Diff: main.cpp

Revision:

2:2ffc4c0b0b90

Parent:

1:6bdeedba218c

--- a/main.cpp	Wed Nov 26 19:10:21 2014 +0000
+++ b/main.cpp	Tue Dec 02 10:35:35 2014 +0000
@@ -1,34 +1,34 @@
-//http://www.kerrywong.com/2012/08/27/reverse-engineering-the-syma-s107g-ir-protocol/
 #include "mbed.h"
- 
+#include "AccelSensor.h"
 PwmOut IRLED(p21);
-//IR send and receive demo
+AnalogIn UPDOWN(p16);
+DigitalOut Flex(LED1);
+Serial PC(USBTX, USBRX);
+AccelSensor myAccel( p9,p10); //sda and scl
 
 int ROTATION_STATIONARY = 60;
-int CAL_BYTE = 52; 
- 
+int CAL_BYTE = 52;
 int Throttle, LeftRight, FwdBack;
-
-
+int acceldata[3];
 
  void PutHeader(void)
-{   // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED 
+{   // This is the pulse and null for the header before each command
 IRLED = 0.5;
-wait(.001964);
+wait(.001964); //This is how long the pwm is on
 IRLED = 0.0;
-wait(.001972);
+wait(.001972); //This is how long the pwm is off
 }
 
  void PutFooter(void)
-{   // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED 
+{   // This is the pulse and null for the footer at the end of each command
 IRLED = 0.5;
-wait(.000305);
+wait(.000305); //Pulse length
 IRLED = 0.0;
-wait(.088682);
+wait(.088682); //Null length
 }
- 
+
  void PutZero(void)
-{   // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED 
+{   // This is the pulse and null for a digital 0
 IRLED = 0.5;
 wait(.000305);
 IRLED = 0.0;
@@ -36,119 +36,72 @@
 }
 
 void PutOne(void)
-{   // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED 
+{   // This is the pulse and null for a digital 1
 IRLED = 0.5;
 wait(.000306);
 IRLED = 0.0;
 wait(0.000687);
 }
 
+//This function takes in values for throttle, yaw and pitch and sends out the command.
 void sendCommand(int throttle, int leftRight, int forwardBackward)
 {
   int b;
- 
   PutHeader();
-   
+  //LEFT/RIGHT  control
   for (int i = 7; i >=0; i--)
   {
     b = ((ROTATION_STATIONARY + leftRight) & (1 << i)) >> i;    
-    if (b > 0) PutOne(); else PutZero();
+    if (b > 0) PutOne(); 
+    else PutZero();
   }
-   
+  //FORWARD/BACKWARD  control
   for (int i = 7; i >=0; i--)
   {
     b = ((63 + forwardBackward) & (1 << i)) >> i;    
-    if (b > 0) PutOne(); else PutZero();
-  } 
-   
+    if (b > 0) PutOne(); 
+    else PutZero();
+  }
+  //THROTTLE  control
   for (int i = 7; i >=0; i--)
   {
-    b = (throttle & (1 << i)) >> i;    
-    if (b > 0) PutOne(); else PutZero();
+    b = (throttle & (1 << i)) >> i;
+    if (b > 0) PutOne(); 
+    else PutZero();
   }
    
   for (int i = 7; i >=0; i--)
   {
     b = (CAL_BYTE & (1 << i)) >> i;    
-    if (b > 0) PutOne(); else PutZero();
+    if (b > 0) PutOne(); 
+    else PutZero();
   } 
-  
   PutFooter();
-  
-}
-
-void timerISR()
-{
-  //read control values from potentiometers
-  //Throttle = analogRead(0);
-  //LeftRight = analogRead(1);
-  //FwdBack = analogRead(2);
-   
-  //Throttle = Throttle / 4; //convert to 0 to 255
-  Throttle = 65;
-  //LeftRight = LeftRight / 8 - 64; //convert to -64 to 63
-  LeftRight = 0; //convert to -64 to 63
-  //FwdBack = FwdBack / 4 - 128; //convert to -128 to 127
-  FwdBack = 0; //convert to -128 to 127
-   
-  sendCommand(Throttle, LeftRight, FwdBack);
 }
 
- 
-void Thrust(void) //Test function to test flying.
-{
-    //Header
-    PutHeader();
-    //First Byte 
-    PutZero(); //1
-    PutOne(); //2
-    PutZero(); //3
-    PutZero(); //4
-    PutOne(); //5
-    PutOne(); //6
-    PutZero(); //7
-    PutZero(); //8
-    //Second Byte 
-    PutZero(); //1
-    PutZero(); //2
-    PutOne(); //3
-    PutOne(); //4
-    PutOne(); //5
-    PutOne(); //6
-    PutOne(); //7
-    PutOne(); //8
-    //Third Byte 
-    PutZero(); //1
-    PutOne(); //2
-    PutZero(); //3
-    PutZero(); //4
-    PutZero(); //5
-    PutOne(); //6
-    PutOne(); //7
-    PutOne(); //8
-    //Fourth Byte 
-    PutZero(); //1
-    PutOne(); //2
-    PutOne(); //3
-    PutZero(); //4
-    PutOne(); //5
-    PutOne(); //6
-    PutOne(); //7
-    PutZero(); //8
-    //Footer
-    PutFooter();
-} 
+int main() {
+Throttle = 45; //0-127
+LeftRight = 0; //convert to -60 (right) to 60(Left)
+FwdBack = 0; //convert to -60(forward) to 60(Backward)
+myAccel.init();
+myAccel.active();
+
+    IRLED.period(1.0/38000.0); //Drive IR LED data pin with 38Khz PWM Carrier 
 
-
-
- 
-int main() {
-    //IR Transmit code
-    IRLED.period(1.0/38000.0);
-    //Drive IR LED data pin with 38Khz PWM Carrier 
-    while(1) {
-    //Thrust();
-      timerISR();
-    
+    while(1){
+    myAccel.readData(acceldata);
+    LeftRight = int(-60*acceldata[1]/700); //X-axis
+    FwdBack = int(60*acceldata[0]/700);
+    if(LeftRight>60){LeftRight=60;}
+    if(LeftRight<-60){LeftRight=-60;}
+    if(FwdBack>60){FwdBack=60;}
+    if(FwdBack<-60){FwdBack=-60;}
+    if(UPDOWN>0.5)
+        {Throttle = 85;
+        Flex=1;}
+    else{Throttle=45;
+        Flex=0;}
+    sendCommand(Throttle, LeftRight, FwdBack);
+    PC.printf("Throttle:%d, LR:%d, FB:%d\n\r",Throttle,LeftRight,FwdBack);
     }
 }