//runs some test on our program
int main(){
f3d_uart_init();
f3d_led_init();
f3d_user_btn_init();
setvbuf(stdin, NULL, _IONBF, 0);
setvbuf(stdout, NULL, _IONBF, 0);
setvbuf(stderr, NULL, _IONBF, 0);
while(1) {
f3d_led_on(0);
printf("Hello World\n");
printf("Goodbye\n");
printf("Hello World\n");
printf("Goodbye\n");
printf("Hello World\n");
printf("Goodbye\n");
printf("Hello World\n");
printf("Goodbye\n");
delay();
delay();
f3d_led_off(0);
printf("Hello World\n");
printf("Goodbye\n");
printf("Hello World\n");
printf("Goodbye\n");
printf("Hello World\n");
printf("Goodbye\n");
printf("Hello World\n");
printf("Goodbye\n");
delay();
delay();
f3d_led_on(0);
f3d_led_on(1);
//printf("Hello World\n");
//printf("Goodbye\n");
delay();
delay();
f3d_led_off(1);
// printf("Hello World\n");
// printf("Goodbye\n");
delay();
delay();
f3d_led_on(1);
}
}
int main(void) {
//various initializations
f3d_uart_init();
f3d_i2c1_init();
delay(10);
f3d_accel_init();
delay(10);
f3d_mag_init();
delay(10);
f3d_gyro_init();
delay(10);
f3d_nunchuk_init();
delay(10);
f3d_user_btn_init();
f3d_lcd_init();
//reset pixels by filling screen RED
f3d_lcd_fillScreen(RED);
//set buffers
setvbuf(stdin, NULL, _IONBF, 0);
setvbuf(stdout, NULL, _IONBF, 0);
setvbuf(stderr, NULL, _IONBF, 0);
// initialize gyro constants
START_X = (ST7735_width / 2) - (RECT_WIDTH / 2);
START_Y = (ST7735_height / 2) - (RECT_LENGTH / 2);
GYRO_UPPER_BOUND = 120;
X_MARGIN = (ST7735_width - RECT_WIDTH) / 2;
Y_MARGIN = (ST7735_height - RECT_LENGTH) / 2;
//set centerX and centerY by using global varaibles from library
centerX = ST7735_width / 2;
centerY = ST7735_height / 2;
// constants for the PITCHROLL_MODE
const int barGraphWidth = 40;
const int rollStartY = 30;
const int pitchStartY = 120;
//variables for keeping track of data from previous point
int prevRollX = 0, prevRollY = 0;
int prevPitchX = 0, prevPitchY = 0;
int prevGyroRow = START_X, prevGyroCol = START_Y;
//set float arrays for accel and mag data
float accel_buffer[3];
float mag_buffer[3];
float gyro_buffer[3];
nunchuk_t nunchuk_data;
nunchuk_t *nunchuk_ptr = &nunchuk_data;
//start board in compass mode
int app_mode = COMPASS_MODE;
char *app_mode_title;
while(1) {
//retrieve accel and mag data and insert into their buffers
f3d_accel_read(accel_buffer);
f3d_mag_read(mag_buffer);
f3d_gyro_getdata(gyro_buffer);
f3d_nunchuk_read(nunchuk_ptr);
delay(10);
float Ax1 = accel_buffer[0];
float Ay1 = accel_buffer[1];
float Az1 = accel_buffer[2];
//calcuation of sum of squares
float A_sum_squares = sqrt(Ax1 * Ax1 + Ay1 * Ay1 + Az1 * Az1);
//calculate pitch using accel data and atan2
float pitch = atan2(Ax1, sqrt(Ay1 * Ay1 + Az1 * Az1));
//calculate roll in a similar manner
float roll = atan2(Ay1, sqrt(Ax1 * Ax1 + Az1 * Az1));
//feed mag buffers mag x, y, and z
float Mx = mag_buffer[0];
float My = mag_buffer[1];
float Mz = mag_buffer[2];
//calculate heading in degrees
float Xh = Mx * cos(pitch) + Mz * sin(pitch);
float Yh = Mx * sin(roll) * sin(pitch) + My * cos(roll) - Mz * sin(roll) * cos(pitch);
float headingDegrees = rad_to_deg(atan2(Yh, Xh));
// convert heading degrees to a circular system
float newHeadingDegrees = 0.0;
if (headingDegrees > 90.0) {
// quad I
newHeadingDegrees = fabsf(headingDegrees - 180.0);
} else if (headingDegrees > 0.0) {
// quad II
newHeadingDegrees = 180.0 - headingDegrees;
} else {
// quads III and IV
newHeadingDegrees = 180.0 + fabsf(headingDegrees);
}
int prev_app_mode = app_mode;
// change mode based on nunchuk
const unsigned char joystick_epsilon = 50;
int c_pressed = nunchuk_ptr->z;
int z_pressed = nunchuk_ptr->c;
if (c_pressed != z_pressed) {
// decide based on buttons
if (c_pressed) {
// go right
app_mode = (app_mode + 1) % 4;
} else {
// go left
app_mode = (app_mode + 3) % 4;
}
} else {
// decide based on joystick
const int joystick_x_center = 141;
int joystick_delta = nunchuk_ptr->jx - joystick_x_center;
if (abs(joystick_delta) >= joystick_epsilon) {
// only switch app mode if joystick change is significant
if (joystick_delta < 0) {
// go right
app_mode = (app_mode + 1) % 4;
} else {
// go left
app_mode = (app_mode + 3) % 4;
}
}
}
if (app_mode != prev_app_mode) {
f3d_lcd_fillScreen(RED);
}
//define variables for row and columns of type int
int row, col;
switch(app_mode) {
case COMPASS_MODE: // compass mode
f3d_lcd_fillScreen(RED);
f3d_lcd_drawString(0, 0, "Compass", WHITE, RED);
//draw static white line point upwards on LCD
drawStraightupLine(WHITE);
const float radius = 30.0;
float theta = deg_to_rad(newHeadingDegrees) - (M_PI / 2.0);
//calculat x and y offset
float xOffset = radius * cos(theta);
float yOffset = radius * sin(theta);
//set second point
int x2 = centerX + ((int) xOffset);
int y2 = centerY + ((int) yOffset);
//draw point on the screen at location x2 and y2
f3d_lcd_drawPixel(x2, y2, CYAN);
break;
case PITCHROLL_MODE: // tilt mode
app_mode_title = "Board";
pitchroll_label:
// erase old bars
drawRect(0, rollStartY, prevRollX, prevRollY, RED);
drawRect(0, pitchStartY, prevPitchX, prevPitchY, RED);
//draw the word "Roll" on upper left of LCD
f3d_lcd_drawString(0, 0, "Roll", CYAN, RED);
// title the application
f3d_lcd_drawString((int) ST7735_width * 0.65, 0, app_mode_title, CYAN, RED);
//set color for redrawing of the bars
int rollColor = (roll < 0.0) ? MAGENTA : CYAN;
//calculate perceentage using fabsf (absolute value for float)
float rollPercentage = fabsf(roll) / M_PI;
//calculate rollX and rollY for drawing the roll bar
int rollX = rollPercentage * ST7735_width;
int rollY = rollStartY + barGraphWidth;
drawRect(0, rollStartY, rollX, rollY, rollColor);
//draw the word pitch 90 pixels below Roll
f3d_lcd_drawString(0, 90, "Pitch", CYAN, RED);
//set color for redrawing
int pitchColor = (pitch < 0.0) ? MAGENTA : CYAN;
//calculate pitchPercentage using fabsf(absolute for float)
float pitchPercentage = fabsf(pitch) / M_PI;
//calculate pitchX and pitch Y for drawing Pitch rectangle
int pitchX = pitchPercentage * ST7735_width;
int pitchY = pitchStartY + barGraphWidth;
drawRect(0, pitchStartY, pitchX, pitchY, pitchColor);
//keep track of RollX and PitchX for loop
prevRollX = rollX; prevRollY = rollY;
prevPitchX = pitchX; prevPitchY = pitchY;
break;
case GYRO_MODE: // gyro mode
f3d_lcd_fillScreen(RED);
float gyroDataAvg = (gyro_buffer[0] + gyro_buffer[1] + gyro_buffer[2]) / 3.0f;
float percentageOffset = gyroDataAvg / GYRO_UPPER_BOUND;
int xPixelsFromCenter = (percentageOffset * X_MARGIN) / 1;
int yPixelsFromCenter = (percentageOffset * Y_MARGIN) / 1;
row = START_X + xPixelsFromCenter;
col = START_Y + yPixelsFromCenter;
prevGyroRow = row;
prevGyroCol = col;
drawGyroRect(col, row, WHITE);
break;
case NUNCHUK_MODE:
app_mode_title = "Nunchuk";
const int nunchuk_tilt_upperbound = 1023;
const int nunchuk_tilt_midpoint = nunchuk_tilt_upperbound / 2;
int ax = nunchuk_ptr->ax - nunchuk_tilt_midpoint;
int ay = nunchuk_ptr->ay - nunchuk_tilt_midpoint;
int az = nunchuk_ptr->az;
// calculate pitch and roll of nunchuk
pitch = atan2(ay, sqrt(pow(ay, 2) + pow(az, 2)));
roll = atan2(ax, sqrt(pow(ax, 2) + pow(az, 2)));
// double pitch and roll values to exaggerate their size on bar graph
pitch *= 2;
roll *= 2;
// all the rest is the same as board accelerometer application, so...
goto pitchroll_label;
break;
default:
break;
}
}
}
int main(void) {
int step = 0;
int stepMod;
nunchuk_t n;
setvbuf(stdin, NULL, _IONBF, 0);
setvbuf(stdout, NULL, _IONBF, 0);
setvbuf(stderr, NULL, _IONBF, 0);
f3d_i2c1_init();
delay(10);
f3d_nunchuk_init();
delay(10);
f3d_rtc_init();
//printf("check rtc\n");
delay(10);
f3d_uart_init();
f3d_timer2_init();
//printf("check timer2\n");
f3d_dac_init();
//printf("check dac\n");
f3d_delay_init();
//printf("check delay\n");
f3d_led_init();
//printf("check led\n");
f3d_lcd_init();
//printf("check lcd\n");
f3d_systick_init();
//printf("check systick\n");
f3d_user_btn_init();
//printf("check user btn\n");
f3d_lcd_fillScreen(WHITE);
while (1){
f3d_nunchuk_read(&n);
if(n.jy > 150){
step++;
}
if(n.jy < 15){
step--;
}
stepMod = abs(step)%3;
switch(stepMod) {
case 0:
strcpy(fileName, "thermo.wav");
f3d_lcd_drawString(20,10,"Thermo",RED,BLACK);
f3d_lcd_drawString(20,30,"Lion",RED,WHITE);
f3d_lcd_drawString(20,50,"Batman",RED,WHITE);
if(user_btn_read() == 1){
play();
}
break;
case 1:
strcpy(fileName, "lion.wav");
f3d_lcd_drawString(20,10,"Thermo",RED,WHITE);
f3d_lcd_drawString(20,30,"Lion",RED,BLACK);
f3d_lcd_drawString(20,50,"Batman",RED,WHITE);
if(user_btn_read() == 1){
play();
}
break;
case 2:
strcpy(fileName, "batman.wav");
f3d_lcd_drawString(20,10,"Thermo",RED,WHITE);
f3d_lcd_drawString(20,30,"Lion",RED,WHITE);
f3d_lcd_drawString(20,50,"Batman",RED,BLACK);
if(user_btn_read() == 1){
play();
}
break;
}
}
}
