Revision 3:ee005c9f0348, committed 2016-05-05

Comitter:

el14ml

Date:

Thu May 05 09:54:30 2016 +0000

Parent:

2:0dfa60f22f07

Commit message:

final version

Changed in this revision

--- a/SRF02.lib	Wed May 04 22:45:02 2016 +0000
+++ b/SRF02.lib	Thu May 05 09:54:30 2016 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/eencae/code/SRF02/#1e51f3230f2f
+https://developer.mbed.org/users/el14ml/code/SRF02-Mateusz/#1e51f3230f2f

--- a/main.cpp	Wed May 04 22:45:02 2016 +0000
+++ b/main.cpp	Thu May 05 09:54:30 2016 +0000
@@ -6,14 +6,6 @@
 * @date April 2016
 */
 
-
-//sd card
-//mbed leds come on sometimes;
-//make 4k mid freq
-//fix buzzer beeping
-
-
-#include "mbed.h"
 #include "main.h"
 
 
@@ -21,80 +13,79 @@
 
 {
     init_K64F();
-    lcd.init();
+    lcd.init();  ///initialize display
 
-    initialScreen();
-    out.attach(timeout_isr,4);
+    initialScreen(); ///function for start up screen
+    out.attach(timeout_isr,4);  ///intial screen displayed for 4 seconds
     lcd.refresh();
     sleep();
     lcd.clear();
     lcd.refresh();
     initialArray();
-    ticker.attach(&ticker_isr,0.1);
+    ticker.attach(&ticker_isr,0.1);  /// interrupt, time triggered event
 
 
     while(1) {
-        delay = rate;
+        delay = rate;  ///value obtained from potentiometer to control the volume of buzzer
 
-        buzzerPeriod = 1/((4000-(2*averageDistance))+200); // BUZZER, 200+200 = 400 = maximum range so freq proportional to distance, org 1/(200-avg)+200
+        buzzerPeriod = 1/((4200-(2*averageDistance))+200); ///frequency proportional to average distance, when distance = 200cm, frequency = 4kHz ie centre frequency
 
         if (g_ticker_flag) {
 
-            g_ticker_flag = 0;
+            g_ticker_flag = 0;  /// reset flag
             if ( g_button2_flag == 0) {
 
-                buzzer = delay; // duty cycle
+                buzzer = delay; /// duty cycle
                 buzzer.period(buzzerPeriod); //set pwm to my freq
-                // average distance calculated
                 get_averageDistance();
                 redLedIndicator();
                 drawDistanceBars();
-                
+
+
+            } else if (g_button2_flag == 1) {  ///button pressed, set flag
 
-            } else if (g_button2_flag == 1) {
-               // lcd.clear();
-                  moveArrayElements();
-                  get_averageDistance();
-                  adjacentArrayElements();
-                  plotAxes();
-                  plotDistancePoint();
-              //  modeTwo();
+                moveArrayElements();
+                get_averageDistance();
+                adjacentArrayElements();
+                plotAxes();
+                plotDistancePoint();
 
                 lcd.refresh();
 
             }
             lcd.refresh();
-            sleep();
+            sleep();  /// reducing power consumption
         }
     }
 }
 void init_K64F()
 {
-    r_led = 1;// on-board LEDs are active-low, so set pin high to turn them off.
+    /// on-board LEDs are active-low, so set pin high to turn them off.
+    r_led = 1;
     g_led = 1;
     b_led = 1;
-    button2.fall(&mode); //under this condition call function where mode is a function that sets flag
-    button2.mode(PullUp); //enable internal pull up resistor
-    button1.fall(&units);  //under this condition call function where mode is a function that sets flag
-    button1.mode(PullUp); //enable internal pull up resistor
+    button2.fall(&mode); ///under this condition call function where mode is a function that sets flag
+    button2.mode(PullUp); ///enable internal pull up resistor
+    button1.fall(&units);  ///under this condition call function where mode is a function that sets flag
+    button1.mode(PullUp); ///enable internal pull up resistor
 
 }
 void units()
 {
-    g_button1_flag =!g_button1_flag ;   // set button 1 flag in ISR
+    g_button1_flag =!g_button1_flag ;   /// set button 1 flag in ISR
 }
 void mode()
 {
-    g_button2_flag =!g_button2_flag ;    //set button 2 flag in ISR
+    g_button2_flag =!g_button2_flag ;    ///set button 2 flag in ISR
 }
 void timeout_isr()
 {
 }
 void ticker_isr()
 {
-    g_ticker_flag = 1;   // set ticker flag in ISR
+    g_ticker_flag = 1;   /// set ticker flag in ISR
 }
-void initialScreen() // initial screen printed
+void initialScreen() /// initial screen printed
 {
     lcd.printString("DISTANCE",18,0);
     lcd.printString("SENSOR",22,1);
@@ -104,53 +95,49 @@
 }
 void initialArray()
 {
-    //graphArray[82]; //initialize graph array, 2 pixels used for y axis so not 84
-    for (int i=0; i<83; i++) { // before entering the grpah mode with the button, it is alreadt plotting points but they cannot be seen as they are above max range of 200
-        graphArray[i] = 201; // has to be more thn 200 so points are only plotted from the point when user presses button
+    for (int i=0; i<83; i++) { /// ensures that points are not being plotted before the button is pressed
+        graphArray[i] = 201; /// has to be more than 200 so points are only plotted from the point when user presses button
     }
     lcd.clear();
 }
-void get_averageDistance() // to minimize error, 5 readings are taken at regular intervals and averaged out 
+void get_averageDistance() /// to minimize error, 5 readings are taken at regular intervals and averaged out
 {
     for ( int i=0 ; i<5; i++) {
-        int distance = sensor.getDistanceCm(); // obtaining sensor distance reading
-        if (distance < 400) { //better averages random annomous values not even considered
-            averageDistance += distance; //assignment by sum
+        int distance = sensor.getDistanceCm(); /// obtaining sensor distance reading
+        if (distance < 400) { /// better averages random anonymous values not even considered
+            averageDistance += distance; /// assignment by sum
         } else {
-            i--;  //if distance > 400 do not take that reading into account go again
+            i--;  ///if distance > 400 do not take that reading into account go again so range of sensor is 30-400cm
         }
     }
     averageDistance = averageDistance/5; //sum of 5 readings divided by 5 to get average
-   lcd.clear();
+    lcd.clear();
 }
 
-void redLedIndicator() // this function evaluates the average distance reading, displays it and controls the auditory + visual alerts 
+void redLedIndicator() /// this function evaluates the average distance reading, displays it and controls the auditory + visual alerts
 {
     if (averageDistance<=30) {
-        myled = 1;  // warning led comes on
-        lcd.clear(); // clear previous distance values displayed
+        myled = 1;  /// warning led comes on
+        lcd.clear(); /// clear previous distance values displayed
         lcd.printString(" ***COLLISION ",2,1); //warning text
         lcd.printString(" WARNING***   ",8,3);
         lcd.refresh();
-        buzzer = delay; // duty cycle, volume of buzzer controlled with pot
-        buzzer.period(0.001); //highest frequency pitch when warning message comes on
+        buzzer = delay; /// duty cycle, volume of buzzer controlled with pot
+        buzzer.period(0.001); ///highest frequency pitch when warning message comes on
     } else {
-      //  r_led = 1;
-      //  g_led = 1;
-      //  b_led = 1;
         myled = 0;
     }
-    if (averageDistance >30) {  // above critical distance
+    if (averageDistance >30) {  /// above critical distance
         lcd.clear();
-        char str[10]; //keep the string as character array in local stack so can be manipulated
-        if (g_button1_flag == 0) {  //button 1 flag is set 0 by default so distance displayed in units of cm
+        char str[10]; ///keep the string as character array in local stack so can be manipulated
+        if (g_button1_flag == 0) {  ///button 1 flag is set 0 by default so distance displayed in units of cm
 
-            sprintf(str,"%.2f",averageDistance); // printing first 2 digits of average distance as float
-            lcd.printString("cm",62,4); // printing units 
+            sprintf(str,"%.2f",averageDistance); /// printing first 2 digits of average distance as float
+            lcd.printString("cm",62,4); // printing units
 
-        } else  if (g_button1_flag == 1) {  //button 1 pressed, flag set 1 
+        } else  if (g_button1_flag == 1) {  ///button 1 pressed, flag set 1
             sprintf(str,"%.2f",averageDistance*0.393701); //converting from cm to inches
-            lcd.printString("in",60,4); // printing the units
+            lcd.printString("in",60,4); /// printing the units
 
         }
         lcd.printString("                                  ",0,3);
@@ -158,26 +145,26 @@
         lcd.refresh();
     }
 }
-void drawDistanceBars() // function draws bars so as to indicate the approximate distance to nearest target object
+void drawDistanceBars() /// function draws bars so as to indicate the approximate distance to nearest target object
 {
     if(averageDistance>380) {
-        lcd.drawRect(67,2,5,16,1); //Draw 8 bars
+        lcd.drawRect(67,2,5,16,1); ///Draw 8 bars
 
     }
     if(averageDistance>330) {
-        lcd.drawRect(59,2,5,16,1); //Draw 7 bars
+        lcd.drawRect(59,2,5,16,1); ///Draw 7 bars
 
     }
     if(averageDistance>280) {
-        lcd.drawRect(51,2,5,16,1); //Draw 6 bars
+        lcd.drawRect(51,2,5,16,1); ///Draw 6 bars
 
     }
     if(averageDistance>230) {
-        lcd.drawRect(43,2,5,16,1); //Draw 5 bars
+        lcd.drawRect(43,2,5,16,1); ///Draw 5 bars
 
     }
     if(averageDistance>180) {
-        lcd.drawRect(35,2,5,16,1); //Draw 4 bars
+        lcd.drawRect(35,2,5,16,1); ///Draw 4 bars
 
     }
     if(averageDistance>130) {
@@ -185,11 +172,11 @@
 
     }
     if(averageDistance>80) {
-        lcd.drawRect(19,2,5,16,1); //Draw 2 Bars
+        lcd.drawRect(19,2,5,16,1); ///Draw 2 Bars
 
     }
     if(averageDistance>30) {
-        lcd.drawRect(12,2,5,16,1); //Draw one rectangle
+        lcd.drawRect(12,2,5,16,1); ///Draw one rectangle
     }
     lcd.refresh();
 }
@@ -197,46 +184,44 @@
 {
 
     for (int i=81 ; i>0; i--) {
-        graphArray[i] = graphArray[i-1];  //moving each element of array to right
-    } 
+        graphArray[i] = graphArray[i-1];  ///moving each element of array to right
+    }
 }
-void adjacentArrayElements() // assigning float distance to first element of graph matrix
+void adjacentArrayElements() /// assigning float distance to first element of graph matrix
 {
 
-    graphArray[0]= averageDistance; //array element is average distance float
-    if ((int)graphArray[0] != (int)graphArray[1]) { //if value of current array element is different to previous one, red led and buzzer comes on ie visual and auditory alerts
-        myled=1; //red led comes on
-        buzzer = delay; // duty cycle
-        buzzer.period(buzzerPeriod); //set period of buzzer to my function 
+    graphArray[0]= averageDistance; ///array element is average distance float
+    if ((int)graphArray[0] != (int)graphArray[1]) { ///if value of current array element is different to previous one, red led and buzzer comes on ie visual and auditory alerts
+        myled=1; ///red led comes on
+        buzzer = delay; /// duty cycle
+        buzzer.period(buzzerPeriod); ///set period of buzzer to my function
 
-    } else { // if no movement alerts are off
+    } else { /// if no movement alerts are off
         myled=0;
         buzzer=0;
     }
 }
-
-void plotAxes() //plotting both the x and y axis which are 2 pixels thick, i represents the pixels 
+void plotAxes() ///plotting both the x and y axis which are 2 pixels thick, i represents the pixels
 {
-    //i is pixel, plotting x axis
-    for ( int i=0; i<84; i++) { // plotting x axis
+    ///i is pixel
+    for ( int i=0; i<84; i++) { /// plotting x axis
         lcd.setPixel(i,46);
         lcd.setPixel(i,47);
     }
-    //plotting y axis
-    for ( int i=0; i<48; i++) { // plotting y axis 
+    ///plotting y axis
+    for ( int i=0; i<48; i++) { /// plotting y axis
         lcd.setPixel(0,i);
         lcd.setPixel(1,i);
     }
 }
-void plotDistancePoint() //function converts float distance to integer pixel
+void plotDistancePoint() ///function converts float distance to integer pixel
 {
 
-    // i in this loop is element of the array NOT pixel
-    for (int i=0; i<82; i++) { // array is 82 elements long as 2 pixels are used for axes
-        //x position + y position)
-        int p = (int)(45-(graphArray[i]/(200/46))); //convert array element float distance to integer pixel
-        //convert from float distance to integer pixel
-        lcd.setPixel(83-i,p); // plot in pixel 84 at the right height , this pixel is then moved to right and new pixel is plotted
+    /// i in this loop is element of the array NOT pixel
+    for (int i=0; i<82; i++) { /// array is 82 elements long as 2 pixels are used for axes
+        ///x position + y position
+        int p = (int)(45-(graphArray[i]/(200/46))); ///convert array element float distance to integer pixel
+        lcd.setPixel(83-i,p); /// plot in pixel 84 at the right height , this pixel is then moved to right and new pixel is plotted
     }
     lcd.refresh();
 }

--- a/main.h	Wed May 04 22:45:02 2016 +0000
+++ b/main.h	Thu May 05 09:54:30 2016 +0000
@@ -7,35 +7,40 @@
 @Date 02/05/16
 */
 
+
 #ifndef MAIN_H
 #define MAIN_H
+#include "mbed.h"
 #include "N5110.h"
 #include "SRF02.h"
 
 /**
 @namespace lcd
-@brief object of the N5110 class
+@brief Object of the N5110 class
 */
 N5110 lcd(PTE26 , PTA0 , PTC4 , PTD0 , PTD2 , PTD1 , PTC3);
 
-//////////////////
+/**
+@namespace sensor
+@brief Object of the SRF02 class
+*/
 SRF02 sensor(I2C_SDA,I2C_SCL);
 
 /**
 @namespace r_led
-@brief output for status of red LED
+@brief Output for status of red LED
 */
 DigitalOut r_led(LED_RED);
 
 /**
 @namespace g_led
-@brief output for status of green LED
+@brief Output for status of green LED
 */
 DigitalOut g_led(LED_GREEN);
 
 /**
 @namespace b_led
-@brief output for status of blue LED
+@brief Output for status of blue LED
 */
 DigitalOut b_led(LED_BLUE);
 
@@ -53,13 +58,13 @@
 
 /**
 @namespace buzzer
-@brief use PWM pin to control the volume of the buzzer, duty cycle and period
+@brief Use PWM pin to control the volume of the buzzer, duty cycle and period
 */
 PwmOut buzzer(PTA2);
 
 /**
 @namespace pot
-@brief read value of the potentiometer from the potentiometer position
+@brief Read value of the potentiometer from the potentiometer position
 */
 AnalogIn rate(PTB10);
 
@@ -90,40 +95,40 @@
 /**
 The main function where the code is executed
 */
-//int main();
+int main();
 
 /**
-setting up flag to 1
+setting flag to 1
 */
 void units();
 
 /**
-setting up flag to 1
+setting flag to 1
 */
 void mode();
 
 /**
-setting up flag to 1
+setting flag to 1
 */
 void timeout_isr();
 
 /**
-setting up flag to 1
+setting flag to 1
 */
 void ticker_isr();
 
 /**
-setting up the buttons and on board LEDs
+Setting up the buttons and on board LEDs
 */
 void init_K64F();
 
 /**
-inital screen printed
+Inital screen printed
 */
 void initialScreen();
 
 /**
-initialize graph array for distance points
+Initialize graph array for distance points
 */
 void initialArray();
 
@@ -164,9 +169,16 @@
 
 //void modeTwo();
 
+/// equation which relates the average distance to the frequency of the buzzer 
 float buzzerPeriod;
+
+/// output value of the potentiometer used to control buzzer volume
 float delay;
+
+/// average of multiple consecutive distance readings
 float averageDistance;
+
+/// initialize graph array, 2 pixels used for a and y axis hence array not 84
 float graphArray[82];
  
 #endif
\ No newline at end of file