AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

captUS.cpp@15:43f5bda97488, 2020-09-28 (annotated)

Committer:
g0dd4
Date:
Mon Sep 28 19:17:00 2020 +0000
Revision:
15:43f5bda97488
Parent:
1:2fe8c402ee79
Child:
16:4c0b1647e8ae
Creation de la fonctions convertToDistance;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nanaud 1:2fe8c402ee79 1 //Nom du fichier : captUS.cpp
Nanaud 0:dc036b67c87c 2 #include "pins.h"
Nanaud 0:dc036b67c87c 3
Nanaud 1:2fe8c402ee79 4 // Variables globales & timers
Nanaud 1:2fe8c402ee79 5 float us_out[6];
Nanaud 1:2fe8c402ee79 6 Timer tps;
Nanaud 1:2fe8c402ee79 7 Ticker ticker_US;
Nanaud 0:dc036b67c87c 8
Nanaud 1:2fe8c402ee79 9 void captUS_init(){
g0dd4 15:43f5bda97488 10 tps.reset();
g0dd4 15:43f5bda97488 11 tps.start();
g0dd4 15:43f5bda97488 12 }
Nanaud 1:2fe8c402ee79 13
Nanaud 1:2fe8c402ee79 14 void captUS_trig(){
Nanaud 0:dc036b67c87c 15 tps.reset();
Nanaud 0:dc036b67c87c 16 trigger=1;
g0dd4 15:43f5bda97488 17 wait_us(20);
Nanaud 0:dc036b67c87c 18 trigger=0;
Nanaud 0:dc036b67c87c 19 }
Nanaud 0:dc036b67c87c 20
Nanaud 0:dc036b67c87c 21 void echoRise1(){us_out[0]=tps.read_us();}
Nanaud 0:dc036b67c87c 22 void echoFall1(){us_out[0]=(tps.read_us()-us_out[0])/2;}
Nanaud 0:dc036b67c87c 23
Nanaud 0:dc036b67c87c 24 void echoRise2(){us_out[1]=tps.read_us();}
Nanaud 0:dc036b67c87c 25 void echoFall2(){us_out[1]=(tps.read_us()-us_out[1])/2;}
Nanaud 0:dc036b67c87c 26
Nanaud 0:dc036b67c87c 27 void echoRise3(){us_out[2]=tps.read_us();}
Nanaud 0:dc036b67c87c 28 void echoFall3(){us_out[2]=(tps.read_us()-us_out[2])/2;}
Nanaud 0:dc036b67c87c 29
Nanaud 0:dc036b67c87c 30 void echoRise4(){us_out[3]=tps.read_us();}
Nanaud 0:dc036b67c87c 31 void echoFall4(){us_out[3]=(tps.read_us()-us_out[3])/2;}
Nanaud 0:dc036b67c87c 32
Nanaud 0:dc036b67c87c 33 void echoRise5(){us_out[4]=tps.read_us();}
Nanaud 0:dc036b67c87c 34 void echoFall5(){us_out[4]=(tps.read_us()-us_out[4])/2;}
Nanaud 0:dc036b67c87c 35
Nanaud 0:dc036b67c87c 36 void echoRise6(){us_out[5]=tps.read_us();}
Nanaud 0:dc036b67c87c 37 void echoFall6(){us_out[5]=(tps.read_us()-us_out[5])/2;}
g0dd4 15:43f5bda97488 38
g0dd4 15:43f5bda97488 39
g0dd4 15:43f5bda97488 40 float* convertToDistance(){
g0dd4 15:43f5bda97488 41 /**************************************
g0dd4 15:43f5bda97488 42 *création d'un tableau où l'ensemble *
g0dd4 15:43f5bda97488 43 *des distance serons stockées *
g0dd4 15:43f5bda97488 44 **************************************/
g0dd4 15:43f5bda97488 45 float distance[6];
g0dd4 15:43f5bda97488 46
g0dd4 15:43f5bda97488 47 /**************************************
g0dd4 15:43f5bda97488 48 * Nous convertisons grâce au valeur *
g0dd4 15:43f5bda97488 49 * qui sont retournées par echoRiseX *
g0dd4 15:43f5bda97488 50 * et echoFallx *
g0dd4 15:43f5bda97488 51 **************************************/
g0dd4 15:43f5bda97488 52 for(char i = 0; i<6;i++)
g0dd4 15:43f5bda97488 53 distance[i] = 10*(us_out[i].read_us()-correction)/58.0 ;
g0dd4 15:43f5bda97488 54
g0dd4 15:43f5bda97488 55 /*************************************
g0dd4 15:43f5bda97488 56 * Nous retournons le tableau qui *
g0dd4 15:43f5bda97488 57 * contiens l'ensemble des distances *
g0dd4 15:43f5bda97488 58 *************************************/
g0dd4 15:43f5bda97488 59 return distance;
g0dd4 15:43f5bda97488 60 }