main.cpp

00001 #include "mbed.h"
00002 #include "MMA8451Q.h"
00003 
00004   PinName const SDA = PTE25;
00005   PinName const SCL = PTE24;
00006 
00007 #define MMA8451_I2C_ADDRESS (0x1d<<1)
00008 enum state { intermediate, flat, over, down, up, left, right};
00009 int main(void)
00010 {
00011     MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS);
00012     DigitalOut rled(LED1,1);
00013     DigitalOut gled(LED2,1);
00014     DigitalOut bled(LED3,1);
00015     Serial pc(USBTX, USBRX); // tx, rx
00016     int state;
00017 
00018     pc.printf("MMA8451 ID: %d\n", acc.getWhoAmI());
00019     state=intermediate;
00020     while (true) {
00021         float x, y, z;
00022         
00023         x = acc.getAccX();
00024         y = acc.getAccY();
00025         z = acc.getAccZ();
00026         switch (state){
00027             case intermediate:
00028                 rled=1;
00029                 gled=1;
00030                 bled=1;
00031                 if (z>0.9) {state=flat; pc.printf("Flat");}//Check position and change state
00032                 if (z<-0.9) {state=over; pc.printf("Over");}
00033                 if (x>0.9) {state=down; pc.printf("Down");}
00034                 if (x<-0.9) {state=up; pc.printf("Up");}
00035                 if (y>0.9) {state=left; pc.printf("Left");}
00036                 if (y<-0.9) {state=right; pc.printf("Right");}
00037             break;
00038             
00039             case flat:
00040                 rled=0;
00041                 if (z<0.8) state=intermediate;
00042             break;
00043             
00044             case over:
00045                 gled=0;
00046                 if (z>-0.8) state=intermediate;  
00047             break;
00048               
00049             case down:
00050                 bled=0;
00051                 if (x<0.8) state=intermediate;  
00052             break;
00053             
00054             case up:
00055                 rled=0;
00056                 gled=0;
00057                 if (x>-0.8) state=intermediate;  
00058             break;
00059             
00060             case left:
00061                 gled=0;
00062                 bled=0;
00063                 if (y<0.8) state=intermediate;  
00064             break;
00065             
00066             case right:
00067                 rled=0;
00068                 bled=0;
00069                 if (y>-0.8) state=intermediate;  
00070             break;
00071         }
00072         ThisThread::sleep_for(300);  // wait(0.3);
00073         pc.printf("X: %1.2f, Y: %1.2f, Z: %1.2f\n", x, y, z);
00074         
00075     }
00076 }