Tyler Altenhofen / Mbed 2 deprecated TylerPOVController

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Dependencies:   mbed

main.cpp@4:a7442c1faed1, 2015-04-24 (annotated)

Committer:
tyleralt
Date:
Fri Apr 24 07:51:33 2015 +0000
Revision:
4:a7442c1faed1
Parent:
3:9e8eb12f831f
Child:
5:54ff826d1897
working more so;

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 3:9e8eb12f831f 8 int offAngles [8] = {0, 180, 45, 225, 90, 270, 135, 315};
tyleralt 0:c8b0c4f50d18 9
tyleralt 2:e2502545f2f0 10 //*********************point class************************//
tyleralt 0:c8b0c4f50d18 11 class Point {
tyleralt 0:c8b0c4f50d18 12 int positionRadian, positionHeight, positionDistance;
tyleralt 0:c8b0c4f50d18 13 public:
tyleralt 0:c8b0c4f50d18 14 Point (int , int , int );
tyleralt 0:c8b0c4f50d18 15 int getArraySlice(void);
tyleralt 0:c8b0c4f50d18 16 char getIdentifyingChar(void);
tyleralt 0:c8b0c4f50d18 17 int getPositionDistance(void);
tyleralt 0:c8b0c4f50d18 18 void moveUp();
tyleralt 0:c8b0c4f50d18 19 void moveDown();
tyleralt 0:c8b0c4f50d18 20 void rotateRight();
tyleralt 0:c8b0c4f50d18 21 void rotateLeft();
tyleralt 0:c8b0c4f50d18 22 void moveIn();
tyleralt 0:c8b0c4f50d18 23 void moveOut();
tyleralt 0:c8b0c4f50d18 24
tyleralt 0:c8b0c4f50d18 25 };
tyleralt 0:c8b0c4f50d18 26 Point :: Point (int posRadian, int posHeight, int posDistance){
tyleralt 0:c8b0c4f50d18 27 positionRadian = posRadian;
tyleralt 0:c8b0c4f50d18 28 positionHeight = posHeight;
tyleralt 0:c8b0c4f50d18 29 positionDistance = posDistance;
tyleralt 0:c8b0c4f50d18 30 }
tyleralt 0:c8b0c4f50d18 31 int Point :: getArraySlice (void){
tyleralt 4:a7442c1faed1 32 return (int) (positionRadian + (offAngles[positionHeight]/3))%120;
tyleralt 0:c8b0c4f50d18 33 }
tyleralt 0:c8b0c4f50d18 34 char Point :: getIdentifyingChar(void){
tyleralt 1:533b878c22ab 35 return 0x01 << positionHeight;
tyleralt 0:c8b0c4f50d18 36 }
tyleralt 0:c8b0c4f50d18 37 int Point :: getPositionDistance(void){
tyleralt 0:c8b0c4f50d18 38 return positionDistance;
tyleralt 0:c8b0c4f50d18 39 }
tyleralt 1:533b878c22ab 40 void Point :: moveUp(){
tyleralt 0:c8b0c4f50d18 41 if (positionHeight < 7){
tyleralt 0:c8b0c4f50d18 42 positionHeight ++;
tyleralt 0:c8b0c4f50d18 43 }
tyleralt 0:c8b0c4f50d18 44 }
tyleralt 1:533b878c22ab 45 void Point :: moveDown(){
tyleralt 1:533b878c22ab 46 if(positionHeight > 0){
tyleralt 0:c8b0c4f50d18 47 positionHeight --;
tyleralt 1:533b878c22ab 48 }
tyleralt 1:533b878c22ab 49 }
tyleralt 1:533b878c22ab 50 void Point :: rotateRight(){
tyleralt 1:533b878c22ab 51 positionRadian = (positionRadian + 1) % 120;
tyleralt 1:533b878c22ab 52 }
tyleralt 1:533b878c22ab 53 void Point :: rotateLeft(){
tyleralt 3:9e8eb12f831f 54 positionRadian = (positionRadian - 1) % 120;
tyleralt 1:533b878c22ab 55 }
tyleralt 1:533b878c22ab 56 void Point :: moveIn(){
tyleralt 3:9e8eb12f831f 57 if (positionDistance > 0){
tyleralt 1:533b878c22ab 58 positionDistance --;
tyleralt 1:533b878c22ab 59 }
tyleralt 1:533b878c22ab 60 }
tyleralt 1:533b878c22ab 61 void Point :: moveOut(){
tyleralt 3:9e8eb12f831f 62 if (positionDistance < 15){
tyleralt 1:533b878c22ab 63 positionDistance ++;
tyleralt 1:533b878c22ab 64 }
tyleralt 1:533b878c22ab 65 }
tyleralt 2:e2502545f2f0 66
tyleralt 2:e2502545f2f0 67 //******************end Point class*******************//
tyleralt 0:c8b0c4f50d18 68
tyleralt 1:533b878c22ab 69 enum DrawingMode { line, point, circle };
tyleralt 1:533b878c22ab 70 DrawingMode currentMode;
tyleralt 1:533b878c22ab 71
tyleralt 1:533b878c22ab 72 Point pointer(60, 3, 8);
tyleralt 0:c8b0c4f50d18 73
tyleralt 3:9e8eb12f831f 74 DigitalIn digitalMode(p15);
tyleralt 3:9e8eb12f831f 75 DigitalIn digitalUp(p16);
tyleralt 3:9e8eb12f831f 76 DigitalIn digitalDown(p17);
tyleralt 3:9e8eb12f831f 77 DigitalIn digitalRotateRight(p18);
tyleralt 3:9e8eb12f831f 78 DigitalIn digitalRotateLeft(p21);
tyleralt 3:9e8eb12f831f 79 DigitalIn digitalMoveOut(p22);
tyleralt 3:9e8eb12f831f 80 DigitalIn digtialMoveIn(p23);
tyleralt 3:9e8eb12f831f 81 DigitalIn digitalSelect(p24);
tyleralt 3:9e8eb12f831f 82
tyleralt 0:c8b0c4f50d18 83 InterruptIn buttonMode(p15);
tyleralt 0:c8b0c4f50d18 84 InterruptIn buttonUp(p16);
tyleralt 0:c8b0c4f50d18 85 InterruptIn buttonDown(p17);
tyleralt 0:c8b0c4f50d18 86 InterruptIn buttonRotateRight(p18);
tyleralt 3:9e8eb12f831f 87 InterruptIn buttonRotateLeft(p21);
tyleralt 3:9e8eb12f831f 88 InterruptIn buttonMoveOut(p22);
tyleralt 3:9e8eb12f831f 89 InterruptIn buttonMoveIn(p23);
tyleralt 3:9e8eb12f831f 90 InterruptIn buttonSelect(p24);
tyleralt 3:9e8eb12f831f 91
tyleralt 3:9e8eb12f831f 92 bool registerButtons = true;
tyleralt 3:9e8eb12f831f 93 Timeout buttonRegisterTimeout;
tyleralt 3:9e8eb12f831f 94 Timeout unBlink;
tyleralt 0:c8b0c4f50d18 95
tyleralt 1:533b878c22ab 96 Ticker pointerBlinkTicker;
tyleralt 1:533b878c22ab 97
tyleralt 2:e2502545f2f0 98 MRF24J40 mrf(p11, p12, p13, p14, p26);
tyleralt 2:e2502545f2f0 99 char txBuffer[128];
tyleralt 2:e2502545f2f0 100 int rxLen;
tyleralt 2:e2502545f2f0 101
tyleralt 3:9e8eb12f831f 102
tyleralt 2:e2502545f2f0 103 void rf_send(char *data, uint8_t len)
tyleralt 2:e2502545f2f0 104 {
tyleralt 2:e2502545f2f0 105 //We need to prepend the message with a valid ZigBee header
tyleralt 2:e2502545f2f0 106 uint8_t header[8]= {1, 8, 0, 0xA1, 0xB2, 0xC3, 0xD4, 0x00};
tyleralt 2:e2502545f2f0 107 uint8_t *send_buf = (uint8_t *) malloc( sizeof(uint8_t) * (len+8) );
tyleralt 3:9e8eb12f831f 108
tyleralt 2:e2502545f2f0 109 for(uint8_t i = 0; i < len+8; i++) {
tyleralt 2:e2502545f2f0 110 //prepend the 8-byte header
tyleralt 2:e2502545f2f0 111 send_buf[i] = (i<8) ? header[i] : data[i-8];
tyleralt 2:e2502545f2f0 112 }
tyleralt 2:e2502545f2f0 113 //pc.printf("Sent: %s\r\n", send_buf+8);
tyleralt 3:9e8eb12f831f 114
tyleralt 2:e2502545f2f0 115 mrf.Send(send_buf, len+8);
tyleralt 2:e2502545f2f0 116 free(send_buf);
tyleralt 2:e2502545f2f0 117 }
tyleralt 2:e2502545f2f0 118
tyleralt 3:9e8eb12f831f 119 void sendPointOver (int slice, int distance, char height, char operation){
tyleralt 1:533b878c22ab 120 ///TODO implement communications
tyleralt 4:a7442c1faed1 121 //printf(" slice %i distance %i height %X operation %c \r\n", (char) slice, (char) distance, height, operation);
tyleralt 3:9e8eb12f831f 122 txBuffer [0] = (char) slice;
tyleralt 3:9e8eb12f831f 123 txBuffer [1] = (char)distance;
tyleralt 3:9e8eb12f831f 124 txBuffer [2] = height;
tyleralt 3:9e8eb12f831f 125 txBuffer [3] = operation;
tyleralt 3:9e8eb12f831f 126
tyleralt 3:9e8eb12f831f 127 rf_send(txBuffer, 5);
tyleralt 1:533b878c22ab 128 }
tyleralt 1:533b878c22ab 129
tyleralt 1:533b878c22ab 130 void drawPoint(){
tyleralt 3:9e8eb12f831f 131
tyleralt 1:533b878c22ab 132 int pointerSlice = pointer.getArraySlice();
tyleralt 1:533b878c22ab 133 int pointerDistance = pointer.getPositionDistance();
tyleralt 1:533b878c22ab 134 char height = pointer.getIdentifyingChar();
tyleralt 3:9e8eb12f831f 135 sendPointOver(pointerSlice, pointerDistance, height, 'o');
tyleralt 1:533b878c22ab 136 }
tyleralt 1:533b878c22ab 137
tyleralt 3:9e8eb12f831f 138 void registerButtonsAgain (){
tyleralt 3:9e8eb12f831f 139 registerButtons = true;
tyleralt 3:9e8eb12f831f 140 }
tyleralt 2:e2502545f2f0 141
tyleralt 2:e2502545f2f0 142 //***************** all of the button reactions *********//
tyleralt 0:c8b0c4f50d18 143 void changeMode(){
tyleralt 3:9e8eb12f831f 144 if (!registerButtons){
tyleralt 3:9e8eb12f831f 145 return;
tyleralt 3:9e8eb12f831f 146 }
tyleralt 3:9e8eb12f831f 147 registerButtons = false;
tyleralt 3:9e8eb12f831f 148 buttonRegisterTimeout.attach(&registerButtonsAgain, .1);
tyleralt 3:9e8eb12f831f 149 printf("changeMode\r\n");
tyleralt 1:533b878c22ab 150 if (currentMode == point){
tyleralt 1:533b878c22ab 151 currentMode = line;
tyleralt 3:9e8eb12f831f 152 printf("line mode\r\n");
tyleralt 3:9e8eb12f831f 153 return;
tyleralt 1:533b878c22ab 154 }
tyleralt 1:533b878c22ab 155 if (currentMode == line){
tyleralt 1:533b878c22ab 156 currentMode = circle;
tyleralt 3:9e8eb12f831f 157 printf("circle mode\r\n");
tyleralt 3:9e8eb12f831f 158 return;
tyleralt 1:533b878c22ab 159 }
tyleralt 1:533b878c22ab 160 if (currentMode == circle){
tyleralt 1:533b878c22ab 161 currentMode = point;
tyleralt 3:9e8eb12f831f 162 printf("point mode\r\n");
tyleralt 3:9e8eb12f831f 163 return;
tyleralt 1:533b878c22ab 164 }
tyleralt 0:c8b0c4f50d18 165 }
tyleralt 0:c8b0c4f50d18 166 void moveUp(){
tyleralt 3:9e8eb12f831f 167 if (!registerButtons){
tyleralt 3:9e8eb12f831f 168 return;
tyleralt 3:9e8eb12f831f 169 }
tyleralt 3:9e8eb12f831f 170 registerButtons = false;
tyleralt 3:9e8eb12f831f 171 buttonRegisterTimeout.attach(&registerButtonsAgain, .1);
tyleralt 3:9e8eb12f831f 172 printf("moveUp\r\n");
tyleralt 1:533b878c22ab 173 if (currentMode == line){
tyleralt 1:533b878c22ab 174 drawPoint();
tyleralt 1:533b878c22ab 175 }
tyleralt 1:533b878c22ab 176 pointer.moveUp();
tyleralt 0:c8b0c4f50d18 177 }
tyleralt 0:c8b0c4f50d18 178 void moveDown(){
tyleralt 3:9e8eb12f831f 179 if (!registerButtons){
tyleralt 3:9e8eb12f831f 180 return;
tyleralt 3:9e8eb12f831f 181 }
tyleralt 3:9e8eb12f831f 182 registerButtons = false;
tyleralt 3:9e8eb12f831f 183 buttonRegisterTimeout.attach(&registerButtonsAgain, .1);
tyleralt 1:533b878c22ab 184 if (currentMode == line){
tyleralt 1:533b878c22ab 185 drawPoint();
tyleralt 1:533b878c22ab 186 }
tyleralt 4:a7442c1faed1 187 printf("moveDown\r\n");
tyleralt 1:533b878c22ab 188 pointer.moveDown();
tyleralt 0:c8b0c4f50d18 189 }
tyleralt 0:c8b0c4f50d18 190 void rotateRight(){
tyleralt 3:9e8eb12f831f 191 if (!registerButtons){
tyleralt 3:9e8eb12f831f 192 return;
tyleralt 3:9e8eb12f831f 193 }
tyleralt 3:9e8eb12f831f 194 registerButtons = false;
tyleralt 3:9e8eb12f831f 195 buttonRegisterTimeout.attach(&registerButtonsAgain, .1);
tyleralt 3:9e8eb12f831f 196 printf("rotaeRight\r\n");
tyleralt 1:533b878c22ab 197 if (currentMode == line){
tyleralt 3:9e8eb12f831f 198 drawPoint();
tyleralt 1:533b878c22ab 199 pointer.rotateRight();
tyleralt 3:9e8eb12f831f 200 wait(.3);
tyleralt 3:9e8eb12f831f 201 while (digitalRotateRight){
tyleralt 3:9e8eb12f831f 202 drawPoint();
tyleralt 3:9e8eb12f831f 203 pointer.rotateRight();
tyleralt 3:9e8eb12f831f 204 wait(.03);
tyleralt 3:9e8eb12f831f 205 }
tyleralt 3:9e8eb12f831f 206 return;
tyleralt 1:533b878c22ab 207 }
tyleralt 1:533b878c22ab 208 pointer.rotateRight();
tyleralt 3:9e8eb12f831f 209 wait(.3);
tyleralt 3:9e8eb12f831f 210 while (digitalRotateRight){
tyleralt 3:9e8eb12f831f 211 pointer.rotateRight();
tyleralt 3:9e8eb12f831f 212 wait(.03);
tyleralt 3:9e8eb12f831f 213 }
tyleralt 0:c8b0c4f50d18 214 }
tyleralt 0:c8b0c4f50d18 215 void rotateLeft(){
tyleralt 3:9e8eb12f831f 216 if (!registerButtons){
tyleralt 3:9e8eb12f831f 217 return;
tyleralt 3:9e8eb12f831f 218 }
tyleralt 3:9e8eb12f831f 219 registerButtons = false;
tyleralt 3:9e8eb12f831f 220 buttonRegisterTimeout.attach(&registerButtonsAgain, .1);
tyleralt 3:9e8eb12f831f 221 printf("rotateLeft\r\n");
tyleralt 1:533b878c22ab 222 if (currentMode == line){
tyleralt 1:533b878c22ab 223 drawPoint();
tyleralt 4:a7442c1faed1 224 pointer.rotateLeft();
tyleralt 3:9e8eb12f831f 225 wait(.3);
tyleralt 3:9e8eb12f831f 226 while (digitalRotateLeft){
tyleralt 3:9e8eb12f831f 227 drawPoint();
tyleralt 4:a7442c1faed1 228 pointer.rotateLeft();
tyleralt 3:9e8eb12f831f 229 wait(.03);
tyleralt 3:9e8eb12f831f 230 }
tyleralt 3:9e8eb12f831f 231 return;
tyleralt 1:533b878c22ab 232 }
tyleralt 1:533b878c22ab 233 pointer.rotateLeft();
tyleralt 2:e2502545f2f0 234 wait(.3);
tyleralt 3:9e8eb12f831f 235 while(digitalRotateLeft){
tyleralt 3:9e8eb12f831f 236 pointer.rotateLeft();
tyleralt 3:9e8eb12f831f 237 wait(.03);
tyleralt 3:9e8eb12f831f 238
tyleralt 3:9e8eb12f831f 239 }
tyleralt 3:9e8eb12f831f 240
tyleralt 0:c8b0c4f50d18 241 }
tyleralt 0:c8b0c4f50d18 242 void moveOut(){
tyleralt 3:9e8eb12f831f 243 if (!registerButtons){
tyleralt 3:9e8eb12f831f 244 return;
tyleralt 3:9e8eb12f831f 245 }
tyleralt 3:9e8eb12f831f 246 registerButtons = false;
tyleralt 3:9e8eb12f831f 247 buttonRegisterTimeout.attach(&registerButtonsAgain, .1);
tyleralt 3:9e8eb12f831f 248 printf("moveOut\r\n");
tyleralt 1:533b878c22ab 249 if (currentMode == line){
tyleralt 1:533b878c22ab 250 drawPoint();
tyleralt 1:533b878c22ab 251 }
tyleralt 1:533b878c22ab 252 pointer.moveOut();
tyleralt 0:c8b0c4f50d18 253 }
tyleralt 0:c8b0c4f50d18 254 void moveIn(){
tyleralt 3:9e8eb12f831f 255 if (!registerButtons){
tyleralt 3:9e8eb12f831f 256 return;
tyleralt 3:9e8eb12f831f 257 }
tyleralt 3:9e8eb12f831f 258 registerButtons = false;
tyleralt 3:9e8eb12f831f 259 buttonRegisterTimeout.attach(&registerButtonsAgain, .1);
tyleralt 1:533b878c22ab 260 if (currentMode == line){
tyleralt 1:533b878c22ab 261 drawPoint();
tyleralt 1:533b878c22ab 262 }
tyleralt 4:a7442c1faed1 263 printf("moveIn\r\n");
tyleralt 1:533b878c22ab 264 pointer.moveIn();
tyleralt 0:c8b0c4f50d18 265 }
tyleralt 3:9e8eb12f831f 266
tyleralt 0:c8b0c4f50d18 267 void pointerBlink(){
tyleralt 1:533b878c22ab 268 Point currentBlink = pointer;
tyleralt 1:533b878c22ab 269 int slice = currentBlink.getArraySlice();
tyleralt 1:533b878c22ab 270 int distance = currentBlink.getPositionDistance();
tyleralt 1:533b878c22ab 271 char height = pointer.getIdentifyingChar();
tyleralt 3:9e8eb12f831f 272 sendPointOver(slice, distance, height, 'x');
tyleralt 3:9e8eb12f831f 273 wait(1.5);
tyleralt 3:9e8eb12f831f 274 sendPointOver(slice, distance, height, 'x');
tyleralt 0:c8b0c4f50d18 275 }
tyleralt 1:533b878c22ab 276 void drawWholeCircle(){
tyleralt 4:a7442c1faed1 277 printf("drawing circle");
tyleralt 1:533b878c22ab 278 int distance = pointer.getPositionDistance();
tyleralt 1:533b878c22ab 279 char height = pointer.getIdentifyingChar();
tyleralt 1:533b878c22ab 280 for (int i = 0; i < 120; i ++){
tyleralt 3:9e8eb12f831f 281 sendPointOver(i, distance, height, 'o');
tyleralt 1:533b878c22ab 282 }
tyleralt 1:533b878c22ab 283
tyleralt 1:533b878c22ab 284 }
tyleralt 3:9e8eb12f831f 285
tyleralt 1:533b878c22ab 286 void select(){
tyleralt 3:9e8eb12f831f 287 if (!registerButtons){
tyleralt 3:9e8eb12f831f 288 return;
tyleralt 3:9e8eb12f831f 289 }
tyleralt 3:9e8eb12f831f 290 registerButtons = false;
tyleralt 3:9e8eb12f831f 291 buttonRegisterTimeout.attach(&registerButtonsAgain, .1);
tyleralt 3:9e8eb12f831f 292 printf(" select \r\n");
tyleralt 1:533b878c22ab 293 if (currentMode == point){
tyleralt 1:533b878c22ab 294 drawPoint();
tyleralt 1:533b878c22ab 295 }
tyleralt 1:533b878c22ab 296 if (currentMode == circle){
tyleralt 1:533b878c22ab 297 drawWholeCircle();
tyleralt 1:533b878c22ab 298 }
tyleralt 1:533b878c22ab 299 }
tyleralt 3:9e8eb12f831f 300 //****************end buttons section ************//
tyleralt 3:9e8eb12f831f 301
tyleralt 0:c8b0c4f50d18 302
tyleralt 0:c8b0c4f50d18 303
tyleralt 0:c8b0c4f50d18 304 int main() {
tyleralt 3:9e8eb12f831f 305 printf(" started the program\r\n ");
tyleralt 3:9e8eb12f831f 306
tyleralt 3:9e8eb12f831f 307 uint8_t channel = 2;
tyleralt 3:9e8eb12f831f 308
tyleralt 3:9e8eb12f831f 309
tyleralt 3:9e8eb12f831f 310 //Set the Channel. 0 is default, 15 is max
tyleralt 3:9e8eb12f831f 311 mrf.SetChannel(channel);
tyleralt 3:9e8eb12f831f 312
tyleralt 0:c8b0c4f50d18 313 currentMode = point;
tyleralt 0:c8b0c4f50d18 314 buttonMode.rise(&changeMode);
tyleralt 0:c8b0c4f50d18 315 buttonUp.rise(&moveUp);
tyleralt 0:c8b0c4f50d18 316 buttonDown.rise(&moveDown);
tyleralt 0:c8b0c4f50d18 317 buttonRotateRight.rise(&rotateRight);
tyleralt 0:c8b0c4f50d18 318 buttonRotateLeft.rise(&rotateLeft);
tyleralt 0:c8b0c4f50d18 319 buttonMoveOut.rise(&moveOut);
tyleralt 0:c8b0c4f50d18 320 buttonMoveIn.rise(&moveIn);
tyleralt 1:533b878c22ab 321 buttonSelect.rise(&select);
tyleralt 4:a7442c1faed1 322 pointerBlinkTicker.attach(&pointerBlink, 2.0);
tyleralt 1:533b878c22ab 323
tyleralt 0:c8b0c4f50d18 324
tyleralt 3:9e8eb12f831f 325 while(1);
tyleralt 0:c8b0c4f50d18 326
tyleralt 0:c8b0c4f50d18 327
tyleralt 0:c8b0c4f50d18 328 }