//Returns the most frequently occuring element
//or -1 if there is no such unique element
int64_t get_mode(int64_t* vector)
{
if (g_existCalcs[arg1].modeFlag == 1)
return g_existCalcs[arg1].mode;
g_existCalcs[arg1].modeFlag = 1;
//Mode of a uniform vector is any element within it
if (g_length == 1 || g_vec_properties[arg1][0] == UNIFORM)
{
g_existCalcs[arg1].mode = vector[0];
return vector[0];
}
//All vectors with unique values have no mode
else if (g_vec_properties[arg1][0] == SEQUP || g_vec_properties[arg1][0] == SEQDOWN ||
g_vec_properties[arg1][0] == PRIME)
{
g_existCalcs[arg1].mode = -1;
return -1;
}
int64_t max = get_maximum(vector);
int64_t min = get_minimum(vector);
if ((max - min) < 2147483648) //16gb can hold 2147483648 int64s
//12gb can hold 1610612736 int64s
//8gb can hold 1073741824 int64s
//4gb can hold 536870912 int64s
return fast_mode(vector, max, min);
int64_t* result = cloned(vector);
qsort(result, g_length, sizeof(int64_t), int64Ascend);
int64_t curSpanCount = 0, hiSpanCount = 0,
currentCheck = 0, repeatCount = 0, mode = 0;
for (int64_t i = 0; i < g_length; i++)
{
if (currentCheck != result[i])
{
currentCheck = result[i];
curSpanCount = 0;
}
curSpanCount++;
if (curSpanCount > hiSpanCount)
{
repeatCount = 0;
hiSpanCount = curSpanCount;
mode = currentCheck;
}
else if (currentCheck != result[i+1] && curSpanCount == hiSpanCount)
{
repeatCount = 1;
}
}
if (repeatCount > 0)
{
g_existCalcs[arg1].mode = -1;
return -1;
}
g_existCalcs[arg1].mode = mode;
return mode;
}
int main(void)
{
setup();
uart_init();
TWI_Init();
input = getchar();
while((input != 's'))//wait for user input to begin program
{
input = getchar();
}
sei();//global interrupts on
IMU_setup();
printf("\nLet's Begin\n\nChoose an option:\n\n space bar - PID (loops forever)\n 'm' - manual control (loops forever)\n 'i' - check IMU\n 'x' - get x acceleration\n 'y' - get y acceleration\n 'z' - get z acceleration\n 'f' - bluetooth fast mode\n 't' - test IMU write\n 'a' - enter acceleration mode\n");
while((1))
{
input = getchar();
if ((input == ' '))//PID algorithm
{
output_timer_on();
while((1))
{
PID();
}
}
else if ((input == 'm'))//manual control
{
printf("\nManual Mode:\n\nInstructions:\n\n 'n' - forwards\n 'v' - reverse\n 'b' - stop\n '1-9' - use the number keys to select the power level\n");
while((1))
{
manual();
}
}
else if ((input == 'i'))//check WHO_AM_I register
{
check_imu();
}
else if ((input == 'x'))//get x direction acceleration
{
acceleration = get_accel('x');
print_float(acceleration);
printf("\n");
}
else if ((input == 'y'))//get y direction acceleration
{
acceleration = get_accel('y');
print_float(acceleration);
printf("\n");
}
else if ((input == 'z'))//get z direction acceleration
{
acceleration = get_accel('z');
print_float(acceleration);
printf("\n");
}
else if ((input == 'f'))//place RN-42 HID into fast mode
{
fast_mode();
}
else if ((input == 't'))//write a regsiter of the IMU and check it worked
{
TWI_WRITEBYTE(MPU6050_PWR_MGMT_1, 0x02);
if ((TWI_READBYTE(MPU6050_PWR_MGMT_1) == 0x02))
printf("\nSuccess\n");
else
printf("\nFailure\n");
}
else if ((input == 'a'))//acceleration mode for acquiring data
{
acceleration_mode();
}
}
}
