Revision 1:dde51c1d6477, committed 2018-06-01

Comitter:

haarkon

Date:

Fri Jun 01 07:29:32 2018 +0000

Parent:

0:9afd9068bcc9

Child:

2:fb249fa6a781

Commit message:

Reshape and added comment

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VMA306.lib	Fri Jun 01 07:29:32 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/FRC-Hackathon/code/VMA306/#a2c81d32d058

--- a/main.cpp	Thu May 31 17:35:40 2018 +0000
+++ b/main.cpp	Fri Jun 01 07:29:32 2018 +0000
@@ -1,118 +1,29 @@
 #include "mbed.h"
-
-Serial      pc          (PA_2, PA_3, 921600);
-
-Ticker      _tick;
-Timer       _tim;
-
-DigitalOut  _trig1  (PB_15);
-DigitalOut  _trig2  (PB_14);
-DigitalOut  _trig3  (PB_13);
-
-InterruptIn _echo1  (PA_6);
-InterruptIn _echo2  (PC_7);
-InterruptIn _echo3  (PB_2);
-
-DigitalOut  led1        (PA_5);
-DigitalOut  led2        (PD_2);
-DigitalOut  disquette   (PA_12);
-
+#include "VMA306.h"
 
-int     start1, start2, start3, FlagMes = 0;;
-double  dist1, dist2, dist3;
-
-void monte1 (void)
-{
-    start1 = _tim.read_us();
-    //pc.printf("\n\rE1_ON");
-}
-
-void monte2 (void)
-{
-    start2 = _tim.read_us();
-    //pc.printf("\n\rE2_ON");
-}
-
-void monte3 (void)
-{
-    start3 = _tim.read_us();
-    //pc.printf("\n\rE3_ON");
-}
+Serial      pc          (PA_2, PA_3, 921600);                                                       // Create a serial link to PC for communication
 
-void tombe1 (void)
-{
-    dist1 = (double)(_tim.read_us() - start1)/58.0;
-    if (dist1 > 500) dist1 = 500;
-    //pc.printf("\n\rE1_OFF");
-}
-
-void tombe2 (void)
-{
-    dist2 = (double)(_tim.read_us() - start2)/58.0;
-    if (dist2 > 500) dist1 = 500;
-    //pc.printf("\n\rE2_OFF");
-}
-
-void tombe3 (void)
-{
-    dist3 = (double)(_tim.read_us() - start3)/58.0;
-    if (dist3 > 500) dist1 = 500;
-    FlagMes = 1;
-    //pc.printf("\n\rE3_OFF");
-}
+VMA306      UltraSon    (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2);                                    // Create 3 ultrasonic sensors (1 and 2 sensor support will be added)
 
-void picko (void)
-{
-    static int etape = 1;
-    //pc.printf ("\n\rpick : %d",etape);
-    switch(etape) {
-        case 1:
-            _trig1 = 1;
-            wait_us(20);
-            _trig1 = 0;
-            etape = 2;
-            break;
-
-        case 2:
-            _trig2 = 1;
-            wait_us(20);
-            _trig2 = 0;
-            etape = 3;
-            break;
-
-        case 3:
-            _trig3 = 1;
-            wait_us(20);
-            _trig3 = 0;
-            etape = 1;
-            break;
-    }
-}
+DigitalOut  led1        (PA_5);                                                                     // Added Led1 for test purpose
+DigitalOut  led2        (PD_2);                                                                     // Added Led2 for test purpose
+DigitalOut  disquette   (PA_12);                                                                    // Added baloon destructor command (without it, you might see baloon destructor motor be set to full speed)
 
 int main()
 {
-    _tim.start();
-
-    _echo1.rise (&monte1);
-    _echo2.rise (&monte2);
-    _echo3.rise (&monte3);
-
-    _echo1.fall (&tombe1);
-    _echo2.fall (&tombe2);
-    _echo3.fall (&tombe3);
-
-    _tick.attach (&picko, 0.05);
-
-    led1 = 1;
-    led2 = 0;
-    disquette = 0;
+    led1 = 1;                                                                                       // Led1 switch ON
+    led2 = 0;                                                                                       // Led2 switch OFF
+    disquette = 0;                                                                                  // Baloon destructor switch OFF
 
     while(1) {
-        if (FlagMes) {
-            FlagMes = 0;
-            pc.printf("\rG = %5.2lf - B = %5.2lf - D = %5.2lf", dist1, dist2, dist3);
-            led1 = !led1;
-            led2 = !led2;
-        }
+        if (UltraSon.isUSGReady())      pc.printf ("\rusG = %5.2lf -", UltraSon.readUSG());         // If left ultra sonic seonsor has a mesurment print it  
+        else                            pc.printf ("\r            -");                              // Else delete previous display of USG value
+        if (UltraSon.isUSBReady())      pc.printf ("\r\t\t usB = %5.2lf -", UltraSon.readUSB());    // If back ultra sonic seonsor has a mesurment print it  
+        else                            pc.printf ("\r\t\t            -");                          // Else delete previous display of USB value
+        if (UltraSon.isUSDReady())      pc.printf ("\r\t\t\t\t usD = %5.2lf", UltraSon.readUSD());  // If right ultra sonic seonsor has a mesurment print it 
+        else                            pc.printf ("\r\t\t\t\t            ");                       // Else delete previous display of USB value
+
+        led1 = !led1;                                                                               // Switch Led1
+        led2 = !led2;                                                                               // Switch Led2
     }
 }