Diff: main.cpp

Revision:

0:541dc12fcbf0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 29 16:19:19 2015 +0000
@@ -0,0 +1,166 @@
+#include "mbed.h"
+#include "m3pi.h"
+#include "rgbLed.h"
+#include "color.h"
+
+m3pi m3pi;
+Timer timerA;
+Serial Wixel(p28, p27); // tx, rx
+AnalogIn analog (p20); // Randomness generator
+AnalogIn resistorAin (p16); // Voltage divider reads
+
+//Setup RGB led using PWM pins and class
+RGBLed myRGBled(p23,p22,p21); //RGB PWM pins
+
+//setup some color objects in flash using const's
+const LEDColor red   (255, 0, 0);
+const LEDColor green (0, 255, 0);
+const LEDColor blue  (0, 0, 255);
+const LEDColor yellow(255 ,255 ,0);
+const LEDColor white (255 ,255, 255);
+
+DigitalOut PIN15 (p15);
+DigitalOut PIN17 (p17);
+DigitalOut PIN18 (p18);
+DigitalOut PIN19 (p19);
+DigitalOut PIN20 (p20);
+
+int behaviour; // Behaviour switcher
+float voltage;
+int voltageCounter = 0; // To elmimate ADC spike noise
+float timerThreshold;
+
+
+unsigned int random_generator (void){
+    unsigned int x = 0;
+    unsigned int iRandom = 0;
+ 
+    for (x = 0; x <= 32; x += 2)
+    {
+        iRandom += ((analog.read_u16() % 3) << x);
+        wait_us (10);
+    }
+    
+    return iRandom;
+}
+
+void forward(float amount) {
+    float speed = amount/5.0 + .075;
+    m3pi.left_motor(-speed);
+    m3pi.right_motor(-speed);
+    timerThreshold = 1;
+}
+
+void backward(float amount) {
+    float speed = amount/5.0 + .075;
+    m3pi.left_motor(speed);
+    m3pi.right_motor(speed);
+    timerThreshold = 1;
+}
+
+void turnLeft(float amount) {
+    // try to anchor it so that 1 means 90 degree turn
+    float right_speed = amount/5.0 + .075;
+    m3pi.left_motor(right_speed);
+    
+    m3pi.right_motor(-right_speed);
+    timerThreshold=.5;
+}
+
+void turnRight(float amount) {
+    float left_speed = amount/5.0 + .075;
+    m3pi.right_motor(left_speed);
+    m3pi.left_motor(-left_speed);
+    timerThreshold=.5;
+}
+
+/*void shakeHead() {
+    m3pi.left_motor(.15);
+    m3pi.right_motor(-.15);
+    wait(.3);
+    for(int i = 0; i < 3; i++) {
+        if(i % 2 == 0) {
+            m3pi.left_motor(-.15);
+            m3pi.right_motor(.15);
+        } else {
+            m3pi.left_motor(.15);
+            m3pi.right_motor(-.15);
+        }
+        timerThreshold = .6);
+    }
+    m3pi.left_motor(.15);
+    m3pi.right_motor(-.15);
+    wait(.3);
+}*/
+
+void actLikeYoureInLove() {
+    myRGBled = red;
+    m3pi.left_motor(0.0);
+    m3pi.right_motor(0.0);
+    wait(1);
+    m3pi.left_motor(-0.1);
+    m3pi.right_motor(-0.1);
+    wait(.5);
+    while(1) {
+        m3pi.left_motor(.2);
+        m3pi.right_motor(-.2);
+
+    }
+}
+
+void init()
+{
+    Wixel.baud(9600);
+    timerA.start();
+    myRGBled = green;
+    srand (random_generator()); // Using ADC value to generate random seed
+}
+
+int main() 
+{
+     
+    init();
+
+    while(1)  
+    {
+        voltage = resistorAin;
+        Wixel.printf("Voltage %f \n",voltage);
+        
+        if (( voltage > 0.45) & ( voltage < 0.7))
+        {
+            voltageCounter ++;
+            if (voltageCounter == 2){
+                actLikeYoureInLove();
+            }
+        }
+
+        //Wixel.printf("%f seconds\n", timerA.read());
+
+        if( timerA.read() >= timerThreshold)
+        {
+            behaviour = rand() % 5 + 1;  // Generate num between 1 and 5
+            //Wixel.printf("Behavior &d\n", behaviour);
+            float speed = rand()/double(RAND_MAX);
+
+            switch (behaviour) 
+            {
+                case 1:
+                    forward(1);
+                    break;
+                case 2:
+                    turnLeft(speed);
+                    break;
+                case 3:
+                    turnRight(speed);
+                    break;
+                case 4:
+                    backward(1);
+                    break;
+                case 5:
+                    //Do noting
+                    break;
+            }
+            timerA.reset();
+        }
+    }
+}
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