Tyler Altenhofen / MVC

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main.cpp@2:891b3618be4f, 2015-05-01 (annotated)

Committer:
tyleralt
Date:
Fri May 01 10:12:55 2015 +0000
Revision:
2:891b3618be4f
Parent:
1:bb1507f0bb64
Child:
5:d7d16cb9c974
working yo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tyleralt 0:ded79d89abdf 1 #include "mbed.h"
tyleralt 0:ded79d89abdf 2 #include <vector>
tyleralt 0:ded79d89abdf 3 #define BUFFER_SIZE 16
tyleralt 0:ded79d89abdf 4 #define NUMBER_OF_SLICES 360
tyleralt 0:ded79d89abdf 5 #include "Point.h"
tyleralt 0:ded79d89abdf 6 #include "View.h"
tyleralt 2:891b3618be4f 7 #include "Block.h"
tyleralt 0:ded79d89abdf 8
tyleralt 0:ded79d89abdf 9
tyleralt 0:ded79d89abdf 10 //hass sensor interupt
tyleralt 0:ded79d89abdf 11 InterruptIn hallSensor(p25);
tyleralt 0:ded79d89abdf 12
tyleralt 0:ded79d89abdf 13 //Set Up Timer and ticker
tyleralt 0:ded79d89abdf 14 Timer rotationTime;
tyleralt 0:ded79d89abdf 15 Ticker updateLeds;
tyleralt 0:ded79d89abdf 16
tyleralt 0:ded79d89abdf 17 //Declare global vars
tyleralt 0:ded79d89abdf 18 double slice_time;
tyleralt 0:ded79d89abdf 19 double rotate_time;
tyleralt 0:ded79d89abdf 20 int current_slice;
tyleralt 0:ded79d89abdf 21 bool firstTime;
tyleralt 0:ded79d89abdf 22
tyleralt 0:ded79d89abdf 23 enum DisplayMode {lineDraw, map, eucDraw};
tyleralt 0:ded79d89abdf 24
tyleralt 0:ded79d89abdf 25 DisplayMode mode;
tyleralt 0:ded79d89abdf 26
tyleralt 0:ded79d89abdf 27 Point pointer;
tyleralt 0:ded79d89abdf 28 EuclidPoint eucPointer;
tyleralt 0:ded79d89abdf 29 //the View
tyleralt 0:ded79d89abdf 30 View display;
tyleralt 0:ded79d89abdf 31
tyleralt 2:891b3618be4f 32 Block blocks [3];
tyleralt 0:ded79d89abdf 33
tyleralt 0:ded79d89abdf 34
tyleralt 0:ded79d89abdf 35
tyleralt 0:ded79d89abdf 36 //serial port for pc and bluetooth
tyleralt 0:ded79d89abdf 37 Serial pc(USBTX, USBRX); // tx, rx
tyleralt 0:ded79d89abdf 38 Serial bt(p9, p10);// tx, rx
tyleralt 0:ded79d89abdf 39
tyleralt 2:891b3618be4f 40 void updateMap(){
tyleralt 2:891b3618be4f 41 display.resetDisplay();
tyleralt 2:891b3618be4f 42 display.addBlock(blocks[0]);
tyleralt 2:891b3618be4f 43 display.addBlock(blocks[1]);
tyleralt 2:891b3618be4f 44 display.addBlock(blocks[2]);
tyleralt 2:891b3618be4f 45 }
tyleralt 2:891b3618be4f 46
tyleralt 0:ded79d89abdf 47 void rotate_sense(){
tyleralt 0:ded79d89abdf 48 if (firstTime){
tyleralt 0:ded79d89abdf 49 rotationTime.reset();
tyleralt 0:ded79d89abdf 50 rotationTime.start();
tyleralt 0:ded79d89abdf 51 firstTime = false;
tyleralt 0:ded79d89abdf 52 display.current_slice = 180;
tyleralt 0:ded79d89abdf 53 return;
tyleralt 0:ded79d89abdf 54 }
tyleralt 0:ded79d89abdf 55 if(display.current_slice < NUMBER_OF_SLICES / 4){
tyleralt 0:ded79d89abdf 56 return;
tyleralt 0:ded79d89abdf 57 }
tyleralt 0:ded79d89abdf 58 rotate_time = rotationTime.read_us();
tyleralt 0:ded79d89abdf 59 rotationTime.reset();
tyleralt 0:ded79d89abdf 60 rotationTime.start();
tyleralt 0:ded79d89abdf 61 slice_time = (double) rotate_time/NUMBER_OF_SLICES;
tyleralt 0:ded79d89abdf 62 display.resetCount();
tyleralt 0:ded79d89abdf 63 updateLeds.attach_us(&display, &View::nextLedPush, slice_time);
tyleralt 0:ded79d89abdf 64 }
tyleralt 0:ded79d89abdf 65 void moveUp();
tyleralt 0:ded79d89abdf 66 void moveDown();
tyleralt 0:ded79d89abdf 67 void rotateRight();
tyleralt 0:ded79d89abdf 68 void rotateLeft();
tyleralt 0:ded79d89abdf 69 void moveIn();
tyleralt 0:ded79d89abdf 70 void moveOut();
tyleralt 0:ded79d89abdf 71
tyleralt 0:ded79d89abdf 72 void parseLineMode(char c){
tyleralt 0:ded79d89abdf 73 switch(c){
tyleralt 0:ded79d89abdf 74 case 'w':
tyleralt 0:ded79d89abdf 75 pointer.moveOut();
tyleralt 0:ded79d89abdf 76 break;
tyleralt 0:ded79d89abdf 77 case 's':
tyleralt 0:ded79d89abdf 78 pointer.moveIn();
tyleralt 0:ded79d89abdf 79 break;
tyleralt 0:ded79d89abdf 80 case 'a':
tyleralt 0:ded79d89abdf 81 pointer.rotateRight();
tyleralt 0:ded79d89abdf 82 break;
tyleralt 0:ded79d89abdf 83 case 'd':
tyleralt 0:ded79d89abdf 84 pointer.rotateLeft();
tyleralt 0:ded79d89abdf 85 break;
tyleralt 0:ded79d89abdf 86 case 'p':
tyleralt 0:ded79d89abdf 87 pointer.moveUp();
tyleralt 0:ded79d89abdf 88 break;
tyleralt 0:ded79d89abdf 89 case 'l':
tyleralt 0:ded79d89abdf 90 pointer.moveDown();
tyleralt 0:ded79d89abdf 91 break;
tyleralt 0:ded79d89abdf 92 default: return;
tyleralt 0:ded79d89abdf 93 }
tyleralt 0:ded79d89abdf 94 display.addPoint(pointer);
tyleralt 0:ded79d89abdf 95 }
tyleralt 0:ded79d89abdf 96
tyleralt 0:ded79d89abdf 97 void parseMapMode(char c){
tyleralt 2:891b3618be4f 98 switch(c){
tyleralt 2:891b3618be4f 99 case 'w':
tyleralt 2:891b3618be4f 100 for (int i = 0; i < 3; i ++){
tyleralt 2:891b3618be4f 101 blocks[i].moveOut();
tyleralt 2:891b3618be4f 102 }
tyleralt 2:891b3618be4f 103 updateMap();
tyleralt 2:891b3618be4f 104 break;
tyleralt 2:891b3618be4f 105 case 's':
tyleralt 2:891b3618be4f 106 for (int i = 0; i < 3; i ++){
tyleralt 2:891b3618be4f 107 blocks[i].moveIn();
tyleralt 2:891b3618be4f 108 }
tyleralt 2:891b3618be4f 109 updateMap();
tyleralt 2:891b3618be4f 110 break;
tyleralt 2:891b3618be4f 111 case 'a':
tyleralt 2:891b3618be4f 112 for (int i = 0; i < 3; i ++){
tyleralt 2:891b3618be4f 113 blocks[i].moveLeft();
tyleralt 2:891b3618be4f 114 }
tyleralt 2:891b3618be4f 115 updateMap();
tyleralt 2:891b3618be4f 116 break;
tyleralt 2:891b3618be4f 117 case 'd':
tyleralt 2:891b3618be4f 118 for (int i = 0; i < 3; i ++){
tyleralt 2:891b3618be4f 119 blocks[i].moveRight();
tyleralt 2:891b3618be4f 120 }
tyleralt 2:891b3618be4f 121 updateMap();
tyleralt 2:891b3618be4f 122 break;
tyleralt 2:891b3618be4f 123 case 'p':
tyleralt 2:891b3618be4f 124 return;
tyleralt 2:891b3618be4f 125 case 'l':
tyleralt 2:891b3618be4f 126 return;
tyleralt 2:891b3618be4f 127 default: return;
tyleralt 2:891b3618be4f 128 }
tyleralt 0:ded79d89abdf 129 }
tyleralt 0:ded79d89abdf 130 void parseEucMode(char c){
tyleralt 0:ded79d89abdf 131 switch(c){
tyleralt 0:ded79d89abdf 132 case 'w':
tyleralt 0:ded79d89abdf 133 eucPointer.moveAway();
tyleralt 0:ded79d89abdf 134 break;
tyleralt 0:ded79d89abdf 135 case 's':
tyleralt 0:ded79d89abdf 136 eucPointer.moveTowards();
tyleralt 0:ded79d89abdf 137 break;
tyleralt 0:ded79d89abdf 138 case 'a':
tyleralt 0:ded79d89abdf 139 eucPointer.moveLeft();
tyleralt 0:ded79d89abdf 140 break;
tyleralt 0:ded79d89abdf 141 case 'd':
tyleralt 0:ded79d89abdf 142 eucPointer.moveRight();
tyleralt 0:ded79d89abdf 143 break;
tyleralt 0:ded79d89abdf 144 case 'p':
tyleralt 0:ded79d89abdf 145 eucPointer.moveUp();
tyleralt 0:ded79d89abdf 146 break;
tyleralt 0:ded79d89abdf 147 case 'l':
tyleralt 0:ded79d89abdf 148 eucPointer.moveDown();
tyleralt 0:ded79d89abdf 149 break;
tyleralt 0:ded79d89abdf 150 default: return;
tyleralt 0:ded79d89abdf 151 }
tyleralt 1:bb1507f0bb64 152 Point startPoint = eucPointer.getPoint();
tyleralt 0:ded79d89abdf 153 Point endPoint = eucPointer.getEndPoint();
tyleralt 2:891b3618be4f 154 //bt.printf("\r\n");
tyleralt 2:891b3618be4f 155 //bt.printf("points%i , %i , %X \r\n", eucPointer.x, eucPointer.y,eucPointer.z);
tyleralt 2:891b3618be4f 156 //bt.printf("drawingEucPointer Starting %i , %i , %X \r\n", startPoint.getArraySlice(), startPoint.getPositionDistance(),startPoint.getIdentifyingChar());
tyleralt 1:bb1507f0bb64 157 //bt.printf("drawingEucPointer Ending %i , %i , %X \r\n", endPoint.getArraySlice(), endPoint.getPositionDistance(),endPoint.getIdentifyingChar());
tyleralt 0:ded79d89abdf 158 display.addEucPoint(eucPointer);
tyleralt 0:ded79d89abdf 159 }
tyleralt 0:ded79d89abdf 160
tyleralt 0:ded79d89abdf 161 void parseBt(char c){
tyleralt 0:ded79d89abdf 162 if (c == 'm'){
tyleralt 1:bb1507f0bb64 163 display.resetDisplay();
tyleralt 1:bb1507f0bb64 164 switch (mode){
tyleralt 0:ded79d89abdf 165 case(lineDraw):{
tyleralt 0:ded79d89abdf 166 mode = eucDraw;
tyleralt 0:ded79d89abdf 167 bt.printf("we are drawing Euclidian");
tyleralt 0:ded79d89abdf 168 break;
tyleralt 0:ded79d89abdf 169 }
tyleralt 0:ded79d89abdf 170 case(map):{
tyleralt 0:ded79d89abdf 171 mode = lineDraw;
tyleralt 0:ded79d89abdf 172 bt.printf("we are drawing Radians");
tyleralt 0:ded79d89abdf 173 break;
tyleralt 0:ded79d89abdf 174 }
tyleralt 0:ded79d89abdf 175 case(eucDraw):{
tyleralt 0:ded79d89abdf 176 mode = map;
tyleralt 0:ded79d89abdf 177 bt.printf("we are on a Map");
tyleralt 2:891b3618be4f 178 updateMap();
tyleralt 0:ded79d89abdf 179 break;
tyleralt 0:ded79d89abdf 180 }
tyleralt 0:ded79d89abdf 181 default: {
tyleralt 0:ded79d89abdf 182 return;
tyleralt 0:ded79d89abdf 183 }
tyleralt 0:ded79d89abdf 184 }
tyleralt 0:ded79d89abdf 185 return;
tyleralt 0:ded79d89abdf 186 }
tyleralt 0:ded79d89abdf 187
tyleralt 0:ded79d89abdf 188 if (mode == lineDraw){
tyleralt 0:ded79d89abdf 189 parseLineMode(c);
tyleralt 0:ded79d89abdf 190 }
tyleralt 0:ded79d89abdf 191 if (mode == map){
tyleralt 0:ded79d89abdf 192 parseMapMode(c);
tyleralt 0:ded79d89abdf 193 }
tyleralt 0:ded79d89abdf 194 if (mode == eucDraw){
tyleralt 0:ded79d89abdf 195 parseEucMode(c);
tyleralt 0:ded79d89abdf 196 }
tyleralt 0:ded79d89abdf 197 }
tyleralt 0:ded79d89abdf 198
tyleralt 0:ded79d89abdf 199
tyleralt 0:ded79d89abdf 200
tyleralt 0:ded79d89abdf 201 int main() {
tyleralt 2:891b3618be4f 202 blocks[0] = Block( 3, 4, 0, 4,6);
tyleralt 2:891b3618be4f 203 blocks[1] = Block ( -4, -4, 1 ,4, 3);
tyleralt 2:891b3618be4f 204 blocks[2] = Block ( 5, -7, 2 ,5, 4);
tyleralt 0:ded79d89abdf 205 pc.printf("started");
tyleralt 0:ded79d89abdf 206 bt.printf("bluetooth started");
tyleralt 0:ded79d89abdf 207 mode = eucDraw;
tyleralt 0:ded79d89abdf 208 firstTime = true;
tyleralt 0:ded79d89abdf 209 current_slice = 100;
tyleralt 0:ded79d89abdf 210 display.resetDisplay();
tyleralt 0:ded79d89abdf 211
tyleralt 0:ded79d89abdf 212 hallSensor.fall(&rotate_sense);
tyleralt 0:ded79d89abdf 213
tyleralt 0:ded79d89abdf 214 while(true) {
tyleralt 0:ded79d89abdf 215 if (bt.readable()){
tyleralt 0:ded79d89abdf 216 parseBt(bt.getc());
tyleralt 0:ded79d89abdf 217 }
tyleralt 0:ded79d89abdf 218 }
tyleralt 0:ded79d89abdf 219 }