Revision 0:a20f005ea7ae, committed 2017-08-06

Comitter:

SamuelEarnshawARM

Date:

Sun Aug 06 09:53:07 2017 +0000

Commit message:

06/08/2017 Murphybat_LPC

Changed in this revision

diff -r 000000000000 -r a20f005ea7ae MurphyBat.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MurphyBat.cpp	Sun Aug 06 09:53:07 2017 +0000
@@ -0,0 +1,76 @@
+/*
+ * MurphyBat.cpp
+ *
+ *  Created on: 5 Aug 2017
+ *      Author: ciscer01
+ */
+
+#include <MurphyBat.hpp>
+#include <mbed.h>
+
+MurphyBat::MurphyBat(PinName Ir1, PinName Ir2, PinName Ir3, PinName Ir4, PinName Actuator):
+		mIr1(Ir1),
+		mIr2(Ir2),
+		mIr3(Ir3),
+		mIr4(Ir4),
+		BatI(0),
+		batActuator(Actuator),
+		batActuratorTimout(),
+		Fired(false) {
+
+	BatIrIn[0] = &mIr1;
+	BatIrIn[1] = &mIr2;
+	BatIrIn[2] = &mIr3;
+	BatIrIn[3] = &mIr4;
+	//BatIrTh[0] = 0.5; 0.5, 0.5, 0.5),
+	for (unsigned int i = 0; i < 4; i++){
+		for (unsigned int j = 0; j < avg_size; j++) {
+			BatIrVal[i][j] = 0;
+		}
+
+	}
+	BatIrTh[0] = 0.4f - 0.05f;
+	BatIrTh[1] = 0.3f - 0.05f;
+	BatIrTh[2] = 0.4f - 0.05f;
+	BatIrTh[3] = 0.3f - 0.05f;
+	batActuator.write(0);
+}
+
+void MurphyBat::update() {
+	bool fire = false;
+	float BatIrAvg[4];
+	for (unsigned int i = 0; (i < 4) && (fire == false); i++) {
+		//Read the Ir value
+		BatIrVal[i][BatI] = BatIrIn[i]->read();
+		//start the avarage computation
+		BatIrAvg[i] = BatIrVal[i][0];
+		for (unsigned int j = 1; j < avg_size; j++) {
+			BatIrAvg[i] += BatIrVal[i][j];
+		}
+		//Compute avarage
+		BatIrAvg[i] = BatIrAvg[i] / avg_size;
+		if (BatIrVal[i][BatI] > BatIrTh[i]) {
+			fire = true;
+		}
+	}
+	BatI = (BatI + 1) % avg_size;
+	if (fire) {
+		Fire();
+	}
+}
+
+void MurphyBat::FireCb(MurphyBat *mb){
+	mb->Fire();
+}
+
+void MurphyBat::Fire(void) {
+	if (Fired == false) {
+		Fired = true;
+		batActuator.write(1);
+		batActuratorTimout.attach_us(this,MurphyBat::FireCb, 200000);
+	} else {
+		Fired = false;
+		batActuator.write(0);
+		batActuratorTimout.detach();
+	}
+}

diff -r 000000000000 -r a20f005ea7ae MurphyBat.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MurphyBat.hpp	Sun Aug 06 09:53:07 2017 +0000
@@ -0,0 +1,37 @@
+/*
+ * MurphyBat.h
+ *
+ *  Created on: 5 Aug 2017
+ *      Author: ciscer01
+ */
+
+#ifndef MURPHYARM_MURPHYBAT_HPP_
+#define MURPHYARM_MURPHYBAT_HPP_
+
+#include <mbed.h>
+
+#define avg_size 1
+
+class MurphyBat {
+public:
+	MurphyBat(PinName Ir1, PinName Ir2, PinName Ir3, PinName Ir4, PinName Actuator);
+
+	void update();
+	static void FireCb(MurphyBat *mb);
+	void Fire(void);
+private:
+
+	AnalogIn mIr1;
+	AnalogIn mIr2;
+	AnalogIn mIr3;
+	AnalogIn mIr4;
+	AnalogIn *BatIrIn[4];
+	float BatIrVal[4][avg_size];
+	float BatIrTh[4];
+	int BatI;
+	DigitalOut batActuator;
+	Timeout batActuratorTimout;
+	bool Fired;
+};
+
+#endif /* MURPHYARM_MURPHYBAT_HPP_ */

diff -r 000000000000 -r a20f005ea7ae main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Aug 06 09:53:07 2017 +0000
@@ -0,0 +1,15 @@
+#include "mbed.h"
+#include "MurphyBat.hpp"
+
+MurphyBat Bat(p15, p16, p17, p18, p21);
+
+
+DigitalOut Led1(LED1);
+int main()
+{
+    Led1 = 1;
+    while(true)
+    {
+        Bat.update();
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r a20f005ea7ae mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Aug 06 09:53:07 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed/builds/fd96258d940d
\ No newline at end of file