Diplomarbeit_blimp
/
android_servook_motorok_sensorok
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Dependencies: aktuell26012016 mbed
Revision 1:234edfc8cac1, committed 2016-01-26
- Comitter:
- andreashatzl
- Date:
- Tue Jan 26 18:03:33 2016 +0000
- Parent:
- 0:5a51d1a48be4
- Commit message:
- gjh
Changed in this revision
| HCSR04.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/HCSR04.lib Mon Dec 14 19:41:19 2015 +0000 +++ b/HCSR04.lib Tue Jan 26 18:03:33 2016 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/antoniolinux/code/HCSR04/#86b2086be101 +https://developer.mbed.org/teams/Diplomarbeit_blimp/code/aktuell26012016/#f91efabe8d8a
--- a/main.cpp Mon Dec 14 19:41:19 2015 +0000
+++ b/main.cpp Tue Jan 26 18:03:33 2016 +0000
@@ -9,27 +9,30 @@
Serial HC06(p13, p14);
HCSR04 sensor(p12, p11);
PwmOut servo1(p21),servo2(p22),servo3(p23),servo4(p24);
-Ticker t1,t2,t3;
+Ticker t1,t2,t3,t4,t5;
void servomovedown();
void servomoveup();
void automode();
void checkdistance();
+void distancesecure();
+void writedistance();
-int wert;
-int servotickerstatus =0;
-float distance;
+int wert,distancecheck=0;
+int servotickerstatus =0,automovestatus=0,righttickerstatus=0,lefttickerstatus=0;
+float power;
+long distance,distance1,distance2,distance3;
-int main()
+int main()
{
- servo1.period_ms(20);
+ servo1.period_ms(20);
servo2.period_ms(20);
servo3.period_ms(20);
servo4.period_ms(20);
-
-
+
+
char serChar, count;
pc.baud(115200);
pc.printf("\r\n HC06 is activ!n");
@@ -38,57 +41,110 @@
wait(0.6);
led_1 = 0;
wait(0.6);
- led_1= led_2= 1; count=0; wert = 1500;
-
+ led_1= led_2= 1;
+ count=0;
+ wert = 1500;
+
HC06.baud(9600);
HC06.printf("mbed started!\n");
-
+
wert=1500;
-
- while(1)
- {
- if (HC06.readable())
- { count++;
+
+ while(1) {
+ if (HC06.readable()) {
+ count++;
serChar = HC06.getc();
pc.putc(serChar);
- switch (serChar)
- { case '1':
- { servo1.pulsewidth_us(1000);
- servo2.pulsewidth_us(1000); break;
+ switch (serChar) {
+ case '1': {
+ servo1.pulsewidth_us(1000);
+ servo2.pulsewidth_us(1000);
+ break;
+ }
+ case '2':
+ case '3':
+ case '4':
+ case '5':
+ case '6':
+ case '7':
+ case '8':
+ case '9': {
+ int mal = serChar - '0';
+ HC06.printf("Der Wert ist: %d\n",mal);
+ servo1.pulsewidth_us(1140+(50*mal));
+ servo2.pulsewidth_us(1020+50*mal);
+ break;
+ }
+ case 'b': {
+ if(servotickerstatus == 1) {
+ t1.detach();
+ servotickerstatus=0;
+ break;
}
- case '2': case '3': case '4': case '5': case '6': case '7': case '8': case '9':
- {
- int mal = serChar - '0';
- pc.printf("Der Wert ist: %d\n",mal);
- servo1.pulsewidth_us(1060+(50*mal));
- servo2.pulsewidth_us(1060+50*mal);
+ if(servotickerstatus == 0) {
+ servotickerstatus = 1;
+ t1.attach(&servomovedown, 0.01);
break;
}
- case 'b':
- {
- if(servotickerstatus == 1)
- { t1.detach();servotickerstatus=0;break;}
- if(servotickerstatus == 0)
- {servotickerstatus = 1;t1.attach(&servomovedown, 0.01);break;}
- }
- //wert= wert+100;servo4.pulsewidth_us(wert); break;
- case 'f':
- {
- if(servotickerstatus == 1)
- { t1.detach();servotickerstatus=0;break;}
- if(servotickerstatus == 0)
- {servotickerstatus = 1;t1.attach(&servomoveup, 0.01);break;}
- }
+ }
+ //wert= wert+100;servo4.pulsewidth_us(wert); break;
+ case 'f': {
+ if(servotickerstatus == 1) {
+ t1.detach();
+ servotickerstatus=0;
+ break;
+ }
+ if(servotickerstatus == 0) {
+ servotickerstatus = 1;
+ t1.attach(&servomoveup, 0.01);
+ break;
+ }
+ }
case 'l':
- servo3.pulsewidth_us(1000); break;
+ {
+ if(lefttickerstatus == 1) {
+ servo3.pulsewidth_us(1730);
+ wait(1);
+ servo3.pulsewidth_us(1500);
+ lefttickerstatus=0;
+ break;
+ }
+ if(lefttickerstatus == 0) {
+ lefttickerstatus = 1;
+ servo3.pulsewidth_us(1150);
+ break;
+ }}
case 'r':
- servo3.pulsewidth_us(1650); break;
+ { if(righttickerstatus == 1) {
+ servo3.pulsewidth_us(1150);
+ wait(1);
+ servo3.pulsewidth_us(1500);
+ righttickerstatus=0;
+ break;
+ }
+ if(righttickerstatus == 0) {
+ righttickerstatus = 1;
+ servo3.pulsewidth_us(1730);
+ break;}}
case 's':
- servo3.pulsewidth_us(1500); break;
+ servo3.pulsewidth_us(1500);
+ break;
case 'a':
- automode();break;
+ if(automovestatus == 1) {
+ t3.detach();
+ t4.detach();
+ automovestatus=0;
+ break;
+ }
+ if(automovestatus == 0) {
+ automovestatus = 1;
+ automode();
+ break;
+ }
default:
- led_1=led_3=0; led_2=led_4=1; break;
+ led_1=led_3=0;
+ led_2=led_4=1;
+ break;
}
}
}
@@ -98,45 +154,69 @@
{
wert = wert + 10;
servo4.pulsewidth_us(wert);
- if (wert > 2200)
- {t1.detach();servotickerstatus=0;}
+ if (wert > 2200) {
+ t1.detach();
+ servotickerstatus=0;
}
-
+}
+
void servomoveup()
{
wert = wert - 10;
servo4.pulsewidth_us(wert);
- if (wert < 870)
- {t1.detach();servotickerstatus=0;}
+ if (wert < 870) {
+ t1.detach();
+ servotickerstatus=0;
}
-
+}
+
void automode()
{
- servo4.pulsewidth_us(870);
- servo1.pulsewidth_us(1100);
- servo2.pulsewidth_us(1100);
- t3.attach(&checkdistance, 2.0);
-
- }
-
+ servo4.pulsewidth_us(900);
+ servo1.pulsewidth_us(1120);
+ servo2.pulsewidth_us(1050);
+ t4.attach(&distancesecure,0.04);
+ t3.attach(&checkdistance, 0.2);
+ t5.attach(&writedistance, 2);
+ return;
+
+}
+
void checkdistance()
{
- long distance = sensor.distance();
- pc.printf("Distance = %d\n", distance);
- if (distance < 50)
- {
- servo1.pulsewidth_us(1100);
- servo2.pulsewidth_us(1100);
- pc.printf("Distance ok");
- pc.printf("Distance = %d\n", distance);
- }
- else
- {
- servo1.pulsewidth_us(1300);
- servo2.pulsewidth_us(1300);
- pc.printf("Distance nicht ok");
- pc.printf("Distance = %d\n", distance);
- }
+ // if (distance > 150) {
+ // servo1.pulsewidth_us(1120);
+ // servo2.pulsewidth_us(1050);
+ // } else {
+ power = 1733-((distance*10)/3);
+ servo1.pulsewidth_us(power);
+ servo2.pulsewidth_us(power-80);
+ // }
+}
+
+void writedistance()
+{
+ HC06.printf(" %d", distance);
+ pc.printf("%d\n", distance);
+ }
+
+void distancesecure()
+{
+ distancecheck ++;
+ if (distancecheck == 1) {
+ distance1 = sensor.distance();
+ }
+ if (distancecheck == 2) {
+ distance2 = sensor.distance();
+ }
+ if (distancecheck == 3) {
+ distance3 = sensor.distance();
+ }
+ if (distancecheck == 4) {
+ distancecheck = 0;
+ distance = ((distance1+distance2+distance3)/3);
+ }
+
}