Revision 1:5a64632b1eb9, committed 2012-09-28

Comitter:

maetugr

Date:

Fri Sep 28 13:24:03 2012 +0000

Parent:

0:0c4fafa398b4

Child:

2:93f703d2c4d7

Commit message:

bevor anpassung/vorschl?ge f?r ADXL345 library

Changed in this revision

--- a/LED/LED.cpp	Wed Sep 26 12:15:00 2012 +0000
+++ b/LED/LED.cpp	Fri Sep 28 13:24:03 2012 +0000
@@ -1,21 +1,49 @@
 #include "LED.h"
 #include "mbed.h"
     
-LED::LED() : Led(LED1, LED2, LED3, LED4){ }
+LED::LED() : Led(LED1, LED2, LED3, LED4){
+    roller = 0;
+}
 
 void LED::shownumber(int number) {
     Led = number;
 }
 
-void LED::roll(int times = 1) {
+void LED::ride(int times = 1) {
+    Led = 0;
     for (int j = 0; j < times; j++) {
-        for(int i=0; i<4; i++) {
+        for(int i=0; i < 4; i++) {
                 Led = 1 << i;
-                wait(0.25);
+                wait(0.2);
         }
     }
+    Led = 0;
+}
+
+void LED::roll(int times = 1) {
+    Led = 0;
+    for (int j = 0; j < (times*2); j++) {
+        for(int roller = 1; roller <= 4; roller++) {
+                tilt(roller);
+                wait(0.1);
+        }
+    }
+    roller = 0;
+    Led = 0;
+}
+
+void LED::rollnext() {
+    if (roller >= 4)
+        roller = 0;
+    else
+        roller++;
+    tilt(roller);
 }
 
 void LED::tilt(int index) {
     Led = Led^(1 << (index-1));
+}
+
+void LED::operator=(int value) {
+    Led = value;
 }
\ No newline at end of file

--- a/LED/LED.h	Wed Sep 26 12:15:00 2012 +0000
+++ b/LED/LED.h	Fri Sep 28 13:24:03 2012 +0000
@@ -7,14 +7,18 @@
 
 class LED {
 
-public:
-    LED();
-    void shownumber(int number);
-    void roll(int times);
-    void tilt(int index);
-
-private:
-    BusOut Led;
+    public:
+        LED();
+        void shownumber(int number);
+        void ride(int times);
+        void roll(int times);
+        void rollnext();
+        void tilt(int index);
+        void operator=(int value);
+    
+    private:
+        BusOut Led;
+        int roller;
 };
 
 #endif
\ No newline at end of file

--- a/Sensors/Acc/ADXL345.cpp	Wed Sep 26 12:15:00 2012 +0000
+++ b/Sensors/Acc/ADXL345.cpp	Fri Sep 28 13:24:03 2012 +0000
@@ -1,57 +1,5 @@
-/**
- * @author Peter Swanson
- * A personal note from me: Jesus Christ has changed my life so much it blows my mind. I say this because
- *                  today, religion is thought of as something that you do or believe and has about as
- *                  little impact on a person as their political stance. But for me, God gives me daily
- *                  strength and has filled my life with the satisfaction that I could never find in any
- *                  of the other things that I once looked for it in. 
- * If your interested, heres verse that changed my life:
- *      Rom 8:1-3: "Therefore, there is now no condemnation for those who are in Christ Jesus,
- *                  because through Christ Jesus, the law of the Spirit who gives life has set
- *                  me free from the law of sin (which brings...) and death. For what the law 
- *                  was powerless to do in that it was weakened by the flesh, God did by sending
- *                  His own Son in the likeness of sinful flesh to be a sin offering. And so He
- *                  condemned sin in the flesh in order that the righteous requirements of the 
- *                  (God's) law might be fully met in us, who live not according to the flesh
- *                  but according to the Spirit."
- *
- *  A special thanks to Ewout van Bekkum for all his patient help in developing this library!
- *
- * @section LICENSE
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- *
- * @section DESCRIPTION
- *
- * ADXL345, triple axis, I2C interface, accelerometer.
- *
- * Datasheet:
- *
- * http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
- */  
- 
-/**
- * Includes
- */
 #include "ADXL345.h"
-
-//#include "mbed.h"
+#include "mbed.h"
 
 ADXL345::ADXL345(PinName sda, PinName scl) : i2c_(sda, scl) {
 
@@ -85,6 +33,13 @@
     z[0] = ADXL345_OFSZ_REG ;
     z[1] = 0xFE; 
  i2c_.write( ADXL345_WRITE , z, 2);
+ 
+ // MY INITIALISATION -------------------------------------------------------
+ 
+ setPowerControl(0x00);
+ setDataFormatControl(0x0B);
+ setDataRate(ADXL345_3200HZ);
+ setPowerControl(MeasurementMode);
 }
 
 

--- a/Sensors/Gyro/L3G4200D.cpp	Wed Sep 26 12:15:00 2012 +0000
+++ b/Sensors/Gyro/L3G4200D.cpp	Fri Sep 28 13:24:03 2012 +0000
@@ -5,7 +5,7 @@
 #define L3G4200D_I2C_ADDRESS 0xD0
 
 
-Gyro::Gyro(PinName sda, PinName scl):
+L3G4200D::L3G4200D(PinName sda, PinName scl):
     i2c(sda, scl)
 {
     i2c.frequency(400000);
@@ -32,7 +32,7 @@
 }
 
 // Writes a gyro register
-void Gyro::writeReg(byte reg, byte value)
+void L3G4200D::writeReg(byte reg, byte value)
 {
     data[0] = reg;
     data[1] = value;
@@ -41,7 +41,7 @@
 }
 
 // Reads a gyro register
-byte Gyro::readReg(byte reg)
+byte L3G4200D::readReg(byte reg)
 {
     byte value = 0;
     
@@ -52,7 +52,7 @@
 }
 
 // Reads the 3 gyro channels and stores them in vector g
-void Gyro::read(int g[3])
+void L3G4200D::read(int g[3])
 {
     // assert the MSB of the address to get the gyro 
     // to do slave-transmit subaddress updating.
@@ -77,7 +77,7 @@
 }
 
 // Reads the gyros Temperature
-int Gyro::readTemp()
+int L3G4200D::readTemp()
 {
     return (short) readReg(L3G4200D_OUT_TEMP);
 }
\ No newline at end of file

--- a/Sensors/Gyro/L3G4200D.h	Wed Sep 26 12:15:00 2012 +0000
+++ b/Sensors/Gyro/L3G4200D.h	Fri Sep 28 13:24:03 2012 +0000
@@ -39,10 +39,10 @@
 
 typedef char byte;
 
-class Gyro
+class L3G4200D
 {
     public:            
-        Gyro(PinName sda, PinName scl); // constructor, uses i2c
+        L3G4200D(PinName sda, PinName scl); // constructor, uses i2c
         void read(int g[3]); // read all axis to array
         int readTemp(); // read temperature from sensor
         

--- a/Servo/Servo.cpp	Wed Sep 26 12:15:00 2012 +0000
+++ b/Servo/Servo.cpp	Fri Sep 28 13:24:03 2012 +0000
@@ -2,9 +2,12 @@
 #include "mbed.h"
 
 Servo::Servo(PinName Pin) : ServoPin(Pin) {
+}
+
+void Servo::initialize() {
     // initialize ESC
     Enable(2000,20000);   // full throttle
-    wait(2);    // for 2 secs
+    wait(0.01);    // for 2 secs
     SetPosition(1000);    // low throttle
 }
 

--- a/Servo/Servo.h	Wed Sep 26 12:15:00 2012 +0000
+++ b/Servo/Servo.h	Fri Sep 28 13:24:03 2012 +0000
@@ -57,6 +57,9 @@
     
     //operator for confortable positioning
     void operator=(int position);
+    
+    // initialize ESC
+    void initialize();
 
 private:
     void StartPulse();

--- a/main.cpp	Wed Sep 26 12:15:00 2012 +0000
+++ b/main.cpp	Fri Sep 28 13:24:03 2012 +0000
@@ -1,48 +1,43 @@
-#include "mbed.h"
+#include "mbed.h" // Standar Library
 #include "LCD.h" // Display
 #include "LED.h" // LEDs
 #include "L3G4200D.h" // Gyro
 #include "ADXL345.h" // Acc
+#include "Servo.h" // Motor
 
-PinName kl[4] = {LED1, LED2, LED3, LED4};
-LED Led();
+// initialisation
+LED LEDs;
 TextLCD LCD(p5, p6, p7, p8, p9, p10, p11, TextLCD::LCD16x2); // RS, RW, E, D0, D1, D2, D3, Typ
-
-// Sensor initialisation
-Gyro Gyro(p28, p27);
+L3G4200D Gyro(p28, p27);
 ADXL345 Acc(p28, p27);
+Servo Motor(p12);
 
 int main() {
-
+    // LCD/LED init
+    LCD.cls(); // Display löschen
     LCD.printf("FlyBed v0.1");
+    LEDs.roll(2);
+    //LEDs = 15;
     
-    wait(2);
-    int j = -1;
     int Gyro_data[3];
     int Acc_data[3];
     
-    Acc.setPowerControl(0x00);
-    Acc.setDataFormatControl(0x0B);
-    Acc.setDataRate(ADXL345_3200HZ);
-    Acc.setPowerControl(MeasurementMode);
-    
     while(1) {
         
         Gyro.read(Gyro_data);
         Acc.getOutput(Acc_data);
         
-        //LCD.cls(); // Display löschen
         LCD.locate(0,0);
         LCD.printf("%d %d %d |%d   ", Gyro_data[0],Gyro_data[1],Gyro_data[2],Gyro.readTemp()); //roll(x) pitch(y) yaw(z)
         LCD.locate(1,0);
-        //LCD.printf("%d|%d|%d %d", gmitt[0]/j,gmitt[1]/j,gmitt[2]/j,gyro.readTemp()); //roll pitch yaw
-        LCD.locate(1,0);
-        LCD.printf("%d %d %d       ", (int16_t)Acc_data[0],(int16_t)Acc_data[1],(int16_t)Acc_data[2]);
+        LCD.printf("%d %d %d %d   ", (int16_t)Acc_data[0],(int16_t)Acc_data[1],(int16_t)Acc_data[2], 1000 + abs((int16_t)Acc_data[1]));
         
-        j++;
+        if(abs((int16_t)Acc_data[0]) > 200)
+            Motor.initialize();
         
-        //Led[j%4] = !Led[j%4];
+        Motor = 1000 + abs((int16_t)Acc_data[1]); // Motorwert anpassen
         
+        LEDs.rollnext();
         wait(0.1);
         
     }