Diff: main.cpp

Revision:

8:fe6ebe807b9d

Parent:

7:14cfb0df30e6

Child:

9:bc259fc22fa2

--- a/main.cpp	Mon Apr 25 10:08:05 2016 +0000
+++ b/main.cpp	Wed Apr 27 09:09:55 2016 +0000
@@ -6,11 +6,13 @@
 
 #include "main.h"
 #include "SDFileSystem.h"
-Serial serial(USBTX, USBRX);  // for PC debug
+//Serial serial(USBTX, USBRX);  // for PC debug
 
 
 int main()
 {
+    int d = 0;
+    int myarray[9];
     setup();
     lcd.init(); // Initiate LCD
     /*
@@ -45,9 +47,9 @@
            int r5;
            int r6;
            int r7;
-           int offset; // create suitable variables to store the data in the file
-           float bright;
-           float value;
+           int offset;
+          float bright;
+        float value;
            int i;
 
            // in this example, we keep reading (using fscanf) until we reach
@@ -62,9 +64,10 @@
        }
     }
     */
+
     while(1) {
 
-        if (g_sw1_flag) {
+        if (g_sw1_flag) { /// Event triggered inturupt to call the menu and reset page numbers
             g_sw1_flag = 0;
             page = 0;
             subpage = 0;
@@ -73,6 +76,7 @@
         }
 
         if (g_timer_flag_srf02) {
+
             g_timer_flag_srf02 = 0;  // if it has, clear the flag
             if (units == METRIC) {
                 distance = srf02.getDistanceCm();
@@ -82,41 +86,32 @@
                 distance = distance -(offset*c);
             }
 
-
-
-
-
-
-
-
-            if (d == 9) {
+            if (d == 10) {
                 d = 0;
             } else {
                 d++;
             }
             myarray[d] = distance;
-            totaldistance = 0;
-            for (i = 0; i < 10; i++) {
-                totaldistance = totaldistance+myarray[i];
+            int totaldistance = 0;
+            for (int i = 0; i < 9; i++) {
+                int totaldistance = totaldistance+myarray[i];
             }
-            avgdistance = totaldistance;
+            avgdistance = totaldistance/9;
         }
 
-
-
-
-
-
-
-
         setalert();
         lcdoutput();
-        setbuzzer();
+        if (!alert == 0) {
+            if (buzz_flag == 0) {
+                setbuzzer();
+            }
+        }
         setleds();
         sleep();
     }
 }
 
+
 void lcdoutput()
 {
     /**
@@ -139,25 +134,38 @@
 
         switch (standby) {
             case 1:
+                if (check_flag == 1) {
+                    sprintf(buffer4,"COLLISIONCHECK");
+                }
                 lcd.clear();
                 sprintf(buffer,"**PATH CLEAR**");
                 lcd.printString(buffer,0,0);
+                lcd.printString(buffer4,0,5);
                 lcd.refresh();
                 break;
             case 2:
+                if (check_flag == 1) {
+                    sprintf(buffer4,"COLLISIONCHECK");
+                }
                 lcd.clear();
                 sprintf(buffer3,"TEMP = %.2f",T);
                 sprintf(buffer2,"TEMPERATER");
-                lcd.printString(buffer3,4,3);
-                lcd.printString(buffer2,12,2);
+                lcd.printString(buffer3,4,2);
+                lcd.printString(buffer2,12,1);
+                lcd.printString(buffer4,0,5);
+
                 break;
             case 3:
+                if (check_flag == 1) {
+                    sprintf(buffer4,"COLLISIONCHECK");
+                }
                 lcd.clear();
                 sprintf(buffer3,"TEMP = %.2f",T);
                 sprintf(buffer2,"TEMPERATER");
                 lcd.refresh();
-                lcd.printString(buffer3,4,3);
-                lcd.printString(buffer2,12,2);
+                lcd.printString(buffer3,4,2);
+                lcd.printString(buffer2,12,1);
+                lcd.printString(buffer4,0,5);
                 lcd.setBrightness(0);
                 break;
         }
@@ -170,34 +178,35 @@
         lcd.clear();
 
         if (units == METRIC) {
-            sprintf(buffer,"%i Cm",distance);
+            sprintf(buffer,"%0.2f Cm",avgdistance);
             sprintf(buffer1,"****RANGE!****");
             sprintf(buffer2,"DISTANCE");
-            sprintf(buffer3,"%0.2f",avgdistance);
+
             sprintf(buffer4,"Menu");
 
         } else {
-            sprintf(buffer,"%i Inches",distance);
+            sprintf(buffer,"%0.2f Inches",avgdistance);
             sprintf(buffer1,"****RANGE!****");
             sprintf(buffer2,"***DISTANCE***");
-            sprintf(buffer2,"Menu");
+            sprintf(buffer4,"Menu");
         }
         lcd.printString(buffer,25,2);
         lcd.printString(buffer1,0,0);
         lcd.printString(buffer2,16,1);
         lcd.printString(buffer4,0,5);
-        lcd.printString(buffer3,0,3);
+
 
-        float i = (r7/84);
-        float distbar = (distance*i);
+        float h = (r7/84);
+        float distbar = (avgdistance*h);
         //drawRect(int x0,int y0,int width,int height,int fill);
-        lcd.drawRect(0,29,distbar,7,1); //    MOVE BAR UP!!!!!!!!!!!!!!!!!!!!!!!!!
+        lcd.drawRect(0,29,distbar,7,1); //
         lcd.refresh();
 
     }
 
 }
 
+
 void setalert()
 {
     /** A fuction used to determin the alert level given a range with the use of IF statments
@@ -206,20 +215,21 @@
     @returns alert
     */
 
-    if (distance >= (r6*c) && distance < (r7*c)) {  // r6 150 and r7 200
-        alert = 1; /// alert 1 distance between preset 150Cm to 200Cm
-    } else if (distance >= (r5*c) && distance  < (r6*c)) {
+    if (avgdistance >= (r6*c) && avgdistance < (r7*c)) {  // r6 150 and r7 200
+        alert = 1; /// alert 1 avgdistance between preset 150Cm to 200Cm
+    } else if (avgdistance >= (r5*c) && avgdistance  < (r6*c)) {
         alert = 2; /// alert 2 when between preset 90Cm to 150Cm
-    } else if (distance >= (r4*c) && distance < (r5*c)) {
-        alert = 3; /// alert 3 when distance between 60Cm to 90Cm
-    } else if (distance >= (r3*c) && distance < (r4*c)) {
-        alert = 4; /// alert 4 when distance between 40Cm and 60Cm
-    } else if (distance >= (r2*c) && distance < (r3*c)) {
-        alert = 5; ///alert 5 when distance between 20Cm and 40m
-    } else if (distance >= (r1*c) && distance <= (r2*c)) { //r1 3 and r2 20
-        alert = 6; ///alert 6 when distance between 1 and 20
-    } else if (distance <=(r1*c)) {
-        alert = 7; ///alert 7 when distance below 1Cm
+    } else if (avgdistance >= (r4*c) && avgdistance < (r5*c)) {
+        alert = 3; /// alert 3 when avgdistance between 60Cm to 90Cm
+    } else if (avgdistance >= (r3*c) && avgdistance < (r4*c)) {
+        alert = 4; /// alert 4 when avgdistance between 40Cm and 60Cm
+    } else if (avgdistance >= (r2*c) && avgdistance < (r3*c)) {
+        alert = 5; ///alert 5 when avgdistance between 20Cm and 40m
+    } else if (avgdistance >= (r1*c) && avgdistance <= (r2*c)) { //r1 3 and r2 20
+        alert = 6; ///alert 6 when avgdistance between 1 and 20
+    } else if (avgdistance <=(r1*c)) {
+        alert = 7; ///alert 7 when avgdistance below 1Cm
+        check_flag = 1;
     } else {
         alert = 0; /// alert 0 all else
     }
@@ -259,32 +269,28 @@
 
 void setbuzzer()
 {
-    int beat;
     /**
     control the PWM to drive the buzzer
     @param buzzer.period frequncy 1KHz
     @param buzzer duty cycle equal on/off max volume
     @param Alertlevel[alert].toneon controls how long the tone will last depending on alert
     */
-    if (g_timer_flag_tone) {
-        g_timer_flag_tone = 1;
-        if (beat == 10) {
-            beat = 0;
-        } else {
-            beat++;
-        }
-
-
+    buzzer.period (1.0/1000.0);
+    buzzer = 0.5;
+    buzzoff.attach(&flip, Alertlevel[alert].toneon);
+}
 
-        if (Alertlevel[alert].toneon < beat) {
-            buzzer.period (1/10000);
-            buzzer = 0.5;
-        } else {
-            buzzer = 0.0;
-        }
+void flip()
+{
+    buzz_flag = 1;
+    buzzer = 0.0;
+    buzzon.attach(&buzzflag,Alertlevel[alert].toneoff);
+}
 
-
-    }
+void buzzflag()
+{
+    buzz_flag = 0;
+    return;
 }
 
 void backlight ()
@@ -347,7 +353,7 @@
                     sprintf(buffer2,"*****MENU*****");
                     sprintf(buffer1,"BACKLIGHT");
                     sprintf(buffer3,"%.0f%%",bright*100);
-                    sprintf(buffer4,"Next       Adj");
+                    sprintf(buffer4,"NEXT       ADJ");
                     lcd.printString(buffer2,0,0);
                     lcd.printString(buffer1,0,1);
                     lcd.printString(buffer3,0,2);
@@ -370,7 +376,7 @@
                     length2 = sprintf(buffer2,"*****MENU*****");
                     length1 = sprintf(buffer1,"OFFSET");
                     length3 = sprintf(buffer3,"%i",offset);
-                    sprintf(buffer4,"Next       Adj");
+                    sprintf(buffer4,"NEXT       ADJ");
                     lcd.printString(buffer2,0,0);
                     lcd.printString(buffer1,0,1);
                     lcd.printString(buffer3,0,2);
@@ -400,15 +406,29 @@
                 }
                 sprintf(buffer2,"*****MENU*****");
                 sprintf(buffer1,"UNITS");
-                sprintf(buffer4,"Next       Adj");
+                sprintf(buffer4,"NEXT       ADJ");
                 lcd.printString(buffer2,0,0);
                 lcd.printString(buffer1,0,1);
                 lcd.printString(buffer4,0,5);
                 lcd.refresh();
 
                 break;
+            case 3:
+                if (g_sw2_flag) {
+                    g_sw2_flag = 0;  // if it has, clear the flag
+                    check_flag =0;
+                }
+                length2 = sprintf(buffer3,"*****MENU*****");
+                length3 = sprintf(buffer1,"CLEAR");
+                length3 = sprintf(buffer2,"COLLISION");
+                sprintf(buffer4,"NEXT       YES");
+                lcd.printString(buffer3,0,0);
+                lcd.printString(buffer1,0,1);
+                lcd.printString(buffer2,0,2);
+                lcd.printString(buffer4,0,5);
 
-            case 3:
+                break;
+            case 4:
 
                 if (g_sw2_flag) {
                     g_sw2_flag = 0;  // if it has, clear the flag
@@ -417,7 +437,7 @@
                 length2 = sprintf(buffer3,"*****MENU*****");
                 length3 = sprintf(buffer1,"RANGE");
                 length3 = sprintf(buffer2,"PARAMETERS");
-                sprintf(buffer4,"Next       Adj");
+                sprintf(buffer4,"NEXT       ADJ");
                 lcd.printString(buffer3,0,0);
                 lcd.printString(buffer1,0,1);
                 lcd.printString(buffer2,0,2);
@@ -464,8 +484,6 @@
                 return;
         }
     }
-    // lcd.refresh();
-
 }
 void submenu()
 {
@@ -491,7 +509,7 @@
                 length3 = sprintf(buffer2,"RANGE");
                 length3 = sprintf(buffer3,"PARAMETERS");
                 length4 = sprintf(buffer4,"1Cm  to  %iCm",r2);
-                sprintf(buffer,"Next       Adj");
+                sprintf(buffer,"NEXT       ADJ");
                 lcd.printString(buffer1,0,0);
                 lcd.printString(buffer2,0,1);
                 lcd.printString(buffer3,0,2);
@@ -514,7 +532,7 @@
                 sprintf(buffer2,"RANGE");
                 sprintf(buffer3,"PARAMETERS");
                 sprintf(buffer4,"%iCm  to  %iCm",r2,r3);
-                sprintf(buffer,"Next       Adj");
+                sprintf(buffer,"NEXT       ADJ");
                 lcd.printString(buffer1,0,0);
                 lcd.printString(buffer2,0,1);
                 lcd.printString(buffer3,0,2);
@@ -537,7 +555,7 @@
                 sprintf(buffer2,"RANGE");
                 sprintf(buffer3,"PARAMETERS");
                 sprintf(buffer4,"%iCm  to  %iCm",r3,r4);
-                sprintf(buffer,"Next       Adj");
+                sprintf(buffer,"NEXT       ADJ");
                 lcd.printString(buffer1,0,0);
                 lcd.printString(buffer2,0,1);
                 lcd.printString(buffer3,0,2);
@@ -560,7 +578,7 @@
                 sprintf(buffer2,"RANGE");
                 sprintf(buffer3,"PARAMETERS");
                 sprintf(buffer4,"%iCm to %iCm",r4,r5);
-                sprintf(buffer,"Next       Adj");
+                sprintf(buffer,"NEXT       ADJ");
                 lcd.printString(buffer1,0,0);
                 lcd.printString(buffer2,0,1);
                 lcd.printString(buffer3,0,2);
@@ -582,7 +600,7 @@
                 length3 = sprintf(buffer2,"RANGE");
                 length3 = sprintf(buffer3,"PARAMETERS");
                 length3 = sprintf(buffer4,"%iCm to %iCm",r5,r6);
-                sprintf(buffer,"Next       Adj");
+                sprintf(buffer,"NEXT       ADJ");
                 lcd.printString(buffer1,0,0);
                 lcd.printString(buffer2,0,1);
                 lcd.printString(buffer3,0,2);
@@ -603,7 +621,7 @@
                 length2 = sprintf(buffer1,"*****MENU*****");
                 length3 = sprintf(buffer2,"RANGE");
                 length3 = sprintf(buffer3,"PARAMETERS");
-                sprintf(buffer,"Next       Adj");
+                sprintf(buffer,"NEXT       ADJ");
                 length3 = sprintf(buffer4,"%iCm to %iCm",r6,r7);
                 lcd.printString(buffer1,0,0);
                 lcd.printString(buffer2,0,1);
@@ -623,16 +641,15 @@
 {
     ticker.attach(&timer_isr_led,0.35); /// Attach the ticker for the flashig LEDs
     ticker_srf02.attach(&timer_isr_srf02,0.1); /// Attach the ticker for collecting a range reading
-    ticker_tone.attach(&timer_isr_tone,1); /// Attach the ticker which controls the off time of the buzzer 0.1 = 10 beats per second
+    //  ticker_tone.attach(&timer_isr_tone,0.1); /// Attach the ticker which controls the off time of the buzzer 0.1 = 10 beats per second
     ticker_standby.attach(&timer_isr_standby,3.0);
     sw1.rise(&sw1_isr); /// sw1_isr called when button presed on the rising edge
     sw2.rise(&sw2_isr); /// sw2_isr called when button presed on the rising edge
 
-    /**Set up LEDs switches and LEDS
-    @param r_led 1 or 0
-    @param g_led 1 or 0
-    @param b_led 1 or 0
-    */
+
+    r_led = 1;
+    b_led = 1;
+    g_led = 1;
     rr_led = 0;
     a_led = 0;
     gg_led = 0;