Václav Lízner / Mbed 2 deprecated 2048

school project

Dependencies:   MMA8451Q mbed

main.cpp@5:d6738e1238d8, 2016-01-12 (annotated)

Committer:
xlizne01
Date:
Tue Jan 12 20:10:13 2016 +0000
Revision:
5:d6738e1238d8
Parent:
4:4930b1cb20bd
Child:
6:5711a5b57d17
funkcni naklaneni na vsechnz strany + nulova pozice

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xlizne01 0:ae588eb31707 1 #include "mbed.h"
xlizne01 1:b23831b703fe 2 #include "MMA8451Q.h"
xlizne01 1:b23831b703fe 3
xlizne01 1:b23831b703fe 4 #define MMA8451_I2C_ADDRESS (0x1d<<1)
xlizne01 5:d6738e1238d8 5 #define MOVE_ANGLE 35 // > degrees for move
xlizne01 2:3278e4fd8fc2 6
xlizne01 2:3278e4fd8fc2 7 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
xlizne01 2:3278e4fd8fc2 8
xlizne01 2:3278e4fd8fc2 9 void accelerometer(void);
xlizne01 3:94bfc4de4ab1 10 void zobrazeni(void);
xlizne01 3:94bfc4de4ab1 11 void barva(int,int);
xlizne01 4:4930b1cb20bd 12 void pohyb(void);
xlizne01 2:3278e4fd8fc2 13
xlizne01 5:d6738e1238d8 14 int i,j,k,p;
xlizne01 2:3278e4fd8fc2 15 int RED, GREEN, BLUE;
xlizne01 2:3278e4fd8fc2 16 int RledA, RledB, GledA, GledB, BledA, BledB;
xlizne01 4:4930b1cb20bd 17 float xAngle, yAngle;
xlizne01 3:94bfc4de4ab1 18
xlizne01 2:3278e4fd8fc2 19 char acc_dir;
xlizne01 3:94bfc4de4ab1 20
xlizne01 5:d6738e1238d8 21 int pole[4][4]={{7,0,0,7}, {0,0,0,0}, {0,0,0,0}, {7,0,0,7}};
xlizne01 1:b23831b703fe 22
xlizne01 0:ae588eb31707 23 DigitalOut prvni(PTE5);
xlizne01 0:ae588eb31707 24 DigitalOut druhy(PTE4);
xlizne01 0:ae588eb31707 25 DigitalOut treti(PTE3);
xlizne01 0:ae588eb31707 26 DigitalOut ctvrty(PTE2);
xlizne01 0:ae588eb31707 27 DigitalOut paty(PTB11);
xlizne01 0:ae588eb31707 28 DigitalOut sesty(PTB10);
xlizne01 0:ae588eb31707 29 DigitalOut sedmy(PTB9);
xlizne01 0:ae588eb31707 30 DigitalOut osmy(PTB8);
xlizne01 0:ae588eb31707 31
xlizne01 0:ae588eb31707 32 DigitalOut Rled1(PTC9);
xlizne01 0:ae588eb31707 33 DigitalOut Rled2(PTC8);
xlizne01 0:ae588eb31707 34 DigitalOut Rled3(PTA5);
xlizne01 0:ae588eb31707 35 DigitalOut Rled4(PTA4);
xlizne01 0:ae588eb31707 36 DigitalOut Rled5(PTA12);
xlizne01 0:ae588eb31707 37 DigitalOut Rled6(PTD4);
xlizne01 0:ae588eb31707 38 DigitalOut Rled7(PTA1);
xlizne01 0:ae588eb31707 39 DigitalOut Rled8(PTA2);
xlizne01 0:ae588eb31707 40
xlizne01 0:ae588eb31707 41 DigitalOut Gled1(PTA13);
xlizne01 0:ae588eb31707 42 DigitalOut Gled2(PTD5);
xlizne01 0:ae588eb31707 43 DigitalOut Gled3(PTD0);
xlizne01 0:ae588eb31707 44 DigitalOut Gled4(PTD2);
xlizne01 0:ae588eb31707 45 DigitalOut Gled5(PTD3);
xlizne01 0:ae588eb31707 46 DigitalOut Gled6(PTD1);
xlizne01 0:ae588eb31707 47 DigitalOut Gled7(PTE31);
xlizne01 0:ae588eb31707 48 DigitalOut Gled8(PTB0);
xlizne01 0:ae588eb31707 49
xlizne01 0:ae588eb31707 50 DigitalOut Bled1(PTC1);
xlizne01 0:ae588eb31707 51 DigitalOut Bled2(PTE29);
xlizne01 0:ae588eb31707 52 DigitalOut Bled3(PTC2);
xlizne01 0:ae588eb31707 53 DigitalOut Bled4(PTB3);
xlizne01 0:ae588eb31707 54 DigitalOut Bled5(PTB2);
xlizne01 0:ae588eb31707 55 DigitalOut Bled6(PTE21);
xlizne01 0:ae588eb31707 56 DigitalOut Bled7(PTE20);
xlizne01 0:ae588eb31707 57 DigitalOut Bled8(PTB1);
xlizne01 0:ae588eb31707 58
xlizne01 0:ae588eb31707 59
xlizne01 0:ae588eb31707 60 int main()
xlizne01 0:ae588eb31707 61 {
xlizne01 3:94bfc4de4ab1 62 while(1)
xlizne01 3:94bfc4de4ab1 63 {
xlizne01 4:4930b1cb20bd 64 accelerometer();
xlizne01 4:4930b1cb20bd 65 zobrazeni();
xlizne01 4:4930b1cb20bd 66 pohyb();
xlizne01 0:ae588eb31707 67 }
xlizne01 3:94bfc4de4ab1 68 }
xlizne01 4:4930b1cb20bd 69
xlizne01 4:4930b1cb20bd 70 void pohyb()
xlizne01 4:4930b1cb20bd 71 {
xlizne01 4:4930b1cb20bd 72 switch(acc_dir)
xlizne01 4:4930b1cb20bd 73 {
xlizne01 5:d6738e1238d8 74 case 'D': //pohyb smerem dolu
xlizne01 5:d6738e1238d8 75 if(p==0)
xlizne01 5:d6738e1238d8 76 {
xlizne01 5:d6738e1238d8 77 pole[0][0]*=(-1);
xlizne01 5:d6738e1238d8 78 p=1;
xlizne01 5:d6738e1238d8 79 }
xlizne01 4:4930b1cb20bd 80 break;
xlizne01 5:d6738e1238d8 81 case 'R': // pohyb smerem doprava
xlizne01 5:d6738e1238d8 82 if(p==0)
xlizne01 5:d6738e1238d8 83 {
xlizne01 5:d6738e1238d8 84 pole[3][0]*=(-1);
xlizne01 5:d6738e1238d8 85 p=1;
xlizne01 5:d6738e1238d8 86 }
xlizne01 4:4930b1cb20bd 87 break;
xlizne01 5:d6738e1238d8 88 case 'U': // pohyb smerem nahoru
xlizne01 5:d6738e1238d8 89 if(p==0)
xlizne01 5:d6738e1238d8 90 {
xlizne01 5:d6738e1238d8 91 pole[0][3]*=(-1);
xlizne01 5:d6738e1238d8 92 p=1;
xlizne01 5:d6738e1238d8 93 }
xlizne01 4:4930b1cb20bd 94 break;
xlizne01 5:d6738e1238d8 95 case 'L': // pohyb smerem doleva
xlizne01 5:d6738e1238d8 96 if(p==0)
xlizne01 5:d6738e1238d8 97 {
xlizne01 5:d6738e1238d8 98 pole[3][3]*=(-1);
xlizne01 5:d6738e1238d8 99 p=1;
xlizne01 5:d6738e1238d8 100 }
xlizne01 4:4930b1cb20bd 101 break;
xlizne01 5:d6738e1238d8 102 case '0': // detekovana nulova pozice
xlizne01 5:d6738e1238d8 103 p=0;
xlizne01 5:d6738e1238d8 104 break;
xlizne01 4:4930b1cb20bd 105 default:
xlizne01 5:d6738e1238d8 106 break;
xlizne01 5:d6738e1238d8 107
xlizne01 4:4930b1cb20bd 108 }
xlizne01 4:4930b1cb20bd 109 }
xlizne01 4:4930b1cb20bd 110
xlizne01 3:94bfc4de4ab1 111
xlizne01 3:94bfc4de4ab1 112 void zobrazeni()
xlizne01 3:94bfc4de4ab1 113 {
xlizne01 3:94bfc4de4ab1 114 for(k=0;k<4;k++)
xlizne01 3:94bfc4de4ab1 115 {
xlizne01 3:94bfc4de4ab1 116 prvni=0;
xlizne01 3:94bfc4de4ab1 117 druhy=0;
xlizne01 3:94bfc4de4ab1 118 treti=0;
xlizne01 3:94bfc4de4ab1 119 ctvrty=0;
xlizne01 3:94bfc4de4ab1 120 paty=0;
xlizne01 3:94bfc4de4ab1 121 sesty=0;
xlizne01 3:94bfc4de4ab1 122 sedmy=0;
xlizne01 3:94bfc4de4ab1 123 osmy=0;
xlizne01 3:94bfc4de4ab1 124
xlizne01 3:94bfc4de4ab1 125 if(k==0)
xlizne01 0:ae588eb31707 126 {
xlizne01 3:94bfc4de4ab1 127 prvni=1;
xlizne01 3:94bfc4de4ab1 128 druhy=1;
xlizne01 0:ae588eb31707 129 }
xlizne01 3:94bfc4de4ab1 130
xlizne01 3:94bfc4de4ab1 131 if(k==1)
xlizne01 0:ae588eb31707 132 {
xlizne01 3:94bfc4de4ab1 133 treti=1;
xlizne01 3:94bfc4de4ab1 134 ctvrty=1;
xlizne01 0:ae588eb31707 135 }
xlizne01 3:94bfc4de4ab1 136
xlizne01 3:94bfc4de4ab1 137 if(k==2)
xlizne01 0:ae588eb31707 138 {
xlizne01 3:94bfc4de4ab1 139 paty=1;
xlizne01 3:94bfc4de4ab1 140 sesty=1;
xlizne01 0:ae588eb31707 141 }
xlizne01 3:94bfc4de4ab1 142
xlizne01 3:94bfc4de4ab1 143 if(k==3)
xlizne01 0:ae588eb31707 144 {
xlizne01 3:94bfc4de4ab1 145 sedmy=1;
xlizne01 3:94bfc4de4ab1 146 osmy=1;
xlizne01 0:ae588eb31707 147 }
xlizne01 0:ae588eb31707 148
xlizne01 3:94bfc4de4ab1 149 for(j=0;j<4;j++)
xlizne01 3:94bfc4de4ab1 150 {
xlizne01 3:94bfc4de4ab1 151
xlizne01 3:94bfc4de4ab1 152 barva(j,k);
xlizne01 3:94bfc4de4ab1 153
xlizne01 3:94bfc4de4ab1 154 for(i=11;i>0;i--)
xlizne01 3:94bfc4de4ab1 155 {
xlizne01 3:94bfc4de4ab1 156 if(RED>0)
xlizne01 3:94bfc4de4ab1 157 {
xlizne01 3:94bfc4de4ab1 158 RledA=1;
xlizne01 3:94bfc4de4ab1 159 RledB=1;
xlizne01 3:94bfc4de4ab1 160 }
xlizne01 3:94bfc4de4ab1 161 else
xlizne01 3:94bfc4de4ab1 162 {
xlizne01 3:94bfc4de4ab1 163 RledA=0;
xlizne01 3:94bfc4de4ab1 164 RledB=0;
xlizne01 3:94bfc4de4ab1 165 }
xlizne01 0:ae588eb31707 166
xlizne01 3:94bfc4de4ab1 167 if(GREEN>0)
xlizne01 3:94bfc4de4ab1 168 {
xlizne01 3:94bfc4de4ab1 169 GledA=1;
xlizne01 3:94bfc4de4ab1 170 GledB=1;
xlizne01 3:94bfc4de4ab1 171 }
xlizne01 3:94bfc4de4ab1 172 else
xlizne01 3:94bfc4de4ab1 173 {
xlizne01 3:94bfc4de4ab1 174 GledA=0;
xlizne01 3:94bfc4de4ab1 175 GledB=0;
xlizne01 3:94bfc4de4ab1 176 }
xlizne01 3:94bfc4de4ab1 177
xlizne01 3:94bfc4de4ab1 178 if(BLUE>0)
xlizne01 3:94bfc4de4ab1 179 {
xlizne01 3:94bfc4de4ab1 180 BledA=1;
xlizne01 3:94bfc4de4ab1 181 BledB=1;
xlizne01 3:94bfc4de4ab1 182 }
xlizne01 3:94bfc4de4ab1 183 else
xlizne01 3:94bfc4de4ab1 184 {
xlizne01 3:94bfc4de4ab1 185 BledA=0;
xlizne01 3:94bfc4de4ab1 186 BledB=0;
xlizne01 3:94bfc4de4ab1 187 }
xlizne01 0:ae588eb31707 188
xlizne01 3:94bfc4de4ab1 189 if(j==0)
xlizne01 3:94bfc4de4ab1 190 {
xlizne01 3:94bfc4de4ab1 191 Rled1=RledA;
xlizne01 3:94bfc4de4ab1 192 Rled2=RledB;
xlizne01 3:94bfc4de4ab1 193 Gled1=GledA;
xlizne01 3:94bfc4de4ab1 194 Gled2=GledB;
xlizne01 3:94bfc4de4ab1 195 Bled1=BledA;
xlizne01 3:94bfc4de4ab1 196 Bled2=BledB;
xlizne01 3:94bfc4de4ab1 197 }
xlizne01 3:94bfc4de4ab1 198
xlizne01 3:94bfc4de4ab1 199 if(j==1)
xlizne01 3:94bfc4de4ab1 200 {
xlizne01 3:94bfc4de4ab1 201 Rled3=RledA;
xlizne01 3:94bfc4de4ab1 202 Rled4=RledB;
xlizne01 3:94bfc4de4ab1 203 Gled3=GledA;
xlizne01 3:94bfc4de4ab1 204 Gled4=GledB;
xlizne01 3:94bfc4de4ab1 205 Bled3=BledA;
xlizne01 3:94bfc4de4ab1 206 Bled4=BledB;
xlizne01 3:94bfc4de4ab1 207 }
xlizne01 3:94bfc4de4ab1 208
xlizne01 3:94bfc4de4ab1 209 if(j==2)
xlizne01 3:94bfc4de4ab1 210 {
xlizne01 3:94bfc4de4ab1 211 Rled5=RledA;
xlizne01 3:94bfc4de4ab1 212 Rled6=RledB;
xlizne01 3:94bfc4de4ab1 213 Gled5=GledA;
xlizne01 3:94bfc4de4ab1 214 Gled6=GledB;
xlizne01 3:94bfc4de4ab1 215 Bled5=BledA;
xlizne01 3:94bfc4de4ab1 216 Bled6=BledB;
xlizne01 3:94bfc4de4ab1 217 }
xlizne01 3:94bfc4de4ab1 218
xlizne01 3:94bfc4de4ab1 219 if(j==3)
xlizne01 3:94bfc4de4ab1 220 {
xlizne01 3:94bfc4de4ab1 221 Rled7=RledA;
xlizne01 3:94bfc4de4ab1 222 Rled8=RledB;
xlizne01 3:94bfc4de4ab1 223 Gled7=GledA;
xlizne01 3:94bfc4de4ab1 224 Gled8=GledB;
xlizne01 3:94bfc4de4ab1 225 Bled7=BledA;
xlizne01 3:94bfc4de4ab1 226 Bled8=BledB;
xlizne01 3:94bfc4de4ab1 227 }
xlizne01 3:94bfc4de4ab1 228
xlizne01 3:94bfc4de4ab1 229 wait(0.00001);
xlizne01 3:94bfc4de4ab1 230 RED--;
xlizne01 3:94bfc4de4ab1 231 BLUE--;
xlizne01 3:94bfc4de4ab1 232 GREEN--;
xlizne01 3:94bfc4de4ab1 233 }
xlizne01 3:94bfc4de4ab1 234 }
xlizne01 3:94bfc4de4ab1 235 }
xlizne01 3:94bfc4de4ab1 236 }
xlizne01 3:94bfc4de4ab1 237
xlizne01 3:94bfc4de4ab1 238 void barva(int j , int k)
xlizne01 3:94bfc4de4ab1 239 {
xlizne01 3:94bfc4de4ab1 240 RED=pole[j][k];
xlizne01 3:94bfc4de4ab1 241 GREEN=pole[j][k];
xlizne01 3:94bfc4de4ab1 242 BLUE=pole[j][k];
xlizne01 0:ae588eb31707 243 }
xlizne01 3:94bfc4de4ab1 244
xlizne01 2:3278e4fd8fc2 245
xlizne01 2:3278e4fd8fc2 246 void accelerometer()
xlizne01 2:3278e4fd8fc2 247 {
xlizne01 2:3278e4fd8fc2 248 float ax, ay, az;
xlizne01 4:4930b1cb20bd 249
xlizne01 2:3278e4fd8fc2 250 ax = acc.getAccX();
xlizne01 2:3278e4fd8fc2 251 ay = acc.getAccY();
xlizne01 2:3278e4fd8fc2 252 az = acc.getAccZ();
xlizne01 2:3278e4fd8fc2 253
xlizne01 2:3278e4fd8fc2 254 xAngle = atan( ax / (sqrt((ay)*(ay) + (az)*(az)))) * 60;
xlizne01 2:3278e4fd8fc2 255 yAngle = atan( ay / (sqrt((ax)*(ax) + (az)*(az)))) * 60;
xlizne01 2:3278e4fd8fc2 256
xlizne01 2:3278e4fd8fc2 257
xlizne01 4:4930b1cb20bd 258 if((abs(xAngle)+abs(yAngle))<15)
xlizne01 4:4930b1cb20bd 259 {
xlizne01 4:4930b1cb20bd 260 acc_dir = '0'; // nula
xlizne01 4:4930b1cb20bd 261 }
xlizne01 4:4930b1cb20bd 262
xlizne01 4:4930b1cb20bd 263
xlizne01 2:3278e4fd8fc2 264 if(abs(xAngle) >= abs(yAngle))
xlizne01 2:3278e4fd8fc2 265 {
xlizne01 2:3278e4fd8fc2 266 if(xAngle >= MOVE_ANGLE)
xlizne01 2:3278e4fd8fc2 267 {
xlizne01 2:3278e4fd8fc2 268 acc_dir = 'U'; // +X
xlizne01 2:3278e4fd8fc2 269 }
xlizne01 2:3278e4fd8fc2 270
xlizne01 2:3278e4fd8fc2 271 if(xAngle <= -MOVE_ANGLE)
xlizne01 2:3278e4fd8fc2 272 {
xlizne01 2:3278e4fd8fc2 273 acc_dir = 'D'; // -X
xlizne01 2:3278e4fd8fc2 274 }
xlizne01 2:3278e4fd8fc2 275 }
xlizne01 2:3278e4fd8fc2 276
xlizne01 2:3278e4fd8fc2 277 else
xlizne01 2:3278e4fd8fc2 278 {
xlizne01 2:3278e4fd8fc2 279 if(yAngle >= MOVE_ANGLE)
xlizne01 2:3278e4fd8fc2 280 {
xlizne01 2:3278e4fd8fc2 281 acc_dir = 'L'; // +Y
xlizne01 2:3278e4fd8fc2 282 }
xlizne01 2:3278e4fd8fc2 283
xlizne01 2:3278e4fd8fc2 284 if(yAngle <= -MOVE_ANGLE)
xlizne01 2:3278e4fd8fc2 285 {
xlizne01 2:3278e4fd8fc2 286 acc_dir = 'R'; // -Y
xlizne01 2:3278e4fd8fc2 287 }
xlizne01 2:3278e4fd8fc2 288 }
xlizne01 2:3278e4fd8fc2 289
xlizne01 3:94bfc4de4ab1 290 }