Cat_Bot / Mbed 2 deprecated Cat_Bot_sub

sub

Dependencies:   HCSR04 mbed

Fork of Cat_Bot_sub by kazuki ishibashi

main.cpp@2:3f2d37164a10, 2017-03-23 (annotated)

Committer:
UCHITAKE
Date:
Thu Mar 23 06:45:42 2017 +0000
Revision:
2:3f2d37164a10
Parent:
1:f4ae12a86f80 
newLPC2NUCLEO_SERIAL

Who changed what in which revision?

UserRevisionLine numberNew contents of line
number_key 0:31a72c321609 1 #include "mbed.h"
number_key 0:31a72c321609 2 #include "hcsr04.h"
number_key 0:31a72c321609 3
number_key 0:31a72c321609 4 Serial to_main(dp4,dp5);
number_key 0:31a72c321609 5
number_key 0:31a72c321609 6 HCSR04 front(dp24,dp25);
number_key 0:31a72c321609 7 HCSR04 back(dp22,dp23);
number_key 0:31a72c321609 8 HCSR04 right(dp20,dp21);
number_key 0:31a72c321609 9 HCSR04 left(dp18,dp19);
number_key 0:31a72c321609 10
UCHITAKE 2:3f2d37164a10 11 Ticker tick;
number_key 0:31a72c321609 12
UCHITAKE 2:3f2d37164a10 13 char dist[4]= {0};
number_key 0:31a72c321609 14
UCHITAKE 2:3f2d37164a10 15 void put()
UCHITAKE 2:3f2d37164a10 16 {
UCHITAKE 2:3f2d37164a10 17 to_main.putc(1);
UCHITAKE 2:3f2d37164a10 18 to_main.putc(dist[0]);
UCHITAKE 2:3f2d37164a10 19 to_main.putc(dist[1]);
UCHITAKE 2:3f2d37164a10 20 to_main.putc(dist[2]);
UCHITAKE 2:3f2d37164a10 21 to_main.putc(dist[3]);
UCHITAKE 2:3f2d37164a10 22 }
UCHITAKE 2:3f2d37164a10 23
UCHITAKE 2:3f2d37164a10 24 int main()
UCHITAKE 2:3f2d37164a10 25 {
UCHITAKE 2:3f2d37164a10 26 to_main.baud(9600);
UCHITAKE 2:3f2d37164a10 27 tick.attach(&put, 0.05);
number_key 0:31a72c321609 28 while(1) {
number_key 0:31a72c321609 29 front.start();
number_key 0:31a72c321609 30 back.start();
number_key 0:31a72c321609 31 right.start();
number_key 0:31a72c321609 32 left.start();
number_key 1:f4ae12a86f80 33 if(front.get_dist_cm()>255)
number_key 1:f4ae12a86f80 34 dist[0]=255;
number_key 1:f4ae12a86f80 35 else
number_key 1:f4ae12a86f80 36 dist[0]=front.get_dist_cm();
number_key 1:f4ae12a86f80 37 if(back.get_dist_cm()>255)
number_key 1:f4ae12a86f80 38 dist[1]=255;
number_key 1:f4ae12a86f80 39 else
number_key 1:f4ae12a86f80 40 dist[1]=back.get_dist_cm();
number_key 1:f4ae12a86f80 41 if(right.get_dist_cm()>255)
number_key 1:f4ae12a86f80 42 dist[2]=255;
number_key 1:f4ae12a86f80 43 else
number_key 1:f4ae12a86f80 44 dist[2]=right.get_dist_cm();
number_key 1:f4ae12a86f80 45 if(left.get_dist_cm()>255)
number_key 1:f4ae12a86f80 46 dist[3]=255;
number_key 1:f4ae12a86f80 47 else
number_key 1:f4ae12a86f80 48 dist[3]=left.get_dist_cm();
number_key 0:31a72c321609 49 }
number_key 0:31a72c321609 50 }