StarBoardOrangeExample3 - This is a example application for StarBoard Orang…

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Shinichiro Nakamura / Mbed 2 deprecated StarBoardOrangeExample3

This is a example application for StarBoard Orange designed by @logic_star. This example can be drive a CHORO Q HYBRID.

main.cpp@1:03c8bc666945, 2010-09-20 (annotated)

Committer:: shintamainjp
Date:: Mon Sep 20 02:09:54 2010 +0000
Revision:: 1:03c8bc666945
Parent:: 0:127b9ca59547

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User	Revision	Line number	New contents of line
shintamainjp	0:127b9ca59547	1	/**
shintamainjp	0:127b9ca59547	2	* StarBoard Orange - Example application No.3 (Version 0.0.1)
shintamainjp	0:127b9ca59547	3	* Drive a CHORO Q HYBRID with wii nunchuk
shintamainjp	0:127b9ca59547	4	*
shintamainjp	0:127b9ca59547	5	* See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_ja/
shintamainjp	0:127b9ca59547	6	* See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_en/
shintamainjp	0:127b9ca59547	7	*
shintamainjp	0:127b9ca59547	8	* Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
shintamainjp	0:127b9ca59547	9	* http://shinta.main.jp/
shintamainjp	0:127b9ca59547	10	*/
shintamainjp	1:03c8bc666945	11
shintamainjp	1:03c8bc666945	12	/*
shintamainjp	1:03c8bc666945	13	* Connection map.
shintamainjp	1:03c8bc666945	14	*
shintamainjp	1:03c8bc666945	15	* +---+----------------+---------+
shintamainjp	1:03c8bc666945	16	* \|Pin\|Target \|Direction\|
shintamainjp	1:03c8bc666945	17	* +---+----------------+---------+
shintamainjp	1:03c8bc666945	18	* \|p21\|IR transmitter \|OUT \|
shintamainjp	1:03c8bc666945	19	* +---+----------------+---------+
shintamainjp	1:03c8bc666945	20	*/
shintamainjp	1:03c8bc666945	21
shintamainjp	1:03c8bc666945	22	/*
shintamainjp	1:03c8bc666945	23	* Include files.
shintamainjp	1:03c8bc666945	24	*/
shintamainjp	1:03c8bc666945	25
shintamainjp	0:127b9ca59547	26	#include <mbed.h>
shintamainjp	0:127b9ca59547	27	#include <algorithm>
shintamainjp	1:03c8bc666945	28	#include <ChoroQ.h>
shintamainjp	0:127b9ca59547	29	#include <I2CConfig.h>
shintamainjp	0:127b9ca59547	30	#include <WiiNunchuckReader.h>
shintamainjp	0:127b9ca59547	31	#include <TextLCD.h>
shintamainjp	1:03c8bc666945	32	#include "appconf.h"
shintamainjp	1:03c8bc666945	33
shintamainjp	1:03c8bc666945	34	/*
shintamainjp	1:03c8bc666945	35	* Objects.
shintamainjp	1:03c8bc666945	36	*/
shintamainjp	0:127b9ca59547	37
shintamainjp	0:127b9ca59547	38	WiiNunchuckReader wn(I2CPort_A::SDA, I2CPort_A::SCL);
shintamainjp	1:03c8bc666945	39	ChoroQ cq(p21);
shintamainjp	0:127b9ca59547	40	TextLCD lcd(p24, p26, p27, p28, p29, p30);
shintamainjp	0:127b9ca59547	41	BusOut led(LED4, LED3, LED2, LED1);
shintamainjp	0:127b9ca59547	42
shintamainjp	1:03c8bc666945	43	/**
shintamainjp	1:03c8bc666945	44	* Display a splash screen.
shintamainjp	1:03c8bc666945	45	*/
shintamainjp	1:03c8bc666945	46	void splash(void) {
shintamainjp	1:03c8bc666945	47	lcd.cls();
shintamainjp	1:03c8bc666945	48	lcd.locate(0, 0);
shintamainjp	1:03c8bc666945	49	lcd.printf("StarBoard Orange");
shintamainjp	1:03c8bc666945	50	lcd.locate(0, 1);
shintamainjp	1:03c8bc666945	51	lcd.printf("mbed NXP LPC1768");
shintamainjp	1:03c8bc666945	52	wait(3);
shintamainjp	1:03c8bc666945	53
shintamainjp	1:03c8bc666945	54	lcd.cls();
shintamainjp	1:03c8bc666945	55	lcd.locate(0, 0);
shintamainjp	1:03c8bc666945	56	lcd.printf("Example app No.3");
shintamainjp	1:03c8bc666945	57	lcd.locate(0, 1);
shintamainjp	1:03c8bc666945	58	lcd.printf(" CHORO Q HYBRID ");
shintamainjp	1:03c8bc666945	59	wait(3);
shintamainjp	1:03c8bc666945	60	}
shintamainjp	1:03c8bc666945	61
shintamainjp	1:03c8bc666945	62	/**
shintamainjp	1:03c8bc666945	63	* Get an action from a coordinate.
shintamainjp	1:03c8bc666945	64	*
shintamainjp	1:03c8bc666945	65	* @param x X axis.
shintamainjp	1:03c8bc666945	66	* @param y Y axis.
shintamainjp	1:03c8bc666945	67	* @param dash State of dash.
shintamainjp	1:03c8bc666945	68	*
shintamainjp	1:03c8bc666945	69	* @return An action.
shintamainjp	1:03c8bc666945	70	*/
shintamainjp	0:127b9ca59547	71	ChoroQ::Action getAction(const int x, const int y, bool dash) {
shintamainjp	0:127b9ca59547	72	static const int MAX_X = 200;
shintamainjp	0:127b9ca59547	73	static const int MIN_X = 20;
shintamainjp	0:127b9ca59547	74	static const int MAX_Y = 200;
shintamainjp	0:127b9ca59547	75	static const int MIN_Y = 20;
shintamainjp	0:127b9ca59547	76	int px = ((x - MIN_X) * 100) / (MAX_X - MIN_X);
shintamainjp	0:127b9ca59547	77	int py = ((y - MIN_Y) * 100) / (MAX_Y - MIN_Y);
shintamainjp	0:127b9ca59547	78	px = std::max(0, std::min(100, px)) - 50; // Range of a value is -50 to +50
shintamainjp	0:127b9ca59547	79	py = std::max(0, std::min(100, py)) - 50; // Range of a value is -50 to +50
shintamainjp	0:127b9ca59547	80
shintamainjp	0:127b9ca59547	81	if ((std::abs(px) <= 10) && (std::abs(py) <= 10)) {
shintamainjp	0:127b9ca59547	82	return ChoroQ::Stop;
shintamainjp	0:127b9ca59547	83	}
shintamainjp	0:127b9ca59547	84
shintamainjp	1:03c8bc666945	85	if ((x == 0) && (y == 0)) {
shintamainjp	1:03c8bc666945	86	return ChoroQ::Stop;
shintamainjp	1:03c8bc666945	87	}
shintamainjp	1:03c8bc666945	88
shintamainjp	0:127b9ca59547	89	if (std::abs(px) < 10) {
shintamainjp	0:127b9ca59547	90	if (py < 0) {
shintamainjp	0:127b9ca59547	91	if (dash) {
shintamainjp	0:127b9ca59547	92	return ChoroQ::DownDash;
shintamainjp	0:127b9ca59547	93	} else {
shintamainjp	0:127b9ca59547	94	return ChoroQ::Down;
shintamainjp	0:127b9ca59547	95	}
shintamainjp	0:127b9ca59547	96	} else {
shintamainjp	0:127b9ca59547	97	if (dash) {
shintamainjp	0:127b9ca59547	98	return ChoroQ::UpDash;
shintamainjp	0:127b9ca59547	99	} else {
shintamainjp	0:127b9ca59547	100	return ChoroQ::Up;
shintamainjp	0:127b9ca59547	101	}
shintamainjp	0:127b9ca59547	102	}
shintamainjp	0:127b9ca59547	103	}
shintamainjp	0:127b9ca59547	104	if (std::abs(py) < 10) {
shintamainjp	0:127b9ca59547	105	if (px < -20) {
shintamainjp	0:127b9ca59547	106	return ChoroQ::Left;
shintamainjp	0:127b9ca59547	107	}
shintamainjp	0:127b9ca59547	108	if (20 < px) {
shintamainjp	0:127b9ca59547	109	return ChoroQ::Right;
shintamainjp	0:127b9ca59547	110	}
shintamainjp	0:127b9ca59547	111	}
shintamainjp	0:127b9ca59547	112	if ((10 < px) && (10 < py)) {
shintamainjp	0:127b9ca59547	113	if (dash) {
shintamainjp	0:127b9ca59547	114	return ChoroQ::UpRightDash;
shintamainjp	0:127b9ca59547	115	} else {
shintamainjp	0:127b9ca59547	116	return ChoroQ::UpRight;
shintamainjp	0:127b9ca59547	117	}
shintamainjp	0:127b9ca59547	118	}
shintamainjp	0:127b9ca59547	119	if ((px < -10) && (10 < py)) {
shintamainjp	0:127b9ca59547	120	if (dash) {
shintamainjp	0:127b9ca59547	121	return ChoroQ::UpLeftDash;
shintamainjp	0:127b9ca59547	122	} else {
shintamainjp	0:127b9ca59547	123	return ChoroQ::UpLeft;
shintamainjp	0:127b9ca59547	124	}
shintamainjp	0:127b9ca59547	125	}
shintamainjp	0:127b9ca59547	126	if ((px < -10) && (py < -10)) {
shintamainjp	0:127b9ca59547	127	if (dash) {
shintamainjp	0:127b9ca59547	128	return ChoroQ::DownLeftDash;
shintamainjp	0:127b9ca59547	129	} else {
shintamainjp	0:127b9ca59547	130	return ChoroQ::DownLeft;
shintamainjp	0:127b9ca59547	131	}
shintamainjp	0:127b9ca59547	132	}
shintamainjp	0:127b9ca59547	133	if ((10 < px) && (py < -10)) {
shintamainjp	0:127b9ca59547	134	if (dash) {
shintamainjp	0:127b9ca59547	135	return ChoroQ::DownRightDash;
shintamainjp	0:127b9ca59547	136	} else {
shintamainjp	0:127b9ca59547	137	return ChoroQ::DownRight;
shintamainjp	0:127b9ca59547	138	}
shintamainjp	0:127b9ca59547	139	}
shintamainjp	0:127b9ca59547	140	return ChoroQ::Stop;
shintamainjp	0:127b9ca59547	141	}
shintamainjp	0:127b9ca59547	142
shintamainjp	1:03c8bc666945	143	/**
shintamainjp	1:03c8bc666945	144	* Entry point.
shintamainjp	1:03c8bc666945	145	*/
shintamainjp	0:127b9ca59547	146	int main() {
shintamainjp	1:03c8bc666945	147	/*
shintamainjp	1:03c8bc666945	148	* Splash.
shintamainjp	1:03c8bc666945	149	*/
shintamainjp	1:03c8bc666945	150	splash();
shintamainjp	0:127b9ca59547	151	lcd.cls();
shintamainjp	1:03c8bc666945	152
shintamainjp	1:03c8bc666945	153	/*
shintamainjp	1:03c8bc666945	154	* Setup a configuration.
shintamainjp	1:03c8bc666945	155	*/
shintamainjp	1:03c8bc666945	156	appconf_t conf;
shintamainjp	1:03c8bc666945	157	appconf_init(&conf);
shintamainjp	1:03c8bc666945	158	appconf_read(&conf);
shintamainjp	1:03c8bc666945	159
shintamainjp	1:03c8bc666945	160	/*
shintamainjp	1:03c8bc666945	161	* Application loop.
shintamainjp	1:03c8bc666945	162	*/
shintamainjp	0:127b9ca59547	163	while (true) {
shintamainjp	0:127b9ca59547	164	wn.RequestRead();
shintamainjp	0:127b9ca59547	165
shintamainjp	0:127b9ca59547	166	ChoroQ::Action ac = getAction(wn.getJoyX(), wn.getJoyY(), (wn.getButtonZ() == 1) ? true : false);
shintamainjp	1:03c8bc666945	167	cq.execute(conf.channel, ac);
shintamainjp	0:127b9ca59547	168
shintamainjp	0:127b9ca59547	169	lcd.locate(0, 0);
shintamainjp	1:03c8bc666945	170	lcd.printf("JS :(%3d,%3d) %s", wn.getJoyX(), wn.getJoyY(), ((wn.getButtonZ() == 1) ? "D" : " "));
shintamainjp	0:127b9ca59547	171
shintamainjp	1:03c8bc666945	172	char *stattext = "";
shintamainjp	0:127b9ca59547	173	switch (ac) {
shintamainjp	0:127b9ca59547	174	case ChoroQ::Undef:
shintamainjp	1:03c8bc666945	175	stattext = "Undef";
shintamainjp	0:127b9ca59547	176	break;
shintamainjp	0:127b9ca59547	177	case ChoroQ::Up:
shintamainjp	1:03c8bc666945	178	stattext = "Up";
shintamainjp	0:127b9ca59547	179	break;
shintamainjp	0:127b9ca59547	180	case ChoroQ::Down:
shintamainjp	1:03c8bc666945	181	stattext = "Down";
shintamainjp	0:127b9ca59547	182	break;
shintamainjp	0:127b9ca59547	183	case ChoroQ::Left:
shintamainjp	1:03c8bc666945	184	stattext = "Left";
shintamainjp	0:127b9ca59547	185	break;
shintamainjp	0:127b9ca59547	186	case ChoroQ::Right:
shintamainjp	1:03c8bc666945	187	stattext = "Right";
shintamainjp	0:127b9ca59547	188	break;
shintamainjp	0:127b9ca59547	189	case ChoroQ::UpDash:
shintamainjp	1:03c8bc666945	190	stattext = "Up +D";
shintamainjp	0:127b9ca59547	191	break;
shintamainjp	0:127b9ca59547	192	case ChoroQ::UpLeft:
shintamainjp	1:03c8bc666945	193	stattext = "UpLeft";
shintamainjp	0:127b9ca59547	194	break;
shintamainjp	0:127b9ca59547	195	case ChoroQ::UpRight:
shintamainjp	1:03c8bc666945	196	stattext = "UpRight";
shintamainjp	0:127b9ca59547	197	break;
shintamainjp	0:127b9ca59547	198	case ChoroQ::UpRightDash:
shintamainjp	1:03c8bc666945	199	stattext = "UpRight +D";
shintamainjp	0:127b9ca59547	200	break;
shintamainjp	0:127b9ca59547	201	case ChoroQ::UpLeftDash:
shintamainjp	1:03c8bc666945	202	stattext = "UpLeft +D";
shintamainjp	0:127b9ca59547	203	break;
shintamainjp	0:127b9ca59547	204	case ChoroQ::DownLeft:
shintamainjp	1:03c8bc666945	205	stattext = "DownLeft";
shintamainjp	0:127b9ca59547	206	break;
shintamainjp	0:127b9ca59547	207	case ChoroQ::DownRight:
shintamainjp	1:03c8bc666945	208	stattext = "DownRight";
shintamainjp	0:127b9ca59547	209	break;
shintamainjp	0:127b9ca59547	210	case ChoroQ::DownDash:
shintamainjp	1:03c8bc666945	211	stattext = "Down +D";
shintamainjp	0:127b9ca59547	212	break;
shintamainjp	0:127b9ca59547	213	case ChoroQ::DownLeftDash:
shintamainjp	1:03c8bc666945	214	stattext = "DownLeft +D";
shintamainjp	0:127b9ca59547	215	break;
shintamainjp	0:127b9ca59547	216	case ChoroQ::DownRightDash:
shintamainjp	1:03c8bc666945	217	stattext = "DownRight+D";
shintamainjp	0:127b9ca59547	218	break;
shintamainjp	0:127b9ca59547	219	case ChoroQ::Stop:
shintamainjp	1:03c8bc666945	220	stattext = "Stop";
shintamainjp	0:127b9ca59547	221	break;
shintamainjp	0:127b9ca59547	222	}
shintamainjp	1:03c8bc666945	223	lcd.locate(0, 1);
shintamainjp	1:03c8bc666945	224	lcd.printf("Ch.%c:%-11.11s", 'A' + (int)conf.channel, stattext);
shintamainjp	0:127b9ca59547	225
shintamainjp	0:127b9ca59547	226	wait_ms(50);
shintamainjp	0:127b9ca59547	227	led = led + 1;
shintamainjp	0:127b9ca59547	228	}
shintamainjp	0:127b9ca59547	229	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	24 Aug 2010
Imports:	39
Forks:	0
Commits:	2
Dependents:	0
Dependencies:	4
Followers:	2

main.cpp@1:03c8bc666945, 2010-09-20 (annotated)

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