Elektronikprojekt Grupp 13
extra test
Dependencies: DHT
Diff: newdemo.cpp
- Revision:
- 1:61ad430f1e5d
- Parent:
- 0:ef9b24f4c2d9
- Child:
- 2:e24c8b8b8b0b
--- a/newdemo.cpp Wed May 10 13:19:59 2017 +0000
+++ b/newdemo.cpp Wed May 10 20:09:45 2017 +0000
@@ -2,12 +2,12 @@
#include <iostream> /* cout */
//#include <stdio.h> /* printf */
#include <math.h> /* sin */
-#include <vector>
+#include <vector>
#include <stdlib.h> /* abs */
#include <stdio.h>
#include <AnalogIn.h>
#include <stdint.h>
-#//include <DHT.h>
+#include <DHT.h>
#include<sstream>
//using namespace std;
@@ -17,7 +17,7 @@
//För att aktivera:
#define Debug(xyz) xyz
-//För att "stänga av":
+//För att "stänga av":
#define Debug(xyz)
//I din kod, skriv din debug kod liknande så här:
@@ -32,14 +32,16 @@
//----------VARIABLES HERE
int dataLength = 1000;
-double temp = 25;
+int captureLength = 50;
+double temp = 22;
double hum = 10;
-double micDist = 150; //millimeters
-float threshold_1 = 0; //value when going to active mode channel 1 //old hardcoded value = 330
-float threshold_2 = 0; //value when going to active mode channel 2 //old hardcoded value = 200
-float threshold_adjust = -75; //used to adjust threshold to slightly below max value
+double micDist = 0.150; //meters
+double threshold_1 = 0; //value when going to active mode channel 1 //old hardcoded value = 330
+double threshold_2 = 0; //value when going to active mode channel 2 //old hardcoded value = 200
+double threshold_adjust = 300; //used to adjust threshold, + for less sensitivity, - for increased sensitivity
bool calibratedStatus = false; //flag to make sure Nuclueo only calibrated once for background noise
-int positionOfMaxVal_1;
+bool checkTemp = false; //flag - true to checktemp, false to use predefined values
+int positionOfMaxVal_1;
int positionOfMaxVal_2;
const double PI = 3.14159265358979323846;
@@ -48,22 +50,30 @@
//const int NONE = -1;
const int IDLE = 0;
const int CALIBRATE = 1;
-const int LISTEN = 2;
-const int ACTIVELISTEN = 3;
-const int CALC = 4;
-const int CALC_ERROR = 5;
-const int SEND = 6;
+const int TESTNEW = 2;
+const int CALC = 3;
+const int CALC_ERROR = 4;
+const int SEND = 5;
//const int WAIT = 9;
//dataLength behövs kanske inte, vector klassen kan växa med behov
-std::vector<float> channel_1(dataLength);
-std::vector<float> channel_2(dataLength);
+std::vector<double> channel_1(dataLength);
+std::vector<double> channel_2(dataLength);
std::vector<int> timestamps_1(dataLength);
std::vector<int> timestamps_2(dataLength);
+std::vector<double> capture_1(captureLength);
+std::vector<double> capture_2(captureLength);
+std::vector<double> capturestamps(captureLength);
+
+int positiontest = 0;
+int test = 9;
+std::vector<double> delaytest(test);
+
AnalogIn mic1(A0);
AnalogIn mic2(A1);
AnalogIn mic3(A2);
+DHT sensor(A3, DHT11);
//TIMER
Timer t;
@@ -74,34 +84,34 @@
//----------FUNCTIONS HERE
//Calculating distance between sound and camera
-double calcDist(double t, double v){
+double calcDist(double t, double v)
+{
double s = t*v;
return s;
}
//Calculating angle in radians, D distance between mic1 and mic2
-double calcAng(double s, double D){
- double ang = asin(s/D);
- if (ang < 0){ // if angle negative, add 180 degrees
- return ang + PI ;
- } else
- return ang;
+double calcAng(double s, double D)
+{
+ return asin(s/D) + PI/2;
}
//Assuming the input value is temp as a number in degrees celcius and humidity as procent
-double calcSoundSpeed(double temp, double hum){
+double calcSoundSpeed(double temp, double hum)
+{
//Calculations were done in Matlab
double speed = 331.1190 + 0.6016*temp + 0.0126*hum;
return speed;
}
//translate angle to number for camera
-string convertAngToCamNbr(double ang){
- ang = ang*(180 / PI); //radianer till grader
+string convertAngToCamNbr(double ang)
+{
+ ang = ang*(180 / PI) + 45; //radianer till grader
double angValues = 270;
int stepValues = 50000;
string tiltNumber = " 18000"; //hårdkodat Camera Pan värde
-
+
double oneAng = stepValues/angValues;
double cameraAngNumber = ang*oneAng;
int panInt = (int)(cameraAngNumber); //double to int
@@ -110,273 +120,218 @@
ostringstream convert;
convert << panInt;
panNumber = convert.str();
-
+
string send = panNumber + tiltNumber;
- return send;
+ return send;
}
//calc time delay by finding peak values in 2 vectors
//channel = 1 or 2
-int FindPeak(int channel){
-
- std::vector<float> channel_curr(dataLength); //temporary vector with channel voltage values
-
+int FindPeak(int channel)
+{
+ std::vector<double> channel_curr(captureLength); //temporary vector with channel voltage values
+
//if channel 1 then set current channel to channel 1
- if (channel == 1){
- channel_curr = channel_1;
- }
- else channel_curr = channel_2;
-
+ if (channel == 1) {
+ channel_curr = capture_1;
+ } else channel_curr = capture_2;
+
//reset max value & sum value
- float valueMax = 0;
-
+ double valueMax = 0;
+
//reset array position
int positionOfMaxVal = 0;
-
+
//find largest value & mark that position in vectors
for (int position = 0; position < channel_curr.size(); position++) {
- float val = abs(channel_curr[position]);
- if (val > valueMax ){
+ double val = abs(channel_curr[position]);
+ if (val > valueMax ) {
valueMax = val;
positionOfMaxVal = position;
}
- }
+ }
return positionOfMaxVal;
}
-double FindTimeDelay(int positionOfMaxVal_1, int positionOfMaxVal_2){
- double timemax_1 = timestamps_1[positionOfMaxVal_1];
- double timemax_2 = timestamps_2[positionOfMaxVal_2];
+double FindTimeDelay(int positionOfMaxVal_1, int positionOfMaxVal_2)
+{
+ double timemax_1 = capturestamps[positionOfMaxVal_1];
+ double timemax_2 = capturestamps[positionOfMaxVal_2];
double delay = timemax_1 - timemax_2;
- return delay/1000; //if negative near microphone 1, if positive near micropnone 2
+ return delay; //if negative near microphone 1, if positive near micropnone 2
}
-//get voltage value which represents audio amplitude from microphone
-float getAudioValue(AnalogIn micX) {
- return 1000*micX.read();
+//get voltage value which represents audio amplitude from microphone
+double getAudioValue(AnalogIn micX)
+{
+ return 1000*micX.read();
}
-bool overThreshold(float micValue_1, float micValue_2){
- if ((micValue_1 > threshold_1) || (micValue_2 > threshold_2)){
+bool overThreshold(double micValue_1, double micValue_2)
+{
+ if ((micValue_1 > threshold_1) || (micValue_2 > threshold_2)) {
return true;
- }
- else return false;
+ } else return false;
}
//true if voltage value in microphone is above the current threshold value
-bool calibrateThreshold(float micValue, float currentThreshold){
- if ( micValue > currentThreshold ){
+bool calibrateThreshold(double micValue, double currentThreshold)
+{
+ if ( micValue > currentThreshold ) {
return true;
} else return false;
}
// main() runs in its own thread in the OS
-int main() {
+int main()
+{
+ for(int i = 0; i < test; i++) {
+ delaytest[i] = -420 + i*105;
+ }
t.start(); // start timer
-
+
//while (true) {
- led1 = !led1;
- wait(0.5);
-
-
- //STATE MACHINE
+ led1 = !led1;
+ wait(0.5);
+
+
+ //STATE MACHINE
STATE = IDLE;
//int counter = 0;
while (true) {
switch (STATE) {
-
+ case IDLE: //always start here
+ DebugPrintState( std::cout << "Nucleo state is IDLE: " << std::endl; );
+ Debug( wait(0.5); );
+ if (!calibratedStatus) STATE = CALIBRATE;
+ else STATE = TESTNEW;
+ break;
- case IDLE: //always start here
- DebugPrintState( std::cout << "Nucleo state is IDLE: " << STATE << std::endl; );
- Debug( wait(0.5); );
- if (!calibratedStatus) STATE = CALIBRATE;
- else STATE = LISTEN;
- break;
-
-
case CALIBRATE:
- DebugPrintState( std::cout << "Nucleo state is CALIBRATE: " << STATE << std::endl; );
- Debug( wait(1); );
- //listen for X seconds to background noise, to set accurate threshold value
- // This should be done only once when rebooting Nucleo
- float startTime = t.read_us();
- float offsetTime = 3000; // milliseconds
- float blinkTime = 500;
- while (t.read_us() < (startTime + offsetTime) ) {
- float micValue_1 = getAudioValue(mic1);
- if ( calibrateThreshold(micValue_1, threshold_1) ){
- threshold_1 = micValue_1 - threshold_adjust; //threshold value updated
- }
- float micValue_2 = getAudioValue(mic2);
- if ( calibrateThreshold(micValue_2, threshold_2) ){
- threshold_2 = micValue_2 - threshold_adjust; //threshold value updated
- }
- //make LED blink every 500 ms
- if ( t.read_us() > (startTime + blinkTime) ){
- led1 = !led1;
- blinkTime = blinkTime + 500;
+ DebugPrintState( std::cout << "Nucleo state is CALIBRATE: " << std::endl; );
+ Debug( wait(1); );
+ //listen for X seconds to background noise, to set accurate threshold value
+ // This should be done only once when rebooting Nucleo
+ int startTime = t.read_us();
+ int offsetTime = 3000; //microseconds
+ int blinkTime = 500; //microseconds
+ while (t.read_us() < (startTime + offsetTime) ) {
+ double micValue_1 = getAudioValue(mic1);
+ if ( calibrateThreshold(micValue_1, threshold_1) ) {
+ threshold_1 = micValue_1; //threshold value updated
+ }
+ double micValue_2 = getAudioValue(mic2);
+ if ( calibrateThreshold(micValue_2, threshold_2) ) {
+ threshold_2 = micValue_2; //threshold value updated
+ }
+ //make LED blink every 500 ms
+ if ( t.read_us() > (startTime + blinkTime) ) {
+ led1 = !led1;
+ blinkTime = blinkTime + 500;
+ }
}
- }
-
- calibratedStatus = true;
- STATE = LISTEN; //next state
- break;
-
+ threshold_1 = threshold_2 + threshold_adjust;
+ threshold_2 = threshold_2 + threshold_adjust;
+
+ //Calibrate temp and hum
+ if(checkTemp){
+ bool done = false;
+ while(!done) {
+ if(sensor.readData() == 0) {
+ temp = sensor.ReadTemperature(CELCIUS);
+ hum = sensor.ReadHumidity();
+ DebugPrintState(std::cout << "Temp: " << temp << "Degrees Celcius" <<std::endl; );
+ DebugPrintState(std::cout << "Hum: " << temp << "%" <<std::endl; );
+ done = true;
+ }
+ }
+ }
+
+ calibratedStatus = true;
+ STATE = TESTNEW; //next state
+ break;
- case LISTEN:
- DebugPrintState( std::cout << "Nucleo state is LISTEN: " << STATE << std::endl; );
- //Debug( wait(0.5); );
- float micValue_1 = getAudioValue(mic1);
- float micValue_2 = getAudioValue(mic2);
- if(overThreshold(micValue_1, micValue_2) == true){ //if sound above threshold go to activelisten state
- //std::cout << "over Threshold!" << std::endl;
- STATE = ACTIVELISTEN;
- }else {
- //std::cout << "under Threshold!" << std::endl;
- STATE = LISTEN;
- }
- break;
-
+ case TESTNEW:
+ DebugPrintState( std::cout << "Nucleo state is TESTNEW: " << std::endl; );
+ int i = 0;
+ bool quit = false;
+ while(!quit) {
+ channel_1[i] = getAudioValue(mic1);
+ timestamps_1[i] = t.read_us();
+ channel_2[i] = getAudioValue(mic2);
+ if(overThreshold(channel_1[i], channel_2[i]) == true) {
+ capture_1[0] = channel_1[i];
+ capture_2[0] = channel_2[i];
+ capturestamps[0] = t.read_us();
+ for(int i = 1; i < captureLength; i++) {
+ capture_1[i] = getAudioValue(mic1);
+ capturestamps[i] = t.read_us();
+ capture_2[i] = getAudioValue(mic2);
+ }
+ quit = true;
+ }
+ if(i < dataLength) {
+ i++;
+ } else {
+ i = 0;
+ }
+ }
+ STATE = CALC;
+ break;
- case ACTIVELISTEN:
- DebugPrintState( std::cout << "Nucleo state is ACTIVELISTEN: " << STATE << std::endl; );
- //Debug( wait(0.5); );
- //put value into array, start timer
- for(int i= 0; i < dataLength; i++){
- if (t.read_us() >= INT_MAX){
- std::cout << "time out" << std::endl;
- }
- //get audio & timestamp values from microphones
- channel_1[i] = getAudioValue(mic1);
- timestamps_1[i] = t.read_us();
- channel_2[i] = getAudioValue(mic2);
- timestamps_2[i] = t.read_us();
- }
- //go to state CALC
- STATE = CALC;
- break;
-
+
case CALC:
- DebugPrintState( std::cout << "Nucleo state is CALC: " << STATE << std::endl; );
- //Debug( wait(0.5); );
-
- int positionOfMaxVal_1 = FindPeak(1);
- int positionOfMaxVal_2 = FindPeak(2);
- //run functions
- double timedelay = FindTimeDelay(positionOfMaxVal_1, positionOfMaxVal_2); //milliseconds
- double speed = calcSoundSpeed(temp, hum); //meters per second
- double distance = calcDist(timedelay/1000, speed); //millimeters
- double angle = calcAng((double)distance, micDist); //15cm = 150mm, double type cast because of asin function in angle calculation
- //go to state SEND if no calc_error
-
- Debug(
- std::cout << "max position for channel 1: " << positionOfMaxVal_1+1 << std::endl;
- std::cout << "max position for channel 2: " << positionOfMaxVal_2+1 << std::endl;
- std::cout << "run FindPeak, delay is: " << timedelay << "milliseconds" << std::endl;
- std::cout << "run calcDist, delta s is: " << distance << "millimeters" << std::endl;
- std::cout << "run calcAngle, angle is: " << angle << "radians" << std::endl;
- std::cout<<" run convertAngToCamNbr, coordinates: "<< convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber";
- );
- Debug( wait(5); );
-
- if (angle > (3 * PI )/2 || angle < 0 ){ //vinkel larger than 270 eller minde än noll
- STATE = CALC_ERROR;
- } else {
- STATE = SEND;
- }
- break;
-
+ DebugPrintState( std::cout << "Nucleo state is CALC: " << std::endl; );
+ //Debug( wait(0.5); );
+
+ int positionOfMaxVal_1 = FindPeak(1);
+ int positionOfMaxVal_2 = FindPeak(2);
+ //run functions
+ double timedelay = FindTimeDelay(positionOfMaxVal_1, positionOfMaxVal_2); //microseceonds
+ double speed = calcSoundSpeed(temp, hum); //meters per second
+ double distance = calcDist(timedelay/1000000, speed); //input converted to meters
+ double angle = calcAng((double)distance, micDist); //0,15m = 15cm = 150mm, double type cast because of asin function in angle calculation
+ //go to state SEND if no calc_error
+
+ Debug(
+ std::cout << "max position for channel 1: " << positionOfMaxVal_1+1 << std::endl;
+ std::cout << "max position for channel 2: " << positionOfMaxVal_2+1 << std::endl;
+ std::cout << "run FindPeak, delay is: " << timedelay << "microseconds" << std::endl;
+ std::cout << "run calcDist, delta s is: " << distance << " millimeters" << std::endl;
+ std::cout << "run calcAngle, angle is: " << angle << " radians" << std::endl;
+ std::cout << "run calcAngle, angle is: " << angle*(180 / PI) << " degrees" << std::endl;
+ std::cout << "run convertAngToCamNbr, coordinates: "<< convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber";
+ );
+ if (angle > (3 * PI )/2 || angle < 0 ) { //vinkel larger than 270 eller minde än noll
+ STATE = CALC_ERROR;
+ } else {
+ STATE = SEND;
+ }
+ break;
+
case CALC_ERROR:
- DebugPrintState( std::cout << "Nucleo state is CALC_ERROR: " << STATE << std::endl; );
- Debug( wait(0.5); );
- //error message
- std::cout << "Error. angle not within limits 0 -270 degrees" << std::endl;
- //nollställ vektorer, , stoppa klockan , osv
- STATE = LISTEN;
- break;
-
+ DebugPrintState( std::cout << "Nucleo state is CALC_ERROR: " << std::endl; );
+ Debug( wait(0.5); );
+ //error message
+ std::cout << "Error. angle not within limits 0 -270 degrees" << std::endl;
+ //nollställ vektorer, , stoppa klockan , osv
+ STATE = TESTNEW;
+ break;
+
case SEND:
- DebugPrintState( std::cout << "Nucleo state is SEND: " << STATE << std::endl; );
- Debug( wait(0.5); );
- // send coordinates to serial port to camera
- std::cout<<convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber";
- Debug( wait(0.5); );
- STATE = IDLE;
- break;
- }
- }
+ DebugPrintState( std::cout << "Nucleo state is SEND: " << std::endl; );
+ Debug( wait(0.5); );
+ // send coordinates to serial port to camera
+ std::cout<<convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber";
+ Debug( wait(0.5); );
+ STATE = IDLE;
+ positiontest++;
+ break;
+ }
+ }
}
-
-
- //GAMMAL TEST KOD NEDANFÖR
-
-/*
-
- //read audio values and time stamps in ms
- //make sure that timestamp does not exceed INT_MAX to be able to use int
- for(int i= 0; i < dataLength; i++){
- if (t.read_ms() >= INT_MAX){
- std::cout << "time out" << std::endl;
- }
- channel_1[i] = getAudioValue(mic1);
- timestamps_1[i] = t.read_ms();
- channel_2[i] = getAudioValue(mic2);
- timestamps_2[i] = t.read_ms();
- }
-*/
- //skriv ut alla element i kanal 0
- /* std::cout << "channel_1: ";
- for(int i=0; i<channel_1.size(); ++i){
- std::cout << channel_1[i] << ' ';
- }
- std::cout << std::endl; */
-
- /*
- //skriv ut alla time element i kanal 0
- std::cout << "timestamps_1: ";
- for(int i=0; i<timestamps_1.size(); ++i){
- std::cout << timestamps_1[i] << ' ';
- }
- std::cout << std::endl;
- */
-
- /*
- //skriv ut alla element i kanal 1
- std::cout << "channel_2: ";
- for(int i=0; i<channel_2.size(); ++i){
- std::cout << channel_2[i] << ' ';
- }
- std::cout << std::endl;
- */
- /*
- //skriv ut alla time element i kanal 1
- std::cout << "timestamps_2: ";
- for(int i=0; i<timestamps_2.size(); ++i){
- std::cout << timestamps_2[i] << ' ';
- }
- std::cout << std::endl;
- */
- /*
- int positionOfMaxVal_1 = FindPeak(0);
- int positionOfMaxVal_2 = FindPeak(1);
-
-
- double timedelay = FindTimeDelay(positionOfMaxVal_1, positionOfMaxVal_2); //milliseconds
- double speed = calcSoundSpeed(temp, hum); //meters per second
- double distance = calcDist(timedelay/1000, speed); //millimeters
- double angle = calcAng((double)distance, micDist); //15cm = 150mm, double type cast because of asin function in angle calculation
-
- std::cout << "max position for channel 0: " << positionOfMaxVal_1+1 << std::endl;
- std::cout << "max position for channel 1: " << positionOfMaxVal_2+1 << std::endl;
- std::cout << "run FindPeak, delay is: " << timedelay << "milliseconds" << std::endl;
- std::cout << "run calcDist, delta s is: " << distance << "millimeters" << std::endl;
- std::cout << "run calcAngle, angle is: " << angle << "degrees" << std::endl;
- std::cout<<"run convertAngToCamNbr, coordinates"<<convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber";
-
- t.stop(); //Stop timer
-*/