File content as of revision 17:2c6549be1ecb:

#include "mbed.h"
#include "Motor.h"
#include "rtos.h"

#define SD_DBG             1

#include "SDFileSystem.h"
SDFileSystem sd(p5, p6, p7, p29, "sd");


#include "wave_player.h"
AnalogOut DACout(p18);
wave_player waver(&DACout);

PwmOut speaker(p23);

//BusOut myled(LED1,LED2,LED3,LED4);
#include "XNucleo53L0A1.h"
#include <stdio.h>
Serial pc(USBTX,USBRX);
DigitalOut shdn(p26);
//I2C sensor pins
#define VL53L0_I2C_SDA   p28
#define VL53L0_I2C_SCL   p27
static XNucleo53L0A1 *board=NULL;
DigitalOut myled (LED2);
Serial blue(p9,p10);
Motor RW(p22, p13, p12); // pwm, fwd, rev
Motor LW(p21, p8, p11); // pwm, fwd, rev
Thread lidar;
Thread siren;
uint32_t distance;
int level = 8; //Volume level is turned off
//wave_file;

void listdir(void) {
    DIR *d;
    struct dirent *p;

    d = opendir("/sd");
    if (d != NULL) {
        while ((p = readdir(d)) != NULL) {
            pc.printf(" - %s\r\n", p->d_name);
        }
    } else {
        pc.printf("Could not open directory!\r\n");
    }
    closedir(d);
}

void t3(){
 //  int i;
   pc.printf("Speaker\r\n");
   listdir();
   //waver.set_verbosity(1);
 //  FILE *fp = fopen("/sd/myfile2.txt", "w");
 //  fprintf(fp, "Hello World 11/18\n");
 //   fclose(fp);
    while(1){
        
        
/* generate a 500Hz tone using PWM hardware output
    speaker.period(1.0/500.0); // 500hz period
    speaker =0.5; //50% duty cycle - max volume
    wait(3);
    speaker=0.0; // turn off audio
    wait(2);
 
// generate a short 150Hz tone using PWM hardware output
// something like this can be used for a button click effect for feedback
    for (i=0; i<10; i++) {
        speaker.period(1.0/150.0); // 500hz period
        speaker =0.25; //25% duty cycle - mid range volume
        wait(.02);
        speaker=0.0; // turn off audio
        wait(0.5);
    }
  */ 
   while(1){
    FILE *wave_file=fopen("/sd/LoudSound.wav","r");
    
    waver.play(wave_file);
    
    fclose(wave_file);
    //Thread::wait(50);
    }
}
}

void t2() {
    
    int status;
    DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
    /* creates the 53L0A1 expansion board singleton obj */
    board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
    shdn = 0; //must reset sensor for an mbed reset to work
    Thread::wait(100);
    //lidar power off
    shdn = 1;
    Thread::wait(100);
    /* init the 53L0A1 board with default values */
    status = board->init_board();
    while (status) {
        pc.printf("Failed to init board! \r\n");
        status = board->init_board();
    }
    //loop taking and printing distance
    
    bool speakerOn=false;
    
    while (1) {
        status = board->sensor_centre->get_distance(&distance);
        if (status == VL53L0X_ERROR_NONE) {
            pc.printf("D=%ld mm\r\n", distance);
            if(distance > 240) level = 8;
            if(distance < 90) level = 0;
            if (distance >=90 && distance <=240){
                 int value=floor(static_cast<double>(8*(distance-90)/150));
                 if(value >=0 && value<=8){
                     level=value;
                 } 
            }
        }
    
    //LIDAR checks
    
   /* if(speakerOn==false && distance<=100) //thread start sound, speakerOn=true;
    if(speakerOn==true && distance<=100) //certain volume 
    if(speakerOn==true && distance<50) //higher volume;
    if(distance>100) //thread stop, speakerOn==false;
   */ 
    //siren.start(t3);
    myled=!myled;
    Thread::wait(500);
    }
    
    }





int main()
{
    char previousButton='0';
    char current;
    myled=0;
    pc.printf("in main\n\r");
    lidar.start(t2);
    siren.start(t3);
    char bnum=0;
    char bhit=0;
    while(1) {
         
    if(blue.readable()==1){
        if (blue.getc()=='!') {
            if (blue.getc()=='B') { //button data packet
                bnum = blue.getc(); //button number
                bhit = blue.getc(); //1=hit, 0=release
                current=bnum;  
                //Thread::wait(250);                 
                //pc.printf("Button Pressed %c bhit = %c PreviousButton = %c CurrentButton = %c\n\r", bnum, bhit, previousButton, current);
                previousButton = current; 
                if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
                    //myled = bnum - '0'; //current button number will appear on LEDs
                    switch (bnum) {
                        case '1': //number button 1
                            if (bhit=='1') {
                                RW.speed(1);
                                //add hit code here
                            } else {
                                //add release code here
                            }
                            break;
                        case '2': //number button 2
                            if (bhit=='1') {
                                RW.speed(0);
                                LW.speed(0);
                                //add hit code here
                            } else {
                                //add release code here
                            }
                            break;
                        case '3': //number button 3
                            if (bhit=='1') {
                                //add hit code here
                            } else {
                                //add release code here
                            }
                            break;
                        case '4': //number button 4
                            if (bhit=='1') {
                                //add hit code here
                            } else {
                                //add release code here
                            }
                            break;
                        case '5': //button 5 up arrow
                            if (bhit=='1') {
                                //add hit code here
                                
                                 RW.speed(1.0);
                                 LW.speed(1.0);  
                                
                            } else {
                                
                                   LW.speed(0); 
                                  RW.speed(0); 
                                //add release code here
                            }
                            break;
                        case '6': //button 6 down arrow
                            if (bhit=='1') {
                                 RW.speed(-1.0);
                                 LW.speed(-1.0);  
                                //add hit code here
                            } else {
                                RW.speed(0);
                                 LW.speed(0);
                                //add release code here
                            }
                            break;
                        case '7': //button 7 left arrow
                            if (bhit=='1') {
                                RW.speed(-1.0);
                                 LW.speed(1.0);
                                //add hit code here
                            } else {
                                
                                RW.speed(0);
                                 LW.speed(0);
                                //add release code here
                            }
                            break;
                        case '8': //button 8 right arrow
                            if (bhit=='1') {
                                RW.speed(1.0);
                                 LW.speed(-1.0);
                                //add hit code here
                            } else {
                                RW.speed(0);
                                 LW.speed(0);
                                //add release code here
                            }
                            break;
                        default:
                            break;
                    }
                    }
                    }
                }
          
            }
           
            Thread::yield();
            
        }
    
   }