Diff: main.cpp

Revision:

0:0a1a2f47fd18

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Apr 27 15:52:14 2016 +0000
@@ -0,0 +1,160 @@
+#include "mbed.h"
+#include "FXOS8700Q.h"
+#include "FXOS8700CQ.h"
+#include "FXAS21000.h"
+
+// define all ports
+PwmOut PWM1(D8); //moveForward
+PwmOut PWM2(D9); //moveBack
+PwmOut PWM3(D10); //left
+PwmOut PWM4(D11); //right
+
+DigitalOut red(LED_RED);
+DigitalOut green(LED_GREEN);
+
+Timer GlobalTime;
+Timer ProgramTimer;
+
+char c;
+int flagBlue;
+int sflag;
+long loopStartTime;
+long timer;
+
+// define bluetooth and acc and gyro
+Serial blue(D1,D0);     //(TX,DX)
+Serial pc(USBTX, USBRX);    // Used to debug
+FXOS8700Q_acc combo_acc(D14, D15, FXOS8700CQ_SLAVE_ADDR0);
+FXOS8700Q_mag combo_mag(D14, D15, FXOS8700CQ_SLAVE_ADDR0);
+FXAS21000 gyro(D14, D15);
+
+//define functions
+void start(void);
+void stop(void);
+void moveForward(void);
+void moveBack(void);
+void moveRight(void);
+void moveLeft(void);
+
+void blueInterrupt()
+{
+    c = blue.getc(); //receives the command
+    flagBlue=1;
+}
+
+int main()
+{
+    pc.baud(115200);    
+    
+    float gyro_data[3];
+    MotionSensorDataUnits adata;
+    MotionSensorDataUnits mdata;
+    //int16_t acc_raw[3];
+
+    //Bluetooth init
+    blue.baud(115200);
+    blue.attach(&blueInterrupt);
+    
+    
+    printf("\r\nStarting\r\n\r\n");
+    
+    red = 0; green= 1;
+    GlobalTime.start();
+    
+    PWM1.period_ms(20);           
+    PWM1.pulsewidth_us(100);
+    PWM2.pulsewidth_us(100);
+    PWM3.pulsewidth_us(100);
+    PWM4.pulsewidth_us(100);
+
+    combo_acc.enable();
+    combo_mag.enable();
+    blue.printf("FXOS8700 Combo mag = %X\r\n", combo_mag.whoAmI());
+    blue.printf("FXOS8700 Combo acc = %X\r\n", combo_acc.whoAmI());
+    blue.printf("FXAS21000 Gyro = %X\r\n", gyro.getWhoAmI());
+    
+    
+    ProgramTimer.start();
+    loopStartTime = ProgramTimer.read_us();
+    timer = loopStartTime;
+    
+    wait(1);
+    
+    c= blue.getc();
+    if (c == 'x') 
+    {
+        sflag = 1;
+        blue.printf("stop\n\r"); 
+        red =0; green =1;
+        stop();
+    }
+    else if (c == 'z')
+    {
+        blue.printf("up\n\r");
+        wait(2);
+        red = 1; green= 0;
+        start();
+    }
+    else if (c == 'w') 
+    {
+        blue.printf("forward\n\r");
+        moveForward();
+    }
+    else if (c == 's')
+    {
+        blue.printf("back\n\r");
+        moveBack();
+    }
+    else if (c == 'a')
+    {
+        blue.printf("left\n\r");
+        moveLeft();
+    }
+    else if (c == 'd')
+    {
+        blue.printf("right\n\r");
+        moveRight();
+    }     
+    else blue.printf("%wrong command: \n\r", c);
+    
+    while(1) 
+    {
+        combo_acc.getAxis(adata);
+        blue.printf("FXOS8700 Acc:   X:%6.3f Y:%6.3f Z:%6.3f\r\n", adata.x, adata.y, adata.z);
+        
+        combo_mag.getAxis(mdata);
+        blue.printf("FXOS8700 Mag:   X:%6.2f Y:%6.2f Z:%6.2f\r\n", mdata.x, mdata.y, mdata.z);
+
+        gyro.ReadXYZ(gyro_data);
+        blue.printf("FXAS21000 Gyro: X:%6.2f Y:%6.2f Z:%6.2f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
+        
+        blue.printf("\r\n");
+        wait(1);
+        
+        
+    }
+       
+}
+void start(void)
+{
+}
+
+void stop(void)
+{
+}
+
+void moveForward(void)
+{
+}
+
+void moveBack(void)
+{
+}
+
+void moveRight(void)
+{
+}
+
+void moveLeft(void)
+{
+}
\ No newline at end of file