25326
Dependencies: QEI WS2812 PixelArray DFPlayerMini MODSERIAL PCA9685_ pca9685
main.cpp@9:4bc77e4c090e, 2019-08-23 (annotated)
- Committer:
- turumputum
- Date:
- Fri Aug 23 16:58:47 2019 +0000
- Revision:
- 9:4bc77e4c090e
- Parent:
- 8:8f09c13d5138
123
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dimavb | 0:474fb16588bf | 1 | /* mbed Microcontroller Library |
dimavb | 0:474fb16588bf | 2 | * Copyright (c) 2018 ARM Limited |
dimavb | 0:474fb16588bf | 3 | * SPDX-License-Identifier: Apache-2.0 |
dimavb | 0:474fb16588bf | 4 | */ |
dimavb | 0:474fb16588bf | 5 | |
dimavb | 0:474fb16588bf | 6 | #include "mbed.h" |
dimavb | 2:ed1f45f9b06a | 7 | //#include "stats_report.h" |
dimavb | 0:474fb16588bf | 8 | #include "PCA9685.h" |
dimavb | 0:474fb16588bf | 9 | #include "QEI.h" |
dimavb | 0:474fb16588bf | 10 | #include "WS2812.h" |
dimavb | 0:474fb16588bf | 11 | #include "PixelArray.h" |
dimavb | 0:474fb16588bf | 12 | #include "DebounceIn.h" |
dimavb | 2:ed1f45f9b06a | 13 | #include "DFPlayerMini.h" |
dimavb | 2:ed1f45f9b06a | 14 | #include "MODSERIAL.h" |
dimavb | 2:ed1f45f9b06a | 15 | |
dimavb | 2:ed1f45f9b06a | 16 | #include "rgbhsv.h" |
dimavb | 2:ed1f45f9b06a | 17 | |
dimavb | 2:ed1f45f9b06a | 18 | #define SERVOSTART 544 |
dimavb | 2:ed1f45f9b06a | 19 | #define SERVOEND 2400 |
dimavb | 2:ed1f45f9b06a | 20 | #define MESSAGE_BUFFER_SIZE 32 |
turumputum | 8:8f09c13d5138 | 21 | #define DELTA 6 |
dimavb | 2:ed1f45f9b06a | 22 | Semaphore messageReceived(0); |
dimavb | 2:ed1f45f9b06a | 23 | |
dimavb | 2:ed1f45f9b06a | 24 | DigitalOut led1(LED1); |
dimavb | 2:ed1f45f9b06a | 25 | I2C i2c (PB_9,PB_8); |
dimavb | 2:ed1f45f9b06a | 26 | PCA9685 pwmouts(0x41<<1,&i2c,60); |
dimavb | 2:ed1f45f9b06a | 27 | WS2812 ws(PB_15,160, 0, 18, 10, 15); |
dimavb | 2:ed1f45f9b06a | 28 | DFPlayerMini mp3 (PA_9, PA_10); |
dimavb | 2:ed1f45f9b06a | 29 | MODSERIAL pc (USBTX, USBRX); |
dimavb | 2:ed1f45f9b06a | 30 | |
dimavb | 2:ed1f45f9b06a | 31 | PixelArray px(160); |
dimavb | 2:ed1f45f9b06a | 32 | char messageBufferIncoming[MESSAGE_BUFFER_SIZE]; |
dimavb | 2:ed1f45f9b06a | 33 | |
dimavb | 2:ed1f45f9b06a | 34 | |
dimavb | 2:ed1f45f9b06a | 35 | enum Action |
dimavb | 2:ed1f45f9b06a | 36 | { |
dimavb | 2:ed1f45f9b06a | 37 | NONE, |
dimavb | 2:ed1f45f9b06a | 38 | MUS, |
dimavb | 2:ed1f45f9b06a | 39 | MLIT, |
dimavb | 2:ed1f45f9b06a | 40 | SLOW, |
dimavb | 2:ed1f45f9b06a | 41 | OPEN, |
dimavb | 2:ed1f45f9b06a | 42 | KACH |
dimavb | 2:ed1f45f9b06a | 43 | }; |
dimavb | 2:ed1f45f9b06a | 44 | |
dimavb | 2:ed1f45f9b06a | 45 | const uint8_t sensormap[16] = {0,1,2,3,4,5,10,7,8,9,6,11}; |
dimavb | 2:ed1f45f9b06a | 46 | //const float actionstime[16]={5,5,5,5,5,5,5,5,2,5,5,5,5,5,5,5}; |
dimavb | 2:ed1f45f9b06a | 47 | const Action actions[16]= {MLIT,MUS,OPEN,OPEN,KACH,OPEN,OPEN,OPEN,SLOW,OPEN,KACH,OPEN}; |
turumputum | 5:cec7f85ce6c4 | 48 | const float actionstime[16] = {5, 5, 5, 5, 7, 3, 5, 5, 2, 5, 7, 6, 5, 5, 5, 5}; |
turumputum | 5:cec7f85ce6c4 | 49 | const uint8_t servoLimitsStart[16]= {20, 85, 27, 35, 0, 23, 155, 106, 150, 45, 80, 136, 0, 0, 0, 0}; |
turumputum | 5:cec7f85ce6c4 | 50 | const uint8_t servoLimitsCenter[16]={31, 108, 27, 35, 0, 23, 155, 106, 150, 45, 85, 136, 0, 0, 0, 0}; |
turumputum | 5:cec7f85ce6c4 | 51 | const uint8_t servoLimitsEnd[16]= {40, 135, 45, 90, 180, 90, 70, 75, 40, 120, 90, 55, 180, 180, 180, 180}; |
dimavb | 2:ed1f45f9b06a | 52 | |
turumputum | 7:af18e8cfe499 | 53 | uint8_t sensorsZeros[16]; |
turumputum | 7:af18e8cfe499 | 54 | |
dimavb | 2:ed1f45f9b06a | 55 | |
dimavb | 2:ed1f45f9b06a | 56 | volatile int lastpos=0; |
dimavb | 2:ed1f45f9b06a | 57 | volatile int activated=0; |
dimavb | 2:ed1f45f9b06a | 58 | volatile int idle=0; |
dimavb | 2:ed1f45f9b06a | 59 | |
turumputum | 7:af18e8cfe499 | 60 | char dist[12]; |
turumputum | 7:af18e8cfe499 | 61 | |
dimavb | 2:ed1f45f9b06a | 62 | |
dimavb | 2:ed1f45f9b06a | 63 | void setservo(int num, float ang); |
dimavb | 0:474fb16588bf | 64 | |
dimavb | 0:474fb16588bf | 65 | |
dimavb | 2:ed1f45f9b06a | 66 | Timer at; |
dimavb | 2:ed1f45f9b06a | 67 | void slow_move(int id,float time) |
dimavb | 2:ed1f45f9b06a | 68 | { |
dimavb | 2:ed1f45f9b06a | 69 | //time =1.8; |
dimavb | 2:ed1f45f9b06a | 70 | at.reset(); |
dimavb | 2:ed1f45f9b06a | 71 | at.start(); |
dimavb | 2:ed1f45f9b06a | 72 | mp3.mp3_play(id+1); |
dimavb | 2:ed1f45f9b06a | 73 | while(at.read()<time) |
dimavb | 2:ed1f45f9b06a | 74 | { |
dimavb | 2:ed1f45f9b06a | 75 | setservo(id,servoLimitsStart[id]+(servoLimitsEnd[id]-servoLimitsStart[id])*(at.read()/time)); |
dimavb | 2:ed1f45f9b06a | 76 | float rw=rand()%20; |
dimavb | 2:ed1f45f9b06a | 77 | wait(0.03+rw/100); |
dimavb | 2:ed1f45f9b06a | 78 | } |
dimavb | 2:ed1f45f9b06a | 79 | setservo(id,servoLimitsCenter[id]); |
dimavb | 2:ed1f45f9b06a | 80 | } |
dimavb | 0:474fb16588bf | 81 | |
dimavb | 2:ed1f45f9b06a | 82 | void kachelle(int id,float time) |
dimavb | 2:ed1f45f9b06a | 83 | { |
dimavb | 2:ed1f45f9b06a | 84 | at.reset(); |
dimavb | 2:ed1f45f9b06a | 85 | at.start(); |
dimavb | 2:ed1f45f9b06a | 86 | mp3.mp3_play(id+1); |
dimavb | 2:ed1f45f9b06a | 87 | while(at.read()<time) |
dimavb | 2:ed1f45f9b06a | 88 | { |
turumputum | 5:cec7f85ce6c4 | 89 | setservo(id,servoLimitsCenter[id]+sin(at.read()*2)*(servoLimitsEnd[id]-servoLimitsStart[id])); |
dimavb | 2:ed1f45f9b06a | 90 | wait(0.03); |
dimavb | 2:ed1f45f9b06a | 91 | } |
dimavb | 2:ed1f45f9b06a | 92 | setservo(id,servoLimitsCenter[id]); |
dimavb | 0:474fb16588bf | 93 | |
dimavb | 0:474fb16588bf | 94 | } |
dimavb | 2:ed1f45f9b06a | 95 | |
dimavb | 2:ed1f45f9b06a | 96 | void kachelle_double(int id1,int id2,int idm, float time) |
dimavb | 0:474fb16588bf | 97 | { |
dimavb | 2:ed1f45f9b06a | 98 | at.reset(); |
dimavb | 2:ed1f45f9b06a | 99 | at.start(); |
dimavb | 2:ed1f45f9b06a | 100 | mp3.mp3_play(idm); |
dimavb | 2:ed1f45f9b06a | 101 | while(at.read()<time) |
dimavb | 0:474fb16588bf | 102 | { |
dimavb | 0:474fb16588bf | 103 | |
turumputum | 5:cec7f85ce6c4 | 104 | //setservo(id2,servoLimitsCenter[id2]+(1-sin(at.read()*3))*(servoLimitsEnd[id2]-servoLimitsStart[id2])/2); |
turumputum | 5:cec7f85ce6c4 | 105 | setservo(id2,servoLimitsCenter[id2]+sin(at.read()*3)*(servoLimitsEnd[id2]-servoLimitsStart[id2])/2); |
turumputum | 5:cec7f85ce6c4 | 106 | |
turumputum | 5:cec7f85ce6c4 | 107 | setservo(id1,servoLimitsCenter[id1]+cos((at.read()*3)+1)*(servoLimitsEnd[id1]-servoLimitsStart[id1])/2); |
dimavb | 2:ed1f45f9b06a | 108 | wait(0.03); |
turumputum | 5:cec7f85ce6c4 | 109 | |
turumputum | 5:cec7f85ce6c4 | 110 | |
dimavb | 2:ed1f45f9b06a | 111 | } |
turumputum | 5:cec7f85ce6c4 | 112 | setservo(id1,servoLimitsCenter[id1]+1); |
turumputum | 5:cec7f85ce6c4 | 113 | setservo(id2,servoLimitsCenter[id2]-1); |
turumputum | 5:cec7f85ce6c4 | 114 | wait(1); |
dimavb | 2:ed1f45f9b06a | 115 | setservo(id1,servoLimitsCenter[id1]); |
dimavb | 2:ed1f45f9b06a | 116 | setservo(id2,servoLimitsCenter[id2]); |
dimavb | 2:ed1f45f9b06a | 117 | } |
dimavb | 2:ed1f45f9b06a | 118 | |
dimavb | 2:ed1f45f9b06a | 119 | void open(int id,float time) |
dimavb | 2:ed1f45f9b06a | 120 | { |
dimavb | 2:ed1f45f9b06a | 121 | at.reset(); |
dimavb | 2:ed1f45f9b06a | 122 | at.start(); |
dimavb | 2:ed1f45f9b06a | 123 | mp3.mp3_play(id+1); |
dimavb | 2:ed1f45f9b06a | 124 | setservo(id,servoLimitsEnd[id]); |
dimavb | 2:ed1f45f9b06a | 125 | while(at.read()<time) |
dimavb | 2:ed1f45f9b06a | 126 | { |
dimavb | 2:ed1f45f9b06a | 127 | wait(0.02); |
dimavb | 2:ed1f45f9b06a | 128 | } |
dimavb | 2:ed1f45f9b06a | 129 | setservo(id,servoLimitsCenter[id]); |
dimavb | 2:ed1f45f9b06a | 130 | |
dimavb | 2:ed1f45f9b06a | 131 | } |
dimavb | 2:ed1f45f9b06a | 132 | |
dimavb | 2:ed1f45f9b06a | 133 | void music(int id,float time) |
dimavb | 2:ed1f45f9b06a | 134 | { |
dimavb | 2:ed1f45f9b06a | 135 | at.reset(); |
dimavb | 2:ed1f45f9b06a | 136 | at.start(); |
dimavb | 2:ed1f45f9b06a | 137 | mp3.mp3_play(id+1); |
dimavb | 2:ed1f45f9b06a | 138 | while(at.read()<time) |
dimavb | 2:ed1f45f9b06a | 139 | { |
dimavb | 2:ed1f45f9b06a | 140 | wait(0.02); |
dimavb | 0:474fb16588bf | 141 | } |
dimavb | 0:474fb16588bf | 142 | } |
dimavb | 2:ed1f45f9b06a | 143 | |
dimavb | 2:ed1f45f9b06a | 144 | void musiclight(int id,float time) |
dimavb | 2:ed1f45f9b06a | 145 | { |
dimavb | 2:ed1f45f9b06a | 146 | at.reset(); |
dimavb | 2:ed1f45f9b06a | 147 | at.start(); |
dimavb | 2:ed1f45f9b06a | 148 | mp3.mp3_play(id+1); |
dimavb | 2:ed1f45f9b06a | 149 | Timer t; |
dimavb | 2:ed1f45f9b06a | 150 | t.start(); |
dimavb | 2:ed1f45f9b06a | 151 | rgb RGB; |
dimavb | 2:ed1f45f9b06a | 152 | hsv HSV; |
dimavb | 2:ed1f45f9b06a | 153 | int color; |
dimavb | 2:ed1f45f9b06a | 154 | while(at.read()<time) |
dimavb | 2:ed1f45f9b06a | 155 | { |
dimavb | 2:ed1f45f9b06a | 156 | HSV.s=1; |
dimavb | 2:ed1f45f9b06a | 157 | HSV.v=1; |
dimavb | 2:ed1f45f9b06a | 158 | //HSV.v=abs(sin(t.read()*1.11)); |
dimavb | 2:ed1f45f9b06a | 159 | HSV.h=abs(sin(t.read()))*360; |
dimavb | 2:ed1f45f9b06a | 160 | RGB = hsv2rgb(HSV); |
dimavb | 2:ed1f45f9b06a | 161 | int r =RGB.r*255.0; |
dimavb | 2:ed1f45f9b06a | 162 | int g =RGB.g*255.0; |
dimavb | 2:ed1f45f9b06a | 163 | int b =RGB.b*255.0; |
dimavb | 2:ed1f45f9b06a | 164 | |
dimavb | 2:ed1f45f9b06a | 165 | color=r<<16 | g<<8 | b; |
dimavb | 2:ed1f45f9b06a | 166 | |
dimavb | 2:ed1f45f9b06a | 167 | px.SetAll(color); |
dimavb | 2:ed1f45f9b06a | 168 | |
dimavb | 2:ed1f45f9b06a | 169 | //ws.write(px.getBuf()); |
dimavb | 2:ed1f45f9b06a | 170 | wait(0.02); |
dimavb | 2:ed1f45f9b06a | 171 | |
dimavb | 2:ed1f45f9b06a | 172 | } |
dimavb | 2:ed1f45f9b06a | 173 | } |
dimavb | 2:ed1f45f9b06a | 174 | |
dimavb | 2:ed1f45f9b06a | 175 | |
dimavb | 2:ed1f45f9b06a | 176 | void ledstripworker() |
dimavb | 0:474fb16588bf | 177 | { |
dimavb | 0:474fb16588bf | 178 | printf("hello leds\n"); |
dimavb | 0:474fb16588bf | 179 | ws.useII(WS2812::OFF); // use no intensity scaling |
dimavb | 0:474fb16588bf | 180 | Timer t; |
dimavb | 0:474fb16588bf | 181 | t.start(); |
dimavb | 2:ed1f45f9b06a | 182 | |
dimavb | 2:ed1f45f9b06a | 183 | px.SetAll(0x800000); |
dimavb | 2:ed1f45f9b06a | 184 | ws.write(px.getBuf()); |
dimavb | 2:ed1f45f9b06a | 185 | wait(10); |
dimavb | 2:ed1f45f9b06a | 186 | rgb RGB; |
dimavb | 2:ed1f45f9b06a | 187 | hsv HSV; |
dimavb | 2:ed1f45f9b06a | 188 | |
dimavb | 2:ed1f45f9b06a | 189 | int color=0; |
dimavb | 0:474fb16588bf | 190 | while(1) |
dimavb | 0:474fb16588bf | 191 | { |
dimavb | 2:ed1f45f9b06a | 192 | |
dimavb | 2:ed1f45f9b06a | 193 | //if (activated) |
dimavb | 2:ed1f45f9b06a | 194 | { |
dimavb | 4:2f4d485ebe58 | 195 | HSV.s=1;//0.1; |
dimavb | 4:2f4d485ebe58 | 196 | HSV.v=0.1;//abs(sin(t.read()*1.11)); |
dimavb | 2:ed1f45f9b06a | 197 | HSV.h=abs(sin(t.read()/30))*360; |
dimavb | 2:ed1f45f9b06a | 198 | RGB = hsv2rgb(HSV); |
dimavb | 2:ed1f45f9b06a | 199 | int r =RGB.r*255.0; |
dimavb | 2:ed1f45f9b06a | 200 | int g =RGB.g*255.0; |
dimavb | 2:ed1f45f9b06a | 201 | int b =RGB.b*255.0; |
dimavb | 2:ed1f45f9b06a | 202 | |
dimavb | 2:ed1f45f9b06a | 203 | color=r<<16 | g<<8 | b; |
dimavb | 0:474fb16588bf | 204 | } |
dimavb | 2:ed1f45f9b06a | 205 | //else color=0; |
dimavb | 0:474fb16588bf | 206 | |
dimavb | 2:ed1f45f9b06a | 207 | px.SetAll(color); |
dimavb | 2:ed1f45f9b06a | 208 | wait(0.025); |
dimavb | 2:ed1f45f9b06a | 209 | ws.write(px.getBuf()); |
dimavb | 2:ed1f45f9b06a | 210 | |
dimavb | 0:474fb16588bf | 211 | } |
dimavb | 0:474fb16588bf | 212 | } |
dimavb | 2:ed1f45f9b06a | 213 | |
dimavb | 2:ed1f45f9b06a | 214 | float servoang(float ang) |
dimavb | 2:ed1f45f9b06a | 215 | { |
dimavb | 2:ed1f45f9b06a | 216 | if (ang<0) ang=0; |
dimavb | 2:ed1f45f9b06a | 217 | if (ang>180) ang=180; |
dimavb | 2:ed1f45f9b06a | 218 | ang=ang/180; |
dimavb | 2:ed1f45f9b06a | 219 | float ret = SERVOSTART + ang*(SERVOEND-SERVOSTART); |
dimavb | 2:ed1f45f9b06a | 220 | return ret; |
dimavb | 2:ed1f45f9b06a | 221 | } |
dimavb | 2:ed1f45f9b06a | 222 | //Mutex m; |
dimavb | 2:ed1f45f9b06a | 223 | void setservo(int num, float ang) |
dimavb | 2:ed1f45f9b06a | 224 | { |
dimavb | 2:ed1f45f9b06a | 225 | num++; |
dimavb | 2:ed1f45f9b06a | 226 | //pc.printf("servoset %d %f\n",num,ang); |
dimavb | 2:ed1f45f9b06a | 227 | |
dimavb | 2:ed1f45f9b06a | 228 | if (num>=0 && num <16 && ang>0 && ang<181) |
dimavb | 2:ed1f45f9b06a | 229 | { |
dimavb | 2:ed1f45f9b06a | 230 | if (ang>servoLimitsEnd[num] && ang>servoLimitsStart[num]) |
dimavb | 2:ed1f45f9b06a | 231 | { |
dimavb | 2:ed1f45f9b06a | 232 | //ang = servoLimitsEnd[num]; |
dimavb | 4:2f4d485ebe58 | 233 | // pc.printf("out of range %d %3.2f\n",num,ang); |
dimavb | 4:2f4d485ebe58 | 234 | } |
dimavb | 2:ed1f45f9b06a | 235 | if (ang<servoLimitsStart[num] && ang<servoLimitsEnd[num]) |
dimavb | 2:ed1f45f9b06a | 236 | { |
dimavb | 2:ed1f45f9b06a | 237 | //ang = servoLimitsStart[num]; |
dimavb | 4:2f4d485ebe58 | 238 | // pc.printf("out of range %d %3.2f\n",num,ang); |
dimavb | 4:2f4d485ebe58 | 239 | } |
dimavb | 2:ed1f45f9b06a | 240 | //m.lock(); |
dimavb | 2:ed1f45f9b06a | 241 | pwmouts.set_pwm_pw(num,servoang(ang)); |
dimavb | 2:ed1f45f9b06a | 242 | //m.unlock(); |
dimavb | 2:ed1f45f9b06a | 243 | |
dimavb | 2:ed1f45f9b06a | 244 | } else pc.printf("wrong values %d %f\n",num,ang); |
dimavb | 2:ed1f45f9b06a | 245 | |
dimavb | 2:ed1f45f9b06a | 246 | } |
dimavb | 2:ed1f45f9b06a | 247 | void servoworker() |
dimavb | 2:ed1f45f9b06a | 248 | { |
dimavb | 2:ed1f45f9b06a | 249 | Timer t; |
dimavb | 2:ed1f45f9b06a | 250 | t.start(); |
dimavb | 2:ed1f45f9b06a | 251 | pwmouts.init(); |
dimavb | 2:ed1f45f9b06a | 252 | for (uint8_t i=0; i<16; i++) |
dimavb | 2:ed1f45f9b06a | 253 | { |
dimavb | 2:ed1f45f9b06a | 254 | setservo(i,servoLimitsCenter[i]); |
dimavb | 2:ed1f45f9b06a | 255 | //wait(0.2); |
dimavb | 2:ed1f45f9b06a | 256 | } |
dimavb | 2:ed1f45f9b06a | 257 | while(1) |
dimavb | 2:ed1f45f9b06a | 258 | { |
dimavb | 2:ed1f45f9b06a | 259 | float an; |
dimavb | 2:ed1f45f9b06a | 260 | for (uint8_t i=0; i<16; i++) |
dimavb | 2:ed1f45f9b06a | 261 | { |
dimavb | 2:ed1f45f9b06a | 262 | // an=servoang(90.0f+sin(t.read())*90.0f); |
dimavb | 2:ed1f45f9b06a | 263 | // pwmouts.set_pwm_pw(i,1440+sin(t.read())*550.0f); |
dimavb | 2:ed1f45f9b06a | 264 | } |
dimavb | 2:ed1f45f9b06a | 265 | //printf("ang %f",an); |
dimavb | 2:ed1f45f9b06a | 266 | wait(0.3); |
dimavb | 2:ed1f45f9b06a | 267 | } |
dimavb | 2:ed1f45f9b06a | 268 | |
dimavb | 2:ed1f45f9b06a | 269 | } |
dimavb | 2:ed1f45f9b06a | 270 | void messageReceive(MODSERIAL_IRQ_INFO *q) { |
dimavb | 2:ed1f45f9b06a | 271 | MODSERIAL *sys = q->serial; |
dimavb | 2:ed1f45f9b06a | 272 | memset(messageBufferIncoming,0,MESSAGE_BUFFER_SIZE); |
dimavb | 2:ed1f45f9b06a | 273 | sys->move(messageBufferIncoming, MESSAGE_BUFFER_SIZE); |
dimavb | 2:ed1f45f9b06a | 274 | pc.rxBufferFlush(); |
dimavb | 2:ed1f45f9b06a | 275 | |
dimavb | 2:ed1f45f9b06a | 276 | |
dimavb | 2:ed1f45f9b06a | 277 | messageReceived.release(); |
dimavb | 2:ed1f45f9b06a | 278 | //return 0; |
dimavb | 2:ed1f45f9b06a | 279 | } |
dimavb | 2:ed1f45f9b06a | 280 | void serialworker (void) |
dimavb | 2:ed1f45f9b06a | 281 | { |
dimavb | 2:ed1f45f9b06a | 282 | char data[MESSAGE_BUFFER_SIZE]; |
dimavb | 2:ed1f45f9b06a | 283 | while(1) |
dimavb | 2:ed1f45f9b06a | 284 | { |
dimavb | 2:ed1f45f9b06a | 285 | messageReceived.wait(); |
dimavb | 2:ed1f45f9b06a | 286 | |
dimavb | 2:ed1f45f9b06a | 287 | pc.printf("got '%s",messageBufferIncoming); |
dimavb | 2:ed1f45f9b06a | 288 | pc.printf("'\n"); |
dimavb | 2:ed1f45f9b06a | 289 | |
dimavb | 2:ed1f45f9b06a | 290 | //memset(data,0,MESSAGE_BUFFER_SIZE); |
dimavb | 2:ed1f45f9b06a | 291 | memcpy(data,messageBufferIncoming,MESSAGE_BUFFER_SIZE); |
dimavb | 2:ed1f45f9b06a | 292 | //memset(messageBufferIncoming,0,MESSAGE_BUFFER_SIZE); |
dimavb | 2:ed1f45f9b06a | 293 | |
dimavb | 2:ed1f45f9b06a | 294 | //pc.printf("got %s",data); |
dimavb | 2:ed1f45f9b06a | 295 | int ang; |
dimavb | 2:ed1f45f9b06a | 296 | int num; |
dimavb | 2:ed1f45f9b06a | 297 | if (sscanf(data,"%d %d\n",&num,&ang)==2) |
dimavb | 2:ed1f45f9b06a | 298 | { |
dimavb | 2:ed1f45f9b06a | 299 | if (num>0) |
dimavb | 2:ed1f45f9b06a | 300 | { |
dimavb | 2:ed1f45f9b06a | 301 | pc.printf("servo %d ang %d\n",num, ang); |
dimavb | 2:ed1f45f9b06a | 302 | setservo(num,ang); |
dimavb | 2:ed1f45f9b06a | 303 | } |
dimavb | 2:ed1f45f9b06a | 304 | else { |
dimavb | 2:ed1f45f9b06a | 305 | if (ang) mp3.mp3_play(ang); else mp3.mp3_stop(); |
dimavb | 2:ed1f45f9b06a | 306 | } |
dimavb | 2:ed1f45f9b06a | 307 | };// else {} |
dimavb | 2:ed1f45f9b06a | 308 | } |
dimavb | 2:ed1f45f9b06a | 309 | } |
dimavb | 2:ed1f45f9b06a | 310 | |
turumputum | 7:af18e8cfe499 | 311 | void setSensorsZeros (void){ |
turumputum | 7:af18e8cfe499 | 312 | memset(dist,0,12); |
turumputum | 7:af18e8cfe499 | 313 | i2c.read(0x20,dist,12); |
turumputum | 7:af18e8cfe499 | 314 | |
turumputum | 7:af18e8cfe499 | 315 | pc.printf("SensorsZeros \n"); |
turumputum | 7:af18e8cfe499 | 316 | for(uint8_t i=0; i<12; i++) |
turumputum | 7:af18e8cfe499 | 317 | { |
turumputum | 7:af18e8cfe499 | 318 | sensorsZeros[i]=dist[i]; |
turumputum | 7:af18e8cfe499 | 319 | |
turumputum | 7:af18e8cfe499 | 320 | pc.printf("%d\t ",sensorsZeros[i]); |
turumputum | 7:af18e8cfe499 | 321 | } |
turumputum | 7:af18e8cfe499 | 322 | pc.printf("SensorsZeros \n"); |
turumputum | 7:af18e8cfe499 | 323 | } |
turumputum | 7:af18e8cfe499 | 324 | |
turumputum | 7:af18e8cfe499 | 325 | |
dimavb | 0:474fb16588bf | 326 | int main() |
dimavb | 0:474fb16588bf | 327 | { |
dimavb | 2:ed1f45f9b06a | 328 | |
dimavb | 2:ed1f45f9b06a | 329 | |
dimavb | 2:ed1f45f9b06a | 330 | pc.baud(115200); |
dimavb | 2:ed1f45f9b06a | 331 | pc.attach(&messageReceive, MODSERIAL::RxAutoDetect); |
dimavb | 2:ed1f45f9b06a | 332 | pc.autoDetectChar('\n'); |
dimavb | 2:ed1f45f9b06a | 333 | |
dimavb | 2:ed1f45f9b06a | 334 | pc.printf("hi\n"); |
dimavb | 2:ed1f45f9b06a | 335 | //wait(1.0f); |
dimavb | 2:ed1f45f9b06a | 336 | mp3.mp3_play_physical(2); |
dimavb | 2:ed1f45f9b06a | 337 | |
dimavb | 2:ed1f45f9b06a | 338 | Thread ledstripthread; |
dimavb | 2:ed1f45f9b06a | 339 | Thread servothread; |
dimavb | 2:ed1f45f9b06a | 340 | Thread serialthread; |
dimavb | 0:474fb16588bf | 341 | |
dimavb | 2:ed1f45f9b06a | 342 | ledstripthread.start(ledstripworker); |
dimavb | 2:ed1f45f9b06a | 343 | servothread.start(servoworker); |
dimavb | 2:ed1f45f9b06a | 344 | serialthread.start(serialworker); |
dimavb | 2:ed1f45f9b06a | 345 | Action act = NONE; |
turumputum | 7:af18e8cfe499 | 346 | |
dimavb | 2:ed1f45f9b06a | 347 | int activated=-1; |
dimavb | 6:4b007c7f0b7a | 348 | int activated_t=0; |
dimavb | 4:2f4d485ebe58 | 349 | wait(2.5); |
dimavb | 2:ed1f45f9b06a | 350 | mp3.mp3_stop(); |
dimavb | 4:2f4d485ebe58 | 351 | int dist_tmp[16][4]; |
turumputum | 7:af18e8cfe499 | 352 | |
turumputum | 7:af18e8cfe499 | 353 | setSensorsZeros(); |
turumputum | 7:af18e8cfe499 | 354 | |
turumputum | 7:af18e8cfe499 | 355 | |
dimavb | 2:ed1f45f9b06a | 356 | while(1) |
dimavb | 0:474fb16588bf | 357 | { |
dimavb | 2:ed1f45f9b06a | 358 | memset(dist,0,12); |
dimavb | 2:ed1f45f9b06a | 359 | i2c.read(0x20,dist,12); |
dimavb | 2:ed1f45f9b06a | 360 | activated=-1; |
dimavb | 4:2f4d485ebe58 | 361 | for(uint8_t j=3; j>0; j--) |
dimavb | 4:2f4d485ebe58 | 362 | { |
dimavb | 4:2f4d485ebe58 | 363 | pc.printf("\n**"); |
dimavb | 4:2f4d485ebe58 | 364 | for(uint8_t i=0; i<12; i++) |
dimavb | 4:2f4d485ebe58 | 365 | { |
dimavb | 4:2f4d485ebe58 | 366 | dist_tmp[i][j]=dist_tmp[i][j-1]; |
dimavb | 4:2f4d485ebe58 | 367 | // pc.printf("%d\t ",dist_tmp[i][j]); |
dimavb | 4:2f4d485ebe58 | 368 | } |
dimavb | 4:2f4d485ebe58 | 369 | |
dimavb | 4:2f4d485ebe58 | 370 | } |
dimavb | 4:2f4d485ebe58 | 371 | //pc.printf("\n"); |
dimavb | 2:ed1f45f9b06a | 372 | for(uint8_t i=0; i<12; i++) |
dimavb | 2:ed1f45f9b06a | 373 | { |
dimavb | 2:ed1f45f9b06a | 374 | pc.printf("\t %d",dist[i]); |
dimavb | 4:2f4d485ebe58 | 375 | dist_tmp[i][0]=dist[i]; |
turumputum | 9:4bc77e4c090e | 376 | if ((sensorsZeros[i]-dist_tmp[i][0])>DELTA && |
turumputum | 9:4bc77e4c090e | 377 | (sensorsZeros[i]-dist_tmp[i][1])>DELTA && |
turumputum | 9:4bc77e4c090e | 378 | (sensorsZeros[i]-dist_tmp[i][2])>DELTA && |
turumputum | 9:4bc77e4c090e | 379 | (sensorsZeros[i]-dist_tmp[i][3])>DELTA ) { |
dimavb | 4:2f4d485ebe58 | 380 | activated=sensormap[i]; |
dimavb | 2:ed1f45f9b06a | 381 | |
dimavb | 4:2f4d485ebe58 | 382 | } |
dimavb | 2:ed1f45f9b06a | 383 | //else activated=-1; |
dimavb | 2:ed1f45f9b06a | 384 | } |
dimavb | 4:2f4d485ebe58 | 385 | |
dimavb | 4:2f4d485ebe58 | 386 | |
dimavb | 2:ed1f45f9b06a | 387 | pc.printf("\n"); |
dimavb | 6:4b007c7f0b7a | 388 | if (activated<0) activated_t=0; |
dimavb | 2:ed1f45f9b06a | 389 | |
dimavb | 6:4b007c7f0b7a | 390 | if (activated>=0 && activated_t==0) |
dimavb | 2:ed1f45f9b06a | 391 | { |
dimavb | 6:4b007c7f0b7a | 392 | activated_t=1; |
dimavb | 2:ed1f45f9b06a | 393 | act = actions[activated]; |
dimavb | 2:ed1f45f9b06a | 394 | pc.printf("activated %d action %d\n",activated,act); |
dimavb | 2:ed1f45f9b06a | 395 | float time=actionstime[activated]; |
dimavb | 2:ed1f45f9b06a | 396 | switch(act) |
dimavb | 2:ed1f45f9b06a | 397 | { |
dimavb | 2:ed1f45f9b06a | 398 | |
dimavb | 2:ed1f45f9b06a | 399 | case NONE: |
dimavb | 2:ed1f45f9b06a | 400 | break; |
dimavb | 2:ed1f45f9b06a | 401 | |
dimavb | 2:ed1f45f9b06a | 402 | case MUS: |
dimavb | 2:ed1f45f9b06a | 403 | music(activated,time); |
dimavb | 2:ed1f45f9b06a | 404 | break; |
dimavb | 2:ed1f45f9b06a | 405 | |
dimavb | 2:ed1f45f9b06a | 406 | case MLIT: |
dimavb | 2:ed1f45f9b06a | 407 | musiclight(activated,time); |
dimavb | 2:ed1f45f9b06a | 408 | break; |
dimavb | 2:ed1f45f9b06a | 409 | |
dimavb | 2:ed1f45f9b06a | 410 | case SLOW: |
dimavb | 2:ed1f45f9b06a | 411 | slow_move(activated,time); |
dimavb | 2:ed1f45f9b06a | 412 | break; |
dimavb | 2:ed1f45f9b06a | 413 | |
dimavb | 2:ed1f45f9b06a | 414 | case OPEN: |
dimavb | 2:ed1f45f9b06a | 415 | open(activated,time); |
dimavb | 2:ed1f45f9b06a | 416 | break; |
dimavb | 2:ed1f45f9b06a | 417 | |
dimavb | 2:ed1f45f9b06a | 418 | case KACH: |
dimavb | 2:ed1f45f9b06a | 419 | if (activated==4) kachelle_double(0,1,5,time); |
dimavb | 2:ed1f45f9b06a | 420 | else kachelle(activated,time); |
dimavb | 2:ed1f45f9b06a | 421 | break; |
dimavb | 2:ed1f45f9b06a | 422 | |
dimavb | 2:ed1f45f9b06a | 423 | default: |
dimavb | 2:ed1f45f9b06a | 424 | pc.printf("Action does not exist - MEGABUG\n"); |
dimavb | 2:ed1f45f9b06a | 425 | wait(1); |
dimavb | 2:ed1f45f9b06a | 426 | } |
dimavb | 2:ed1f45f9b06a | 427 | activated=-1; |
dimavb | 2:ed1f45f9b06a | 428 | } |
dimavb | 2:ed1f45f9b06a | 429 | wait(0.3f); |
dimavb | 0:474fb16588bf | 430 | } |
dimavb | 2:ed1f45f9b06a | 431 | |
dimavb | 2:ed1f45f9b06a | 432 | |
dimavb | 0:474fb16588bf | 433 | } |