UniversalJoint::UniversalJoint(char* axes){
readAxes(axes);
minAngleA = 0;
maxAngleA = 0;
minAngleB = 0;
maxAngleB = 0;
}
int main() {
SystemInit();
initSystick();
initAccelerometer();
initLeds();
AccelerometerDataStruct dat;
uint32_t lastTime = 0;
while(1) {
if (millisecondCounter > lastTime + 100) {
readAxes(&dat); // read sensor and store into `dat'
setbuf(stdout, NULL);
printf("X: %d Y: %d Z: %d\n", dat.X, dat.Y, dat.Z); // the member variables for each direction
lastTime = millisecondCounter;
// Add extra logic here to light LEDs based on orientation of the board
if(dat.X<-500){
GPIOD->BSRRL|=(1<<12);
GPIOD->BSRRH|=(1<<13);
GPIOD->BSRRH|=(1<<14);
GPIOD->BSRRH|=(1<<15);
}
if(dat.Y<-500){
GPIOD->BSRRL|=(1<<15);
GPIOD->BSRRH|=(1<<12);
GPIOD->BSRRH|=(1<<13);
GPIOD->BSRRH|=(1<<14);
}
if(dat.Y>500){
GPIOD->BSRRL|=(1<<13);
GPIOD->BSRRH|=(1<<12);
GPIOD->BSRRH|=(1<<14);
GPIOD->BSRRH|=(1<<15);
}
if(dat.X>500){
GPIOD->BSRRL|=(1<<14);
GPIOD->BSRRH|=(1<<12);
GPIOD->BSRRH|=(1<<13);
GPIOD->BSRRH|=(1<<15);
}
}
}
}
BallInSocketJoint::BallInSocketJoint(char* axes){
readAxes(axes);
}
int CorrAxesCommand::execute(){
try {
if (abort == true) { if (calledHelp) { return 0; } return 2; }
/*************************************************************************************/
// use smart distancing to get right sharedRabund and convert to relabund if needed //
/************************************************************************************/
if (sharedfile != "") {
InputData* input = new InputData(sharedfile, "sharedfile");
getSharedFloat(input);
delete input;
if (m->control_pressed) { for (int i = 0; i < lookupFloat.size(); i++) { delete lookupFloat[i]; } return 0; }
if (lookupFloat[0] == NULL) { m->mothurOut("[ERROR] reading relabund file."); m->mothurOutEndLine(); return 0; }
}else if (relabundfile != "") {
InputData* input = new InputData(relabundfile, "relabund");
getSharedFloat(input);
delete input;
if (m->control_pressed) { for (int i = 0; i < lookupFloat.size(); i++) { delete lookupFloat[i]; } return 0; }
if (lookupFloat[0] == NULL) { m->mothurOut("[ERROR] reading relabund file."); m->mothurOutEndLine(); return 0; }
}else if (metadatafile != "") {
getMetadata(); //reads metadata file and store in lookupFloat, saves column headings in metadataLabels for later
if (m->control_pressed) { for (int i = 0; i < lookupFloat.size(); i++) { delete lookupFloat[i]; } return 0; }
if (lookupFloat[0] == NULL) { m->mothurOut("[ERROR] reading metadata file."); m->mothurOutEndLine(); return 0; }
if (pickedGroups) { eliminateZeroOTUS(lookupFloat); }
}else { m->mothurOut("[ERROR]: no file given."); m->mothurOutEndLine(); return 0; }
if (m->control_pressed) { for (int i = 0; i < lookupFloat.size(); i++) { delete lookupFloat[i]; } return 0; }
//this is for a sanity check to make sure the axes file and shared file match
for (int i = 0; i < lookupFloat.size(); i++) { names.insert(lookupFloat[i]->getGroup()); }
/*************************************************************************************/
// read axes file and check for file mismatches with shared or relabund file //
/************************************************************************************/
//read axes file
map<string, vector<float> > axes = readAxes();
if (m->control_pressed) { for (int i = 0; i < lookupFloat.size(); i++) { delete lookupFloat[i]; } return 0; }
//sanity check, the read only adds groups that are in the shared or relabund file, but we want to make sure the axes file isn't missing anyone
if (axes.size() != lookupFloat.size()) {
map<string, vector<float> >::iterator it;
for (int i = 0; i < lookupFloat.size(); i++) {
it = axes.find(lookupFloat[i]->getGroup());
if (it == axes.end()) { m->mothurOut(lookupFloat[i]->getGroup() + " is in your shared of relabund file but not in your axes file, please correct."); m->mothurOutEndLine(); }
}
m->control_pressed = true;
}
if (m->control_pressed) { for (int i = 0; i < lookupFloat.size(); i++) { delete lookupFloat[i]; } return 0; }
/*************************************************************************************/
// calc the r values //
/************************************************************************************/
string outputFileName = outputDir + m->getRootName(m->getSimpleName(inputFileName)) + method + ".corr.axes";
outputNames.push_back(outputFileName); outputTypes["corr.axes"].push_back(outputFileName);
ofstream out;
m->openOutputFile(outputFileName, out);
out.setf(ios::fixed, ios::floatfield); out.setf(ios::showpoint);
//output headings
if (metadatafile == "") { out << "OTU"; }
else { out << "Feature"; }
for (int i = 0; i < numaxes; i++) { out << '\t' << "axis" << (i+1) << "\tp-value"; }
out << "\tlength" << endl;
if (method == "pearson") { calcPearson(axes, out); }
else if (method == "spearman") { calcSpearman(axes, out); }
else if (method == "kendall") { calcKendall(axes, out); }
else { m->mothurOut("[ERROR]: Invalid method."); m->mothurOutEndLine(); }
out.close();
for (int i = 0; i < lookupFloat.size(); i++) { delete lookupFloat[i]; }
if (m->control_pressed) { return 0; }
m->mothurOutEndLine();
m->mothurOut("Output File Names: "); m->mothurOutEndLine();
for (int i = 0; i < outputNames.size(); i++) { m->mothurOut(outputNames[i]); m->mothurOutEndLine(); }
m->mothurOutEndLine();
return 0;
}
catch(exception& e) {
m->errorOut(e, "CorrAxesCommand", "execute");
exit(1);
}
}
