Taylor Nichols / Mbed 2 deprecated StrikerShootout

Working!

Dependencies:   4DGL-uLCD-SE DebounceIn LSM9DS1_Library_cal SDFileSystem TextLCD mbed-rtos mbed wave_player_appbd

main.cpp@7:a9b088f640c0, 2016-10-30 (annotated)

Committer:
taylornichols
Date:
Sun Oct 30 04:44:06 2016 +0000
Revision:
7:a9b088f640c0
Parent:
6:81ddcbe69054
Child:
8:725b8dfe4e56
shield

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taylornichols 5:bc2247ee09b9 1 #include <stdio.h>
taylornichols 5:bc2247ee09b9 2 #include <stdlib.h>
taylornichols 5:bc2247ee09b9 3 #include <time.h>
taylornichols 6:81ddcbe69054 4 #include "mbed.h"
taylornichols 6:81ddcbe69054 5 #include "rtos.h"
taylornichols 6:81ddcbe69054 6 #include "DebounceIn.h"
taylornichols 6:81ddcbe69054 7 #include "TextLCD.h"
taylornichols 6:81ddcbe69054 8 #include "LSM9DS1.h"
taylornichols 6:81ddcbe69054 9 #include "SDFileSystem.h"
taylornichols 6:81ddcbe69054 10 #include "uLCD_4DGL.h"
taylornichols 6:81ddcbe69054 11 #include "wave_player.h"
taylornichols 7:a9b088f640c0 12 #include "Nav_Switch.h"
taylornichols 0:f29cfb036e34 13
taylornichols 6:81ddcbe69054 14 // LEDs on mbed
taylornichols 7:a9b088f640c0 15 BusOut led(LED1,LED2,LED3,LED4);
taylornichols 6:81ddcbe69054 16
taylornichols 6:81ddcbe69054 17 // debugging via pc
taylornichols 6:81ddcbe69054 18 Serial pc( USBTX , USBRX );
taylornichols 6:81ddcbe69054 19
taylornichols 6:81ddcbe69054 20 // SD card
taylornichols 6:81ddcbe69054 21 SDFileSystem sd( p5 , p6 , p7 , p8 , "sd" );
taylornichols 6:81ddcbe69054 22
taylornichols 6:81ddcbe69054 23 // text display ( rs , e , d4-d7 )
taylornichols 6:81ddcbe69054 24 //TextLCD txt( p22 , p23 , p24 , p25 , p26 , p27 );
taylornichols 0:f29cfb036e34 25
taylornichols 6:81ddcbe69054 26 // LCD ( tx , rx , reset )
taylornichols 6:81ddcbe69054 27 uLCD_4DGL lcd( p28 , p27 , p30 );
taylornichols 6:81ddcbe69054 28
taylornichols 6:81ddcbe69054 29 // speaker
taylornichols 6:81ddcbe69054 30 AnalogOut DACout( p18 );
taylornichols 6:81ddcbe69054 31 PwmOut PWMout( p26 );
taylornichols 6:81ddcbe69054 32 wave_player waver( & DACout , & PWMout );
taylornichols 6:81ddcbe69054 33
taylornichols 6:81ddcbe69054 34 // pushbutton
taylornichols 6:81ddcbe69054 35 DebounceIn pb( p15 );
taylornichols 6:81ddcbe69054 36
taylornichols 6:81ddcbe69054 37 // IMU ( sda , scl , ... )
taylornichols 6:81ddcbe69054 38 LSM9DS1 imu( p9 , p10 , 0xD6 , 0x3C );
taylornichols 6:81ddcbe69054 39
taylornichols 7:a9b088f640c0 40 //
taylornichols 7:a9b088f640c0 41 Nav_Switch nav( p21 , p22 , p13 , p12 , p23 );
taylornichols 7:a9b088f640c0 42
taylornichols 7:a9b088f640c0 43 class Game ;
taylornichols 7:a9b088f640c0 44
taylornichols 6:81ddcbe69054 45 class Bullet
taylornichols 5:bc2247ee09b9 46 {
taylornichols 7:a9b088f640c0 47 friend Game ;
taylornichols 7:a9b088f640c0 48
taylornichols 7:a9b088f640c0 49 static int const base = 1 ;
taylornichols 7:a9b088f640c0 50 static int const height = 3 ;
taylornichols 7:a9b088f640c0 51 static int const color = WHITE ;
taylornichols 7:a9b088f640c0 52
taylornichols 6:81ddcbe69054 53 public:
taylornichols 6:81ddcbe69054 54 Bullet( int x , int dx , int y , int dy , bool off ) :
taylornichols 6:81ddcbe69054 55 _x( x ) , _dx( dx ) , _y( y ) , _dy( dy ) , _off( off )
taylornichols 6:81ddcbe69054 56 {
taylornichols 6:81ddcbe69054 57 }
taylornichols 6:81ddcbe69054 58 bool off( ) const { return _off ; }
taylornichols 6:81ddcbe69054 59 void shoot( int x , int dx , int y , int dy )
taylornichols 6:81ddcbe69054 60 {
taylornichols 6:81ddcbe69054 61 _off = false ;
taylornichols 6:81ddcbe69054 62 _x = x ; _dx = dx ; _y = y ; _dy = dy ;
taylornichols 6:81ddcbe69054 63 }
taylornichols 6:81ddcbe69054 64 void draw( )
taylornichols 6:81ddcbe69054 65 {
taylornichols 6:81ddcbe69054 66 lcd.filled_rectangle(
taylornichols 6:81ddcbe69054 67 _x - base , _y - height ,
taylornichols 6:81ddcbe69054 68 _x + base , _y ,
taylornichols 6:81ddcbe69054 69 BLACK
taylornichols 6:81ddcbe69054 70 );
taylornichols 6:81ddcbe69054 71 if ( _off )
taylornichols 6:81ddcbe69054 72 return ;
taylornichols 6:81ddcbe69054 73 _x += _dx;
taylornichols 6:81ddcbe69054 74 _y += _dy;
taylornichols 6:81ddcbe69054 75 if ( _x + base >= 127 )
taylornichols 6:81ddcbe69054 76 {
taylornichols 6:81ddcbe69054 77 _x = 127 - base ;
taylornichols 6:81ddcbe69054 78 _dx = - (_dx / 2);
taylornichols 6:81ddcbe69054 79 }
taylornichols 6:81ddcbe69054 80 else if ( _x - base <= 0 )
taylornichols 6:81ddcbe69054 81 {
taylornichols 6:81ddcbe69054 82 _x = 0 + base ;
taylornichols 6:81ddcbe69054 83 _dx = - _dx / 2;
taylornichols 6:81ddcbe69054 84 }
taylornichols 6:81ddcbe69054 85 if ( _y - height <= 0 )
taylornichols 6:81ddcbe69054 86 {
taylornichols 6:81ddcbe69054 87 _off = true ;
taylornichols 6:81ddcbe69054 88 return ;
taylornichols 6:81ddcbe69054 89 }
taylornichols 6:81ddcbe69054 90 lcd.filled_rectangle(
taylornichols 6:81ddcbe69054 91 _x - base , _y - height ,
taylornichols 6:81ddcbe69054 92 _x + base , _y ,
taylornichols 7:a9b088f640c0 93 color
taylornichols 6:81ddcbe69054 94 );
taylornichols 6:81ddcbe69054 95 }
taylornichols 6:81ddcbe69054 96 private:
taylornichols 6:81ddcbe69054 97 int _x , _dx ;
taylornichols 6:81ddcbe69054 98 int _y , _dy ;
taylornichols 6:81ddcbe69054 99 bool _off ;
taylornichols 6:81ddcbe69054 100 };
taylornichols 6:81ddcbe69054 101
taylornichols 6:81ddcbe69054 102 class Ship
taylornichols 6:81ddcbe69054 103 {
taylornichols 7:a9b088f640c0 104 friend Game ;
taylornichols 7:a9b088f640c0 105
taylornichols 6:81ddcbe69054 106 static int const base = 5 ;
taylornichols 6:81ddcbe69054 107 static int const height = 15 ;
taylornichols 7:a9b088f640c0 108 static int const color = GREEN ;
taylornichols 5:bc2247ee09b9 109
taylornichols 5:bc2247ee09b9 110 public:
taylornichols 6:81ddcbe69054 111 Ship( int x , int dx , int y , int dy ) :
taylornichols 6:81ddcbe69054 112 _x( x ) , _dx( dx ) , _y( y ) , _dy( dy ) , _bullet( 0 , 0 , 0 , 0 , true )
taylornichols 5:bc2247ee09b9 113 {
taylornichols 5:bc2247ee09b9 114 }
taylornichols 5:bc2247ee09b9 115
taylornichols 6:81ddcbe69054 116 void read( )
taylornichols 6:81ddcbe69054 117 {
taylornichols 6:81ddcbe69054 118 if ( ( ! pb.read( ) ) & _bullet.off( ) )
taylornichols 6:81ddcbe69054 119 {
taylornichols 7:a9b088f640c0 120 _bullet.shoot( _x , _dx , _y - height , -5 ) ;
taylornichols 6:81ddcbe69054 121 }
taylornichols 6:81ddcbe69054 122 while( ! imu.accelAvailable( ) );
taylornichols 6:81ddcbe69054 123 imu.readAccel( );
taylornichols 6:81ddcbe69054 124 float ay( imu.calcAccel(imu.ay) );
taylornichols 6:81ddcbe69054 125 _dx -= (int) ( ay * 5.4f ) ;
taylornichols 6:81ddcbe69054 126 // pc.printf("accel: %9f %9f %9f (%d)in Gs\n\r", imu.calcAccel(imu.ax), ay, imu.calcAccel(imu.az),_dx);
taylornichols 6:81ddcbe69054 127
taylornichols 6:81ddcbe69054 128 }
taylornichols 5:bc2247ee09b9 129 void draw( )
taylornichols 5:bc2247ee09b9 130 {
taylornichols 5:bc2247ee09b9 131 lcd.triangle(
taylornichols 5:bc2247ee09b9 132 _x , _y - height ,
taylornichols 5:bc2247ee09b9 133 _x - base , _y ,
taylornichols 5:bc2247ee09b9 134 _x + base , _y ,
taylornichols 6:81ddcbe69054 135 BLACK
taylornichols 6:81ddcbe69054 136 );
taylornichols 6:81ddcbe69054 137 _x += _dx;
taylornichols 6:81ddcbe69054 138 if ( _x + base >= 127 )
taylornichols 6:81ddcbe69054 139 {
taylornichols 6:81ddcbe69054 140 _x = 127 - base ;
taylornichols 6:81ddcbe69054 141 _dx = - (_dx / 2);
taylornichols 6:81ddcbe69054 142 }
taylornichols 6:81ddcbe69054 143 else if ( _x - base <= 0 )
taylornichols 6:81ddcbe69054 144 {
taylornichols 6:81ddcbe69054 145 _x = 0 + base ;
taylornichols 6:81ddcbe69054 146 _dx = - _dx / 2;
taylornichols 6:81ddcbe69054 147 }
taylornichols 6:81ddcbe69054 148 lcd.triangle(
taylornichols 6:81ddcbe69054 149 _x , _y - height ,
taylornichols 6:81ddcbe69054 150 _x - base , _y ,
taylornichols 6:81ddcbe69054 151 _x + base , _y ,
taylornichols 5:bc2247ee09b9 152 color
taylornichols 5:bc2247ee09b9 153 );
taylornichols 6:81ddcbe69054 154 _bullet.draw( ) ;
taylornichols 5:bc2247ee09b9 155 }
taylornichols 5:bc2247ee09b9 156
taylornichols 5:bc2247ee09b9 157 private:
taylornichols 6:81ddcbe69054 158 // center of triangle
taylornichols 6:81ddcbe69054 159 int _x ;
taylornichols 6:81ddcbe69054 160 int _dx ;
taylornichols 6:81ddcbe69054 161 // bottom of triangle
taylornichols 6:81ddcbe69054 162 int _y ;
taylornichols 6:81ddcbe69054 163 int _dy ;
taylornichols 6:81ddcbe69054 164 Bullet _bullet ;
taylornichols 5:bc2247ee09b9 165 };
taylornichols 2:047c9c4b8db3 166
taylornichols 2:047c9c4b8db3 167
taylornichols 7:a9b088f640c0 168 class Shield
taylornichols 5:bc2247ee09b9 169 {
taylornichols 7:a9b088f640c0 170 friend Game ;
taylornichols 7:a9b088f640c0 171 static int const base = 17 ;
taylornichols 7:a9b088f640c0 172 static int const height = 5 ;
taylornichols 7:a9b088f640c0 173 static int const color = RED ;
taylornichols 7:a9b088f640c0 174
taylornichols 7:a9b088f640c0 175 Shield( int x , int dx , int y , int dy ) :
taylornichols 7:a9b088f640c0 176 _x( x ) , _dx( dx ) , _y( y ) , _dy( dy )
taylornichols 7:a9b088f640c0 177 {
taylornichols 7:a9b088f640c0 178 }
taylornichols 7:a9b088f640c0 179 void draw( )
taylornichols 5:bc2247ee09b9 180 {
taylornichols 7:a9b088f640c0 181 lcd.filled_rectangle(
taylornichols 7:a9b088f640c0 182 _x - base , _y ,
taylornichols 7:a9b088f640c0 183 _x + base , _y + height,
taylornichols 7:a9b088f640c0 184 BLACK
taylornichols 7:a9b088f640c0 185 );
taylornichols 7:a9b088f640c0 186 _x += _dx;
taylornichols 7:a9b088f640c0 187 if ( _x + base >= 127 )
taylornichols 7:a9b088f640c0 188 {
taylornichols 7:a9b088f640c0 189 _x = 127 - base ;
taylornichols 7:a9b088f640c0 190 _dx = - (_dx / 2);
taylornichols 7:a9b088f640c0 191 }
taylornichols 7:a9b088f640c0 192 else if ( _x - base <= 0 )
taylornichols 7:a9b088f640c0 193 {
taylornichols 7:a9b088f640c0 194 _x = 0 + base ;
taylornichols 7:a9b088f640c0 195 _dx = - _dx / 2;
taylornichols 7:a9b088f640c0 196 }
taylornichols 7:a9b088f640c0 197 lcd.filled_rectangle(
taylornichols 7:a9b088f640c0 198 _x - base , _y ,
taylornichols 7:a9b088f640c0 199 _x + base , _y + height,
taylornichols 7:a9b088f640c0 200 color
taylornichols 7:a9b088f640c0 201 );
taylornichols 5:bc2247ee09b9 202 }
taylornichols 5:bc2247ee09b9 203 private:
taylornichols 6:81ddcbe69054 204 //
taylornichols 6:81ddcbe69054 205 int _x ;
taylornichols 6:81ddcbe69054 206 int _dx ;
taylornichols 6:81ddcbe69054 207 //
taylornichols 6:81ddcbe69054 208 int _y ;
taylornichols 6:81ddcbe69054 209 int _dy ;
taylornichols 5:bc2247ee09b9 210 };
taylornichols 2:047c9c4b8db3 211
taylornichols 5:bc2247ee09b9 212 class Game
taylornichols 5:bc2247ee09b9 213 {
taylornichols 5:bc2247ee09b9 214 static int const enemy_colors [4];
taylornichols 5:bc2247ee09b9 215 enum
taylornichols 5:bc2247ee09b9 216 {
taylornichols 5:bc2247ee09b9 217 screen_width = 128 , screen_height = 128 ,
taylornichols 5:bc2247ee09b9 218 enemy_count = sizeof(enemy_colors) / sizeof(enemy_colors[0])
taylornichols 5:bc2247ee09b9 219 };
taylornichols 5:bc2247ee09b9 220
taylornichols 5:bc2247ee09b9 221 public:
taylornichols 2:047c9c4b8db3 222
taylornichols 5:bc2247ee09b9 223 Game( ) :
taylornichols 7:a9b088f640c0 224 _ship( screen_width/2 , 0 , screen_height-1 , 0 ) ,
taylornichols 7:a9b088f640c0 225 _shield( screen_width/2 , 0 , 0 , 0 )
taylornichols 5:bc2247ee09b9 226 {
taylornichols 5:bc2247ee09b9 227 }
taylornichols 5:bc2247ee09b9 228 void read( )
taylornichols 5:bc2247ee09b9 229 {
taylornichols 6:81ddcbe69054 230 _ship.read( );
taylornichols 5:bc2247ee09b9 231 }
taylornichols 5:bc2247ee09b9 232 void draw( )
taylornichols 5:bc2247ee09b9 233 {
taylornichols 5:bc2247ee09b9 234 _ship.draw( );
taylornichols 7:a9b088f640c0 235 _shield.draw( );
taylornichols 5:bc2247ee09b9 236 }
taylornichols 5:bc2247ee09b9 237 void wait( )
taylornichols 5:bc2247ee09b9 238 {
taylornichols 5:bc2247ee09b9 239 Thread::wait( 100 );
taylornichols 5:bc2247ee09b9 240 }
taylornichols 5:bc2247ee09b9 241 private:
taylornichols 5:bc2247ee09b9 242 Ship _ship ;
taylornichols 7:a9b088f640c0 243 Shield _shield ;
taylornichols 5:bc2247ee09b9 244 // Enemy _enemy [ enemy_count ] ;
taylornichols 5:bc2247ee09b9 245 };
taylornichols 5:bc2247ee09b9 246 int const Game::enemy_colors [4] = {
taylornichols 5:bc2247ee09b9 247 RED , GREEN , BLUE , RED|GREEN
taylornichols 5:bc2247ee09b9 248 };
taylornichols 2:047c9c4b8db3 249
taylornichols 5:bc2247ee09b9 250 //
taylornichols 1:d1d12f229b9a 251 int main( )
taylornichols 1:d1d12f229b9a 252 {
taylornichols 3:1688f7a77ed8 253 pc.printf( " -- INIT -- \n" );
taylornichols 5:bc2247ee09b9 254 srand( time( NULL ) );
taylornichols 5:bc2247ee09b9 255 pb.set_debounce_us( 1000 );
taylornichols 5:bc2247ee09b9 256 pb.mode( PullUp );
taylornichols 5:bc2247ee09b9 257
taylornichols 6:81ddcbe69054 258 if ( ! imu.begin( ) ) {
taylornichols 6:81ddcbe69054 259 pc.printf("Failed to communicate with LSM9DS1.\n");
taylornichols 6:81ddcbe69054 260 }
taylornichols 6:81ddcbe69054 261 imu.calibrate( 1 );
taylornichols 6:81ddcbe69054 262 // imu.calibrateMag( 0 );
taylornichols 6:81ddcbe69054 263
taylornichols 5:bc2247ee09b9 264 Game game;
taylornichols 5:bc2247ee09b9 265
taylornichols 5:bc2247ee09b9 266 while ( 1 )
taylornichols 5:bc2247ee09b9 267 {
taylornichols 5:bc2247ee09b9 268 game.read( );
taylornichols 5:bc2247ee09b9 269 game.draw( );
taylornichols 5:bc2247ee09b9 270 game.wait( );
taylornichols 5:bc2247ee09b9 271 }
taylornichols 2:047c9c4b8db3 272
taylornichols 3:1688f7a77ed8 273 pc.printf( " -- DONE -- \n" );
taylornichols 0:f29cfb036e34 274 }