mbed USB Slingshot code

Dependencies:   mbed ADXL345

Files at this revision

API Documentation at this revision

Comitter:
simon
Date:
Sun Feb 26 02:51:40 2012 +0000
Commit message:
Lots of cleanup, simpler logic

Changed in this revision

ADXL345.lib Show annotated file Show diff for this revision Revisions of this file
USBDevice.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 6fef570fcbc4 ADXL345.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ADXL345.lib	Sun Feb 26 02:51:40 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/aberk/code/ADXL345/#bd8f0f20f433
diff -r 000000000000 -r 6fef570fcbc4 USBDevice.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBDevice.lib	Sun Feb 26 02:51:40 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/samux/code/USBDevice/#98311370c1eb
diff -r 000000000000 -r 6fef570fcbc4 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Feb 26 02:51:40 2012 +0000
@@ -0,0 +1,151 @@
+/* mbed USB Slingshot, 
+ *
+ * Copyright (c) 2010-2011 mbed.org, MIT License
+ * 
+ * smokrani, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ * 
+ *  The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "mbed.h"
+#include "USBMouse.h"
+#include "ADXL345.h"
+
+// Physical interfaces
+USBMouse mouse;
+ADXL345 accelerometer(p5, p6, p7, p8);
+AnalogIn stretch_sensor(p15);
+BusOut leds(LED1, LED2, LED3, LED4);
+
+// Return slingshot angle in radians, up > 0 > down
+float get_angle() {
+    int readings[3];
+    accelerometer.getOutput(readings);
+    float x = (int16_t)readings[0];
+    float z = (int16_t)readings[2];
+    return atan(z / x);    
+}
+
+// Return normalised stretch value based on bounds of all readings seen
+float get_stretch() {
+    static float min_strength = 0.7;
+    static float max_strength = 0.7;
+    float current_strength = stretch_sensor.read();
+    if(current_strength > max_strength) { max_strength = current_strength; }
+    if(current_strength < min_strength) { min_strength = current_strength; }
+    float stretch = (current_strength - min_strength) / (max_strength - min_strength);
+    return 1.0 - stretch;
+}
+
+// move mouse to a location relative to the start point, stepping as needed
+void move_mouse(int x, int y) {
+    const int STEP = 10;
+    static int current_x = 0;
+    static int current_y = 0;
+    
+    int move_x = x - current_x;
+    int move_y = y - current_y; 
+
+    // Move the mouse, in steps of max step size to ensure it is picked up by OS
+    while(move_x > STEP) { mouse.move(STEP, 0); move_x -= STEP; }
+    while(move_x < -STEP) { mouse.move(-STEP, 0); move_x += STEP; }
+    while(move_y > STEP) { mouse.move(0, STEP); move_y -= STEP; }
+    while(move_y < -STEP) { mouse.move(0, -STEP); move_y += STEP; }
+    mouse.move(move_x, move_y);
+    
+    current_x = x;
+    current_y = y;
+}
+
+template <class T>
+T filter(T* array, int len, T value) {
+    T mean = 0.0;
+    for(int i = 0; i<len - 1; i++) {
+        mean += array[i + 1];
+        array[i] = array[i + 1];
+    }
+    mean += value;
+    array[len - 1] = value;
+    return mean / (T)len;
+}
+
+typedef enum {
+    WAITING = 2,
+    AIMING = 4,
+    FIRING = 8
+} state_t;
+
+int main() {
+    leds = 1;
+
+    // setup accelerometer
+    accelerometer.setPowerControl(0x00);
+    accelerometer.setDataFormatControl(0x0B);
+    accelerometer.setDataRate(ADXL345_3200HZ);
+    accelerometer.setPowerControl(0x08);
+
+    state_t state = WAITING;    
+    Timer timer;
+
+    float angles[8] = {0};
+    float stretches[8] = {0};
+    
+    while(1) {        
+
+        // get the slingshot parameters
+        float this_stretch = get_stretch();
+        float this_angle = get_angle();
+
+        // apply some filtering
+        float stretch = filter(stretches, 8, this_stretch);
+        float angle = filter(angles, 8, this_angle);
+            
+        leds = state;
+                
+        // act based on the current state
+        switch (state) {
+            case WAITING:
+                if(stretch > 0.5) {             // significant stretch, considered starting 
+                    mouse.press(MOUSE_LEFT);
+                    state = AIMING;
+                }
+                break;
+
+            case AIMING:
+                if(stretch - this_stretch > 0.1) { // rapid de-stretch, considered a fire
+                    mouse.release(MOUSE_LEFT);
+                    move_mouse(0, 0);
+                    timer.start();
+                    state = FIRING;
+                } else {
+                    int x = 0.0 - cos(angle) * stretch * 200;
+                    int y = sin(angle) * stretch * 200;
+                    move_mouse(x, y);
+                }
+                break;
+
+            case FIRING:
+                if(timer > 3.0) {
+                    timer.stop();
+                    timer.reset();
+                    state = WAITING;
+                }        
+                break;
+        };
+        
+        wait(0.01);
+    }
+}
diff -r 000000000000 -r 6fef570fcbc4 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Feb 26 02:51:40 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/4c0c40fd0593