Revision 16:62976c3c029e, committed 2020-04-13

Comitter:

trmontgomery

Date:

Mon Apr 13 02:16:45 2020 +0000

Parent:

14:7e81f2cd4b4b

Child:

17:11c46079d674

Commit message:

map servo movement to freqs

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.lib	Mon Apr 13 02:16:45 2020 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/Servo/#36b69a7ced07

--- a/Speakerout2.h	Sat Apr 11 20:00:59 2020 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,75 +0,0 @@
-#include "mbed.h"
-#include "Speaker.h"
-
-Serial pc(USBTX,USBRX);
-Speaker mySpeaker(p26);
-
-char note;
-float freq [30];
-float freq2;
-
-float *record(float freq1[30]) {
-    for(int i = 0; i<30; i++){
-        pc.printf("Please enter note\n");
-        note = pc.getc();
-        switch (note){
-            case 'a':
-                freq2 = 523.25;
-                break;
-            
-            case 'b':
-                freq2 = 554.37;
-                break;
-            
-            case 'c':
-                freq2 = 587.33;
-                break;
-            
-            case 'd':
-                freq2 = 622.25;
-                break;
-            
-            case 'e':
-                freq2 = 659.26;
-                break;
-            
-            case 'f':
-                freq2 = 698.46;
-                break;
-            
-            case 'g':
-                freq2 = 739.99;
-                break;
-            
-            case 'h':
-                freq2 = 783.99;
-                break;
-            
-            case 'i':
-                freq2 = 830.61;
-                break;
-            
-            case 'j':
-                freq2 = 880.00;
-                break;
-            
-            case 'k':
-                freq2 = 932.33;
-                break;
-            
-            case 'l':
-                freq2 = 987.77;
-                break;
-            }
-            freq1[i] = freq2;
-        }
-    return freq1;
-    }
-
-
-int main() {
-    record(freq);
-    for (int i = 0; i<30; i++){
-        mySpeaker.PlayNote(freq[i],1.0,0.1);
-    }
-}

--- a/audio_out.h	Sat Apr 11 20:00:59 2020 +0000
+++ b/audio_out.h	Mon Apr 13 02:16:45 2020 +0000
@@ -1,4 +1,4 @@
-#include "mbed.h"
+/*#include "mbed.h"
 #include "XNucleo53L0A1.h"
 #include <stdio.h>
 #include "Speaker.h"
@@ -21,13 +21,13 @@
     int status;
     uint32_t distance;
     DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
-    /* creates the 53L0A1 expansion board singleton obj */
+    /* creates the 53L0A1 expansion board singleton obj 
     board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
     shdn = 0; //must reset sensor for an mbed reset to work
     wait(0.1);
     shdn = 1;
     wait(0.1);
-    /* init the 53L0A1 board with default values */
+    /* init the 53L0A1 board with default values 
     status = board->init_board();
     while (status) {
         status = board->init_board();
@@ -94,4 +94,5 @@
         state = false;
         }
     }
-}
\ No newline at end of file
+}
+*/
\ No newline at end of file

--- a/main.cpp	Sat Apr 11 20:00:59 2020 +0000
+++ b/main.cpp	Mon Apr 13 02:16:45 2020 +0000
@@ -3,15 +3,19 @@
 #include "audio_out.h"
 #include "PinDetect.h"
 #include "uLCD_4DGL.h"
-DigitalOut myled(LED1);
-//Serial mac(USBTX,USBRX);
+#include "motor_ctl.h"
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
 
+// Push buttons init
+PinDetect pb1(p16); 
+PinDetect pb2(p17);  
+PinDetect pb3(p18); 
+PinDetect pb4(p19); 
 // States 
-#define sRESET 1
-#define sSTOP 2
-#define sRECORD 3
-#define sPLAY 4
-#define sERASE 5
+
 //  State Machine control global variables
 bool X;     //reset
 bool P;     //play
@@ -19,6 +23,7 @@
 bool R;     //record
 bool E;     //erase
 
+enum sm_state {sRESET, sSTOP, sRECORD, sPLAY, sERASE};
 
 
 void reset(){ 
@@ -68,100 +73,91 @@
 
 
 
+void pb1_hit_callback (void) 
+{
+    myled1 = !myled1; 
+    //guLCD.printf("REEST");
+}
+
+void pb2_hit_callback (void)
+{
+    myled2 = !myled2; 
+    //guLCD.printf("STOP");
+}
+
+void pb3_hit_callback (void) 
+{
+    myled3 = !myled3; 
+    //guLCD.printf("RECORD");
+}
+
+void pb4_hit_callback (void) 
+{
+    myled4 = !myled4; 
+    //guLCD.printf("PLAY");
+}
+void hardware_init(){ 
+    // Push buttons init
+    pb1.mode(PullUp); 
+    pb2.mode(PullUp); 
+    pb3.mode(PullUp);
+    pb4.mode(PullUp);
+    pb1.attach_deasserted(&pb1_hit_callback);
+    pb2.attach_deasserted(&pb2_hit_callback); 
+    pb3.attach_deasserted(&pb3_hit_callback);
+    pb4.attach_deasserted(&pb4_hit_callback);
+    pb1.setSampleFrequency(); 
+    pb2.setSampleFrequency(); 
+    pb3.setSampleFrequency();
+    pb4.setSampleFrequency();
+}
 
 void state_machine_mgr(){
-    char curr_state =  1;
-    char key_input;
-    X = 1;
-    S = 0;
-    R = 0;
-    P = 0;
-    E = 0;
+    sm_state curr_state =  sRESET;
     while(1) {
-        if (pc.readable()) {                // if they have pressed a key
-            key_input = pc.getc();
-            if(key_input == '1') X=1;   //toggle reset
-            if(key_input == '2') S=1;   //toggle stop
-            if(key_input == '3') R=1;   //toogle record
-            if(key_input == '4') P=1;   //toggle play
-            if(key_input == '5') E=1;   //toggle erase
-        }
-        //pc.printf("X: %d\n",X);
-//        pc.printf("S: %d\n",S);
-//        pc.printf("R: %d\n",R);
-//        pc.printf("P: %d\n",P);
-//        pc.printf("E: %d\n",E);
-//        pc.printf("Current State %d\n",curr_state);
         switch(curr_state){
-            case 1:
-                pc.printf("RESET\n");
-                P = 0;
-                R = 0;
-                if(E){
-                    curr_state = 5;
-                    X = 0;
-                }else if(S){
-                    curr_state = 2;
-                    X = 0;
+            case sRESET:
+                if(S) curr_state = sSTOP;
+                break;
+            case sSTOP:
+                if(X){
+                    curr_state = sRESET;
+                }else if(S&R){
+                    curr_state = sRECORD;
+                }else if(S&P){
+                    curr_state = sPLAY;
                 }
-                reset();
                 break;
-            case 2:
-                pc.printf("STOP\n");
-                E = 0;
+            case sRECORD:
                 if(X){
-                    curr_state = 1;
-                    S = 0;
-                }else if(R){
-                    curr_state = 3;
-                    S = 0;
-                }else if(P){
-                    curr_state = 4;
-                    S = 0;
+                    curr_state = sRESET;
+                }else if(R&S){
+                    curr_state = sSTOP;
+                }else if(R&P){
+                    curr_state = sPLAY;
                 }
-                stop();
-                break;
-            case 3:
-                pc.printf("RECORD\n");
-                E = 0;
-                P = 0;
-                if(X){
-                    curr_state = 1;
-                    R = 0;
-                }else if(S){
-                    curr_state = 2;
-                    R = 0;
-                }
-                record();
                 break;
-            case 4:
-                pc.printf("PLAY\n");
-                E = 0;
-                R = 0;
+            case sPLAY:
                 if(X){
-                    curr_state = 1;
-                    P = 0;
-                }else if(S){
-                    curr_state = 2;
-                    P = 0;
+                    curr_state = sRESET;
+                }else if(P&S){
+                    curr_state = sSTOP;
+                }else if(P&R){
+                    curr_state = sPLAY;
                 }
-                play();
                 break;
-            case 5:
-                pc.printf("ERASE\n");
-                S = 0;
-                P = 0;
-                R = 0;
+            case sERASE:
                 if(X){
-                    curr_state = 1;
-                    E = 0;
+                    curr_state = sRESET;
                 }
-                erase();
-                break;
         }
     }
 }
 
+
 int main() {
-    state_machine_mgr();
+    myled1 = 1; 
+    //hardware_init();
+    //state_machine_mgr();
+    move_motors();
 }

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Mon Apr 13 02:16:45 2020 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/mbed_official/code/mbed-rtos/#58563e6cba1e

--- a/mbed.bld	Sat Apr 11 20:00:59 2020 +0000
+++ b/mbed.bld	Mon Apr 13 02:16:45 2020 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file
+https://os.mbed.com/users/mbed_official/code/mbed/builds/0ab6a29f35bf
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor_ctl.h	Mon Apr 13 02:16:45 2020 +0000
@@ -0,0 +1,81 @@
+// Move servos in playback mode
+
+#include "mbed.h"
+#include "Servo.h"
+//#include "rtos.h"
+
+Servo r_arm(p24);
+Servo l_arm(p23);
+Servo r_leg(p22);
+Servo l_leg(p21);
+
+Thread t_r_arm;
+Thread t_l_arm;
+Thread t_r_leg;
+Thread t_l_leg;
+
+DigitalOut led(LED4); 
+
+//left sensor move whole left side
+//right sensor moves whole right side //not gonna think about this right now. Dicuss ideas with team. 
+//and then the distance can just control the height
+//movement pattern can be random.. right now every other note recorded will be distributed to one side and the rest will go to the other
+
+unsigned char move_map {0x149, 0x14A, 0x14C, 0x151, 0x152, 0x154, 0x291, 0x292, 0x294, 0x2A1, 0x2A2, 0x2A4};
+unsigned char ra_mask = 0x0C0;
+unsigned char la_mask = 0x300;
+unsigned char rl_mask = 0x03C;
+unsigned char ll_mask = 0x007; 
+
+//for testing run through move map
+
+void ra_dance(unsigned char move) {    
+    if (move & ra_mask == 0x040){
+        r_arm.write(.50);
+    } else {
+        r_arm.write(.25);
+    }
+    
+}
+
+void la_dance() {    
+     if (move & ra_mask == 0x100){
+        l_arm.write(.50);
+    } else {
+        l_arm.write(.25);
+    }
+    
+}
+
+void rl_dance() {    
+    r_leg = 0; 
+    wait(1);
+    for(float p=0; p<1.0; p += 0.1) {
+        r_leg = p;
+        wait(0.2);
+    }
+    r_leg.write(.50);
+    
+}
+
+void ll_dance() {    
+    l_leg = 0; 
+    wait(1);
+    for(float p=0; p<1.0; p += 0.1) {
+        l_leg = p;
+        wait(0.2);
+    }
+    l_leg.write(.50);
+    
+}
+
+
+void move_motors(){
+    for (int i = 0; i < 12; ++i){
+        ra_dance(move_map[i]);
+        la_dance(move_map[i]);
+        wait(0.2); 
+    }
+}
+
+