Demo Team
/
MurphyBat_LPC
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed
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
--- /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();
+ }
+}
--- /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_ */
--- /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
--- /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