Elektronikprojekt Grupp 13 / Mbed OS egentest

extra test

Dependencies:   DHT

newdemo.cpp@4:9cf2b85197f2, 2017-05-11 (annotated)

Committer:
elt14lpo
Date:
Thu May 11 09:56:30 2017 +0000
Revision:
4:9cf2b85197f2
Parent:
3:0beeffb8a329 
wider micDist;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elt14lpo 0:ef9b24f4c2d9 1 #include "mbed.h"
elt14lpo 0:ef9b24f4c2d9 2 #include <iostream> /* cout */
elt14lpo 0:ef9b24f4c2d9 3 //#include <stdio.h> /* printf */
elt14lpo 0:ef9b24f4c2d9 4 #include <math.h> /* sin */
elt14lpo 1:61ad430f1e5d 5 #include <vector>
elt14lpo 0:ef9b24f4c2d9 6 #include <stdlib.h> /* abs */
elt14lpo 0:ef9b24f4c2d9 7 #include <stdio.h>
elt14lpo 0:ef9b24f4c2d9 8 #include <AnalogIn.h>
elt14lpo 0:ef9b24f4c2d9 9 #include <stdint.h>
elt14lpo 1:61ad430f1e5d 10 #include <DHT.h>
elt14lpo 0:ef9b24f4c2d9 11 #include<sstream>
elt14lpo 0:ef9b24f4c2d9 12
elt14lpo 0:ef9b24f4c2d9 13 //using namespace std;
elt14lpo 0:ef9b24f4c2d9 14
elt14lpo 0:ef9b24f4c2d9 15 /* DEBUG FUNCTION
elt14lpo 0:ef9b24f4c2d9 16 // ersätter Debug(xyz) med xyz , där xyz är din kod
elt14lpo 0:ef9b24f4c2d9 17 //För att aktivera:
elt14lpo 0:ef9b24f4c2d9 18 #define Debug(xyz) xyz
elt14lpo 0:ef9b24f4c2d9 19
elt14lpo 1:61ad430f1e5d 20 //För att "stänga av":
elt14lpo 0:ef9b24f4c2d9 21 #define Debug(xyz)
elt14lpo 0:ef9b24f4c2d9 22
elt14lpo 0:ef9b24f4c2d9 23 //I din kod, skriv din debug kod liknande så här:
elt14lpo 0:ef9b24f4c2d9 24 Debug( std::cout << "My text: " << myVariable << std::endl; );
elt14lpo 0:ef9b24f4c2d9 25
elt14lpo 0:ef9b24f4c2d9 26 */
elt14lpo 0:ef9b24f4c2d9 27
elt14lpo 0:ef9b24f4c2d9 28 #define Debug(x) x
elt14lpo 0:ef9b24f4c2d9 29 #define DebugPrintState(y) y
elt14lpo 0:ef9b24f4c2d9 30 #define DebugArcSin(z) z
elt14lpo 0:ef9b24f4c2d9 31
elt14lpo 0:ef9b24f4c2d9 32
elt14lpo 0:ef9b24f4c2d9 33 //----------VARIABLES HERE
elt14lpo 0:ef9b24f4c2d9 34 int dataLength = 1000;
elt14lpo 4:9cf2b85197f2 35 int captureLength = 50;
elt14lpo 1:61ad430f1e5d 36 double temp = 22;
elt14lpo 0:ef9b24f4c2d9 37 double hum = 10;
elt14lpo 4:9cf2b85197f2 38 double micDist = 0.250; //meters
elt14lpo 1:61ad430f1e5d 39 double threshold_1 = 0; //value when going to active mode channel 1 //old hardcoded value = 330
elt14lpo 1:61ad430f1e5d 40 double threshold_2 = 0; //value when going to active mode channel 2 //old hardcoded value = 200
elt14lpo 4:9cf2b85197f2 41 double threshold_adjust = 15; //used to adjust threshold, + for less sensitivity, - for increased sensitivity
elt14lpo 0:ef9b24f4c2d9 42 bool calibratedStatus = false; //flag to make sure Nuclueo only calibrated once for background noise
elt14lpo 1:61ad430f1e5d 43 bool checkTemp = false; //flag - true to checktemp, false to use predefined values
elt14lpo 1:61ad430f1e5d 44 int positionOfMaxVal_1;
elt14lpo 0:ef9b24f4c2d9 45 int positionOfMaxVal_2;
elt14lpo 0:ef9b24f4c2d9 46 const double PI = 3.14159265358979323846;
elt14lpo 0:ef9b24f4c2d9 47
elt14lpo 0:ef9b24f4c2d9 48 // State machine
elt14lpo 0:ef9b24f4c2d9 49 int STATE;
elt14lpo 0:ef9b24f4c2d9 50 //const int NONE = -1;
elt14lpo 0:ef9b24f4c2d9 51 const int IDLE = 0;
elt14lpo 0:ef9b24f4c2d9 52 const int CALIBRATE = 1;
elt14lpo 1:61ad430f1e5d 53 const int TESTNEW = 2;
elt14lpo 1:61ad430f1e5d 54 const int CALC = 3;
elt14lpo 1:61ad430f1e5d 55 const int CALC_ERROR = 4;
elt14lpo 1:61ad430f1e5d 56 const int SEND = 5;
elt14lpo 0:ef9b24f4c2d9 57 //const int WAIT = 9;
elt14lpo 0:ef9b24f4c2d9 58
elt14lpo 0:ef9b24f4c2d9 59 //dataLength behövs kanske inte, vector klassen kan växa med behov
elt14lpo 1:61ad430f1e5d 60 std::vector<double> channel_1(dataLength);
elt14lpo 1:61ad430f1e5d 61 std::vector<double> channel_2(dataLength);
elt14lpo 0:ef9b24f4c2d9 62 std::vector<int> timestamps_1(dataLength);
elt14lpo 0:ef9b24f4c2d9 63 std::vector<int> timestamps_2(dataLength);
elt14lpo 1:61ad430f1e5d 64 std::vector<double> capture_1(captureLength);
elt14lpo 1:61ad430f1e5d 65 std::vector<double> capture_2(captureLength);
elt14lpo 2:e24c8b8b8b0b 66 std::vector<double> capturestamps_1(captureLength);
elt14lpo 2:e24c8b8b8b0b 67 std::vector<double> capturestamps_2(captureLength);
elt14lpo 1:61ad430f1e5d 68
elt14lpo 1:61ad430f1e5d 69 int positiontest = 0;
elt14lpo 1:61ad430f1e5d 70 int test = 9;
elt14lpo 1:61ad430f1e5d 71 std::vector<double> delaytest(test);
elt14lpo 1:61ad430f1e5d 72
elt14lpo 0:ef9b24f4c2d9 73
elt14lpo 0:ef9b24f4c2d9 74 AnalogIn mic1(A0);
elt14lpo 0:ef9b24f4c2d9 75 AnalogIn mic2(A1);
elt14lpo 0:ef9b24f4c2d9 76 AnalogIn mic3(A2);
elt14lpo 1:61ad430f1e5d 77 DHT sensor(A3, DHT11);
elt14lpo 0:ef9b24f4c2d9 78
elt14lpo 0:ef9b24f4c2d9 79 //TIMER
elt14lpo 0:ef9b24f4c2d9 80 Timer t;
elt14lpo 0:ef9b24f4c2d9 81
elt14lpo 0:ef9b24f4c2d9 82 //led can be used for status
elt14lpo 0:ef9b24f4c2d9 83 DigitalOut led1(LED1);
elt14lpo 0:ef9b24f4c2d9 84
elt14lpo 0:ef9b24f4c2d9 85
elt14lpo 0:ef9b24f4c2d9 86 //----------FUNCTIONS HERE
elt14lpo 0:ef9b24f4c2d9 87 //Calculating distance between sound and camera
elt14lpo 1:61ad430f1e5d 88 double calcDist(double t, double v)
elt14lpo 1:61ad430f1e5d 89 {
elt14lpo 0:ef9b24f4c2d9 90 double s = t*v;
elt14lpo 0:ef9b24f4c2d9 91 return s;
elt14lpo 0:ef9b24f4c2d9 92 }
elt14lpo 0:ef9b24f4c2d9 93
elt14lpo 0:ef9b24f4c2d9 94 //Calculating angle in radians, D distance between mic1 and mic2
elt14lpo 1:61ad430f1e5d 95 double calcAng(double s, double D)
elt14lpo 1:61ad430f1e5d 96 {
elt14lpo 1:61ad430f1e5d 97 return asin(s/D) + PI/2;
elt14lpo 0:ef9b24f4c2d9 98 }
elt14lpo 0:ef9b24f4c2d9 99
elt14lpo 0:ef9b24f4c2d9 100 //Assuming the input value is temp as a number in degrees celcius and humidity as procent
elt14lpo 1:61ad430f1e5d 101 double calcSoundSpeed(double temp, double hum)
elt14lpo 1:61ad430f1e5d 102 {
elt14lpo 0:ef9b24f4c2d9 103 //Calculations were done in Matlab
elt14lpo 0:ef9b24f4c2d9 104 double speed = 331.1190 + 0.6016*temp + 0.0126*hum;
elt14lpo 0:ef9b24f4c2d9 105 return speed;
elt14lpo 0:ef9b24f4c2d9 106 }
elt14lpo 0:ef9b24f4c2d9 107
elt14lpo 0:ef9b24f4c2d9 108 //translate angle to number for camera
elt14lpo 1:61ad430f1e5d 109 string convertAngToCamNbr(double ang)
elt14lpo 1:61ad430f1e5d 110 {
elt14lpo 1:61ad430f1e5d 111 ang = ang*(180 / PI) + 45; //radianer till grader
elt14lpo 0:ef9b24f4c2d9 112 double angValues = 270;
elt14lpo 0:ef9b24f4c2d9 113 int stepValues = 50000;
elt14lpo 0:ef9b24f4c2d9 114 string tiltNumber = " 18000"; //hårdkodat Camera Pan värde
elt14lpo 1:61ad430f1e5d 115
elt14lpo 0:ef9b24f4c2d9 116 double oneAng = stepValues/angValues;
elt14lpo 0:ef9b24f4c2d9 117 double cameraAngNumber = ang*oneAng;
elt14lpo 0:ef9b24f4c2d9 118 int panInt = (int)(cameraAngNumber); //double to int
elt14lpo 0:ef9b24f4c2d9 119 //int to string
elt14lpo 0:ef9b24f4c2d9 120 string panNumber;
elt14lpo 0:ef9b24f4c2d9 121 ostringstream convert;
elt14lpo 0:ef9b24f4c2d9 122 convert << panInt;
elt14lpo 0:ef9b24f4c2d9 123 panNumber = convert.str();
elt14lpo 1:61ad430f1e5d 124
elt14lpo 0:ef9b24f4c2d9 125 string send = panNumber + tiltNumber;
elt14lpo 1:61ad430f1e5d 126 return send;
elt14lpo 0:ef9b24f4c2d9 127 }
elt14lpo 0:ef9b24f4c2d9 128
elt14lpo 0:ef9b24f4c2d9 129
elt14lpo 0:ef9b24f4c2d9 130 //calc time delay by finding peak values in 2 vectors
elt14lpo 0:ef9b24f4c2d9 131 //channel = 1 or 2
elt14lpo 1:61ad430f1e5d 132 int FindPeak(int channel)
elt14lpo 1:61ad430f1e5d 133 {
elt14lpo 1:61ad430f1e5d 134 std::vector<double> channel_curr(captureLength); //temporary vector with channel voltage values
elt14lpo 1:61ad430f1e5d 135
elt14lpo 0:ef9b24f4c2d9 136 //if channel 1 then set current channel to channel 1
elt14lpo 1:61ad430f1e5d 137 if (channel == 1) {
elt14lpo 1:61ad430f1e5d 138 channel_curr = capture_1;
elt14lpo 1:61ad430f1e5d 139 } else channel_curr = capture_2;
elt14lpo 1:61ad430f1e5d 140
elt14lpo 0:ef9b24f4c2d9 141 //reset max value & sum value
elt14lpo 1:61ad430f1e5d 142 double valueMax = 0;
elt14lpo 1:61ad430f1e5d 143
elt14lpo 0:ef9b24f4c2d9 144 //reset array position
elt14lpo 0:ef9b24f4c2d9 145 int positionOfMaxVal = 0;
elt14lpo 1:61ad430f1e5d 146
elt14lpo 0:ef9b24f4c2d9 147 //find largest value & mark that position in vectors
elt14lpo 0:ef9b24f4c2d9 148 for (int position = 0; position < channel_curr.size(); position++) {
elt14lpo 1:61ad430f1e5d 149 double val = abs(channel_curr[position]);
elt14lpo 1:61ad430f1e5d 150 if (val > valueMax ) {
elt14lpo 0:ef9b24f4c2d9 151 valueMax = val;
elt14lpo 0:ef9b24f4c2d9 152 positionOfMaxVal = position;
elt14lpo 0:ef9b24f4c2d9 153 }
elt14lpo 1:61ad430f1e5d 154 }
elt14lpo 0:ef9b24f4c2d9 155 return positionOfMaxVal;
elt14lpo 0:ef9b24f4c2d9 156 }
elt14lpo 0:ef9b24f4c2d9 157
elt14lpo 1:61ad430f1e5d 158 double FindTimeDelay(int positionOfMaxVal_1, int positionOfMaxVal_2)
elt14lpo 1:61ad430f1e5d 159 {
elt14lpo 2:e24c8b8b8b0b 160 double timemax_1 = capturestamps_1[positionOfMaxVal_1];
elt14lpo 2:e24c8b8b8b0b 161 double timemax_2 = capturestamps_2[positionOfMaxVal_2];
elt14lpo 0:ef9b24f4c2d9 162 double delay = timemax_1 - timemax_2;
elt14lpo 1:61ad430f1e5d 163 return delay; //if negative near microphone 1, if positive near micropnone 2
elt14lpo 0:ef9b24f4c2d9 164 }
elt14lpo 0:ef9b24f4c2d9 165
elt14lpo 0:ef9b24f4c2d9 166
elt14lpo 1:61ad430f1e5d 167 //get voltage value which represents audio amplitude from microphone
elt14lpo 1:61ad430f1e5d 168 double getAudioValue(AnalogIn micX)
elt14lpo 1:61ad430f1e5d 169 {
elt14lpo 1:61ad430f1e5d 170 return 1000*micX.read();
elt14lpo 0:ef9b24f4c2d9 171 }
elt14lpo 0:ef9b24f4c2d9 172
elt14lpo 0:ef9b24f4c2d9 173
elt14lpo 1:61ad430f1e5d 174 bool overThreshold(double micValue_1, double micValue_2)
elt14lpo 1:61ad430f1e5d 175 {
elt14lpo 1:61ad430f1e5d 176 if ((micValue_1 > threshold_1) || (micValue_2 > threshold_2)) {
elt14lpo 0:ef9b24f4c2d9 177 return true;
elt14lpo 1:61ad430f1e5d 178 } else return false;
elt14lpo 0:ef9b24f4c2d9 179 }
elt14lpo 0:ef9b24f4c2d9 180
elt14lpo 0:ef9b24f4c2d9 181 //true if voltage value in microphone is above the current threshold value
elt14lpo 1:61ad430f1e5d 182 bool calibrateThreshold(double micValue, double currentThreshold)
elt14lpo 1:61ad430f1e5d 183 {
elt14lpo 1:61ad430f1e5d 184 if ( micValue > currentThreshold ) {
elt14lpo 0:ef9b24f4c2d9 185 return true;
elt14lpo 0:ef9b24f4c2d9 186 } else return false;
elt14lpo 0:ef9b24f4c2d9 187 }
elt14lpo 0:ef9b24f4c2d9 188
elt14lpo 0:ef9b24f4c2d9 189
elt14lpo 0:ef9b24f4c2d9 190 // main() runs in its own thread in the OS
elt14lpo 1:61ad430f1e5d 191 int main()
elt14lpo 1:61ad430f1e5d 192 {
elt14lpo 1:61ad430f1e5d 193 for(int i = 0; i < test; i++) {
elt14lpo 1:61ad430f1e5d 194 delaytest[i] = -420 + i*105;
elt14lpo 1:61ad430f1e5d 195 }
elt14lpo 0:ef9b24f4c2d9 196 t.start(); // start timer
elt14lpo 1:61ad430f1e5d 197
elt14lpo 0:ef9b24f4c2d9 198 //while (true) {
elt14lpo 1:61ad430f1e5d 199 led1 = !led1;
elt14lpo 1:61ad430f1e5d 200 wait(0.5);
elt14lpo 1:61ad430f1e5d 201
elt14lpo 1:61ad430f1e5d 202
elt14lpo 1:61ad430f1e5d 203 //STATE MACHINE
elt14lpo 0:ef9b24f4c2d9 204 STATE = IDLE;
elt14lpo 0:ef9b24f4c2d9 205 //int counter = 0;
elt14lpo 0:ef9b24f4c2d9 206 while (true) {
elt14lpo 0:ef9b24f4c2d9 207 switch (STATE) {
elt14lpo 1:61ad430f1e5d 208 case IDLE: //always start here
elt14lpo 1:61ad430f1e5d 209 DebugPrintState( std::cout << "Nucleo state is IDLE: " << std::endl; );
elt14lpo 1:61ad430f1e5d 210 Debug( wait(0.5); );
elt14lpo 1:61ad430f1e5d 211 if (!calibratedStatus) STATE = CALIBRATE;
elt14lpo 1:61ad430f1e5d 212 else STATE = TESTNEW;
elt14lpo 1:61ad430f1e5d 213 break;
elt14lpo 0:ef9b24f4c2d9 214
elt14lpo 0:ef9b24f4c2d9 215 case CALIBRATE:
elt14lpo 1:61ad430f1e5d 216 DebugPrintState( std::cout << "Nucleo state is CALIBRATE: " << std::endl; );
elt14lpo 1:61ad430f1e5d 217 Debug( wait(1); );
elt14lpo 1:61ad430f1e5d 218 //listen for X seconds to background noise, to set accurate threshold value
elt14lpo 1:61ad430f1e5d 219 // This should be done only once when rebooting Nucleo
elt14lpo 1:61ad430f1e5d 220 int startTime = t.read_us();
elt14lpo 1:61ad430f1e5d 221 int offsetTime = 3000; //microseconds
elt14lpo 1:61ad430f1e5d 222 int blinkTime = 500; //microseconds
elt14lpo 1:61ad430f1e5d 223 while (t.read_us() < (startTime + offsetTime) ) {
elt14lpo 1:61ad430f1e5d 224 double micValue_1 = getAudioValue(mic1);
elt14lpo 1:61ad430f1e5d 225 if ( calibrateThreshold(micValue_1, threshold_1) ) {
elt14lpo 1:61ad430f1e5d 226 threshold_1 = micValue_1; //threshold value updated
elt14lpo 1:61ad430f1e5d 227 }
elt14lpo 1:61ad430f1e5d 228 double micValue_2 = getAudioValue(mic2);
elt14lpo 1:61ad430f1e5d 229 if ( calibrateThreshold(micValue_2, threshold_2) ) {
elt14lpo 1:61ad430f1e5d 230 threshold_2 = micValue_2; //threshold value updated
elt14lpo 1:61ad430f1e5d 231 }
elt14lpo 1:61ad430f1e5d 232 //make LED blink every 500 ms
elt14lpo 1:61ad430f1e5d 233 if ( t.read_us() > (startTime + blinkTime) ) {
elt14lpo 1:61ad430f1e5d 234 led1 = !led1;
elt14lpo 1:61ad430f1e5d 235 blinkTime = blinkTime + 500;
elt14lpo 1:61ad430f1e5d 236 }
elt14lpo 0:ef9b24f4c2d9 237 }
elt14lpo 1:61ad430f1e5d 238 threshold_1 = threshold_2 + threshold_adjust;
elt14lpo 1:61ad430f1e5d 239 threshold_2 = threshold_2 + threshold_adjust;
elt14lpo 1:61ad430f1e5d 240
elt14lpo 1:61ad430f1e5d 241 //Calibrate temp and hum
elt14lpo 1:61ad430f1e5d 242 if(checkTemp){
elt14lpo 1:61ad430f1e5d 243 bool done = false;
elt14lpo 1:61ad430f1e5d 244 while(!done) {
elt14lpo 1:61ad430f1e5d 245 if(sensor.readData() == 0) {
elt14lpo 1:61ad430f1e5d 246 temp = sensor.ReadTemperature(CELCIUS);
elt14lpo 1:61ad430f1e5d 247 hum = sensor.ReadHumidity();
elt14lpo 1:61ad430f1e5d 248 DebugPrintState(std::cout << "Temp: " << temp << "Degrees Celcius" <<std::endl; );
elt14lpo 1:61ad430f1e5d 249 DebugPrintState(std::cout << "Hum: " << temp << "%" <<std::endl; );
elt14lpo 1:61ad430f1e5d 250 done = true;
elt14lpo 1:61ad430f1e5d 251 }
elt14lpo 1:61ad430f1e5d 252 }
elt14lpo 1:61ad430f1e5d 253 }
elt14lpo 1:61ad430f1e5d 254
elt14lpo 1:61ad430f1e5d 255 calibratedStatus = true;
elt14lpo 1:61ad430f1e5d 256 STATE = TESTNEW; //next state
elt14lpo 1:61ad430f1e5d 257 break;
elt14lpo 0:ef9b24f4c2d9 258
elt14lpo 1:61ad430f1e5d 259 case TESTNEW:
elt14lpo 1:61ad430f1e5d 260 DebugPrintState( std::cout << "Nucleo state is TESTNEW: " << std::endl; );
elt14lpo 1:61ad430f1e5d 261 int i = 0;
elt14lpo 1:61ad430f1e5d 262 bool quit = false;
elt14lpo 1:61ad430f1e5d 263 while(!quit) {
elt14lpo 1:61ad430f1e5d 264 channel_1[i] = getAudioValue(mic1);
elt14lpo 1:61ad430f1e5d 265 timestamps_1[i] = t.read_us();
elt14lpo 1:61ad430f1e5d 266 channel_2[i] = getAudioValue(mic2);
elt14lpo 2:e24c8b8b8b0b 267 timestamps_2[i] = t.read_us();
elt14lpo 1:61ad430f1e5d 268 if(overThreshold(channel_1[i], channel_2[i]) == true) {
elt14lpo 1:61ad430f1e5d 269 capture_1[0] = channel_1[i];
elt14lpo 2:e24c8b8b8b0b 270 capturestamps_1[0] = timestamps_1[i];
elt14lpo 1:61ad430f1e5d 271 capture_2[0] = channel_2[i];
elt14lpo 2:e24c8b8b8b0b 272 capturestamps_2[0] = timestamps_2[i];
elt14lpo 1:61ad430f1e5d 273 for(int i = 1; i < captureLength; i++) {
elt14lpo 1:61ad430f1e5d 274 capture_1[i] = getAudioValue(mic1);
elt14lpo 2:e24c8b8b8b0b 275 capturestamps_1[i] = t.read_us();
elt14lpo 1:61ad430f1e5d 276 capture_2[i] = getAudioValue(mic2);
elt14lpo 2:e24c8b8b8b0b 277 capturestamps_2[i] = t.read_us();
elt14lpo 1:61ad430f1e5d 278 }
elt14lpo 1:61ad430f1e5d 279 quit = true;
elt14lpo 1:61ad430f1e5d 280 }
elt14lpo 1:61ad430f1e5d 281 if(i < dataLength) {
elt14lpo 1:61ad430f1e5d 282 i++;
elt14lpo 1:61ad430f1e5d 283 } else {
elt14lpo 1:61ad430f1e5d 284 i = 0;
elt14lpo 1:61ad430f1e5d 285 }
elt14lpo 1:61ad430f1e5d 286 }
elt14lpo 1:61ad430f1e5d 287 STATE = CALC;
elt14lpo 1:61ad430f1e5d 288 break;
elt14lpo 0:ef9b24f4c2d9 289
elt14lpo 1:61ad430f1e5d 290
elt14lpo 0:ef9b24f4c2d9 291 case CALC:
elt14lpo 1:61ad430f1e5d 292 DebugPrintState( std::cout << "Nucleo state is CALC: " << std::endl; );
elt14lpo 1:61ad430f1e5d 293 //Debug( wait(0.5); );
elt14lpo 1:61ad430f1e5d 294
elt14lpo 1:61ad430f1e5d 295 int positionOfMaxVal_1 = FindPeak(1);
elt14lpo 1:61ad430f1e5d 296 int positionOfMaxVal_2 = FindPeak(2);
elt14lpo 1:61ad430f1e5d 297 //run functions
elt14lpo 1:61ad430f1e5d 298 double timedelay = FindTimeDelay(positionOfMaxVal_1, positionOfMaxVal_2); //microseceonds
elt14lpo 4:9cf2b85197f2 299 if(abs(timedelay) > micDist/calcSoundSpeed(temp, hum)){
elt14lpo 2:e24c8b8b8b0b 300 STATE = CALC_ERROR;
elt14lpo 2:e24c8b8b8b0b 301 break;
elt14lpo 2:e24c8b8b8b0b 302 }
elt14lpo 1:61ad430f1e5d 303 double speed = calcSoundSpeed(temp, hum); //meters per second
elt14lpo 1:61ad430f1e5d 304 double distance = calcDist(timedelay/1000000, speed); //input converted to meters
elt14lpo 1:61ad430f1e5d 305 double angle = calcAng((double)distance, micDist); //0,15m = 15cm = 150mm, double type cast because of asin function in angle calculation
elt14lpo 1:61ad430f1e5d 306 //go to state SEND if no calc_error
elt14lpo 1:61ad430f1e5d 307
elt14lpo 1:61ad430f1e5d 308 Debug(
elt14lpo 1:61ad430f1e5d 309 std::cout << "max position for channel 1: " << positionOfMaxVal_1+1 << std::endl;
elt14lpo 1:61ad430f1e5d 310 std::cout << "max position for channel 2: " << positionOfMaxVal_2+1 << std::endl;
elt14lpo 1:61ad430f1e5d 311 std::cout << "run FindPeak, delay is: " << timedelay << "microseconds" << std::endl;
elt14lpo 1:61ad430f1e5d 312 std::cout << "run calcDist, delta s is: " << distance << " millimeters" << std::endl;
elt14lpo 1:61ad430f1e5d 313 std::cout << "run calcAngle, angle is: " << angle << " radians" << std::endl;
elt14lpo 1:61ad430f1e5d 314 std::cout << "run calcAngle, angle is: " << angle*(180 / PI) << " degrees" << std::endl;
elt14lpo 1:61ad430f1e5d 315 std::cout << "run convertAngToCamNbr, coordinates: "<< convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber";
elt14lpo 1:61ad430f1e5d 316 );
elt14lpo 1:61ad430f1e5d 317 if (angle > (3 * PI )/2 || angle < 0 ) { //vinkel larger than 270 eller minde än noll
elt14lpo 1:61ad430f1e5d 318 STATE = CALC_ERROR;
elt14lpo 1:61ad430f1e5d 319 } else {
elt14lpo 1:61ad430f1e5d 320 STATE = SEND;
elt14lpo 1:61ad430f1e5d 321 }
elt14lpo 1:61ad430f1e5d 322 break;
elt14lpo 1:61ad430f1e5d 323
elt14lpo 0:ef9b24f4c2d9 324 case CALC_ERROR:
elt14lpo 1:61ad430f1e5d 325 DebugPrintState( std::cout << "Nucleo state is CALC_ERROR: " << std::endl; );
elt14lpo 1:61ad430f1e5d 326 Debug( wait(0.5); );
elt14lpo 1:61ad430f1e5d 327 //error message
elt14lpo 1:61ad430f1e5d 328 std::cout << "Error. angle not within limits 0 -270 degrees" << std::endl;
elt14lpo 1:61ad430f1e5d 329 //nollställ vektorer, , stoppa klockan , osv
elt14lpo 1:61ad430f1e5d 330 STATE = TESTNEW;
elt14lpo 1:61ad430f1e5d 331 break;
elt14lpo 1:61ad430f1e5d 332
elt14lpo 0:ef9b24f4c2d9 333 case SEND:
elt14lpo 1:61ad430f1e5d 334 DebugPrintState( std::cout << "Nucleo state is SEND: " << std::endl; );
elt14lpo 1:61ad430f1e5d 335 Debug( wait(0.5); );
elt14lpo 1:61ad430f1e5d 336 // send coordinates to serial port to camera
elt14lpo 1:61ad430f1e5d 337 std::cout<<convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber";
elt14lpo 1:61ad430f1e5d 338 Debug( wait(0.5); );
elt14lpo 1:61ad430f1e5d 339 STATE = IDLE;
elt14lpo 3:0beeffb8a329 340 wait(5);
elt14lpo 1:61ad430f1e5d 341 break;
elt14lpo 1:61ad430f1e5d 342 }
elt14lpo 1:61ad430f1e5d 343 }
elt14lpo 0:ef9b24f4c2d9 344 }
elt14lpo 0:ef9b24f4c2d9 345