Elektronikprojekt Grupp 13 / Mbed 2 deprecated CCR_test

Calculate time delay with Cross Correlation

Dependencies:   mbed DHT

medeltest.cpp@8:21e74746a067, 2017-05-11 (annotated)

Committer:
reritter
Date:
Thu May 11 14:16:58 2017 +0000
Revision:
8:21e74746a067
Parent:
7:99d5e92152e0 
sm? ?ndringar

Who changed what in which revision?

UserRevisionLine numberNew contents of line
reritter 1:e3d3d330c84d 1 #include "mbed.h"
reritter 1:e3d3d330c84d 2 #include <iostream> /* cout */
reritter 1:e3d3d330c84d 3 //#include <stdio.h> /* printf */
reritter 1:e3d3d330c84d 4 #include <math.h> /* sin */
reritter 1:e3d3d330c84d 5 #include <vector>
reritter 1:e3d3d330c84d 6 #include <stdlib.h> /* abs */
reritter 1:e3d3d330c84d 7 #include <stdio.h>
reritter 1:e3d3d330c84d 8 #include <AnalogIn.h>
reritter 1:e3d3d330c84d 9 #include <stdint.h>
reritter 1:e3d3d330c84d 10 #include <DHT.h>
reritter 1:e3d3d330c84d 11 #include<sstream>
reritter 1:e3d3d330c84d 12
reritter 1:e3d3d330c84d 13 //using namespace std;
reritter 1:e3d3d330c84d 14
reritter 1:e3d3d330c84d 15 /* DEBUG FUNCTION
reritter 1:e3d3d330c84d 16 // ersätter Debug(xyz) med xyz , där xyz är din kod
reritter 1:e3d3d330c84d 17 //För att aktivera:
reritter 1:e3d3d330c84d 18 #define Debug(xyz) xyz
reritter 1:e3d3d330c84d 19
reritter 1:e3d3d330c84d 20 //För att "stänga av":
reritter 1:e3d3d330c84d 21 #define Debug(xyz)
reritter 1:e3d3d330c84d 22
reritter 1:e3d3d330c84d 23 //I din kod, skriv din debug kod liknande så här:
reritter 1:e3d3d330c84d 24 Debug( std::cout << "My text: " << myVariable << std::endl; );
reritter 1:e3d3d330c84d 25
reritter 1:e3d3d330c84d 26 */
reritter 1:e3d3d330c84d 27
reritter 1:e3d3d330c84d 28 #define Debug(x) x
reritter 1:e3d3d330c84d 29 #define DebugPrintState(y) y
reritter 1:e3d3d330c84d 30 #define DebugArcSin(z) z
KlaraBengtsson 5:3912347f8b4b 31 #define DebugPrintDelay(q) q
reritter 1:e3d3d330c84d 32
reritter 1:e3d3d330c84d 33
reritter 1:e3d3d330c84d 34 //----------VARIABLES HERE
reritter 1:e3d3d330c84d 35 int dataLength = 1000;
reritter 1:e3d3d330c84d 36 int captureLength = 50;
reritter 1:e3d3d330c84d 37 double temp = 22;
reritter 1:e3d3d330c84d 38 double hum = 10;
KlaraBengtsson 6:73617748bb3a 39 double micDist = 0.15; //meters
reritter 1:e3d3d330c84d 40 double threshold_1 = 0; //value when going to active mode channel 1 //old hardcoded value = 330
reritter 1:e3d3d330c84d 41 double threshold_2 = 0; //value when going to active mode channel 2 //old hardcoded value = 200
reritter 8:21e74746a067 42 double threshold_adjust = 100; //used to adjust threshold, + for less sensitivity, - for increased sensitivity
reritter 1:e3d3d330c84d 43 bool calibratedStatus = false; //flag to make sure Nuclueo only calibrated once for background noise
reritter 1:e3d3d330c84d 44 bool checkTemp = false; //flag - true to checktemp, false to use predefined values
reritter 1:e3d3d330c84d 45 int positionOfMaxVal_1;
reritter 1:e3d3d330c84d 46 int positionOfMaxVal_2;
reritter 1:e3d3d330c84d 47 const double PI = 3.14159265358979323846;
KlaraBengtsson 5:3912347f8b4b 48 double timedelay = 0;
reritter 1:e3d3d330c84d 49
reritter 1:e3d3d330c84d 50 // State machine
reritter 1:e3d3d330c84d 51 int STATE;
reritter 1:e3d3d330c84d 52 //const int NONE = -1;
reritter 1:e3d3d330c84d 53 const int IDLE = 0;
reritter 1:e3d3d330c84d 54 const int CALIBRATE = 1;
reritter 1:e3d3d330c84d 55 const int TESTNEW = 2;
reritter 1:e3d3d330c84d 56 const int CALC = 3;
reritter 1:e3d3d330c84d 57 const int CALC_ERROR = 4;
reritter 1:e3d3d330c84d 58 const int SEND = 5;
reritter 1:e3d3d330c84d 59 //const int WAIT = 9;
reritter 1:e3d3d330c84d 60
reritter 1:e3d3d330c84d 61 //dataLength behövs kanske inte, vector klassen kan växa med behov
reritter 1:e3d3d330c84d 62 std::vector<double> channel_1(dataLength);
reritter 1:e3d3d330c84d 63 std::vector<double> channel_2(dataLength);
reritter 1:e3d3d330c84d 64 std::vector<int> timestamps_1(dataLength);
reritter 1:e3d3d330c84d 65 std::vector<int> timestamps_2(dataLength);
reritter 1:e3d3d330c84d 66 std::vector<double> capture_1(captureLength);
reritter 1:e3d3d330c84d 67 std::vector<double> capture_2(captureLength);
reritter 1:e3d3d330c84d 68 std::vector<double> capturestamps_1(captureLength);
reritter 1:e3d3d330c84d 69 std::vector<double> capturestamps_2(captureLength);
reritter 1:e3d3d330c84d 70
reritter 1:e3d3d330c84d 71 int positiontest = 0;
reritter 1:e3d3d330c84d 72 int test = 9;
reritter 1:e3d3d330c84d 73 std::vector<double> delaytest(test);
reritter 1:e3d3d330c84d 74
reritter 1:e3d3d330c84d 75
reritter 1:e3d3d330c84d 76 AnalogIn mic1(A0);
reritter 1:e3d3d330c84d 77 AnalogIn mic2(A1);
reritter 1:e3d3d330c84d 78 AnalogIn mic3(A2);
reritter 1:e3d3d330c84d 79 DHT sensor(A3, DHT11);
reritter 1:e3d3d330c84d 80
reritter 1:e3d3d330c84d 81 //TIMER
reritter 1:e3d3d330c84d 82 Timer t;
reritter 1:e3d3d330c84d 83
reritter 1:e3d3d330c84d 84 //led can be used for status
reritter 1:e3d3d330c84d 85 DigitalOut led1(LED1);
reritter 1:e3d3d330c84d 86
reritter 1:e3d3d330c84d 87
reritter 1:e3d3d330c84d 88 //----------FUNCTIONS HERE
reritter 1:e3d3d330c84d 89 //Calculating distance between sound and camera
reritter 1:e3d3d330c84d 90 double calcDist(double t, double v)
reritter 1:e3d3d330c84d 91 {
reritter 1:e3d3d330c84d 92 double s = t*v;
reritter 1:e3d3d330c84d 93 return s;
reritter 1:e3d3d330c84d 94 }
reritter 1:e3d3d330c84d 95
reritter 1:e3d3d330c84d 96 //Calculating angle in radians, D distance between mic1 and mic2
reritter 1:e3d3d330c84d 97 double calcAng(double s, double D)
reritter 1:e3d3d330c84d 98 {
reritter 1:e3d3d330c84d 99 return asin(s/D) + PI/2;
reritter 1:e3d3d330c84d 100 }
reritter 1:e3d3d330c84d 101
reritter 1:e3d3d330c84d 102 //Assuming the input value is temp as a number in degrees celcius and humidity as procent
reritter 1:e3d3d330c84d 103 double calcSoundSpeed(double temp, double hum)
reritter 1:e3d3d330c84d 104 {
reritter 1:e3d3d330c84d 105 //Calculations were done in Matlab
reritter 1:e3d3d330c84d 106 double speed = 331.1190 + 0.6016*temp + 0.0126*hum;
reritter 1:e3d3d330c84d 107 return speed;
reritter 1:e3d3d330c84d 108 }
reritter 1:e3d3d330c84d 109
reritter 1:e3d3d330c84d 110 //translate angle to number for camera
reritter 1:e3d3d330c84d 111 string convertAngToCamNbr(double ang)
reritter 1:e3d3d330c84d 112 {
reritter 1:e3d3d330c84d 113 ang = ang*(180 / PI) + 45; //radianer till grader
reritter 1:e3d3d330c84d 114 double angValues = 270;
reritter 1:e3d3d330c84d 115 int stepValues = 50000;
reritter 1:e3d3d330c84d 116 string tiltNumber = " 18000"; //hårdkodat Camera Pan värde
reritter 1:e3d3d330c84d 117
reritter 1:e3d3d330c84d 118 double oneAng = stepValues/angValues;
reritter 1:e3d3d330c84d 119 double cameraAngNumber = ang*oneAng;
reritter 1:e3d3d330c84d 120 int panInt = (int)(cameraAngNumber); //double to int
reritter 1:e3d3d330c84d 121 //int to string
reritter 1:e3d3d330c84d 122 string panNumber;
reritter 1:e3d3d330c84d 123 ostringstream convert;
reritter 1:e3d3d330c84d 124 convert << panInt;
reritter 1:e3d3d330c84d 125 panNumber = convert.str();
reritter 1:e3d3d330c84d 126
reritter 1:e3d3d330c84d 127 string send = panNumber + tiltNumber;
reritter 1:e3d3d330c84d 128 return send;
reritter 1:e3d3d330c84d 129 }
reritter 1:e3d3d330c84d 130
reritter 1:e3d3d330c84d 131
reritter 1:e3d3d330c84d 132 //calc time delay by finding peak values in 2 vectors
reritter 1:e3d3d330c84d 133 //channel = 1 or 2
reritter 1:e3d3d330c84d 134 int FindPeak(int channel)
reritter 1:e3d3d330c84d 135 {
reritter 1:e3d3d330c84d 136 std::vector<double> channel_curr(captureLength); //temporary vector with channel voltage values
reritter 1:e3d3d330c84d 137
reritter 1:e3d3d330c84d 138 //if channel 1 then set current channel to channel 1
reritter 1:e3d3d330c84d 139 if (channel == 1) {
reritter 1:e3d3d330c84d 140 channel_curr = capture_1;
reritter 1:e3d3d330c84d 141 } else channel_curr = capture_2;
reritter 1:e3d3d330c84d 142
reritter 1:e3d3d330c84d 143 //reset max value & sum value
reritter 1:e3d3d330c84d 144 double valueMax = 0;
reritter 1:e3d3d330c84d 145
reritter 1:e3d3d330c84d 146 //reset array position
reritter 1:e3d3d330c84d 147 int positionOfMaxVal = 0;
reritter 1:e3d3d330c84d 148
reritter 1:e3d3d330c84d 149 //find largest value & mark that position in vectors
reritter 1:e3d3d330c84d 150 for (int position = 0; position < channel_curr.size(); position++) {
reritter 1:e3d3d330c84d 151 double val = abs(channel_curr[position]);
reritter 1:e3d3d330c84d 152 if (val > valueMax ) {
reritter 1:e3d3d330c84d 153 valueMax = val;
reritter 1:e3d3d330c84d 154 positionOfMaxVal = position;
reritter 1:e3d3d330c84d 155 }
reritter 1:e3d3d330c84d 156 }
reritter 1:e3d3d330c84d 157 return positionOfMaxVal;
reritter 1:e3d3d330c84d 158 }
reritter 1:e3d3d330c84d 159
reritter 2:4fdc0a17f6fa 160 /*Crosscorrelation code
reritter 2:4fdc0a17f6fa 161 /*TDEVector* TDE::CrossCorrelation()
reritter 2:4fdc0a17f6fa 162 {
reritter 2:4fdc0a17f6fa 163 TDEVector* res = new TDEVector(
reritter 2:4fdc0a17f6fa 164 2 * m_maxDelay + 1, {0, CalcZero});
reritter 2:4fdc0a17f6fa 165
reritter 2:4fdc0a17f6fa 166 for (DelayType = -m_maxDelay; delay <= m_maxDelay; delay++)
reritter 2:4fdc0a17f6fa 167 {
reritter 2:4fdc0a17f6fa 168 CalcType sum = 0;
reritter 2:4fdc0a17f6fa 169 for (size_t pos = 0; pos < m_datalength; pos++)
reritter 2:4fdc0a17f6fa 170 {
reritter 2:4fdc0a17f6fa 171 sum += m_channel0[pos]
reritter 2:4fdc0a17f6fa 172 * m_channel1[pos + delay + m_maxDelay];
reritter 2:4fdc0a17f6fa 173 }
reritter 2:4fdc0a17f6fa 174 res->at(delay + m_maxDelay).delay = delay;
reritter 2:4fdc0a17f6fa 175 res->at(delay + m_maxDelay).value = sum;
reritter 2:4fdc0a17f6fa 176 }
reritter 2:4fdc0a17f6fa 177 return res;
reritter 2:4fdc0a17f6fa 178 }*/
reritter 2:4fdc0a17f6fa 179
reritter 2:4fdc0a17f6fa 180
reritter 2:4fdc0a17f6fa 181
reritter 2:4fdc0a17f6fa 182
reritter 1:e3d3d330c84d 183 double FindTimeDelay(int positionOfMaxVal_1, int positionOfMaxVal_2)
reritter 1:e3d3d330c84d 184 {
reritter 1:e3d3d330c84d 185 double timemax_1 = capturestamps_1[positionOfMaxVal_1];
reritter 1:e3d3d330c84d 186 double timemax_2 = capturestamps_2[positionOfMaxVal_2];
reritter 1:e3d3d330c84d 187 double delay = timemax_1 - timemax_2;
reritter 1:e3d3d330c84d 188 return delay; //if negative near microphone 1, if positive near micropnone 2
reritter 1:e3d3d330c84d 189 }
reritter 1:e3d3d330c84d 190
reritter 1:e3d3d330c84d 191
reritter 1:e3d3d330c84d 192 //get voltage value which represents audio amplitude from microphone
reritter 1:e3d3d330c84d 193 double getAudioValue(AnalogIn micX)
reritter 1:e3d3d330c84d 194 {
reritter 1:e3d3d330c84d 195 return 1000*micX.read();
reritter 1:e3d3d330c84d 196 }
reritter 1:e3d3d330c84d 197
reritter 1:e3d3d330c84d 198
reritter 1:e3d3d330c84d 199 bool overThreshold(double micValue_1, double micValue_2)
reritter 1:e3d3d330c84d 200 {
reritter 1:e3d3d330c84d 201 if ((micValue_1 > threshold_1) || (micValue_2 > threshold_2)) {
reritter 1:e3d3d330c84d 202 return true;
reritter 1:e3d3d330c84d 203 } else return false;
reritter 1:e3d3d330c84d 204 }
reritter 1:e3d3d330c84d 205
reritter 1:e3d3d330c84d 206 //true if voltage value in microphone is above the current threshold value
reritter 1:e3d3d330c84d 207 bool calibrateThreshold(double micValue, double currentThreshold)
reritter 1:e3d3d330c84d 208 {
reritter 1:e3d3d330c84d 209 if ( micValue > currentThreshold ) {
reritter 1:e3d3d330c84d 210 return true;
reritter 1:e3d3d330c84d 211 } else return false;
reritter 1:e3d3d330c84d 212 }
reritter 1:e3d3d330c84d 213
reritter 1:e3d3d330c84d 214
reritter 1:e3d3d330c84d 215 // main() runs in its own thread in the OS
reritter 1:e3d3d330c84d 216 int main()
reritter 1:e3d3d330c84d 217 {
reritter 1:e3d3d330c84d 218 for(int i = 0; i < test; i++) {
reritter 1:e3d3d330c84d 219 delaytest[i] = -420 + i*105;
reritter 1:e3d3d330c84d 220 }
reritter 1:e3d3d330c84d 221 t.start(); // start timer
reritter 1:e3d3d330c84d 222
reritter 1:e3d3d330c84d 223 //while (true) {
reritter 1:e3d3d330c84d 224 led1 = !led1;
reritter 1:e3d3d330c84d 225 wait(0.5);
reritter 1:e3d3d330c84d 226
reritter 1:e3d3d330c84d 227
reritter 1:e3d3d330c84d 228 //STATE MACHINE
reritter 1:e3d3d330c84d 229 STATE = IDLE;
reritter 1:e3d3d330c84d 230 //int counter = 0;
reritter 1:e3d3d330c84d 231 while (true) {
reritter 1:e3d3d330c84d 232 switch (STATE) {
reritter 1:e3d3d330c84d 233 case IDLE: //always start here
reritter 1:e3d3d330c84d 234 DebugPrintState( std::cout << "Nucleo state is IDLE: " << std::endl; );
reritter 1:e3d3d330c84d 235 Debug( wait(0.5); );
reritter 1:e3d3d330c84d 236 if (!calibratedStatus) STATE = CALIBRATE;
reritter 1:e3d3d330c84d 237 else STATE = TESTNEW;
reritter 1:e3d3d330c84d 238 break;
reritter 1:e3d3d330c84d 239
reritter 1:e3d3d330c84d 240 case CALIBRATE:
reritter 1:e3d3d330c84d 241 DebugPrintState( std::cout << "Nucleo state is CALIBRATE: " << std::endl; );
reritter 1:e3d3d330c84d 242 Debug( wait(1); );
reritter 1:e3d3d330c84d 243 //listen for X seconds to background noise, to set accurate threshold value
reritter 1:e3d3d330c84d 244 // This should be done only once when rebooting Nucleo
reritter 1:e3d3d330c84d 245 int startTime = t.read_us();
reritter 1:e3d3d330c84d 246 int offsetTime = 3000; //microseconds
reritter 1:e3d3d330c84d 247 int blinkTime = 500; //microseconds
reritter 1:e3d3d330c84d 248 while (t.read_us() < (startTime + offsetTime) ) {
reritter 1:e3d3d330c84d 249 double micValue_1 = getAudioValue(mic1);
reritter 1:e3d3d330c84d 250 if ( calibrateThreshold(micValue_1, threshold_1) ) {
reritter 1:e3d3d330c84d 251 threshold_1 = micValue_1; //threshold value updated
reritter 1:e3d3d330c84d 252 }
reritter 1:e3d3d330c84d 253 double micValue_2 = getAudioValue(mic2);
reritter 1:e3d3d330c84d 254 if ( calibrateThreshold(micValue_2, threshold_2) ) {
reritter 1:e3d3d330c84d 255 threshold_2 = micValue_2; //threshold value updated
reritter 1:e3d3d330c84d 256 }
reritter 1:e3d3d330c84d 257 //make LED blink every 500 ms
reritter 1:e3d3d330c84d 258 if ( t.read_us() > (startTime + blinkTime) ) {
reritter 1:e3d3d330c84d 259 led1 = !led1;
reritter 1:e3d3d330c84d 260 blinkTime = blinkTime + 500;
reritter 1:e3d3d330c84d 261 }
reritter 1:e3d3d330c84d 262 }
reritter 8:21e74746a067 263 threshold_1 = threshold_1 + threshold_adjust;
reritter 1:e3d3d330c84d 264 threshold_2 = threshold_2 + threshold_adjust;
reritter 1:e3d3d330c84d 265
reritter 1:e3d3d330c84d 266 //Calibrate temp and hum
reritter 1:e3d3d330c84d 267 if(checkTemp){
reritter 1:e3d3d330c84d 268 bool done = false;
reritter 1:e3d3d330c84d 269 while(!done) {
reritter 1:e3d3d330c84d 270 if(sensor.readData() == 0) {
reritter 1:e3d3d330c84d 271 temp = sensor.ReadTemperature(CELCIUS);
reritter 1:e3d3d330c84d 272 hum = sensor.ReadHumidity();
reritter 1:e3d3d330c84d 273 DebugPrintState(std::cout << "Temp: " << temp << "Degrees Celcius" <<std::endl; );
reritter 1:e3d3d330c84d 274 DebugPrintState(std::cout << "Hum: " << temp << "%" <<std::endl; );
reritter 1:e3d3d330c84d 275 done = true;
reritter 1:e3d3d330c84d 276 }
reritter 1:e3d3d330c84d 277 }
reritter 1:e3d3d330c84d 278 }
reritter 1:e3d3d330c84d 279
reritter 1:e3d3d330c84d 280 calibratedStatus = true;
reritter 1:e3d3d330c84d 281 STATE = TESTNEW; //next state
reritter 1:e3d3d330c84d 282 break;
reritter 1:e3d3d330c84d 283
reritter 1:e3d3d330c84d 284 case TESTNEW:
reritter 1:e3d3d330c84d 285 DebugPrintState( std::cout << "Nucleo state is TESTNEW: " << std::endl; );
KlaraBengtsson 5:3912347f8b4b 286
KlaraBengtsson 5:3912347f8b4b 287 double avgTimedelay = 0;
KlaraBengtsson 5:3912347f8b4b 288 int counter = 0;
reritter 8:21e74746a067 289 while(counter<500){
KlaraBengtsson 5:3912347f8b4b 290 int i = 0;
KlaraBengtsson 5:3912347f8b4b 291 bool quit = false;
KlaraBengtsson 5:3912347f8b4b 292 while(!quit) {
KlaraBengtsson 5:3912347f8b4b 293 channel_1[i] = getAudioValue(mic1);
KlaraBengtsson 5:3912347f8b4b 294 timestamps_1[i] = t.read_us();
KlaraBengtsson 5:3912347f8b4b 295 channel_2[i] = getAudioValue(mic2);
KlaraBengtsson 5:3912347f8b4b 296 timestamps_2[i] = t.read_us();
KlaraBengtsson 5:3912347f8b4b 297 if(overThreshold(channel_1[i], channel_2[i]) == true) {
KlaraBengtsson 5:3912347f8b4b 298 capture_1[0] = channel_1[i];
KlaraBengtsson 5:3912347f8b4b 299 capturestamps_1[0] = timestamps_1[i];
KlaraBengtsson 5:3912347f8b4b 300 capture_2[0] = channel_2[i];
KlaraBengtsson 5:3912347f8b4b 301 capturestamps_2[0] = timestamps_2[i];
reritter 8:21e74746a067 302 for(int j = 1; j < captureLength; j++) {
reritter 8:21e74746a067 303 capture_1[j] = getAudioValue(mic1);
reritter 8:21e74746a067 304 capturestamps_1[j] = t.read_us();
reritter 8:21e74746a067 305 capture_2[j] = getAudioValue(mic2);
reritter 8:21e74746a067 306 capturestamps_2[j] = t.read_us();
KlaraBengtsson 5:3912347f8b4b 307 }
KlaraBengtsson 5:3912347f8b4b 308 quit = true;
reritter 1:e3d3d330c84d 309 }
KlaraBengtsson 5:3912347f8b4b 310 if(i < dataLength) {
KlaraBengtsson 5:3912347f8b4b 311 i++;
KlaraBengtsson 5:3912347f8b4b 312 } else {
KlaraBengtsson 5:3912347f8b4b 313 i = 0;
KlaraBengtsson 5:3912347f8b4b 314 }
reritter 1:e3d3d330c84d 315 }
KlaraBengtsson 5:3912347f8b4b 316
KlaraBengtsson 5:3912347f8b4b 317
KlaraBengtsson 5:3912347f8b4b 318 int positionOfMaxVal_1 = FindPeak(1);
KlaraBengtsson 5:3912347f8b4b 319 int positionOfMaxVal_2 = FindPeak(2);
KlaraBengtsson 5:3912347f8b4b 320 avgTimedelay = avgTimedelay + FindTimeDelay(positionOfMaxVal_1, positionOfMaxVal_2); //microseceonds
KlaraBengtsson 5:3912347f8b4b 321 counter++;
reritter 1:e3d3d330c84d 322 }
reritter 8:21e74746a067 323 timedelay = avgTimedelay/500;
KlaraBengtsson 6:73617748bb3a 324 DebugPrintDelay(std::cout<<"avgTimedelay is: "<<timedelay<<std::endl;);
reritter 1:e3d3d330c84d 325 STATE = CALC;
reritter 1:e3d3d330c84d 326 break;
reritter 1:e3d3d330c84d 327
reritter 1:e3d3d330c84d 328
reritter 1:e3d3d330c84d 329 case CALC:
reritter 1:e3d3d330c84d 330 DebugPrintState( std::cout << "Nucleo state is CALC: " << std::endl; );
reritter 1:e3d3d330c84d 331 //Debug( wait(0.5); );
KlaraBengtsson 6:73617748bb3a 332
KlaraBengtsson 5:3912347f8b4b 333 //int positionOfMaxVal_1 = FindPeak(1);
KlaraBengtsson 5:3912347f8b4b 334 //int positionOfMaxVal_2 = FindPeak(2);
reritter 1:e3d3d330c84d 335 //run functions
KlaraBengtsson 5:3912347f8b4b 336 //double timedelay = FindTimeDelay(positionOfMaxVal_1, positionOfMaxVal_2); //microseceonds
KlaraBengtsson 7:99d5e92152e0 337 if(abs(timedelay/1000000) > micDist/calcSoundSpeed(temp, hum)){ //now timedelay in sec
reritter 1:e3d3d330c84d 338 STATE = CALC_ERROR;
reritter 1:e3d3d330c84d 339 break;
reritter 1:e3d3d330c84d 340 }
reritter 1:e3d3d330c84d 341 double speed = calcSoundSpeed(temp, hum); //meters per second
reritter 1:e3d3d330c84d 342 double distance = calcDist(timedelay/1000000, speed); //input converted to meters
reritter 1:e3d3d330c84d 343 double angle = calcAng((double)distance, micDist); //0,15m = 15cm = 150mm, double type cast because of asin function in angle calculation
reritter 1:e3d3d330c84d 344 //go to state SEND if no calc_error
reritter 1:e3d3d330c84d 345
reritter 1:e3d3d330c84d 346 Debug(
KlaraBengtsson 7:99d5e92152e0 347 //std::cout << "max position for channel 1: " << positionOfMaxVal_1+1 << std::endl;
KlaraBengtsson 7:99d5e92152e0 348 //std::cout << "max position for channel 2: " << positionOfMaxVal_2+1 << std::endl;
reritter 1:e3d3d330c84d 349 std::cout << "run FindPeak, delay is: " << timedelay << "microseconds" << std::endl;
reritter 1:e3d3d330c84d 350 std::cout << "run calcDist, delta s is: " << distance << " millimeters" << std::endl;
reritter 1:e3d3d330c84d 351 std::cout << "run calcAngle, angle is: " << angle << " radians" << std::endl;
reritter 1:e3d3d330c84d 352 std::cout << "run calcAngle, angle is: " << angle*(180 / PI) << " degrees" << std::endl;
reritter 1:e3d3d330c84d 353 std::cout << "run convertAngToCamNbr, coordinates: "<< convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber";
reritter 1:e3d3d330c84d 354 );
reritter 1:e3d3d330c84d 355 if (angle > (3 * PI )/2 || angle < 0 ) { //vinkel larger than 270 eller minde än noll
reritter 1:e3d3d330c84d 356 STATE = CALC_ERROR;
reritter 1:e3d3d330c84d 357 } else {
reritter 1:e3d3d330c84d 358 STATE = SEND;
reritter 1:e3d3d330c84d 359 }
reritter 1:e3d3d330c84d 360 break;
reritter 1:e3d3d330c84d 361
reritter 1:e3d3d330c84d 362 case CALC_ERROR:
reritter 1:e3d3d330c84d 363 DebugPrintState( std::cout << "Nucleo state is CALC_ERROR: " << std::endl; );
reritter 1:e3d3d330c84d 364 Debug( wait(0.5); );
reritter 1:e3d3d330c84d 365 //error message
reritter 1:e3d3d330c84d 366 std::cout << "Error. angle not within limits 0 -270 degrees" << std::endl;
reritter 1:e3d3d330c84d 367 //nollställ vektorer, , stoppa klockan , osv
reritter 1:e3d3d330c84d 368 STATE = TESTNEW;
reritter 1:e3d3d330c84d 369 break;
reritter 1:e3d3d330c84d 370
reritter 1:e3d3d330c84d 371 case SEND:
reritter 1:e3d3d330c84d 372 DebugPrintState( std::cout << "Nucleo state is SEND: " << std::endl; );
reritter 1:e3d3d330c84d 373 Debug( wait(0.5); );
reritter 1:e3d3d330c84d 374 // send coordinates to serial port to camera
reritter 1:e3d3d330c84d 375 std::cout<<convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber";
reritter 1:e3d3d330c84d 376 Debug( wait(0.5); );
reritter 1:e3d3d330c84d 377 STATE = IDLE;
reritter 1:e3d3d330c84d 378 wait(5);
reritter 1:e3d3d330c84d 379 break;
reritter 1:e3d3d330c84d 380 }
reritter 1:e3d3d330c84d 381 }
reritter 1:e3d3d330c84d 382 }
reritter 1:e3d3d330c84d 383