Diff: captUS.cpp

Revision:

24:be2b2be6907b

Parent:

23:a74135a0271d

Child:

25:869b1c1f51a7

--- a/captUS.cpp	Wed Oct 28 16:27:05 2020 +0000
+++ b/captUS.cpp	Wed Oct 28 20:08:39 2020 +0000
@@ -1,22 +1,55 @@
 /* #include */
 #include "pins.h"
 
+/* #define */
+#define DISTLIM 600
+#define MAXMOY 3
+
 /* Variables globales */
 Timer TimUS;
 Ticker TickUS_actu;
 
-const float DISTLIM = 450;
+//const float DISTLIM = 600;
 
-double us_high[6]= {0};
-double us_low[6]= {0};
-double us_diff[6]= {0};
+unsigned int us_high[6]= {0};
+unsigned int us_low[6]= {0};
+unsigned int us_diff[6]= {0};
 bool us_verif[6]= {0};
 
-double distt[6];
+unsigned int distt[6];
 bool rebooted = 0;
 bool wtt = 0;
 
-//int sptt = 0;
+int indix = 0;
+unsigned int total[6] = {0};
+unsigned int ttt[6] = {0};
+
+void calculTotal()
+{
+    if(indix < MAXMOY) {
+        for(int j=0; j<6 ; j++) {
+            total[j]+=distt[j];
+        }
+        indix++;
+    } else {
+        for(int j=0; j<6 ; j++) {
+            ttt[j]=total[j]/MAXMOY;
+            total[j]=0;
+        }
+
+        /*
+        pc.printf("ttt[1] = %d\n\r", ttt[0]);
+        pc.printf("ttt[2] = %d\n\r", ttt[1]);
+        pc.printf("ttt[3] = %d\n\r", ttt[2]);
+        pc.printf("ttt[4] = %d\n\r", ttt[3]);
+        pc.printf("ttt[5] = %d\n\r", ttt[4]);
+        pc.printf("ttt[6] = %d\n\r", ttt[5]);
+        pc.printf("\n\r");
+        */
+
+        indix=0;
+    }
+}
 
 /*
 void captUS_init()
@@ -31,9 +64,12 @@
 {
     convertToDistance();
 
+    calculTotal();
+
     if((objRecule[indice]==0) && (fnc == 2)) {
         //if ((distt[5] >= DISTLIM) && (distt[0] >= DISTLIM)  && (distt[1] >= DISTLIM)) {
-        if (((distt[5] >= DISTLIM) && (distt[0] >= DISTLIM)  && (distt[1] >= DISTLIM)) || ((distt[5] < 0) && (distt[0] < 0)  && (distt[1] < 0))) {
+        //if (((distt[5] >= DISTLIM) && (distt[0] >= DISTLIM)  && (distt[1] >= DISTLIM)) /*|| ((distt[5] < 0) && (distt[0] < 0)  && (distt[1] < 0))*/) {
+        if ((ttt[5] >= DISTLIM) && (ttt[0] >= DISTLIM)  && (ttt[1] >= DISTLIM)) {
             wtt = 1;
         }
 
@@ -46,7 +82,8 @@
 
     else if((objRecule[indice]==1) && (fnc == 2)) {
         //if ((distt[2] >= DISTLIM) && (distt[3] >= DISTLIM) && (distt[4] >= DISTLIM)) {
-        if (((distt[2] >= DISTLIM) && (distt[3] >= DISTLIM)  && (distt[4] >= DISTLIM)) || ((distt[2] < 0) && (distt[3] < 0)  && (distt[4] < 0))) {
+        //if (((distt[2] >= DISTLIM) && (distt[3] >= DISTLIM)  && (distt[4] >= DISTLIM)) /*|| ((distt[2] < 0) && (distt[3] < 0)  && (distt[4] < 0))*/) {
+        if ((ttt[2] >= DISTLIM) && (ttt[3] >= DISTLIM)  && (ttt[4] >= DISTLIM)) {
             wtt=1;
         }
 
@@ -76,14 +113,18 @@
     pc.printf("Dist6 = %5.0lf mm\n\r", ::distance[5]);
     pc.printf("\n\r");
     */
+    
+    /*
+    pc.printf("ttt[1] = %d\n\r", ttt[0]);
+    pc.printf("ttt[2] = %d\n\r", ttt[1]);
+    pc.printf("ttt[3] = %d\n\r", ttt[2]);
+    pc.printf("ttt[4] = %d\n\r", ttt[3]);
+    pc.printf("ttt[5] = %d\n\r", ttt[4]);
+    pc.printf("ttt[6] = %d\n\r", ttt[5]);
+    pc.printf("\n\r");
+    */
 
-    pc.printf("distance[1] = %lf\n\r", distt[0]);
-    pc.printf("distance[2] = %lf\n\r", distt[1]);
-    pc.printf("distance[3] = %lf\n\r", distt[2]);
-    pc.printf("distance[4] = %lf\n\r", distt[3]);
-    pc.printf("distance[5] = %lf\n\r", distt[4]);
-    pc.printf("distance[6] = %lf\n\r", distt[5]);
-    pc.printf("\n\r");
+    //calculTotal();
 
     TimUS.reset();
     trigger=1;
@@ -203,7 +244,7 @@
      **************************************/
 
     for(int i = 0; i<6; i++) {
-        distt[i] = ((us_diff[i]*340)/1000); //conversion en distance(mm)
+        distt[i] = (int) ((us_diff[i]*340)/1000); //conversion en distance(mm)
     }
 
     /****************************************