Revision 1:cf1ca9ff1c9e, committed 2015-05-10

Comitter:

shuhei2306

Date:

Sun May 10 09:48:36 2015 +0000

Parent:

0:f38492690f0e

Commit message:

first commit;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.lib	Sun May 10 09:48:36 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/garfieldsg/code/MPU6050/#1e0baaf91e96

--- a/main.cpp	Wed Mar 12 18:41:42 2014 +0000
+++ b/main.cpp	Sun May 10 09:48:36 2015 +0000
@@ -11,170 +11,177 @@
 #include "NeoStrip.h"
 #include "gt.h"
 
-#define N 64
-#define PATTERNS 3
+#include "MPU6050.h"
+
+#define N 30
+#define NUM_AINS 10
 
-int hueToRGB(float h);
-void pattern0();
-void pattern1();
-void pattern2();
+DigitalOut myled(LED1);
+Serial pc(USBTX, USBRX);
+MPU6050 mpu;
+
+NeoStrip strip(p19,N);
+
+int16_t ax, ay, az;
+float gousei;
+int16_t gx, gy, gz;
+int16_t count = 0;
 
-// array of function pointers to the various patterns
-void (*patterns[])(void) = {&pattern0, &pattern1, &pattern2};
+AnalogIn ain(p15);
+AnalogIn photoin(p16);
+float absArray[NUM_AINS];
+float ave;
+int current;
+
 
-NeoStrip strip(p18, N);
-DigitalIn b1(p20); // brightness up
-DigitalIn b2(p19); // brightness down
-DigitalIn b3(p21); // next pattern
+//color
+float random4;
+float random_color; 
+int red;
+int green;
+int blue;
 
-// timer used for debugging
-Timer timer;
+//serial
+int receiveval;
+
+//ぼんやり消えていく
+Timer t;
+int minus = 5;
+int lightval = 0;
 
 int main()
 {
-	b1.mode(PullDown);
-	b2.mode(PullDown);
-	b3.mode(PullDown);
-	
-	int pattern = 0;
-	float bright = 0.2;	// 20% is plenty for indoor use
-	bool b3o = b3;		// old copy of button 3 to poll for changes
+    pc.printf("MPU6050 test\n\n");
+    pc.printf("MPU6050 initialize \n");
 
-	strip.setBrightness(bright);	// set default brightness
-	
-	while (true)
-	{
-		timer.reset(); // use a timer to measure loop execution time for debugging purposes
-		timer.start(); // for this application, the main loop takes approximately 3ms to run
-
-		// button 1 increases brightness
-		if (b1 && bright < 1)
-		{
-			bright += 0.01;
-			if (bright > 1)
-				bright = 1;
-			strip.setBrightness(bright);
-		}
+    mpu.initialize();
+    pc.printf("MPU6050 testConnection \n");
 
-		// button 2 decreases brightness
-		if (b2 && bright > 0)
-		{
-			bright -= 0.01;
-			if (bright < 0)
-				bright = 0;
-			strip.setBrightness(bright);
-		}
-		
-		// button 3 changes the pattern, only do stuff when its state has changed
-		if (b3 != b3o)
-		{
-			if (b3 && ++pattern == PATTERNS)
-				pattern = 0;
-			b3o = b3;
-		}
-		
-		// run the pattern update function which sets the strip's pixels
-		patterns[pattern]();
-		strip.write();
-
-		timer.stop();
-		// print loop time if b3 is pressed
-		if (b3)
-			printf("Loop Time: %dus\n", timer.read_us());
-		
-		wait_ms(10);
-	}
-}
-
-// pattern0 displays a static image
-void pattern0()
-{
-	strip.setPixels(0, N, gt_img);
-}
-
-// display a shifting rainbow, all colors have maximum
-// saturation and value, with evenly spaced hue
-void pattern1()
-{
-	static float dh = 360.0 / N;
-	static float x = 0;
+    bool mpu6050TestResult = mpu.testConnection();
+    if(mpu6050TestResult) {
+        pc.printf("MPU6050 test passed \n");
+    } else {
+        pc.printf("MPU6050 test failed \n");
+    }
+    
+    //t.start();
+   
+    while(1) {
+        wait(0.001);
+       
+       //mic get analog in
+        float ain_abs;
+        ain_abs = fabs(ain - 0.5);
+        absArray[current] = ain_abs;
+        current++;
+        current = current%NUM_AINS;
+       // pc.printf("%f\n",ain_abs);
+       
+        // calc average
+        float sum = 0;
+        for (int i=0; i<NUM_AINS; i++) sum += absArray[i];
+        ave = sum/NUM_AINS;
+       
+       //getmotion    
+        mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+        //writing current accelerometer and gyro position 
+       gousei = (ax*ax + ay*ay + az*az)/1000;
+       gousei = sqrt(gousei);
 
-	for (int i = 0; i < N; i++)
-		strip.setPixel(i, hueToRGB((dh * i) - x));
-	
-	x += 1;
-	if (x > 360)
-		x = 0;
-}
-
-// display a shifting gradient between red and blue
-void pattern2()
-{
-	// offset for each pixel to allow the pattern to move
-	static float x = 0;
-
-	float r, b, y;
+        pc.printf("%f\n", gousei);
+       // pc.printf("%f\n", photoin.read());
+        
+       
+    if(photoin.read() < 0.5)
+    {
+       if(gousei > 1000)
+       {
+            lightval = 255;
+            for(int i = 0; i < N; i++)
+            {
+            strip.setPixel(i,lightval,0,0);
+            }
+            //pc.printf("test");
+            // t.reset();  
+        }
+        else
+        {
+            //pc.printf("%f\n", t.read());
+            lightval = lightval - minus;
+            if(lightval < 0)
+            {
+                lightval = 0;
+            }
+            for(int i = 0; i < N; i++)
+            {
+            strip.setPixel(i,lightval,0,0);
+            } 
+        }       
+    }
+    else
+    {
+        // output
+        if(ave > 0.3) {
+            for(int i=0; i<N; i++) strip.setPixel(i, 0, 200, 0);
+           // strip.write();       
+        }
+         else
+        {
+            for(int i = 0; i < N; i++)
+        {
+            strip.setPixel(i,0,0,0);
+        } 
+  }
+  //pc.scanf("%d",receiveval);
+}    
 
-	for (int i = 0; i < N; i++)
-	{
-		// y is a scaled position between 0 (red) and 1.0 (blue)
-		y = 1.0 * i / (N - 1) + x;
-		if (y > 1)
-			y -= 1;
-
-		// if on the left half, red is decreasing and blue is increasng
-		if (y < 0.5)
-		{
-			b = 2 * y;
-			r = 1 - b;
-		}
-
-		// else red is increasing and blue is decreasing
-		else
-		{
-			r = 2 * (y - 0.5);
-			b = 1 - r;
-		}
 
-		// scale to integers and set the pixel
-		strip.setPixel(i, (uint8_t)(r * 255), 0, (uint8_t)(b * 200));
-	}
-
-	x += 0.003;
-	if (x > 1)
-		x = 0;
+        strip.write();
+    }
 }
-
-// Converts HSV to RGB with the given hue, assuming
-// maximum saturation and value
-int hueToRGB(float h)
+/*
+void random_()
 {
-	// lots of floating point magic from the internet and scratching my head
-	float r, g, b;
-	if (h > 360)
-		h -= 360;
-	if (h < 0)
-		h += 360;
-	int i = (int)(h / 60.0);
-	float f = (h / 60.0) - i;
-	float q = 1 - f;
-	
-	switch (i % 6)
-	{
-		case 0: r = 1; g = f; b = 0; break;
-		case 1: r = q; g = 1; b = 0; break;
-		case 2: r = 0; g = 1; b = f; break;
-		case 3: r = 0; g = q; b = 1; break;
-		case 4: r = f; g = 0; b = 1; break;
-		case 5: r = 1; g = 0; b = q; break;
-		default: r = 0; g = 0; b = 0; break;
-	}
-	
-	// scale to integers and return the packed value
-	uint8_t R = (uint8_t)(r * 255);
-	uint8_t G = (uint8_t)(g * 255);
-	uint8_t B = (uint8_t)(b * 255);
-
-	return (R << 16) | (G << 8) | B;
+ for(int i=0; i<3000; i++){
+    
+    //random4 = random(0, 60);
+    random_color = random(0, 6);
+    
+    if(random_color == 0){
+      red = 50;
+      green = 0;
+      blue = 0;
+    }else if(random_color == 1){
+      red = 0;
+      green = 50;
+      blue = 0;
+    }else if(random_color == 2){
+      red = 0;
+      green = 0;
+      blue = 50;
+    }else if(random_color == 3){
+      red = 50;
+      green = 50;
+      blue = 0;
+    }else if(random_color == 4){
+      red = 50;
+      green = 0;
+      blue = 50;
+    }else if(random_color == 5){
+      red = 0;
+      green = 50;
+      blue = 50;
+    }else if(random_color == 6){
+      red = 50;
+      green = 50;
+      blue = 50;
+    }
+    
+    strip.setPixel(random4, red, green, blue);
+   
+   strip.write();
+  }
+ 
+    
 }
-
+*/