ELCT 302 / Mbed 2 deprecated elct302_lab4_code

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Dependencies:   mbed

main.cpp@1:113784e551f2, 2021-03-06 (annotated)

Committer:
awandy
Date:
Sat Mar 06 21:27:17 2021 +0000
Revision:
1:113784e551f2
Parent:
0:d575f98b29f8
Child:
2:0bc1b34a5ea4
works now

Who changed what in which revision?

UserRevisionLine numberNew contents of line
awandy 0:d575f98b29f8 1 #include "mbed.h"
awandy 1:113784e551f2 2 #include <iostream>
awandy 1:113784e551f2 3
awandy 1:113784e551f2 4 AnalogIn sen_left(PTB0);
awandy 1:113784e551f2 5 AnalogIn sen_right(PTC2);
awandy 1:113784e551f2 6
awandy 1:113784e551f2 7 DigitalOut led_out0(D0); // D0
awandy 1:113784e551f2 8 DigitalOut led_out1(D1); // D1
awandy 1:113784e551f2 9 DigitalOut led_out2(PTD4); // D3
awandy 1:113784e551f2 10 DigitalOut led_out3(PTC7); // the last one
awandy 1:113784e551f2 11
awandy 1:113784e551f2 12 Ticker locator;
awandy 1:113784e551f2 13 const float ti_L = 1e-3;
awandy 1:113784e551f2 14 const float threshold = 0.2;
awandy 1:113784e551f2 15
awandy 1:113784e551f2 16 float sen_left_val = 0;
awandy 1:113784e551f2 17 float sen_right_val = 0;
awandy 1:113784e551f2 18 int index = 0; // position index
awandy 1:113784e551f2 19 int rem = 0; // remainder for conversion to binary
awandy 1:113784e551f2 20 bool left_sensed = false;
awandy 1:113784e551f2 21 bool right_sensed = false;
awandy 1:113784e551f2 22 bool left_prev = false;
awandy 1:113784e551f2 23 bool right_prev = false;
awandy 0:d575f98b29f8 24
awandy 1:113784e551f2 25 void locate() {
awandy 1:113784e551f2 26 sen_left_val = sen_left.read();
awandy 1:113784e551f2 27 sen_right_val = sen_right.read();
awandy 1:113784e551f2 28
awandy 1:113784e551f2 29 left_prev = left_sensed;
awandy 1:113784e551f2 30 right_prev = right_sensed;
awandy 1:113784e551f2 31
awandy 1:113784e551f2 32 left_sensed = sen_left_val >= threshold; // true if black tape detected
awandy 1:113784e551f2 33 right_sensed = sen_right_val >= threshold;
awandy 1:113784e551f2 34
awandy 1:113784e551f2 35 if (left_prev == left_sensed && right_prev == right_sensed) // skip this sample if nothing changed
awandy 1:113784e551f2 36 return;
awandy 1:113784e551f2 37 else if (left_sensed && right_sensed) // both sensors triggered
awandy 1:113784e551f2 38 index = 0;
awandy 1:113784e551f2 39 else if (left_sensed && !right_sensed || right_sensed && !left_sensed) // only one triggered
awandy 1:113784e551f2 40 index++;
awandy 1:113784e551f2 41
awandy 1:113784e551f2 42 if (index == 16)
awandy 1:113784e551f2 43 index = 0;
awandy 1:113784e551f2 44
awandy 1:113784e551f2 45 rem = index % 2;
awandy 1:113784e551f2 46 led_out0.write(rem == 1);
awandy 1:113784e551f2 47 rem = (index / 2) % 2;
awandy 1:113784e551f2 48 led_out1.write(rem == 1);
awandy 1:113784e551f2 49 rem = (index / 4) % 2;
awandy 1:113784e551f2 50 led_out2.write(rem == 1);
awandy 1:113784e551f2 51 rem = (index / 8) % 2;
awandy 1:113784e551f2 52 led_out3.write(rem == 1);
awandy 1:113784e551f2 53 }
awandy 1:113784e551f2 54
awandy 0:d575f98b29f8 55
awandy 0:d575f98b29f8 56 int main() {
awandy 1:113784e551f2 57
awandy 1:113784e551f2 58 locator.attach(&locate,ti_L);
awandy 1:113784e551f2 59 led_out0.write(0);
awandy 1:113784e551f2 60 led_out1.write(0);
awandy 1:113784e551f2 61 led_out2.write(0);
awandy 1:113784e551f2 62 led_out3.write(0);
awandy 1:113784e551f2 63
awandy 0:d575f98b29f8 64 while(1) {
awandy 1:113784e551f2 65 wait(1);
awandy 1:113784e551f2 66 cout << index << "\r\n" << std::endl;
awandy 1:113784e551f2 67 cout << "left prev " << left_prev << "\r\n"
awandy 1:113784e551f2 68 << "right prev " << right_prev << "\r\n"
awandy 1:113784e551f2 69 << "left current " << left_sensed << "\r\n"
awandy 1:113784e551f2 70 << "right current " << right_sensed << "\r\n" << std::endl;
awandy 0:d575f98b29f8 71 }
awandy 0:d575f98b29f8 72 }