Tyler Altenhofen / Mbed 2 deprecated TylerPOVController

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Dependencies:   mbed

main.cpp@2:e2502545f2f0, 2015-04-22 (annotated)

Committer:
tyleralt
Date:
Wed Apr 22 00:28:29 2015 +0000
Revision:
2:e2502545f2f0
Parent:
1:533b878c22ab
Child:
3:9e8eb12f831f
using interrupts;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tyleralt 0:c8b0c4f50d18 1 #include "mbed.h"
tyleralt 0:c8b0c4f50d18 2 #include <vector>
tyleralt 0:c8b0c4f50d18 3 #define BUFFER_SIZE 16
tyleralt 0:c8b0c4f50d18 4 #define NUMBER_OF_SLICES 120
tyleralt 2:e2502545f2f0 5 #include "MRF24J40.h"
tyleralt 0:c8b0c4f50d18 6
tyleralt 0:c8b0c4f50d18 7
tyleralt 0:c8b0c4f50d18 8 int offAngles [8] = {0, 180, 90, 270, 45, 225, 135, 315};
tyleralt 0:c8b0c4f50d18 9 char slice_data [NUMBER_OF_SLICES][16]; //[slice][specific led distance] (0 is closest) & with approppriate bit for each arm
tyleralt 0:c8b0c4f50d18 10
tyleralt 2:e2502545f2f0 11 //*********************point class************************//
tyleralt 0:c8b0c4f50d18 12 class Point {
tyleralt 0:c8b0c4f50d18 13 int positionRadian, positionHeight, positionDistance;
tyleralt 0:c8b0c4f50d18 14 public:
tyleralt 0:c8b0c4f50d18 15 Point (int , int , int );
tyleralt 0:c8b0c4f50d18 16 int getArraySlice(void);
tyleralt 0:c8b0c4f50d18 17 char getIdentifyingChar(void);
tyleralt 0:c8b0c4f50d18 18 int getPositionDistance(void);
tyleralt 0:c8b0c4f50d18 19 void moveUp();
tyleralt 0:c8b0c4f50d18 20 void moveDown();
tyleralt 0:c8b0c4f50d18 21 void rotateRight();
tyleralt 0:c8b0c4f50d18 22 void rotateLeft();
tyleralt 0:c8b0c4f50d18 23 void moveIn();
tyleralt 0:c8b0c4f50d18 24 void moveOut();
tyleralt 0:c8b0c4f50d18 25
tyleralt 0:c8b0c4f50d18 26 };
tyleralt 0:c8b0c4f50d18 27 Point :: Point (int posRadian, int posHeight, int posDistance){
tyleralt 0:c8b0c4f50d18 28 positionRadian = posRadian;
tyleralt 0:c8b0c4f50d18 29 positionHeight = posHeight;
tyleralt 0:c8b0c4f50d18 30 positionDistance = posDistance;
tyleralt 0:c8b0c4f50d18 31 }
tyleralt 0:c8b0c4f50d18 32 int Point :: getArraySlice (void){
tyleralt 1:533b878c22ab 33 return positionRadian + offAngles[positionHeight];
tyleralt 0:c8b0c4f50d18 34 }
tyleralt 0:c8b0c4f50d18 35 char Point :: getIdentifyingChar(void){
tyleralt 1:533b878c22ab 36 return 0x01 << positionHeight;
tyleralt 0:c8b0c4f50d18 37 }
tyleralt 0:c8b0c4f50d18 38 int Point :: getPositionDistance(void){
tyleralt 0:c8b0c4f50d18 39 return positionDistance;
tyleralt 0:c8b0c4f50d18 40 }
tyleralt 1:533b878c22ab 41 void Point :: moveUp(){
tyleralt 0:c8b0c4f50d18 42 if (positionHeight < 7){
tyleralt 0:c8b0c4f50d18 43 positionHeight ++;
tyleralt 0:c8b0c4f50d18 44 }
tyleralt 0:c8b0c4f50d18 45 }
tyleralt 1:533b878c22ab 46 void Point :: moveDown(){
tyleralt 1:533b878c22ab 47 if(positionHeight > 0){
tyleralt 0:c8b0c4f50d18 48 positionHeight --;
tyleralt 1:533b878c22ab 49 }
tyleralt 1:533b878c22ab 50 }
tyleralt 1:533b878c22ab 51 void Point :: rotateRight(){
tyleralt 1:533b878c22ab 52 positionRadian = (positionRadian + 1) % 120;
tyleralt 1:533b878c22ab 53 }
tyleralt 1:533b878c22ab 54 void Point :: rotateLeft(){
tyleralt 1:533b878c22ab 55 positionRadian = (positionRadian + 1) % 120;
tyleralt 1:533b878c22ab 56 }
tyleralt 1:533b878c22ab 57 void Point :: moveIn(){
tyleralt 1:533b878c22ab 58 if (positionDistance < 0){
tyleralt 1:533b878c22ab 59 positionDistance --;
tyleralt 1:533b878c22ab 60 }
tyleralt 1:533b878c22ab 61 }
tyleralt 1:533b878c22ab 62 void Point :: moveOut(){
tyleralt 1:533b878c22ab 63 if (positionDistance > 15){
tyleralt 1:533b878c22ab 64 positionDistance ++;
tyleralt 1:533b878c22ab 65 }
tyleralt 1:533b878c22ab 66 }
tyleralt 2:e2502545f2f0 67
tyleralt 2:e2502545f2f0 68 //******************end Point class*******************//
tyleralt 0:c8b0c4f50d18 69
tyleralt 1:533b878c22ab 70 enum DrawingMode { line, point, circle };
tyleralt 1:533b878c22ab 71 DrawingMode currentMode;
tyleralt 1:533b878c22ab 72
tyleralt 1:533b878c22ab 73 Point pointer(60, 3, 8);
tyleralt 0:c8b0c4f50d18 74
tyleralt 0:c8b0c4f50d18 75 InterruptIn buttonMode(p15);
tyleralt 0:c8b0c4f50d18 76 InterruptIn buttonUp(p16);
tyleralt 0:c8b0c4f50d18 77 InterruptIn buttonDown(p17);
tyleralt 0:c8b0c4f50d18 78 InterruptIn buttonRotateRight(p18);
tyleralt 0:c8b0c4f50d18 79 InterruptIn buttonRotateLeft(p19);
tyleralt 0:c8b0c4f50d18 80 InterruptIn buttonMoveOut(p20);
tyleralt 0:c8b0c4f50d18 81 InterruptIn buttonMoveIn(p21);
tyleralt 1:533b878c22ab 82 InterruptIn buttonSelect(p22);
tyleralt 2:e2502545f2f0 83 DigitalIn digitalMode(p15);
tyleralt 2:e2502545f2f0 84 DigitalIn digitalUp(p16);
tyleralt 2:e2502545f2f0 85 DigitalIn digitalDown(p17);
tyleralt 2:e2502545f2f0 86 DigitalIn digitalRotateRight(p18);
tyleralt 2:e2502545f2f0 87 DigitalIn digitalRotateLeft(p19);
tyleralt 2:e2502545f2f0 88 DigitalIn digotalMoveOut(p20);
tyleralt 2:e2502545f2f0 89 DigitalIn digtialMoveIn(p21);
tyleralt 2:e2502545f2f0 90 DigitalIn digitalSelect(p22);
tyleralt 0:c8b0c4f50d18 91
tyleralt 1:533b878c22ab 92 Ticker pointerBlinkTicker;
tyleralt 1:533b878c22ab 93
tyleralt 2:e2502545f2f0 94 MRF24J40 mrf(p11, p12, p13, p14, p26);
tyleralt 2:e2502545f2f0 95 char txBuffer[128];
tyleralt 2:e2502545f2f0 96 char rxBuffer[128];
tyleralt 2:e2502545f2f0 97 int rxLen;
tyleralt 2:e2502545f2f0 98
tyleralt 2:e2502545f2f0 99 void rf_send(char *data, uint8_t len)
tyleralt 2:e2502545f2f0 100 {
tyleralt 2:e2502545f2f0 101 //We need to prepend the message with a valid ZigBee header
tyleralt 2:e2502545f2f0 102 uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
tyleralt 2:e2502545f2f0 103 uint8_t *send_buf = (uint8_t *) malloc( sizeof(uint8_t) * (len+8) );
tyleralt 2:e2502545f2f0 104
tyleralt 2:e2502545f2f0 105 for(uint8_t i = 0; i < len+8; i++) {
tyleralt 2:e2502545f2f0 106 //prepend the 8-byte header
tyleralt 2:e2502545f2f0 107 send_buf[i] = (i<8) ? header[i] : data[i-8];
tyleralt 2:e2502545f2f0 108 }
tyleralt 2:e2502545f2f0 109 //pc.printf("Sent: %s\r\n", send_buf+8);
tyleralt 2:e2502545f2f0 110
tyleralt 2:e2502545f2f0 111 mrf.Send(send_buf, len+8);
tyleralt 2:e2502545f2f0 112 free(send_buf);
tyleralt 2:e2502545f2f0 113 }
tyleralt 2:e2502545f2f0 114
tyleralt 1:533b878c22ab 115 void sendPointOver (int slice, int distance, char height){
tyleralt 1:533b878c22ab 116 ///TODO implement communications
tyleralt 2:e2502545f2f0 117 char sliceChar = (char) slice;
tyleralt 2:e2502545f2f0 118 char distanceChar = (char) distance;
tyleralt 2:e2502545f2f0 119 String data = sliceChar + distanceChar + height;
tyleralt 2:e2502545f2f0 120
tyleralt 2:e2502545f2f0 121 strcpy(txBuffer, data);
tyleralt 2:e2502545f2f0 122 //Send the buffer
tyleralt 2:e2502545f2f0 123 rf_send(txBuffer, strlen(txBuffer) + 1);
tyleralt 2:e2502545f2f0 124 pc.printf("Sent: %s\r\n", txBuffer);
tyleralt 1:533b878c22ab 125 }
tyleralt 1:533b878c22ab 126
tyleralt 1:533b878c22ab 127 void drawPoint(){
tyleralt 1:533b878c22ab 128 int pointerSlice = pointer.getArraySlice();
tyleralt 1:533b878c22ab 129 int pointerDistance = pointer.getPositionDistance();
tyleralt 1:533b878c22ab 130 char height = pointer.getIdentifyingChar();
tyleralt 1:533b878c22ab 131 sendPointOver(pointerSlice, pointerDistance, height);
tyleralt 1:533b878c22ab 132 }
tyleralt 1:533b878c22ab 133
tyleralt 0:c8b0c4f50d18 134
tyleralt 2:e2502545f2f0 135
tyleralt 2:e2502545f2f0 136 //***************** all of the button reactions *********//
tyleralt 0:c8b0c4f50d18 137 void changeMode(){
tyleralt 1:533b878c22ab 138 if (currentMode == point){
tyleralt 1:533b878c22ab 139 currentMode = line;
tyleralt 1:533b878c22ab 140 }
tyleralt 1:533b878c22ab 141 if (currentMode == line){
tyleralt 1:533b878c22ab 142 currentMode = circle;
tyleralt 1:533b878c22ab 143 }
tyleralt 1:533b878c22ab 144 if (currentMode == circle){
tyleralt 1:533b878c22ab 145 currentMode = point;
tyleralt 1:533b878c22ab 146 }
tyleralt 0:c8b0c4f50d18 147 }
tyleralt 0:c8b0c4f50d18 148 void moveUp(){
tyleralt 1:533b878c22ab 149 if (currentMode == line){
tyleralt 1:533b878c22ab 150 drawPoint();
tyleralt 1:533b878c22ab 151 }
tyleralt 1:533b878c22ab 152 pointer.moveUp();
tyleralt 0:c8b0c4f50d18 153 }
tyleralt 0:c8b0c4f50d18 154 void moveDown(){
tyleralt 1:533b878c22ab 155 if (currentMode == line){
tyleralt 1:533b878c22ab 156 drawPoint();
tyleralt 1:533b878c22ab 157 }
tyleralt 1:533b878c22ab 158 pointer.moveDown();
tyleralt 0:c8b0c4f50d18 159 }
tyleralt 0:c8b0c4f50d18 160 void rotateRight(){
tyleralt 1:533b878c22ab 161 if (currentMode == line){
tyleralt 1:533b878c22ab 162 pointer.rotateRight();
tyleralt 1:533b878c22ab 163 }
tyleralt 1:533b878c22ab 164 pointer.rotateRight();
tyleralt 0:c8b0c4f50d18 165 }
tyleralt 0:c8b0c4f50d18 166 void rotateLeft(){
tyleralt 1:533b878c22ab 167 if (currentMode == line){
tyleralt 1:533b878c22ab 168 drawPoint();
tyleralt 1:533b878c22ab 169 }
tyleralt 1:533b878c22ab 170 pointer.rotateLeft();
tyleralt 2:e2502545f2f0 171 wait(.3);
tyleralt 2:e2502545f2f0 172 while(buttonRotateLeft.
tyleralt 0:c8b0c4f50d18 173 }
tyleralt 0:c8b0c4f50d18 174 void moveOut(){
tyleralt 1:533b878c22ab 175 if (currentMode == line){
tyleralt 1:533b878c22ab 176 drawPoint();
tyleralt 1:533b878c22ab 177 }
tyleralt 1:533b878c22ab 178 pointer.moveOut();
tyleralt 0:c8b0c4f50d18 179 }
tyleralt 0:c8b0c4f50d18 180 void moveIn(){
tyleralt 1:533b878c22ab 181 if (currentMode == line){
tyleralt 1:533b878c22ab 182 drawPoint();
tyleralt 1:533b878c22ab 183 }
tyleralt 1:533b878c22ab 184 pointer.moveIn();
tyleralt 0:c8b0c4f50d18 185 }
tyleralt 0:c8b0c4f50d18 186 void pointerBlink(){
tyleralt 1:533b878c22ab 187 Point currentBlink = pointer;
tyleralt 1:533b878c22ab 188 int slice = currentBlink.getArraySlice();
tyleralt 1:533b878c22ab 189 int distance = currentBlink.getPositionDistance();
tyleralt 1:533b878c22ab 190 char height = pointer.getIdentifyingChar();
tyleralt 1:533b878c22ab 191 sendPointOver(slice, distance, height);
tyleralt 1:533b878c22ab 192 wait(.3);
tyleralt 1:533b878c22ab 193 sendPointOver(slice, distance, height);
tyleralt 0:c8b0c4f50d18 194 }
tyleralt 1:533b878c22ab 195 void drawWholeCircle(){
tyleralt 1:533b878c22ab 196 int distance = pointer.getPositionDistance();
tyleralt 1:533b878c22ab 197 char height = pointer.getIdentifyingChar();
tyleralt 1:533b878c22ab 198 for (int i = 0; i < 120; i ++){
tyleralt 1:533b878c22ab 199 sendPointOver(i, distance, height);
tyleralt 1:533b878c22ab 200 }
tyleralt 1:533b878c22ab 201
tyleralt 1:533b878c22ab 202 }
tyleralt 1:533b878c22ab 203 void select(){
tyleralt 1:533b878c22ab 204 if (currentMode == point){
tyleralt 1:533b878c22ab 205 drawPoint();
tyleralt 1:533b878c22ab 206 }
tyleralt 1:533b878c22ab 207 if (currentMode == circle){
tyleralt 1:533b878c22ab 208 drawWholeCircle();
tyleralt 1:533b878c22ab 209 }
tyleralt 1:533b878c22ab 210 }
tyleralt 2:e2502545f2f0 211 //***************** all of the button reactions finish*********//
tyleralt 0:c8b0c4f50d18 212
tyleralt 0:c8b0c4f50d18 213
tyleralt 0:c8b0c4f50d18 214 int main() {
tyleralt 0:c8b0c4f50d18 215 currentMode = point;
tyleralt 0:c8b0c4f50d18 216 buttonMode.rise(&changeMode);
tyleralt 0:c8b0c4f50d18 217 buttonUp.rise(&moveUp);
tyleralt 0:c8b0c4f50d18 218 buttonDown.rise(&moveDown);
tyleralt 0:c8b0c4f50d18 219 buttonRotateRight.rise(&rotateRight);
tyleralt 0:c8b0c4f50d18 220 buttonRotateLeft.rise(&rotateLeft);
tyleralt 0:c8b0c4f50d18 221 buttonMoveOut.rise(&moveOut);
tyleralt 0:c8b0c4f50d18 222 buttonMoveIn.rise(&moveIn);
tyleralt 1:533b878c22ab 223 buttonSelect.rise(&select);
tyleralt 1:533b878c22ab 224 pointerBlinkTicker.attach(&pointerBlink, 1);
tyleralt 1:533b878c22ab 225
tyleralt 0:c8b0c4f50d18 226
tyleralt 0:c8b0c4f50d18 227 for (int i = 0; i < NUMBER_OF_SLICES; i ++){
tyleralt 0:c8b0c4f50d18 228 for (int j = 0; j < 16; j ++){
tyleralt 1:533b878c22ab 229 slice_data[i][j] = 0x00;
tyleralt 0:c8b0c4f50d18 230 }
tyleralt 0:c8b0c4f50d18 231 }
tyleralt 0:c8b0c4f50d18 232
tyleralt 0:c8b0c4f50d18 233
tyleralt 0:c8b0c4f50d18 234 }