FRC - Hackathon / Mbed 2 deprecated TestVMA

VMA306 Library HelloWorld program

Dependencies:   mbed VMA306

main.cpp@0:9afd9068bcc9, 2018-05-31 (annotated)

Committer:
haarkon
Date:
Thu May 31 17:35:40 2018 +0000
Revision:
0:9afd9068bcc9
Child:
1:dde51c1d6477
VMA306 HelloWorld

Who changed what in which revision?

UserRevisionLine numberNew contents of line
haarkon 0:9afd9068bcc9 1 #include "mbed.h"
haarkon 0:9afd9068bcc9 2
haarkon 0:9afd9068bcc9 3 Serial pc (PA_2, PA_3, 921600);
haarkon 0:9afd9068bcc9 4
haarkon 0:9afd9068bcc9 5 Ticker _tick;
haarkon 0:9afd9068bcc9 6 Timer _tim;
haarkon 0:9afd9068bcc9 7
haarkon 0:9afd9068bcc9 8 DigitalOut _trig1 (PB_15);
haarkon 0:9afd9068bcc9 9 DigitalOut _trig2 (PB_14);
haarkon 0:9afd9068bcc9 10 DigitalOut _trig3 (PB_13);
haarkon 0:9afd9068bcc9 11
haarkon 0:9afd9068bcc9 12 InterruptIn _echo1 (PA_6);
haarkon 0:9afd9068bcc9 13 InterruptIn _echo2 (PC_7);
haarkon 0:9afd9068bcc9 14 InterruptIn _echo3 (PB_2);
haarkon 0:9afd9068bcc9 15
haarkon 0:9afd9068bcc9 16 DigitalOut led1 (PA_5);
haarkon 0:9afd9068bcc9 17 DigitalOut led2 (PD_2);
haarkon 0:9afd9068bcc9 18 DigitalOut disquette (PA_12);
haarkon 0:9afd9068bcc9 19
haarkon 0:9afd9068bcc9 20
haarkon 0:9afd9068bcc9 21 int start1, start2, start3, FlagMes = 0;;
haarkon 0:9afd9068bcc9 22 double dist1, dist2, dist3;
haarkon 0:9afd9068bcc9 23
haarkon 0:9afd9068bcc9 24 void monte1 (void)
haarkon 0:9afd9068bcc9 25 {
haarkon 0:9afd9068bcc9 26 start1 = _tim.read_us();
haarkon 0:9afd9068bcc9 27 //pc.printf("\n\rE1_ON");
haarkon 0:9afd9068bcc9 28 }
haarkon 0:9afd9068bcc9 29
haarkon 0:9afd9068bcc9 30 void monte2 (void)
haarkon 0:9afd9068bcc9 31 {
haarkon 0:9afd9068bcc9 32 start2 = _tim.read_us();
haarkon 0:9afd9068bcc9 33 //pc.printf("\n\rE2_ON");
haarkon 0:9afd9068bcc9 34 }
haarkon 0:9afd9068bcc9 35
haarkon 0:9afd9068bcc9 36 void monte3 (void)
haarkon 0:9afd9068bcc9 37 {
haarkon 0:9afd9068bcc9 38 start3 = _tim.read_us();
haarkon 0:9afd9068bcc9 39 //pc.printf("\n\rE3_ON");
haarkon 0:9afd9068bcc9 40 }
haarkon 0:9afd9068bcc9 41
haarkon 0:9afd9068bcc9 42 void tombe1 (void)
haarkon 0:9afd9068bcc9 43 {
haarkon 0:9afd9068bcc9 44 dist1 = (double)(_tim.read_us() - start1)/58.0;
haarkon 0:9afd9068bcc9 45 if (dist1 > 500) dist1 = 500;
haarkon 0:9afd9068bcc9 46 //pc.printf("\n\rE1_OFF");
haarkon 0:9afd9068bcc9 47 }
haarkon 0:9afd9068bcc9 48
haarkon 0:9afd9068bcc9 49 void tombe2 (void)
haarkon 0:9afd9068bcc9 50 {
haarkon 0:9afd9068bcc9 51 dist2 = (double)(_tim.read_us() - start2)/58.0;
haarkon 0:9afd9068bcc9 52 if (dist2 > 500) dist1 = 500;
haarkon 0:9afd9068bcc9 53 //pc.printf("\n\rE2_OFF");
haarkon 0:9afd9068bcc9 54 }
haarkon 0:9afd9068bcc9 55
haarkon 0:9afd9068bcc9 56 void tombe3 (void)
haarkon 0:9afd9068bcc9 57 {
haarkon 0:9afd9068bcc9 58 dist3 = (double)(_tim.read_us() - start3)/58.0;
haarkon 0:9afd9068bcc9 59 if (dist3 > 500) dist1 = 500;
haarkon 0:9afd9068bcc9 60 FlagMes = 1;
haarkon 0:9afd9068bcc9 61 //pc.printf("\n\rE3_OFF");
haarkon 0:9afd9068bcc9 62 }
haarkon 0:9afd9068bcc9 63
haarkon 0:9afd9068bcc9 64 void picko (void)
haarkon 0:9afd9068bcc9 65 {
haarkon 0:9afd9068bcc9 66 static int etape = 1;
haarkon 0:9afd9068bcc9 67 //pc.printf ("\n\rpick : %d",etape);
haarkon 0:9afd9068bcc9 68 switch(etape) {
haarkon 0:9afd9068bcc9 69 case 1:
haarkon 0:9afd9068bcc9 70 _trig1 = 1;
haarkon 0:9afd9068bcc9 71 wait_us(20);
haarkon 0:9afd9068bcc9 72 _trig1 = 0;
haarkon 0:9afd9068bcc9 73 etape = 2;
haarkon 0:9afd9068bcc9 74 break;
haarkon 0:9afd9068bcc9 75
haarkon 0:9afd9068bcc9 76 case 2:
haarkon 0:9afd9068bcc9 77 _trig2 = 1;
haarkon 0:9afd9068bcc9 78 wait_us(20);
haarkon 0:9afd9068bcc9 79 _trig2 = 0;
haarkon 0:9afd9068bcc9 80 etape = 3;
haarkon 0:9afd9068bcc9 81 break;
haarkon 0:9afd9068bcc9 82
haarkon 0:9afd9068bcc9 83 case 3:
haarkon 0:9afd9068bcc9 84 _trig3 = 1;
haarkon 0:9afd9068bcc9 85 wait_us(20);
haarkon 0:9afd9068bcc9 86 _trig3 = 0;
haarkon 0:9afd9068bcc9 87 etape = 1;
haarkon 0:9afd9068bcc9 88 break;
haarkon 0:9afd9068bcc9 89 }
haarkon 0:9afd9068bcc9 90 }
haarkon 0:9afd9068bcc9 91
haarkon 0:9afd9068bcc9 92 int main()
haarkon 0:9afd9068bcc9 93 {
haarkon 0:9afd9068bcc9 94 _tim.start();
haarkon 0:9afd9068bcc9 95
haarkon 0:9afd9068bcc9 96 _echo1.rise (&monte1);
haarkon 0:9afd9068bcc9 97 _echo2.rise (&monte2);
haarkon 0:9afd9068bcc9 98 _echo3.rise (&monte3);
haarkon 0:9afd9068bcc9 99
haarkon 0:9afd9068bcc9 100 _echo1.fall (&tombe1);
haarkon 0:9afd9068bcc9 101 _echo2.fall (&tombe2);
haarkon 0:9afd9068bcc9 102 _echo3.fall (&tombe3);
haarkon 0:9afd9068bcc9 103
haarkon 0:9afd9068bcc9 104 _tick.attach (&picko, 0.05);
haarkon 0:9afd9068bcc9 105
haarkon 0:9afd9068bcc9 106 led1 = 1;
haarkon 0:9afd9068bcc9 107 led2 = 0;
haarkon 0:9afd9068bcc9 108 disquette = 0;
haarkon 0:9afd9068bcc9 109
haarkon 0:9afd9068bcc9 110 while(1) {
haarkon 0:9afd9068bcc9 111 if (FlagMes) {
haarkon 0:9afd9068bcc9 112 FlagMes = 0;
haarkon 0:9afd9068bcc9 113 pc.printf("\rG = %5.2lf - B = %5.2lf - D = %5.2lf", dist1, dist2, dist3);
haarkon 0:9afd9068bcc9 114 led1 = !led1;
haarkon 0:9afd9068bcc9 115 led2 = !led2;
haarkon 0:9afd9068bcc9 116 }
haarkon 0:9afd9068bcc9 117 }
haarkon 0:9afd9068bcc9 118 }