Diff: main.cpp

Revision:

4:052ac3f5c938

Parent:

3:3297ea6e3ae1

Child:

5:889566fb3a85

--- a/main.cpp	Mon Dec 07 09:38:35 2015 +0000
+++ b/main.cpp	Mon Dec 07 10:44:07 2015 +0000
@@ -1,15 +1,32 @@
 #include "mbed.h"
 #include "HCSR04.h"
+#include "AutomationElements.h"
 
 Serial pc(USBTX, USBRX);
+HCSR04 sensor(p5, p7);
+float sampleTime = 0.1;
+PT1 filter(1, 2, sampleTime);
+Ticker ticker;
+float distance;
+float filteredDistance; 
+DigitalOut led1(LED1);
+
+void calc() {
+    led1 = 1;
+    distance = sensor.getDistance_mm();
+    filter.in(distance);
+    filteredDistance = filter.out();
+    pc.printf("%7.1f mm  %7.1f mm  \r", distance, filteredDistance);
+    led1 = 0;
+}
 
 int main() {
-    HCSR04 sensor(p5, p7);
     sensor.setRanges(10, 110);
-    pc.printf("Min. range = %g cm\n\rMax. range = %g cm\n\r",
-     sensor.getMinRange(), sensor.getMaxRange());
+    pc.printf("Minimum sensor range = %g cm\n\rMaximum sensor range = %g cm\n\r", sensor.getMinRange(), sensor.getMaxRange());
+    pc.printf("Sensor:       Filtered:\n\r");
+    ticker.attach(&calc, sampleTime);
+    
     while(1) {
-        pc.printf("Distance: %5.1f mm\r", sensor.getDistance_mm());
         wait_ms(500);
     }
 }
\ No newline at end of file