DFFTeam
Esercitazione 2 - 6
Dependencies: mbed
Revision 0:b602ba967328, committed 2016-10-10
- Comitter:
- MDevolution
- Date:
- Mon Oct 10 09:37:52 2016 +0000
- Commit message:
- Esercitazione 2 - 6
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 10 09:37:52 2016 +0000
@@ -0,0 +1,56 @@
+#include "mbed.h"
+
+AnalogIn fotores_left(A0);
+AnalogIn fotores_right(A1);
+PwmOut PWM1(D5);
+PwmOut PWM2(D6);
+
+const float Soglia_buio=0.40;
+const float Soglia_uniformita=0.120;
+const float alfa=5;
+
+void control_led(float val1, float val2);
+
+int main (){
+ PWM1.period(0.001);
+ PWM2.period(0.001);
+ float val1=0;
+ float val2=0;
+ while (1){
+ val1=fotores_left.read();
+ val2=fotores_right.read();
+ control_led(val1,val2);
+ wait(0.1);
+ }
+}
+
+void control_led(float val1, float val2){
+ if((val2>Soglia_buio)||(val1>Soglia_buio)){
+ if(abs(val2-val1)<Soglia_uniformita) { // se la luce è uniforme su entrambe le fotoresistenze
+ PWM1=1;
+ PWM2=1;
+ }else{
+ if((val1-val2)>0) {
+ float a=1-(alfa*(val1-val2));
+ if (a<0){
+ a=0;
+ }
+ PWM1=a;
+ PWM2=1;
+ //wait (0.1);
+ }else{
+ PWM1=1;
+ float a=1-(alfa*(val2-val1));
+ if (a<0){
+ a=0;
+ }
+ PWM2=a;
+ //wait (0.1);
+ }
+ }
+ } else {
+ PWM1=0;
+ PWM2=0;
+ }
+}
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Oct 10 09:37:52 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/25aea2a3f4e3 \ No newline at end of file