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First Draft, serial print change based on distance
main.cpp@14:837945ccd8c0, 2022-02-03 (annotated)
- Committer:
- liam94
- Date:
- Thu Feb 03 21:58:22 2022 +0000
- Revision:
- 14:837945ccd8c0
- Parent:
- 13:cc99df342c7f
- Child:
- 15:d8ff594535fc
added in new library titled "beep" to interface with the buzzer, used this library to make the buzzer sound for 0.5 seconds to indicate to the user when a reading has been taken
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
liam94 | 0:506531d0531c | 1 | #include "mbed.h" |
liam94 | 0:506531d0531c | 2 | #include "ultrasonic.h" |
liam94 | 0:506531d0531c | 3 | #include "N5110.h" |
liam94 | 5:98845ccaaacd | 4 | #include "Joystick.h" |
liam94 | 14:837945ccd8c0 | 5 | #include "beep.h" |
liam94 | 5:98845ccaaacd | 6 | #include "main.h" |
liam94 | 4:77500a7f951d | 7 | |
liam94 | 8:7e48229d678c | 8 | /***************************************************************************//** |
liam94 | 8:7e48229d678c | 9 | * |
liam94 | 8:7e48229d678c | 10 | * the main code below sets all the interrupts to pull down and also for the start |
liam94 | 8:7e48229d678c | 11 | * and back buttons it is sent to the specific start and back functions which sets |
liam94 | 8:7e48229d678c | 12 | * the flags which are then used in other functions. |
liam94 | 8:7e48229d678c | 13 | * |
liam94 | 8:7e48229d678c | 14 | * the mu.startUpdates() is where the ultrasonic sensor is told to start measuring |
liam94 | 8:7e48229d678c | 15 | * the distances. |
liam94 | 8:7e48229d678c | 16 | * the joystick and lcd are then initialised and the man menu function is then |
liam94 | 8:7e48229d678c | 17 | * called. |
liam94 | 8:7e48229d678c | 18 | * |
liam94 | 8:7e48229d678c | 19 | *******************************************************************************/ |
liam94 | 2:3ace5b4ae9a7 | 20 | |
liam94 | 2:3ace5b4ae9a7 | 21 | int main() |
liam94 | 1:a1795335ef8c | 22 | { |
liam94 | 5:98845ccaaacd | 23 | |
liam94 | 3:0b0fbddb6f51 | 24 | R.mode(PullDown); |
liam94 | 5:98845ccaaacd | 25 | Start.mode(PullDown); |
liam94 | 5:98845ccaaacd | 26 | Start.rise(Start_isr); |
liam94 | 5:98845ccaaacd | 27 | Back.mode(PullDown); |
liam94 | 5:98845ccaaacd | 28 | Back.rise(Back_isr); |
liam94 | 8:7e48229d678c | 29 | // printf("set buttons"); |
liam94 | 8:7e48229d678c | 30 | |
liam94 | 8:7e48229d678c | 31 | mu.startUpdates(); |
liam94 | 8:7e48229d678c | 32 | // printf ("Ultrasonic Updates started"); |
liam94 | 5:98845ccaaacd | 33 | |
liam94 | 5:98845ccaaacd | 34 | joystick.init(); |
liam94 | 8:7e48229d678c | 35 | // printf("initialise joystick") |
liam94 | 5:98845ccaaacd | 36 | init_display(); |
liam94 | 8:7e48229d678c | 37 | |
liam94 | 5:98845ccaaacd | 38 | main_menu(); |
liam94 | 5:98845ccaaacd | 39 | |
liam94 | 5:98845ccaaacd | 40 | } |
liam94 | 5:98845ccaaacd | 41 | |
liam94 | 8:7e48229d678c | 42 | /***************************************************************************//** |
liam94 | 8:7e48229d678c | 43 | * |
liam94 | 8:7e48229d678c | 44 | * added function which initalise the display and sets the contrast, this is |
liam94 | 8:7e48229d678c | 45 | * called from the int main and so the LCD boots up on startup. |
liam94 | 8:7e48229d678c | 46 | * |
liam94 | 8:7e48229d678c | 47 | *******************************************************************************/ |
liam94 | 8:7e48229d678c | 48 | |
liam94 | 5:98845ccaaacd | 49 | void init_display(){ |
liam94 | 8:7e48229d678c | 50 | |
liam94 | 8:7e48229d678c | 51 | // printf("initialise display"); |
liam94 | 4:77500a7f951d | 52 | lcd.init(); |
liam94 | 4:77500a7f951d | 53 | lcd.setContrast(0.4); |
liam94 | 8:7e48229d678c | 54 | lcd.clear(); |
liam94 | 5:98845ccaaacd | 55 | |
liam94 | 5:98845ccaaacd | 56 | } |
liam94 | 8:7e48229d678c | 57 | |
liam94 | 8:7e48229d678c | 58 | /***************************************************************************//** |
liam94 | 8:7e48229d678c | 59 | * |
liam94 | 8:7e48229d678c | 60 | * this function is the main menu for the program, it is called at the start and |
liam94 | 8:7e48229d678c | 61 | * depending on what string is selected, clicking the start uton will send the |
liam94 | 8:7e48229d678c | 62 | * user to the specified function. |
liam94 | 8:7e48229d678c | 63 | * |
liam94 | 8:7e48229d678c | 64 | *******************************************************************************/ |
liam94 | 5:98845ccaaacd | 65 | |
liam94 | 5:98845ccaaacd | 66 | void main_menu(){ |
liam94 | 5:98845ccaaacd | 67 | |
liam94 | 8:7e48229d678c | 68 | // printf("main menu"); |
liam94 | 8:7e48229d678c | 69 | |
liam94 | 5:98845ccaaacd | 70 | lcd.clear(); |
liam94 | 5:98845ccaaacd | 71 | Start_flag = 0; |
liam94 | 5:98845ccaaacd | 72 | int select = 0; |
liam94 | 13:cc99df342c7f | 73 | LEDS = 63; // 63 on the bus output sets all LEDs to off |
liam94 | 5:98845ccaaacd | 74 | |
liam94 | 5:98845ccaaacd | 75 | while (1) { |
liam94 | 5:98845ccaaacd | 76 | |
liam94 | 5:98845ccaaacd | 77 | Direction d = joystick.get_direction(); |
liam94 | 8:7e48229d678c | 78 | // printf("Direction = %i\n",d); |
liam94 | 5:98845ccaaacd | 79 | |
liam94 | 5:98845ccaaacd | 80 | switch(select) { |
liam94 | 5:98845ccaaacd | 81 | case 0: |
liam94 | 5:98845ccaaacd | 82 | switch(d) { |
liam94 | 8:7e48229d678c | 83 | case N: |
liam94 | 5:98845ccaaacd | 84 | select = 1; |
liam94 | 8:7e48229d678c | 85 | // printf("UP"); |
liam94 | 5:98845ccaaacd | 86 | break; |
liam94 | 8:7e48229d678c | 87 | case S: |
liam94 | 5:98845ccaaacd | 88 | select = 1; |
liam94 | 8:7e48229d678c | 89 | // printf("Down"); |
liam94 | 5:98845ccaaacd | 90 | break; |
liam94 | 5:98845ccaaacd | 91 | } |
liam94 | 5:98845ccaaacd | 92 | break; |
liam94 | 5:98845ccaaacd | 93 | case 1: |
liam94 | 5:98845ccaaacd | 94 | switch(d) { |
liam94 | 8:7e48229d678c | 95 | case N: |
liam94 | 5:98845ccaaacd | 96 | select = 0; |
liam94 | 8:7e48229d678c | 97 | // printf("UP"); |
liam94 | 5:98845ccaaacd | 98 | break; |
liam94 | 8:7e48229d678c | 99 | case S: |
liam94 | 5:98845ccaaacd | 100 | select = 0; |
liam94 | 8:7e48229d678c | 101 | // printf("Down"); |
liam94 | 5:98845ccaaacd | 102 | break; |
liam94 | 5:98845ccaaacd | 103 | } |
liam94 | 5:98845ccaaacd | 104 | break; |
liam94 | 5:98845ccaaacd | 105 | |
liam94 | 5:98845ccaaacd | 106 | } |
liam94 | 5:98845ccaaacd | 107 | wait(0.1); |
liam94 | 5:98845ccaaacd | 108 | if (select == 0) { |
liam94 | 8:7e48229d678c | 109 | // printf("main menu - sense object"); |
liam94 | 5:98845ccaaacd | 110 | lcd.clear(); |
liam94 | 5:98845ccaaacd | 111 | lcd.printString("Detect",27,0); |
liam94 | 5:98845ccaaacd | 112 | lcd.printString("Sense Object",7,2); |
liam94 | 5:98845ccaaacd | 113 | lcd.printString("Calibration",7,3); |
liam94 | 5:98845ccaaacd | 114 | lcd.drawCircle(3,19,2,FILL_TRANSPARENT); |
liam94 | 5:98845ccaaacd | 115 | lcd.refresh(); |
liam94 | 5:98845ccaaacd | 116 | wait(0.15); |
liam94 | 5:98845ccaaacd | 117 | if (Start_flag == 1) { |
liam94 | 5:98845ccaaacd | 118 | Start_flag = 0; |
liam94 | 5:98845ccaaacd | 119 | sense_object(); |
liam94 | 5:98845ccaaacd | 120 | } |
liam94 | 5:98845ccaaacd | 121 | } else if (select == 1) { |
liam94 | 8:7e48229d678c | 122 | // printf("main menu - calibration"); |
liam94 | 5:98845ccaaacd | 123 | lcd.clear(); |
liam94 | 5:98845ccaaacd | 124 | lcd.printString("Detect",27,0); |
liam94 | 5:98845ccaaacd | 125 | lcd.printString("Sense Object", 7,2); |
liam94 | 5:98845ccaaacd | 126 | lcd.printString("Calibration",7,3); |
liam94 | 5:98845ccaaacd | 127 | lcd.drawCircle(3,27,2,FILL_TRANSPARENT); |
liam94 | 5:98845ccaaacd | 128 | lcd.refresh(); |
liam94 | 5:98845ccaaacd | 129 | wait(0.15); |
liam94 | 5:98845ccaaacd | 130 | if (Start_flag == 1) { |
liam94 | 5:98845ccaaacd | 131 | Start_flag = 0; |
liam94 | 6:18a4dd77057e | 132 | calibrate_object(); |
liam94 | 5:98845ccaaacd | 133 | } |
liam94 | 5:98845ccaaacd | 134 | } |
liam94 | 5:98845ccaaacd | 135 | } |
liam94 | 5:98845ccaaacd | 136 | } |
liam94 | 5:98845ccaaacd | 137 | |
liam94 | 8:7e48229d678c | 138 | /***************************************************************************//** |
liam94 | 8:7e48229d678c | 139 | * |
liam94 | 8:7e48229d678c | 140 | * this function is for sensing the object |
liam94 | 8:7e48229d678c | 141 | * |
liam94 | 8:7e48229d678c | 142 | *******************************************************************************/ |
liam94 | 8:7e48229d678c | 143 | |
liam94 | 5:98845ccaaacd | 144 | void sense_object(){ |
liam94 | 8:7e48229d678c | 145 | |
liam94 | 8:7e48229d678c | 146 | // printf("sense object"); |
liam94 | 5:98845ccaaacd | 147 | |
liam94 | 5:98845ccaaacd | 148 | // set inital state |
liam94 | 5:98845ccaaacd | 149 | int state = 0; |
liam94 | 5:98845ccaaacd | 150 | |
liam94 | 2:3ace5b4ae9a7 | 151 | while(1) |
liam94 | 2:3ace5b4ae9a7 | 152 | { |
liam94 | 13:cc99df342c7f | 153 | LEDS = fsm[state]; // output current state |
liam94 | 10:be53044119d1 | 154 | printf("state = %d\r\n",state); |
liam94 | 8:7e48229d678c | 155 | |
liam94 | 8:7e48229d678c | 156 | // check which state we are in and see which the next state should be |
liam94 | 4:77500a7f951d | 157 | switch(state) { |
liam94 | 9:ada61082bbaa | 158 | case 0:{ |
liam94 | 4:77500a7f951d | 159 | lcd.clear(); |
liam94 | 4:77500a7f951d | 160 | lcd.printString(" object at 0'",0,0); |
liam94 | 4:77500a7f951d | 161 | lcd.printString(" R + 60'",0,2); |
liam94 | 13:cc99df342c7f | 162 | lcd.printString("Start to take",0,4); |
liam94 | 13:cc99df342c7f | 163 | lcd.printString(" Reading ",0,5); |
liam94 | 4:77500a7f951d | 164 | lcd.refresh(); |
liam94 | 3:0b0fbddb6f51 | 165 | if (R == 1){ |
liam94 | 3:0b0fbddb6f51 | 166 | state = 1;} |
liam94 | 3:0b0fbddb6f51 | 167 | else state = 0; |
liam94 | 9:ada61082bbaa | 168 | |
liam94 | 9:ada61082bbaa | 169 | if (Start_flag == 1) { |
liam94 | 9:ada61082bbaa | 170 | Start_flag = 0; |
liam94 | 9:ada61082bbaa | 171 | object_sense1(); |
liam94 | 9:ada61082bbaa | 172 | } |
liam94 | 9:ada61082bbaa | 173 | |
liam94 | 9:ada61082bbaa | 174 | break;} |
liam94 | 10:be53044119d1 | 175 | |
liam94 | 9:ada61082bbaa | 176 | case 1:{ |
liam94 | 4:77500a7f951d | 177 | lcd.clear(); |
liam94 | 4:77500a7f951d | 178 | lcd.printString(" object at 60'",0,0); |
liam94 | 4:77500a7f951d | 179 | lcd.printString(" R + 60'",0,2); |
liam94 | 13:cc99df342c7f | 180 | lcd.printString("Start to take",0,4); |
liam94 | 13:cc99df342c7f | 181 | lcd.printString(" Reading ",0,5); |
liam94 | 4:77500a7f951d | 182 | lcd.refresh(); |
liam94 | 3:0b0fbddb6f51 | 183 | if (R == 1){ |
liam94 | 3:0b0fbddb6f51 | 184 | state = 2;} |
liam94 | 3:0b0fbddb6f51 | 185 | else state = 1; |
liam94 | 9:ada61082bbaa | 186 | |
liam94 | 9:ada61082bbaa | 187 | if (Start_flag == 1) { |
liam94 | 9:ada61082bbaa | 188 | Start_flag = 0; |
liam94 | 9:ada61082bbaa | 189 | object_sense2(); |
liam94 | 9:ada61082bbaa | 190 | } |
liam94 | 10:be53044119d1 | 191 | |
liam94 | 10:be53044119d1 | 192 | break;} |
liam94 | 9:ada61082bbaa | 193 | case 2:{ |
liam94 | 4:77500a7f951d | 194 | lcd.clear(); |
liam94 | 4:77500a7f951d | 195 | lcd.printString(" object at 120'",0,0); |
liam94 | 4:77500a7f951d | 196 | lcd.printString(" R + 60'",0,2); |
liam94 | 13:cc99df342c7f | 197 | lcd.printString("Start to take",0,4); |
liam94 | 13:cc99df342c7f | 198 | lcd.printString(" Reading ",0,5); |
liam94 | 4:77500a7f951d | 199 | lcd.refresh(); |
liam94 | 3:0b0fbddb6f51 | 200 | if (R == 1){ |
liam94 | 3:0b0fbddb6f51 | 201 | state = 3;} |
liam94 | 3:0b0fbddb6f51 | 202 | else state = 2; |
liam94 | 9:ada61082bbaa | 203 | |
liam94 | 9:ada61082bbaa | 204 | if (Start_flag == 1) { |
liam94 | 9:ada61082bbaa | 205 | Start_flag = 0; |
liam94 | 9:ada61082bbaa | 206 | object_sense3(); |
liam94 | 9:ada61082bbaa | 207 | } |
liam94 | 10:be53044119d1 | 208 | |
liam94 | 10:be53044119d1 | 209 | break;} |
liam94 | 10:be53044119d1 | 210 | |
liam94 | 9:ada61082bbaa | 211 | case 3:{ |
liam94 | 4:77500a7f951d | 212 | lcd.clear(); |
liam94 | 4:77500a7f951d | 213 | lcd.printString(" object at 180'",0,0); |
liam94 | 4:77500a7f951d | 214 | lcd.printString(" R + 60'",0,2); |
liam94 | 13:cc99df342c7f | 215 | lcd.printString("Start to take",0,4); |
liam94 | 13:cc99df342c7f | 216 | lcd.printString(" Reading ",0,5); |
liam94 | 4:77500a7f951d | 217 | lcd.refresh(); |
liam94 | 3:0b0fbddb6f51 | 218 | if (R == 1){ |
liam94 | 3:0b0fbddb6f51 | 219 | state = 4;} |
liam94 | 3:0b0fbddb6f51 | 220 | else state = 3; |
liam94 | 9:ada61082bbaa | 221 | |
liam94 | 9:ada61082bbaa | 222 | if (Start_flag == 1) { |
liam94 | 9:ada61082bbaa | 223 | Start_flag = 0; |
liam94 | 9:ada61082bbaa | 224 | object_sense4(); |
liam94 | 9:ada61082bbaa | 225 | } |
liam94 | 10:be53044119d1 | 226 | |
liam94 | 10:be53044119d1 | 227 | break;} |
liam94 | 10:be53044119d1 | 228 | |
liam94 | 9:ada61082bbaa | 229 | case 4:{ |
liam94 | 4:77500a7f951d | 230 | lcd.clear(); |
liam94 | 4:77500a7f951d | 231 | lcd.printString(" object at 240'",0,0); |
liam94 | 4:77500a7f951d | 232 | lcd.printString(" R + 60'",0,2); |
liam94 | 13:cc99df342c7f | 233 | lcd.printString("Start to take",0,4); |
liam94 | 13:cc99df342c7f | 234 | lcd.printString(" Reading ",0,5); |
liam94 | 4:77500a7f951d | 235 | lcd.refresh(); |
liam94 | 3:0b0fbddb6f51 | 236 | if (R == 1){ |
liam94 | 3:0b0fbddb6f51 | 237 | state = 5;} |
liam94 | 3:0b0fbddb6f51 | 238 | else state = 4; |
liam94 | 9:ada61082bbaa | 239 | |
liam94 | 9:ada61082bbaa | 240 | if (Start_flag == 1) { |
liam94 | 9:ada61082bbaa | 241 | Start_flag = 0; |
liam94 | 9:ada61082bbaa | 242 | object_sense5(); |
liam94 | 9:ada61082bbaa | 243 | } |
liam94 | 10:be53044119d1 | 244 | |
liam94 | 10:be53044119d1 | 245 | break;} |
liam94 | 10:be53044119d1 | 246 | |
liam94 | 9:ada61082bbaa | 247 | case 5:{ |
liam94 | 4:77500a7f951d | 248 | lcd.clear(); |
liam94 | 4:77500a7f951d | 249 | lcd.printString(" object at 300'",0,0); |
liam94 | 4:77500a7f951d | 250 | lcd.printString(" R + 60'",0,2); |
liam94 | 13:cc99df342c7f | 251 | lcd.printString("Start to take",0,4); |
liam94 | 13:cc99df342c7f | 252 | lcd.printString(" Reading ",0,5); |
liam94 | 4:77500a7f951d | 253 | lcd.refresh(); |
liam94 | 3:0b0fbddb6f51 | 254 | if (R == 1){ |
liam94 | 10:be53044119d1 | 255 | object_detection();} |
liam94 | 3:0b0fbddb6f51 | 256 | else state = 5; |
liam94 | 10:be53044119d1 | 257 | |
liam94 | 9:ada61082bbaa | 258 | if (Start_flag == 1) { |
liam94 | 9:ada61082bbaa | 259 | Start_flag = 0; |
liam94 | 9:ada61082bbaa | 260 | object_sense6(); |
liam94 | 9:ada61082bbaa | 261 | } |
liam94 | 10:be53044119d1 | 262 | |
liam94 | 10:be53044119d1 | 263 | break;} |
liam94 | 9:ada61082bbaa | 264 | |
liam94 | 9:ada61082bbaa | 265 | default:{ |
liam94 | 2:3ace5b4ae9a7 | 266 | error("Invalid state"); //invalid state - call error routine |
liam94 | 2:3ace5b4ae9a7 | 267 | // or could jump to starting state i.e. state = 0 |
liam94 | 9:ada61082bbaa | 268 | break;} |
liam94 | 2:3ace5b4ae9a7 | 269 | } |
liam94 | 6:18a4dd77057e | 270 | if (Back_flag == 1) { |
liam94 | 6:18a4dd77057e | 271 | Back_flag = 0; |
liam94 | 6:18a4dd77057e | 272 | main_menu();} |
liam94 | 6:18a4dd77057e | 273 | |
liam94 | 5:98845ccaaacd | 274 | ThisThread::sleep_for(200); |
liam94 | 5:98845ccaaacd | 275 | } |
liam94 | 5:98845ccaaacd | 276 | } |
liam94 | 8:7e48229d678c | 277 | |
liam94 | 8:7e48229d678c | 278 | /***************************************************************************//** |
liam94 | 8:7e48229d678c | 279 | * |
liam94 | 8:7e48229d678c | 280 | * this function is for calibrating the distance in which the object centre point |
liam94 | 8:7e48229d678c | 281 | * should be away from the sensor, it checks the current distance and then though |
liam94 | 8:7e48229d678c | 282 | * the function "void dist" displays the current distance on the screen. |
liam94 | 8:7e48229d678c | 283 | * this function also tells the user the distance away from the target centre |
liam94 | 8:7e48229d678c | 284 | * point this should be, this is so that the board is the right distance away and |
liam94 | 8:7e48229d678c | 285 | * will be able to detect the object better. |
liam94 | 8:7e48229d678c | 286 | * |
liam94 | 8:7e48229d678c | 287 | * in order to print the distance onto the LCD the current distance is printed to |
liam94 | 8:7e48229d678c | 288 | * a buffer which is a max length of 14 (the amount of characters that can fit |
liam94 | 8:7e48229d678c | 289 | * width ways on the screen) this can then be printed on the screen using print |
liam94 | 8:7e48229d678c | 290 | * string. |
liam94 | 8:7e48229d678c | 291 | * |
liam94 | 8:7e48229d678c | 292 | *******************************************************************************/ |
liam94 | 8:7e48229d678c | 293 | |
liam94 | 6:18a4dd77057e | 294 | void calibrate_object(){ |
liam94 | 6:18a4dd77057e | 295 | |
liam94 | 9:ada61082bbaa | 296 | sense = 0; |
liam94 | 9:ada61082bbaa | 297 | |
liam94 | 6:18a4dd77057e | 298 | while(1) |
liam94 | 6:18a4dd77057e | 299 | { |
liam94 | 9:ada61082bbaa | 300 | mu.checkDistance(); |
liam94 | 7:7464fbb0f3e1 | 301 | |
liam94 | 6:18a4dd77057e | 302 | if (Back_flag == 1) { |
liam94 | 6:18a4dd77057e | 303 | Back_flag = 0; |
liam94 | 6:18a4dd77057e | 304 | main_menu();} |
liam94 | 6:18a4dd77057e | 305 | |
liam94 | 6:18a4dd77057e | 306 | wait (1); |
liam94 | 6:18a4dd77057e | 307 | } |
liam94 | 6:18a4dd77057e | 308 | } |
liam94 | 9:ada61082bbaa | 309 | |
liam94 | 7:7464fbb0f3e1 | 310 | void dist(int distance) |
liam94 | 7:7464fbb0f3e1 | 311 | { |
liam94 | 10:be53044119d1 | 312 | printf("sense = %d\n", sense); |
liam94 | 8:7e48229d678c | 313 | // printf("Distance changed to %dmm\r\n", distance); |
liam94 | 9:ada61082bbaa | 314 | |
liam94 | 9:ada61082bbaa | 315 | lcd.clear(); |
liam94 | 7:7464fbb0f3e1 | 316 | |
liam94 | 9:ada61082bbaa | 317 | char buffer[14]; |
liam94 | 9:ada61082bbaa | 318 | int length = sprintf(buffer,"%dmm", distance); |
liam94 | 9:ada61082bbaa | 319 | if (length <= 14) |
liam94 | 7:7464fbb0f3e1 | 320 | |
liam94 | 9:ada61082bbaa | 321 | lcd.printString("set object to",0,0); |
liam94 | 9:ada61082bbaa | 322 | lcd.printString(" 200mm",0,1); |
liam94 | 9:ada61082bbaa | 323 | lcd.printString(buffer,24,3); |
liam94 | 9:ada61082bbaa | 324 | lcd.refresh(); |
liam94 | 10:be53044119d1 | 325 | |
liam94 | 7:7464fbb0f3e1 | 326 | } |
liam94 | 8:7e48229d678c | 327 | |
liam94 | 8:7e48229d678c | 328 | /***************************************************************************//** |
liam94 | 8:7e48229d678c | 329 | * |
liam94 | 10:be53044119d1 | 330 | * this is where the magic happens |
liam94 | 10:be53044119d1 | 331 | * |
liam94 | 10:be53044119d1 | 332 | *******************************************************************************/ |
liam94 | 10:be53044119d1 | 333 | |
liam94 | 10:be53044119d1 | 334 | void object_sense1(){ |
liam94 | 10:be53044119d1 | 335 | |
liam94 | 10:be53044119d1 | 336 | sense = 1; |
liam94 | 10:be53044119d1 | 337 | |
liam94 | 10:be53044119d1 | 338 | Distance1 = mu.getCurrentDistance(); |
liam94 | 13:cc99df342c7f | 339 | |
liam94 | 14:837945ccd8c0 | 340 | buzzer.beep(1000,2); |
liam94 | 14:837945ccd8c0 | 341 | wait(0.5); |
liam94 | 14:837945ccd8c0 | 342 | buzzer.beep(0,0); |
liam94 | 14:837945ccd8c0 | 343 | |
liam94 | 10:be53044119d1 | 344 | printf("distance at sense 1 = %d\r\n", Distance1); |
liam94 | 10:be53044119d1 | 345 | |
liam94 | 10:be53044119d1 | 346 | } |
liam94 | 10:be53044119d1 | 347 | |
liam94 | 10:be53044119d1 | 348 | void object_sense2(){ |
liam94 | 10:be53044119d1 | 349 | |
liam94 | 10:be53044119d1 | 350 | sense = 2; |
liam94 | 10:be53044119d1 | 351 | |
liam94 | 10:be53044119d1 | 352 | Distance2 = mu.getCurrentDistance(); |
liam94 | 14:837945ccd8c0 | 353 | |
liam94 | 14:837945ccd8c0 | 354 | buzzer.beep(1000,2); |
liam94 | 14:837945ccd8c0 | 355 | wait(0.5); |
liam94 | 14:837945ccd8c0 | 356 | buzzer.beep(0,0); |
liam94 | 10:be53044119d1 | 357 | |
liam94 | 10:be53044119d1 | 358 | printf("distance at sense 2 = %d\r\n", Distance2); |
liam94 | 10:be53044119d1 | 359 | |
liam94 | 10:be53044119d1 | 360 | } |
liam94 | 10:be53044119d1 | 361 | |
liam94 | 10:be53044119d1 | 362 | void object_sense3(){ |
liam94 | 10:be53044119d1 | 363 | |
liam94 | 10:be53044119d1 | 364 | sense = 3; |
liam94 | 10:be53044119d1 | 365 | |
liam94 | 10:be53044119d1 | 366 | Distance3 = mu.getCurrentDistance(); |
liam94 | 14:837945ccd8c0 | 367 | |
liam94 | 14:837945ccd8c0 | 368 | buzzer.beep(1000,2); |
liam94 | 14:837945ccd8c0 | 369 | wait(0.5); |
liam94 | 14:837945ccd8c0 | 370 | buzzer.beep(0,0); |
liam94 | 10:be53044119d1 | 371 | |
liam94 | 10:be53044119d1 | 372 | printf("distance at sense 3 = %d\r\n", Distance3); |
liam94 | 10:be53044119d1 | 373 | |
liam94 | 10:be53044119d1 | 374 | } |
liam94 | 10:be53044119d1 | 375 | |
liam94 | 10:be53044119d1 | 376 | void object_sense4(){ |
liam94 | 10:be53044119d1 | 377 | |
liam94 | 10:be53044119d1 | 378 | sense = 4; |
liam94 | 10:be53044119d1 | 379 | |
liam94 | 10:be53044119d1 | 380 | Distance4 = mu.getCurrentDistance(); |
liam94 | 14:837945ccd8c0 | 381 | |
liam94 | 14:837945ccd8c0 | 382 | buzzer.beep(1000,2); |
liam94 | 14:837945ccd8c0 | 383 | wait(0.5); |
liam94 | 14:837945ccd8c0 | 384 | buzzer.beep(0,0); |
liam94 | 10:be53044119d1 | 385 | |
liam94 | 10:be53044119d1 | 386 | printf("distance at sense 4 = %d\r\n", Distance4); |
liam94 | 10:be53044119d1 | 387 | |
liam94 | 10:be53044119d1 | 388 | } |
liam94 | 10:be53044119d1 | 389 | |
liam94 | 10:be53044119d1 | 390 | void object_sense5(){ |
liam94 | 10:be53044119d1 | 391 | |
liam94 | 10:be53044119d1 | 392 | sense = 5; |
liam94 | 10:be53044119d1 | 393 | |
liam94 | 10:be53044119d1 | 394 | Distance5 = mu.getCurrentDistance(); |
liam94 | 10:be53044119d1 | 395 | |
liam94 | 14:837945ccd8c0 | 396 | buzzer.beep(1000,2); |
liam94 | 14:837945ccd8c0 | 397 | wait(0.5); |
liam94 | 14:837945ccd8c0 | 398 | buzzer.beep(0,0); |
liam94 | 14:837945ccd8c0 | 399 | |
liam94 | 10:be53044119d1 | 400 | printf("distance at sense 5 = %d\r\n", Distance5); |
liam94 | 10:be53044119d1 | 401 | |
liam94 | 10:be53044119d1 | 402 | } |
liam94 | 10:be53044119d1 | 403 | |
liam94 | 10:be53044119d1 | 404 | void object_sense6(){ |
liam94 | 10:be53044119d1 | 405 | |
liam94 | 10:be53044119d1 | 406 | sense = 6; |
liam94 | 10:be53044119d1 | 407 | |
liam94 | 10:be53044119d1 | 408 | Distance6 = mu.getCurrentDistance(); |
liam94 | 10:be53044119d1 | 409 | |
liam94 | 14:837945ccd8c0 | 410 | buzzer.beep(1000,2); |
liam94 | 14:837945ccd8c0 | 411 | wait(0.5); |
liam94 | 14:837945ccd8c0 | 412 | buzzer.beep(0,0); |
liam94 | 14:837945ccd8c0 | 413 | |
liam94 | 10:be53044119d1 | 414 | printf("distance at sense 6 = %d\r\n", Distance6); |
liam94 | 10:be53044119d1 | 415 | |
liam94 | 10:be53044119d1 | 416 | } |
liam94 | 10:be53044119d1 | 417 | |
liam94 | 10:be53044119d1 | 418 | void object_detection(){ |
liam94 | 10:be53044119d1 | 419 | |
liam94 | 10:be53044119d1 | 420 | lcd.clear(); |
liam94 | 10:be53044119d1 | 421 | |
liam94 | 10:be53044119d1 | 422 | //printf("Distance 1 = %d\n", Distance1); |
liam94 | 10:be53044119d1 | 423 | //printf("glass[0] = %d\n", glass[0]); |
liam94 | 10:be53044119d1 | 424 | //printf("glass[6] = %d\n", glass[6]); |
liam94 | 10:be53044119d1 | 425 | if (abs(Distance1 - glass[0]) <= 10 and abs(Distance2 - glass[1]) <= 10 and abs(Distance3 - glass[2]) <= 10 and abs(Distance4 - glass[3]) <= 10 and abs(Distance5 - glass[4]) <= 10 and abs(Distance6 - glass[5]) <= 10){ |
liam94 | 10:be53044119d1 | 426 | printf("glass\n"); |
liam94 | 13:cc99df342c7f | 427 | lcd.printString(" Object Found!",0,1); |
liam94 | 13:cc99df342c7f | 428 | lcd.printString(" Pint Glass",0,3); |
liam94 | 10:be53044119d1 | 429 | lcd.refresh();} |
liam94 | 10:be53044119d1 | 430 | |
liam94 | 10:be53044119d1 | 431 | else{ |
liam94 | 10:be53044119d1 | 432 | printf("nothing\n"); |
liam94 | 13:cc99df342c7f | 433 | lcd.printString(" No Object!",0,1); |
liam94 | 13:cc99df342c7f | 434 | lcd.printString(" Please Try",0,3); |
liam94 | 10:be53044119d1 | 435 | lcd.printString("Again",24,4); |
liam94 | 10:be53044119d1 | 436 | lcd.refresh();} |
liam94 | 10:be53044119d1 | 437 | } |
liam94 | 10:be53044119d1 | 438 | |
liam94 | 10:be53044119d1 | 439 | /***************************************************************************//** |
liam94 | 10:be53044119d1 | 440 | * |
liam94 | 8:7e48229d678c | 441 | * these functions are for setting the flags for the start and back butons which |
liam94 | 8:7e48229d678c | 442 | * are used in the other functions. |
liam94 | 8:7e48229d678c | 443 | * |
liam94 | 8:7e48229d678c | 444 | *******************************************************************************/ |
liam94 | 8:7e48229d678c | 445 | |
liam94 | 5:98845ccaaacd | 446 | void Start_isr() |
liam94 | 5:98845ccaaacd | 447 | { |
liam94 | 8:7e48229d678c | 448 | // printf("start button pressed"); |
liam94 | 5:98845ccaaacd | 449 | Start_flag = 1; |
liam94 | 2:3ace5b4ae9a7 | 450 | } |
liam94 | 2:3ace5b4ae9a7 | 451 | |
liam94 | 5:98845ccaaacd | 452 | void Back_isr() |
liam94 | 5:98845ccaaacd | 453 | { |
liam94 | 8:7e48229d678c | 454 | // printf("back button pressed"); |
liam94 | 5:98845ccaaacd | 455 | Back_flag = 1; |
liam94 | 1:a1795335ef8c | 456 | } |
liam94 | 5:98845ccaaacd | 457 |