main.cpp

00001 /**
00002  * StarBoard Orange - Example application No.3 (Version 0.0.1)
00003  * Drive a CHORO Q HYBRID with wii nunchuk
00004  *
00005  * See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_ja/
00006  * See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_en/
00007  *
00008  * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
00009  * http://shinta.main.jp/
00010  */
00011 
00012 /*
00013  * Connection map.
00014  *
00015  * +---+----------------+---------+
00016  * |Pin|Target          |Direction|
00017  * +---+----------------+---------+
00018  * |p21|IR transmitter  |OUT      |
00019  * +---+----------------+---------+
00020  */
00021 
00022 /*
00023  * Include files.
00024  */
00025 
00026 #include <mbed.h>
00027 #include <algorithm>
00028 #include <ChoroQ.h>
00029 #include <I2CConfig.h>
00030 #include <WiiNunchuckReader.h>
00031 #include <TextLCD.h>
00032 #include "appconf.h"
00033 
00034 /*
00035  * Objects.
00036  */
00037 
00038 WiiNunchuckReader wn(I2CPort_A::SDA, I2CPort_A::SCL);
00039 ChoroQ cq(p21);
00040 TextLCD lcd(p24, p26, p27, p28, p29, p30);
00041 BusOut led(LED4, LED3, LED2, LED1);
00042 
00043 /**
00044  * Display a splash screen.
00045  */
00046 void splash(void) {
00047     lcd.cls();
00048     lcd.locate(0, 0);
00049     lcd.printf("StarBoard Orange");
00050     lcd.locate(0, 1);
00051     lcd.printf("mbed NXP LPC1768");
00052     wait(3);
00053 
00054     lcd.cls();
00055     lcd.locate(0, 0);
00056     lcd.printf("Example app No.3");
00057     lcd.locate(0, 1);
00058     lcd.printf(" CHORO Q HYBRID ");
00059     wait(3);
00060 }
00061 
00062 /**
00063  * Get an action from a coordinate.
00064  *
00065  * @param x X axis.
00066  * @param y Y axis.
00067  * @param dash State of dash.
00068  *
00069  * @return An action.
00070  */
00071 ChoroQ::Action getAction(const int x, const int y, bool dash) {
00072     static const int MAX_X = 200;
00073     static const int MIN_X = 20;
00074     static const int MAX_Y = 200;
00075     static const int MIN_Y = 20;
00076     int px = ((x - MIN_X) * 100) / (MAX_X - MIN_X);
00077     int py = ((y - MIN_Y) * 100) / (MAX_Y - MIN_Y);
00078     px = std::max(0, std::min(100, px)) - 50;   // Range of a value is -50 to +50
00079     py = std::max(0, std::min(100, py)) - 50;   // Range of a value is -50 to +50
00080 
00081     if ((std::abs(px) <= 10) && (std::abs(py) <= 10)) {
00082         return ChoroQ::Stop;
00083     }
00084 
00085     if ((x == 0) && (y == 0)) {
00086         return ChoroQ::Stop;
00087     }
00088 
00089     if (std::abs(px) < 10) {
00090         if (py < 0) {
00091             if (dash) {
00092                 return ChoroQ::DownDash;
00093             } else {
00094                 return ChoroQ::Down;
00095             }
00096         } else {
00097             if (dash) {
00098                 return ChoroQ::UpDash;
00099             } else {
00100                 return ChoroQ::Up;
00101             }
00102         }
00103     }
00104     if (std::abs(py) < 10) {
00105         if (px < -20) {
00106             return ChoroQ::Left;
00107         }
00108         if (20 < px) {
00109             return ChoroQ::Right;
00110         }
00111     }
00112     if ((10 < px) && (10 < py)) {
00113         if (dash) {
00114             return ChoroQ::UpRightDash;
00115         } else {
00116             return ChoroQ::UpRight;
00117         }
00118     }
00119     if ((px < -10) && (10 < py)) {
00120         if (dash) {
00121             return ChoroQ::UpLeftDash;
00122         } else {
00123             return ChoroQ::UpLeft;
00124         }
00125     }
00126     if ((px < -10) && (py < -10)) {
00127         if (dash) {
00128             return ChoroQ::DownLeftDash;
00129         } else {
00130             return ChoroQ::DownLeft;
00131         }
00132     }
00133     if ((10 < px) && (py < -10)) {
00134         if (dash) {
00135             return ChoroQ::DownRightDash;
00136         } else {
00137             return ChoroQ::DownRight;
00138         }
00139     }
00140     return ChoroQ::Stop;
00141 }
00142 
00143 /**
00144  * Entry point.
00145  */
00146 int main() {
00147     /*
00148      * Splash.
00149      */
00150     splash();
00151     lcd.cls();
00152 
00153     /*
00154      * Setup a configuration.
00155      */
00156     appconf_t conf;
00157     appconf_init(&conf);
00158     appconf_read(&conf);
00159 
00160     /*
00161      * Application loop.
00162      */
00163     while (true) {
00164         wn.RequestRead();
00165 
00166         ChoroQ::Action ac = getAction(wn.getJoyX(), wn.getJoyY(), (wn.getButtonZ() == 1) ? true : false);
00167         cq.execute(conf.channel, ac);
00168 
00169         lcd.locate(0, 0);
00170         lcd.printf("JS  :(%3d,%3d) %s", wn.getJoyX(), wn.getJoyY(), ((wn.getButtonZ() == 1) ? "D" : " "));
00171 
00172         char *stattext = "";
00173         switch (ac) {
00174             case ChoroQ::Undef:
00175                 stattext = "Undef";
00176                 break;
00177             case ChoroQ::Up:
00178                 stattext = "Up";
00179                 break;
00180             case ChoroQ::Down:
00181                 stattext = "Down";
00182                 break;
00183             case ChoroQ::Left:
00184                 stattext = "Left";
00185                 break;
00186             case ChoroQ::Right:
00187                 stattext = "Right";
00188                 break;
00189             case ChoroQ::UpDash:
00190                 stattext = "Up       +D";
00191                 break;
00192             case ChoroQ::UpLeft:
00193                 stattext = "UpLeft";
00194                 break;
00195             case ChoroQ::UpRight:
00196                 stattext = "UpRight";
00197                 break;
00198             case ChoroQ::UpRightDash:
00199                 stattext = "UpRight  +D";
00200                 break;
00201             case ChoroQ::UpLeftDash:
00202                 stattext = "UpLeft   +D";
00203                 break;
00204             case ChoroQ::DownLeft:
00205                 stattext = "DownLeft";
00206                 break;
00207             case ChoroQ::DownRight:
00208                 stattext = "DownRight";
00209                 break;
00210             case ChoroQ::DownDash:
00211                 stattext = "Down     +D";
00212                 break;
00213             case ChoroQ::DownLeftDash:
00214                 stattext = "DownLeft +D";
00215                 break;
00216             case ChoroQ::DownRightDash:
00217                 stattext = "DownRight+D";
00218                 break;
00219             case ChoroQ::Stop:
00220                 stattext = "Stop";
00221                 break;
00222         }
00223         lcd.locate(0, 1);
00224         lcd.printf("Ch.%c:%-11.11s", 'A' + (int)conf.channel, stattext);
00225 
00226         wait_ms(50);
00227         led = led + 1;
00228     }
00229 }