"
+#include "Servo.h"
+
+//pushbuttons
+InterruptIn interruptbutton(D8);
+DigitalIn button1(D7);
+DigitalIn button2(D6);
+DigitalIn button3(D5);
+
+//LEDs
+DigitalOut ledon(D4);
+DigitalOut led1(D1);
+DigitalOut led2(D2);
+DigitalOut led3(D3);
+
+//myleds
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+
+//buzzer
+DigitalOut buzzer(PTC5);
+
+//servo's
+Servo servo1(D13);
+Servo servo2(D10);
+Servo servo3(D11);
+Servo servo4(D12);
+Servo servo5(D9);
+
+//transistoren
+DigitalOut transistor1(PTA17);
+DigitalOut transistor2(PTC16);
+DigitalOut transistor3(PTC17);
+DigitalOut transistor4(PTA16);
+DigitalOut transistor5(PTC13);
+
+//potmeters
+AnalogIn POT1(A1);
+AnalogIn POT2(A2);
+AnalogIn POT3(A3);
+AnalogIn POT4(A4);
+AnalogIn POT5(A5);
+
+//timer
+Timer timer;
+
+//variabelen
+float bnp=0;
+float menu=1;
+float song;
+float learning;
+float m;
+float tellen;
+float finger;
+float a;
+float p;
+float transistors;
+float o;
+float c;
+float servo_melody_run;
+float feedback_melody_run;
+float POT_melody_run;
+float hoek1a;
+float hoek2a;
+float hoek3a;
+float hoek4a;
+float hoek5a;
+float hoek1b;
+float hoek2b;
+float hoek3b;
+float hoek4b;
+float hoek5b;
+float hoek1;
+float hoek2;
+float hoek3;
+float hoek4;
+float hoek5;
+extern "C" void NVIC_SystemReset();
+
+//programma reset
+void startover()
+{
+    led1=1;
+    wait(0.2);
+    led2=1;
+    wait(0.2);
+    led3=1;
+    wait(0.5);
+    led1=0;
+    led2=0;
+    led3=0;
+    menu=1;
+    NVIC_SystemReset();
+}
+
+
+//programma onderdelen aansturing servo's
+// transistors_on
+void transistors_on()
+{
+    transistor1=1;
+    transistor2=1;
+    transistor3=1;
+    transistor4=1;
+    transistor5=1;
+}
+
+// transistors_off
+void transistors_off()
+{
+    transistor1=0;
+    transistor2=0;
+    transistor3=0;
+    transistor4=0;
+    transistor5=0;
+}
+
+// aftellen
+void aftellen()
+{
+    buzzer=1;
+    wait(0.2);
+    buzzer=0;
+    wait(c-0.2);
+    buzzer=1;
+    wait(0.2);
+    buzzer=0;
+    wait(c-0.2);
+    buzzer=1;
+    wait(0.2);
+    buzzer=0;
+    wait(c-0.2);
+    buzzer=1;
+    wait(0.2);
+    buzzer=0;
+    wait(c-0.2);
+    m=1;
+}
+
+//aftellen_kalibreren
+void aftellen_kalibreren()
+{
+    buzzer=1;
+    wait(0.2);
+    buzzer=0;
+    wait(0.8);
+    buzzer=1;
+    wait(0.2);
+    buzzer=0;
+    wait(0.8);
+    buzzer=1;
+    wait(0.2);
+    buzzer=0;
+    wait(0.8);
+    buzzer=1;
+    wait(0.2);
+    buzzer=0;
+    wait(0.8);
+}
+
+
+//kalibreren
+void kalibreren()
+{
+    aftellen_kalibreren();
+    hoek1a=POT1.read();
+    hoek2a=POT2.read();
+    hoek3a=POT3.read();
+    hoek4a=POT4.read();
+    hoek5a=POT5.read();
+    wait(5);
+    aftellen_kalibreren();
+    hoek1b=POT1.read();
+    hoek2b=POT2.read();
+    hoek3b=POT3.read();
+    hoek4b=POT4.read();
+    hoek5b=POT5.read();
+
+    hoek1=0.75*(hoek1a-hoek1b);
+    hoek2=0.75*(hoek2a-hoek2b);
+    hoek3=0.75*(hoek3a-hoek3b);
+    hoek4=0.75*(hoek4a-hoek4b);
+    hoek5=0.75*(hoek5a-hoek5b);
+    led1=0;
+    led2=0;
+    led3=0;
+}
+
+// melody_1
+void melody_1()
+{
+    if(m==0) {
+        aftellen();
+    }
+    if(m==1) {
+        finger=1;
+        ++o;
+    }
+    if(m==2) {
+        finger=2;
+        ++o;
+    }
+    if(m==3) {
+        finger=3;
+        ++o;
+    }
+    if(m==4) {
+        finger=4;
+        ++o;
+    }
+    if(m==5) {
+        finger=5;
+        ++o;
+    }
+    if(m==6) {
+        finger=0;
+        feedback_melody_run=0;
+        servo_melody_run=0;
+        POT_melody_run=0;
+        tellen=1;
+        timer.stop();
+        timer.reset();
+    }
+}
+
+
+// melody_2
+void melody_2()
+{
+    if(m==0) {
+        aftellen();
+    }
+    if(m==1) {
+        finger=1;
+        ++o;
+    }
+    if(m==2) {
+        finger=5;
+        ++o;
+    }
+    if(m==3) {
+        finger=2;
+    }
+    if(m==4) {
+        finger=4;
+        ++o;
+    }
+    if(m==5) {
+        finger=3;
+        ++o;
+    }
+    if(m==6) {
+        finger=0;
+        feedback_melody_run=0;
+        servo_melody_run=0;
+        POT_melody_run=0;
+        tellen=1;
+        timer.stop();
+        timer.reset();
+    }
+}
+
+// melody_3
+void melody_3()
+{
+    if(m==0) {
+        aftellen();
+    }
+    if(m==1) {
+        finger=1;
+        ++o;
+    }
+    if(m==2) {
+        finger=2;
+        ++o;
+    }
+    if(m==3) {
+        finger=5;
+        ++o;
+    }
+    if(m==4) {
+        finger=4;
+        ++o;
+    }
+    if(m==5) {
+        finger=3;
+        ++o;
+    }
+    if(m==6) {
+        finger=0;
+        feedback_melody_run=0;
+        servo_melody_run=0;
+        POT_melody_run=0;
+        tellen=1;
+        m=0;
+        timer.stop();
+        timer.reset();
+    }
+}
+
+// melody
+void melody()
+{
+    if(song==1) {
+        melody_1();
+    }
+    if(song==2) {
+        melody_2();
+    }
+    if(song==3) {
+        melody_3();
+    }
+}
+
+//POT
+void POT()
+{
+    melody();
+    if(finger==1) {
+        if(POT1.read()>=hoek1) {
+            ++m;
+        }
+    }
+    if(finger==2) {
+        if(POT2.read()>=hoek2) {
+            ++m;
+        }
+    }
+    if(finger==3) {
+        if(POT3.read()>=hoek3) {
+            ++m;
+        }
+    }
+    if(finger==4) {
+        if(POT4.read()>=hoek4) {
+            ++m;
+        }
+    }
+    if(finger==5) {
+        if(POT5.read()>=hoek5) {
+            ++m;
+        }
+    }
+}
+
+// servo
+void servo()
+{
+    melody();
+    if(finger==1) {
+        transistor1=1;
+        servo1=1;
+        wait(a);
+        servo1=0.5;
+    }
+    if(finger==2) {
+        transistor2=1;
+        servo2=1;
+        wait(a);
+        servo2=0.5;
+    }
+    if(finger==3) {
+        transistor3=1;
+        servo3=1;
+        wait(a);
+        servo3=0.5;
+    }
+    if(finger==4) {
+        transistor4=1;
+        servo4=0;
+        wait(a);
+        servo4=0.5;
+    }
+    if(finger==5) {
+        transistor5=1;
+        servo5=0;
+        wait(a);
+        servo5=0.5;
+    }
+    ++m;
+}
+
+//feedback
+void feedback()
+{
+    melody();
+    if(finger==1) {
+        timer.start();
+        while(m==o) {
+            if(POT1.read()>=hoek1) {
+                ++m;
+            }
+            if(timer.read()>=c+a) {
+                transistor1=1;
+                servo1=1;
+                wait(a);
+                servo1=0.5;
+                wait(a);
+                transistor1=0;
+                ++m;
+            }
+        }
+    }
+    if(finger==2) {
+        timer.start();
+        while(m==o) {
+            if(POT2.read()>=hoek2) {
+                ++m;
+            }
+            if(timer.read()>=2*c+a) {
+                transistor2=1;
+                servo2=1;
+                wait(a);
+                servo2=0.5;
+                wait(a);
+                transistor2=0;
+                ++m;
+            }
+        }
+    }
+    if(finger==3) {
+        timer.start();
+        while(m==o) {
+            if(POT3.read()>=hoek3) {
+                ++m;
+            }
+            if(timer.read()>=2*c+a) {
+                transistor3=1;
+                servo3=1;
+                wait(a);
+                servo3=0.5;
+                wait(a);
+                transistor3=0;
+                ++m;
+            }
+        }
+    }
+    if(finger==4) {
+        timer.start();
+        while(m==o) {
+            if(POT4.read()>=hoek4) {
+                ++m;
+            }
+            if(timer.read()>=3*c+a) {
+                transistor4=1;
+                servo4=1;
+                wait(a);
+                servo4=0.5;
+                wait(a);
+                transistor4=0;
+                ++m;
+            }
+        }
+    }
+    if(finger==5) {
+        timer.start();
+        while(m==o) {
+            if(POT5.read()>=hoek5) {
+                ++m;
+            }
+            if(timer.read()>=4*c+a) {
+                transistor5=1;
+                servo5=1;
+                wait(a);
+                servo5=0.5;
+                wait(a);
+                transistor5=0;
+                ++m;
+            }
+        }
+    }
+}
+
+//servo_melody()
+void servo_melody()
+{
+    if(transistors==1) {
+        transistors_on();
+        transistors=0;
+        servo_melody_run=1;
+        m=0;
+    }
+    while(servo_melody_run==1) {
+        servo();
+    }
+}
+
+//POT_melody()
+void POT_melody()
+{
+    if(transistors==1) {
+        transistors_off();
+        transistors=0;
+        POT_melody_run=1;
+        m=0;
+    }
+    while(POT_melody_run==1) {
+        POT();
+    }
+}
+
+//feedback_melody()
+void feedback_melody()
+{
+    if(transistors==1) {
+        transistors_off();
+        transistors=0;
+        feedback_melody_run=1;
+        m=0;
+        o=0;
+    }
+    while(feedback_melody_run==1) {
+        feedback();
+    }
+}
+
+
+
+
+
+
+
+
+int main()
+{
+    led1=0;
+    led2=0;
+    led3=0;
+    myled1=1;
+    myled2=1;
+    myled3=1;
+    while(1) {
+        ledon=1;
+        interruptbutton.fall(&startover);
+//menu
+        if(button1==0) {
+            if(bnp==1 && menu==1) {
+                led1=1;
+                song=1;
+                menu=2;
+                wait(0.5);
+                led1=0;
+                bnp=0;
+            }
+            if(bnp==1 && menu==2) {
+                led1=1;
+                learning=1;
+                menu=3;
+                wait(0.5);
+                led1=0;
+                bnp=0;
+            }
+            if(bnp==1 && menu==3) {
+                led1=1;
+                p=60;
+                menu=4;
+                wait(0.5);
+                led1=0;
+                bnp=0;
+            }
+        }
+        if(button2==0) {
+            if(bnp==1 && menu==1) {
+                led2=1;
+                song=2;
+                menu=2;
+                wait(0.5);
+                led2=0;
+                bnp=0;
+            }
+            if(bnp==1 && menu==2) {
+                led2=1;
+                learning=2;
+                menu=3;
+                wait(0.5);
+                led2=0;
+                bnp=0;
+            }
+            if(bnp==1 && menu==3) {
+                led2=1;
+                p=100;
+                menu=4;
+                wait(0.5);
+                led2=0;
+                bnp=0;
+            }
+        }
+        if(button3==0) {
+            if(bnp==1 && menu==1) {
+                led3=1;
+                song=3;
+                menu=2;
+                wait(0.5);
+                led3=0;
+                bnp=0;
+            }
+            if(bnp==1 && menu==2) {
+                led3=1;
+                learning=3;
+                menu=3;
+                wait(0.5);
+                led3=0;
+                bnp=0;
+            }
+            if(bnp==1 && menu==3) {
+                led3=1;
+                p=120;
+                menu=4;
+                wait(0.5);
+                led3=0;
+                bnp=0;
+            }
+            if(button2==0 && bnp==0) {
+                led3=1;
+                led2=1;
+                if(button1==0 &&bnp==0) {
+                    led1=1;
+                    p=100;
+                    kalibreren();
+                }
+            }
+        }
+        if(button1==1 && button2==1 && button3==1) {
+            bnp=1;
+        }
+//programma
+        if(menu==4) {
+            c=60/p;
+            a=0.5*c;
+            if(learning==1) {
+                transistors=1;
+                POT_melody();
+            }
+            if(learning==2) {
+                 transistors=1;
+                servo_melody();
+                wait(3);
+                transistors=1;
+                feedback_melody();
+                wait(3);
+                transistors=1;
+                servo_melody();
+                wait(3);
+                transistors=1;
+                feedback_melody();
+                wait(3);
+                transistors=1;
+                servo_melody();
+                wait(3);
+                transistors=1;
+                feedback_melody();
+            }
+            if(learning==3) {
+               
+                transistors=1;
+                servo_melody();
+                wait(3);
+                transistors=1;
+                POT_melody();
+                wait(3);
+                transistors=1;
+                servo_melody();
+                wait(3);
+                transistors=1;
+                POT_melody();
+                wait(3);
+                transistors=1;
+                servo_melody();
+                wait(3);
+                transistors=1;
+                POT_melody();               
+            }
+            menu=1;
+        }
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Aug 27 08:32:11 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/6213f644d804
\ No newline at end of file