Daniel Begasse / Mbed 2 deprecated ECE4180_lab4

This is our rendition of popular labyrinth games. We use readings from the IMU accelerometer to move a little yellow ball around the screen. We have created a maze of walls and holes that will end the game if the user runs into either of these.

Dependencies:   4DGL-uLCD-SE mbed

main.cpp@0:7b4bbd744f6d, 2015-10-20 (annotated)

Committer:
dbegasse
Date:
Tue Oct 20 00:42:42 2015 +0000
Revision:
0:7b4bbd744f6d
Child:
1:2250e33823e2
starting this project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dbegasse 0:7b4bbd744f6d 1 //Most of the Credit goes to jimblom and Judah Okeleye
dbegasse 0:7b4bbd744f6d 2 #include "LSM9DS0.h"
dbegasse 0:7b4bbd744f6d 3 #include "mbed.h"
dbegasse 0:7b4bbd744f6d 4 #include "uLCD_4DGL.h"
dbegasse 0:7b4bbd744f6d 5 #include <stdio.h>
dbegasse 0:7b4bbd744f6d 6 #include <stdlib.h>
dbegasse 0:7b4bbd744f6d 7
dbegasse 0:7b4bbd744f6d 8 // SDO_XM and SDO_G are both grounded, so our addresses are:
dbegasse 0:7b4bbd744f6d 9 #define LSM9DS0_XM 0x1D // Would be 0x1E if SDO_XM is LOW
dbegasse 0:7b4bbd744f6d 10 #define LSM9DS0_G 0x6B // Would be 0x6A if SDO_G is LOW
dbegasse 0:7b4bbd744f6d 11
dbegasse 0:7b4bbd744f6d 12
dbegasse 0:7b4bbd744f6d 13 LSM9DS0 dof(p9, p10,LSM9DS0_G, LSM9DS0_XM);
dbegasse 0:7b4bbd744f6d 14 uLCD_4DGL uLCD(p28, p27, p30); //create a global lcd project
dbegasse 0:7b4bbd744f6d 15
dbegasse 0:7b4bbd744f6d 16
dbegasse 0:7b4bbd744f6d 17 //Uncomment If you want to use interrupts
dbegasse 0:7b4bbd744f6d 18 /*DigitalIn pinDRDYG(p14);
dbegasse 0:7b4bbd744f6d 19 DigitalIn pinINTG(p13);
dbegasse 0:7b4bbd744f6d 20 DigitalIn pinINT1_XM(p14);
dbegasse 0:7b4bbd744f6d 21 DigitalIn pinINT2_XM(p15);*/
dbegasse 0:7b4bbd744f6d 22
dbegasse 0:7b4bbd744f6d 23 #define PRINT_CALCULATED
dbegasse 0:7b4bbd744f6d 24 #define PRINT_SPEED 500 // 500 ms between prints
dbegasse 0:7b4bbd744f6d 25
dbegasse 0:7b4bbd744f6d 26 //Init Serial port and LSM9DS0 chip
dbegasse 0:7b4bbd744f6d 27 void setup()
dbegasse 0:7b4bbd744f6d 28 {
dbegasse 0:7b4bbd744f6d 29 // Use the begin() function to initialize the LSM9DS0 library.
dbegasse 0:7b4bbd744f6d 30 // You can either call it with no parameters (the easy way):
dbegasse 0:7b4bbd744f6d 31 uint16_t status = dof.begin();
dbegasse 0:7b4bbd744f6d 32
dbegasse 0:7b4bbd744f6d 33
dbegasse 0:7b4bbd744f6d 34 //Make sure communication is working
dbegasse 0:7b4bbd744f6d 35 pc.printf("LSM9DS0 WHO_AM_I's returned: 0x");
dbegasse 0:7b4bbd744f6d 36 pc.printf("%x\n",status);
dbegasse 0:7b4bbd744f6d 37 pc.printf("Should be 0x49D4\n");
dbegasse 0:7b4bbd744f6d 38 pc.printf("\n");
dbegasse 0:7b4bbd744f6d 39 }
dbegasse 0:7b4bbd744f6d 40
dbegasse 0:7b4bbd744f6d 41 //This function prints the temperature
dbegasse 0:7b4bbd744f6d 42 void printTemp()
dbegasse 0:7b4bbd744f6d 43 {
dbegasse 0:7b4bbd744f6d 44 dof.readTemp();
dbegasse 0:7b4bbd744f6d 45 //pc.printf("Temperature: ");
dbegasse 0:7b4bbd744f6d 46 //pc.printf("%2f",dof.calcTemp(dof.temperature));
dbegasse 0:7b4bbd744f6d 47 //pc.printf("\n");
dbegasse 0:7b4bbd744f6d 48
dbegasse 0:7b4bbd744f6d 49 //rs232.printf("Temperature: ");
dbegasse 0:7b4bbd744f6d 50
dbegasse 0:7b4bbd744f6d 51 }
dbegasse 0:7b4bbd744f6d 52
dbegasse 0:7b4bbd744f6d 53 //This funtion get the accelerometer data and returns it
dbegasse 0:7b4bbd744f6d 54 //I call this function in the main function to get the data and then send it to the lcd
dbegasse 0:7b4bbd744f6d 55 float getAccel()
dbegasse 0:7b4bbd744f6d 56 {
dbegasse 0:7b4bbd744f6d 57
dbegasse 0:7b4bbd744f6d 58 dof.readAccel();
dbegasse 0:7b4bbd744f6d 59 pc.printf("%2f",dof.calcAccel(dof.ax) - dof.abias[0]);
dbegasse 0:7b4bbd744f6d 60 return dof.calcAccel(dof.ax) - dof.abias[0];
dbegasse 0:7b4bbd744f6d 61 }
dbegasse 0:7b4bbd744f6d 62
dbegasse 0:7b4bbd744f6d 63 void printGyro()
dbegasse 0:7b4bbd744f6d 64 {
dbegasse 0:7b4bbd744f6d 65 // To read from the gyroscope, you must first call the
dbegasse 0:7b4bbd744f6d 66 // readGyro() funct ion. When this exits, it'll update the
dbegasse 0:7b4bbd744f6d 67 // gx, gy, and gz variables with the most current data.
dbegasse 0:7b4bbd744f6d 68
dbegasse 0:7b4bbd744f6d 69 //Uncomment code if you plan on using interrupts
dbegasse 0:7b4bbd744f6d 70 /*while(pinDRDYG == 0)
dbegasse 0:7b4bbd744f6d 71 {
dbegasse 0:7b4bbd744f6d 72 ;
dbegasse 0:7b4bbd744f6d 73 }*/
dbegasse 0:7b4bbd744f6d 74
dbegasse 0:7b4bbd744f6d 75
dbegasse 0:7b4bbd744f6d 76 dof.readGyro();
dbegasse 0:7b4bbd744f6d 77
dbegasse 0:7b4bbd744f6d 78 // Now we can use the gx, gy, and gz variables as we please.
dbegasse 0:7b4bbd744f6d 79 // Either print them as raw ADC values, or calculated in DPS.
dbegasse 0:7b4bbd744f6d 80 pc.printf("Gyroscope: ");
dbegasse 0:7b4bbd744f6d 81 //uLCD.printf("Gyroscope: ");
dbegasse 0:7b4bbd744f6d 82 #ifdef PRINT_CALCULATED
dbegasse 0:7b4bbd744f6d 83 // If you want to print calculated values, you can use the
dbegasse 0:7b4bbd744f6d 84 // calcGyro helper function to convert a raw ADC value to
dbegasse 0:7b4bbd744f6d 85 // DPS. Give the function the value that you want to convert.
dbegasse 0:7b4bbd744f6d 86 //pc.printf("The bias: %2f, %2f, %2f \n", dof.gbias[0], dof.gbias[1], dof.gbias[2]);
dbegasse 0:7b4bbd744f6d 87 pc.printf("%2f",dof.calcGyro(dof.gx) - dof.gbias[0]);
dbegasse 0:7b4bbd744f6d 88 pc.printf(", ");
dbegasse 0:7b4bbd744f6d 89 pc.printf("%2f",dof.calcGyro(dof.gy) - dof.gbias[1]);
dbegasse 0:7b4bbd744f6d 90 pc.printf(", ");
dbegasse 0:7b4bbd744f6d 91 pc.printf("%2f\n",dof.calcGyro(dof.gz) - dof.gbias[2]);
dbegasse 0:7b4bbd744f6d 92 #elif defined PRINT_RAW
dbegasse 0:7b4bbd744f6d 93 pc.printf("%d", dof.gx);
dbegasse 0:7b4bbd744f6d 94 pc.printf(", ");
dbegasse 0:7b4bbd744f6d 95 pc.printf("%d",dof.gy);
dbegasse 0:7b4bbd744f6d 96 pc.printf(", ");
dbegasse 0:7b4bbd744f6d 97 pc.printf("%d\n",dof.gz);
dbegasse 0:7b4bbd744f6d 98 #endif
dbegasse 0:7b4bbd744f6d 99 }
dbegasse 0:7b4bbd744f6d 100
dbegasse 0:7b4bbd744f6d 101 void printAccel()
dbegasse 0:7b4bbd744f6d 102 {
dbegasse 0:7b4bbd744f6d 103 //Uncomment code if you plan on using interrupts
dbegasse 0:7b4bbd744f6d 104 /*while(pinINT1_XM == 0)
dbegasse 0:7b4bbd744f6d 105 {
dbegasse 0:7b4bbd744f6d 106 ;
dbegasse 0:7b4bbd744f6d 107 }*/
dbegasse 0:7b4bbd744f6d 108
dbegasse 0:7b4bbd744f6d 109
dbegasse 0:7b4bbd744f6d 110 dof.readAccel();
dbegasse 0:7b4bbd744f6d 111
dbegasse 0:7b4bbd744f6d 112
dbegasse 0:7b4bbd744f6d 113 // Now we can use the ax, ay, and az variables as we please.
dbegasse 0:7b4bbd744f6d 114 // Either print them as raw ADC values, or calculated in g's.
dbegasse 0:7b4bbd744f6d 115 pc.printf("Accellerometer Data: ");
dbegasse 0:7b4bbd744f6d 116 //#ifdef PRINT_CALCULATED
dbegasse 0:7b4bbd744f6d 117 // If you want to print calculated values, you can use the
dbegasse 0:7b4bbd744f6d 118 // calcAccel helper function to convert a raw ADC value to
dbegasse 0:7b4bbd744f6d 119 // g's. Give the function the value that you want to convert.
dbegasse 0:7b4bbd744f6d 120 //pc.printf("The bias: %2f, %2f, %2f \n", dof.abias[0], dof.abias[1], dof.abias[2]);
dbegasse 0:7b4bbd744f6d 121 pc.printf("%2f\n",dof.calcAccel(dof.ax) - dof.abias[0]);
dbegasse 0:7b4bbd744f6d 122 //pc.printf(", ");
dbegasse 0:7b4bbd744f6d 123 //pc.printf("%2f",dof.calcAccel(dof.ay) - dof.abias[1]);
dbegasse 0:7b4bbd744f6d 124 //pc.printf(", ");
dbegasse 0:7b4bbd744f6d 125 //pc.printf("%2f\n",dof.calcAccel(dof.az) - dof.abias[2]);
dbegasse 0:7b4bbd744f6d 126 //#elif defined PRINT_RAW
dbegasse 0:7b4bbd744f6d 127 //pc.printf("%d",dof.ax);
dbegasse 0:7b4bbd744f6d 128 // pc.printf(", ");
dbegasse 0:7b4bbd744f6d 129 //pc.printf("%d",dof.ay);
dbegasse 0:7b4bbd744f6d 130 //pc.printf(", ");
dbegasse 0:7b4bbd744f6d 131 //pc.printf("%d\n",dof.az);
dbegasse 0:7b4bbd744f6d 132 //#endif
dbegasse 0:7b4bbd744f6d 133
dbegasse 0:7b4bbd744f6d 134 }
dbegasse 0:7b4bbd744f6d 135
dbegasse 0:7b4bbd744f6d 136 void printMag()
dbegasse 0:7b4bbd744f6d 137 {
dbegasse 0:7b4bbd744f6d 138 //Uncomment code if you plan on using interrupts
dbegasse 0:7b4bbd744f6d 139 /*while(pinINT2_XM == 0)
dbegasse 0:7b4bbd744f6d 140 {
dbegasse 0:7b4bbd744f6d 141 ;
dbegasse 0:7b4bbd744f6d 142 }*/
dbegasse 0:7b4bbd744f6d 143
dbegasse 0:7b4bbd744f6d 144 // To read from the magnetometer, you must first call the
dbegasse 0:7b4bbd744f6d 145 // readMag() function. When this exits, it'll update the
dbegasse 0:7b4bbd744f6d 146 // mx, my, and mz variables with the most current data.
dbegasse 0:7b4bbd744f6d 147 dof.readMag();
dbegasse 0:7b4bbd744f6d 148
dbegasse 0:7b4bbd744f6d 149 // Now we can use the mx, my, and mz variables as we please.
dbegasse 0:7b4bbd744f6d 150 // Either print them as raw ADC values, or calculated in Gauss.
dbegasse 0:7b4bbd744f6d 151 pc.printf("M: ");
dbegasse 0:7b4bbd744f6d 152 #ifdef PRINT_CALCULATED
dbegasse 0:7b4bbd744f6d 153 // If you want to print calculated values, you can use the
dbegasse 0:7b4bbd744f6d 154 // calcMag helper function to convert a raw ADC value to
dbegasse 0:7b4bbd744f6d 155 // Gauss. Give the function the value that you want to convert.
dbegasse 0:7b4bbd744f6d 156 pc.printf("%2f",dof.calcMag(dof.mx));
dbegasse 0:7b4bbd744f6d 157 pc.printf(", ");
dbegasse 0:7b4bbd744f6d 158 pc.printf("%2f",dof.calcMag(dof.my));
dbegasse 0:7b4bbd744f6d 159 pc.printf(", ");
dbegasse 0:7b4bbd744f6d 160 pc.printf("%2f\n",dof.calcMag(dof.mz));
dbegasse 0:7b4bbd744f6d 161 #elif defined PRINT_RAW
dbegasse 0:7b4bbd744f6d 162 pc.printf("%d", dof.mx);
dbegasse 0:7b4bbd744f6d 163 pc.printf(", ");
dbegasse 0:7b4bbd744f6d 164 pc.printf("%d", dof.my);
dbegasse 0:7b4bbd744f6d 165 pc.printf(", ");
dbegasse 0:7b4bbd744f6d 166 pc.printf("%d\n", dof.mz);
dbegasse 0:7b4bbd744f6d 167 #endif
dbegasse 0:7b4bbd744f6d 168 }
dbegasse 0:7b4bbd744f6d 169
dbegasse 0:7b4bbd744f6d 170 void loop()
dbegasse 0:7b4bbd744f6d 171 {
dbegasse 0:7b4bbd744f6d 172 //pc.printf("\n\nDATA READINGS\n");
dbegasse 0:7b4bbd744f6d 173 //printGyro(); // Print "G: gx, gy, gz"
dbegasse 0:7b4bbd744f6d 174 //printAccel(); // Print "A: ax, ay, az"
dbegasse 0:7b4bbd744f6d 175 //printMag(); // Print "M: mx, my, mz"
dbegasse 0:7b4bbd744f6d 176 //printTemp();
dbegasse 0:7b4bbd744f6d 177 //wait_ms(PRINT_SPEED);
dbegasse 0:7b4bbd744f6d 178
dbegasse 0:7b4bbd744f6d 179 }
dbegasse 0:7b4bbd744f6d 180
dbegasse 0:7b4bbd744f6d 181
dbegasse 0:7b4bbd744f6d 182 int main()
dbegasse 0:7b4bbd744f6d 183 {
dbegasse 0:7b4bbd744f6d 184 setup(); //Setup sensor and Serial
dbegasse 0:7b4bbd744f6d 185 //int content;
dbegasse 0:7b4bbd744f6d 186
dbegasse 0:7b4bbd744f6d 187
dbegasse 0:7b4bbd744f6d 188
dbegasse 0:7b4bbd744f6d 189
dbegasse 0:7b4bbd744f6d 190
dbegasse 0:7b4bbd744f6d 191 //************************************************
dbegasse 0:7b4bbd744f6d 192 //Below is the code for the uLCD bubble level
dbegasse 0:7b4bbd744f6d 193 int circlex = 0;
dbegasse 0:7b4bbd744f6d 194 int circley = 60;
dbegasse 0:7b4bbd744f6d 195 int circler = 15;
dbegasse 0:7b4bbd744f6d 196 int last_circlex = 0;
dbegasse 0:7b4bbd744f6d 197 float accel;
dbegasse 0:7b4bbd744f6d 198
dbegasse 0:7b4bbd744f6d 199
dbegasse 0:7b4bbd744f6d 200
dbegasse 0:7b4bbd744f6d 201 while (true)
dbegasse 0:7b4bbd744f6d 202 {
dbegasse 0:7b4bbd744f6d 203
dbegasse 0:7b4bbd744f6d 204 dof.readAccel();
dbegasse 0:7b4bbd744f6d 205 accel = dof.calcAccel(dof.ax) - dof.abias[0];
dbegasse 0:7b4bbd744f6d 206 //pc.printf("%2f\n", accel);
dbegasse 0:7b4bbd744f6d 207 wait(0.05);
dbegasse 0:7b4bbd744f6d 208
dbegasse 0:7b4bbd744f6d 209
dbegasse 0:7b4bbd744f6d 210
dbegasse 0:7b4bbd744f6d 211 uLCD.filled_circle(last_circlex, circley, circler, BLACK);
dbegasse 0:7b4bbd744f6d 212 circlex = (1 + accel) * 64;
dbegasse 0:7b4bbd744f6d 213 last_circlex = circlex;
dbegasse 0:7b4bbd744f6d 214 uLCD.filled_circle(circlex, circley, circler, 0xFFFF00);
dbegasse 0:7b4bbd744f6d 215
dbegasse 0:7b4bbd744f6d 216 }
dbegasse 0:7b4bbd744f6d 217
dbegasse 0:7b4bbd744f6d 218 //*************************************************
dbegasse 0:7b4bbd744f6d 219 }
dbegasse 0:7b4bbd744f6d 220