Diff: main.cpp

Revision:

0:43ba2b4b613b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 14 05:03:08 2012 +0000
@@ -0,0 +1,122 @@
+#include "mbed.h"
+#include "ADXL345.h"
+
+DigitalOut mbedled1(LED1); // signals running
+DigitalOut mbedled2(LED2); // signals shake warning/detected
+DigitalOut mbedled3(LED2); // signals +/- y
+DigitalOut mbedled4(LED2); // signlas +/- x
+
+PwmOut IRLED(p21);
+
+Serial pc(USBTX, USBRX); //for debugging
+Serial drawbot(p13, p14); //change to whatever send method we use
+
+AnalogIn rightknob(p15);
+AnalogIn leftknob(p16);
+
+ADXL345 acc(p5, p6, p7, p8);
+
+//command vars
+float rightval, leftval, rightprev, leftprev = 0;
+int rightdif, leftdif, righttotal, lefttotal = 0;
+char command = 0; // bit0 = 1 if shake; bit7 = 0 if left, 1 right; bit6 = 0 if fwd, 1 rev; bit 1-5 = magnitude; for drawbot
+//or bit0 = 1 if shake; bit7 = 0 if y, 1 if x; bit6 = 0 if pos, 1 if neg for smartbot
+
+//accel and shake vars
+int z,x,y,zprev,xprev,yprev = 0;
+int readings[3];
+int shakeweight = 0;
+
+int main()
+{
+    //Initialize accelerometer
+    acc.setPowerControl(0x00);
+    acc.setDataFormatControl(0x0B);
+    acc.setDataRate(ADXL345_3200HZ);
+    acc.setPowerControl(0x08);
+    //Initialize accelerometer readings
+    acc.getOutput(readings);
+    x = (int16_t)readings[0];
+    y = (int16_t)readings[1];
+    z = (int16_t)readings[2];
+    
+    //Initialize LEDs & Knobs
+    mbedled1 = 1;
+    mbedled2 = 0;
+    mbedled3 = 0;
+    mbedled4 = 0;
+    rightval = rightknob;
+    leftval = leftknob;
+    
+    //IR Setup
+    IRLED.period(1.0/38000.0);
+    IRLED = 0.5;
+    //Drive IR LED data pin with 38Khz PWM Carrier
+    //Drive IR LED gnd pin with serial TX
+    drawbot.baud(2400);
+    
+    while(1) {
+        
+        //Check for Shake
+        xprev = x;
+        yprev = y;
+        zprev = z;
+        acc.getOutput(readings);
+        x = (int16_t)readings[0];
+        y = (int16_t)readings[1];
+        z = (int16_t)readings[2];
+        if (((abs(xprev - x) > 150) || (abs(yprev - y) > 150) || (abs(zprev - z) > 150)) && (shakeweight == 0)){
+            mbedled2 = 1; //Light LED2
+            shakeweight = 1;}  //activate shake wait
+        if (shakeweight > 0) { shakeweight++;}  //if shake wait activated, increment
+        if (shakeweight == 8){                 //until 10, then check for second shake
+            mbedled2 = 0;
+           if ((abs(xprev - x) > 150) || (abs(yprev - y) > 150) || (abs(zprev - z) > 150)) {
+                mbedled2 = 1; //Light LED2
+                command = 1; //0x01
+                drawbot.putc(command);
+                pc.printf("Shake Detected! Command is %x. Waiting. \n", command); //Send shake signal via Xbee or IR to drawbot
+                wait(5); //Wait long enough for worst case new page set up unless drawbot can talk back
+                mbedled2 = 0;
+           }
+           shakeweight = 0;
+        }
+        command = 0;
+        //Detect Knobs
+        rightprev = rightval;
+        leftprev = leftval;
+        rightval = rightknob;
+        leftval = leftknob;
+        rightdif =  500*rightval - 500*rightprev;
+        leftdif =  500*leftprev - 500*leftval;
+        if ((abs(rightdif) > 1) && (abs(rightdif) < 63)) { 
+            mbedled3 = 1;
+            command = 128; //0x80
+            righttotal+=rightdif;
+            if (rightdif < 0) { 
+                rightdif = -rightdif;
+                command =  192;}//0xC0
+            command = rightdif | command; 
+            pc.printf("RightDif: %d Tot: %d Comm: %x \n", rightdif, righttotal, command); //send right move command and val
+            drawbot.putc(command);
+            mbedled3 = 0;
+        }
+        if ((abs(leftdif) > 1) && (abs(leftdif) < 63)) {
+            mbedled4 = 1;
+            command = 0; //0x00
+            lefttotal+=leftdif;
+            if (leftdif < 0) { 
+                leftdif = -leftdif;
+                command =  64;}//0x40
+            command = leftdif | command; 
+            pc.printf("LeftDif: %d Tot: %d Comm: %x \n", leftdif, lefttotal, command); //send left move command and val
+            drawbot.putc(command);
+            mbedled4 = 0;
+        }
+        command = 0;
+        wait(.1);
+        //Print State
+        //pc.printf("RightVal: %F, LeftVal: %F", rightval, leftval);
+        //pc.printf("accel: %i, %i, %i\n", x, y, z);
+    }
+}