ProgettoFinaleProRCplus
Dependencies: HC-SR04 Motor mbed
main.cpp@0:a962eb4d6d61, 2016-12-04 (annotated)
- Committer:
- Viktor5
- Date:
- Sun Dec 04 15:15:57 2016 +0000
- Revision:
- 0:a962eb4d6d61
Progetto Finale
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Viktor5 | 0:a962eb4d6d61 | 1 | #include "mbed.h" |
Viktor5 | 0:a962eb4d6d61 | 2 | #include "Motor.h" |
Viktor5 | 0:a962eb4d6d61 | 3 | #include "HCSR04.h" |
Viktor5 | 0:a962eb4d6d61 | 4 | |
Viktor5 | 0:a962eb4d6d61 | 5 | Motor mSx(D10, D8, D9); //pwm (E1), fwd (1A), rev (1B) |
Viktor5 | 0:a962eb4d6d61 | 6 | Motor mDx(D5, D6, D7); //pwm (E2), fwd (2A), rev (2B) |
Viktor5 | 0:a962eb4d6d61 | 7 | |
Viktor5 | 0:a962eb4d6d61 | 8 | HCSR04 sensor(D11, D12); //echo pin, trig pin |
Viktor5 | 0:a962eb4d6d61 | 9 | |
Viktor5 | 0:a962eb4d6d61 | 10 | AnalogIn luxSx(A2); //PhotoR Sx |
Viktor5 | 0:a962eb4d6d61 | 11 | AnalogIn luxFw(A1); //PhotoR Fw |
Viktor5 | 0:a962eb4d6d61 | 12 | AnalogIn luxDx(A0); //PhotoR Dx |
Viktor5 | 0:a962eb4d6d61 | 13 | |
Viktor5 | 0:a962eb4d6d61 | 14 | //DigitalOut ledSx(D2); |
Viktor5 | 0:a962eb4d6d61 | 15 | //DigitalOut ledFw(D3); |
Viktor5 | 0:a962eb4d6d61 | 16 | //DigitalOut ledDx(D4); |
Viktor5 | 0:a962eb4d6d61 | 17 | |
Viktor5 | 0:a962eb4d6d61 | 18 | Serial pc (SERIAL_TX, SERIAL_RX); |
Viktor5 | 0:a962eb4d6d61 | 19 | |
Viktor5 | 0:a962eb4d6d61 | 20 | RawSerial hc05(D13, D14); |
Viktor5 | 0:a962eb4d6d61 | 21 | |
Viktor5 | 0:a962eb4d6d61 | 22 | Ticker time_up; |
Viktor5 | 0:a962eb4d6d61 | 23 | |
Viktor5 | 0:a962eb4d6d61 | 24 | //DigitalIn button(PC_13); |
Viktor5 | 0:a962eb4d6d61 | 25 | |
Viktor5 | 0:a962eb4d6d61 | 26 | float inv; |
Viktor5 | 0:a962eb4d6d61 | 27 | float vel; |
Viktor5 | 0:a962eb4d6d61 | 28 | float delta; |
Viktor5 | 0:a962eb4d6d61 | 29 | float dist; |
Viktor5 | 0:a962eb4d6d61 | 30 | float soglia; |
Viktor5 | 0:a962eb4d6d61 | 31 | char a; |
Viktor5 | 0:a962eb4d6d61 | 32 | |
Viktor5 | 0:a962eb4d6d61 | 33 | void forward(float v) //v rta 0 e 1 |
Viktor5 | 0:a962eb4d6d61 | 34 | { |
Viktor5 | 0:a962eb4d6d61 | 35 | mDx.speed(v);//DX |
Viktor5 | 0:a962eb4d6d61 | 36 | mSx.speed(v); //SX |
Viktor5 | 0:a962eb4d6d61 | 37 | |
Viktor5 | 0:a962eb4d6d61 | 38 | //ledSx=0; |
Viktor5 | 0:a962eb4d6d61 | 39 | //ledFw=1; |
Viktor5 | 0:a962eb4d6d61 | 40 | //ledDx=0; |
Viktor5 | 0:a962eb4d6d61 | 41 | |
Viktor5 | 0:a962eb4d6d61 | 42 | pc.printf("Fw"); |
Viktor5 | 0:a962eb4d6d61 | 43 | } |
Viktor5 | 0:a962eb4d6d61 | 44 | |
Viktor5 | 0:a962eb4d6d61 | 45 | void turnDx (float v, float t) //t tra 0 e 1 |
Viktor5 | 0:a962eb4d6d61 | 46 | { |
Viktor5 | 0:a962eb4d6d61 | 47 | mDx.speed(v*t);//DX |
Viktor5 | 0:a962eb4d6d61 | 48 | mSx.speed(v); //SX |
Viktor5 | 0:a962eb4d6d61 | 49 | |
Viktor5 | 0:a962eb4d6d61 | 50 | //ledSx=0; |
Viktor5 | 0:a962eb4d6d61 | 51 | //ledFw=0; |
Viktor5 | 0:a962eb4d6d61 | 52 | //ledDx=1; |
Viktor5 | 0:a962eb4d6d61 | 53 | |
Viktor5 | 0:a962eb4d6d61 | 54 | pc.printf("Dx"); |
Viktor5 | 0:a962eb4d6d61 | 55 | } |
Viktor5 | 0:a962eb4d6d61 | 56 | void turnSx (float v, float t) |
Viktor5 | 0:a962eb4d6d61 | 57 | { |
Viktor5 | 0:a962eb4d6d61 | 58 | mDx.speed(v);//DX |
Viktor5 | 0:a962eb4d6d61 | 59 | mSx.speed(v*t); //SX |
Viktor5 | 0:a962eb4d6d61 | 60 | |
Viktor5 | 0:a962eb4d6d61 | 61 | //ledSx=1; |
Viktor5 | 0:a962eb4d6d61 | 62 | //ledFw=0; |
Viktor5 | 0:a962eb4d6d61 | 63 | //ledDx=0; |
Viktor5 | 0:a962eb4d6d61 | 64 | |
Viktor5 | 0:a962eb4d6d61 | 65 | pc.printf("Sx"); |
Viktor5 | 0:a962eb4d6d61 | 66 | } |
Viktor5 | 0:a962eb4d6d61 | 67 | |
Viktor5 | 0:a962eb4d6d61 | 68 | void check_lux() |
Viktor5 | 0:a962eb4d6d61 | 69 | { |
Viktor5 | 0:a962eb4d6d61 | 70 | float Sx=luxSx.read(); |
Viktor5 | 0:a962eb4d6d61 | 71 | float Fw=luxFw.read(); |
Viktor5 | 0:a962eb4d6d61 | 72 | float Dx=luxDx.read(); |
Viktor5 | 0:a962eb4d6d61 | 73 | |
Viktor5 | 0:a962eb4d6d61 | 74 | dist=50; //provvisorio |
Viktor5 | 0:a962eb4d6d61 | 75 | //dist=sensor.getDistance_cm(); //definitivo |
Viktor5 | 0:a962eb4d6d61 | 76 | //************** |
Viktor5 | 0:a962eb4d6d61 | 77 | |
Viktor5 | 0:a962eb4d6d61 | 78 | if(dist>soglia) |
Viktor5 | 0:a962eb4d6d61 | 79 | { |
Viktor5 | 0:a962eb4d6d61 | 80 | inv=1; |
Viktor5 | 0:a962eb4d6d61 | 81 | } |
Viktor5 | 0:a962eb4d6d61 | 82 | else |
Viktor5 | 0:a962eb4d6d61 | 83 | { |
Viktor5 | 0:a962eb4d6d61 | 84 | inv=-1; |
Viktor5 | 0:a962eb4d6d61 | 85 | } |
Viktor5 | 0:a962eb4d6d61 | 86 | |
Viktor5 | 0:a962eb4d6d61 | 87 | delta=Sx-Dx; |
Viktor5 | 0:a962eb4d6d61 | 88 | |
Viktor5 | 0:a962eb4d6d61 | 89 | if(Fw>Sx&Fw>Dx&dist>soglia) |
Viktor5 | 0:a962eb4d6d61 | 90 | { |
Viktor5 | 0:a962eb4d6d61 | 91 | forward(vel); |
Viktor5 | 0:a962eb4d6d61 | 92 | } |
Viktor5 | 0:a962eb4d6d61 | 93 | else if (delta>0) |
Viktor5 | 0:a962eb4d6d61 | 94 | { |
Viktor5 | 0:a962eb4d6d61 | 95 | turnSx(vel,inv*(1-delta)); |
Viktor5 | 0:a962eb4d6d61 | 96 | } |
Viktor5 | 0:a962eb4d6d61 | 97 | else |
Viktor5 | 0:a962eb4d6d61 | 98 | { |
Viktor5 | 0:a962eb4d6d61 | 99 | turnDx(vel,inv*(delta-1)); |
Viktor5 | 0:a962eb4d6d61 | 100 | } |
Viktor5 | 0:a962eb4d6d61 | 101 | } |
Viktor5 | 0:a962eb4d6d61 | 102 | |
Viktor5 | 0:a962eb4d6d61 | 103 | void OnOff() |
Viktor5 | 0:a962eb4d6d61 | 104 | { |
Viktor5 | 0:a962eb4d6d61 | 105 | if(hc05.readable()) // se e’¨ stato ricevuto un carattere |
Viktor5 | 0:a962eb4d6d61 | 106 | { |
Viktor5 | 0:a962eb4d6d61 | 107 | a=hc05.getc(); // assegna il carattere ricevuto alla var a |
Viktor5 | 0:a962eb4d6d61 | 108 | switch(a) |
Viktor5 | 0:a962eb4d6d61 | 109 | { |
Viktor5 | 0:a962eb4d6d61 | 110 | case ('s'): //Start |
Viktor5 | 0:a962eb4d6d61 | 111 | time_up.attach(&check_lux, 0.2); |
Viktor5 | 0:a962eb4d6d61 | 112 | pc.printf("Start %c\n\r",a); |
Viktor5 | 0:a962eb4d6d61 | 113 | break; |
Viktor5 | 0:a962eb4d6d61 | 114 | case ('d'): //Stop |
Viktor5 | 0:a962eb4d6d61 | 115 | time_up.detach(); |
Viktor5 | 0:a962eb4d6d61 | 116 | pc.printf("Stop %c\n\r",a); |
Viktor5 | 0:a962eb4d6d61 | 117 | break; |
Viktor5 | 0:a962eb4d6d61 | 118 | case ('a'): //accelera |
Viktor5 | 0:a962eb4d6d61 | 119 | if(vel<=1) |
Viktor5 | 0:a962eb4d6d61 | 120 | { |
Viktor5 | 0:a962eb4d6d61 | 121 | vel+=0.1; |
Viktor5 | 0:a962eb4d6d61 | 122 | } |
Viktor5 | 0:a962eb4d6d61 | 123 | break; |
Viktor5 | 0:a962eb4d6d61 | 124 | case ('f'): //frena |
Viktor5 | 0:a962eb4d6d61 | 125 | if(vel>0) |
Viktor5 | 0:a962eb4d6d61 | 126 | { |
Viktor5 | 0:a962eb4d6d61 | 127 | vel-=0.1; |
Viktor5 | 0:a962eb4d6d61 | 128 | } |
Viktor5 | 0:a962eb4d6d61 | 129 | break; |
Viktor5 | 0:a962eb4d6d61 | 130 | default: |
Viktor5 | 0:a962eb4d6d61 | 131 | break; |
Viktor5 | 0:a962eb4d6d61 | 132 | } |
Viktor5 | 0:a962eb4d6d61 | 133 | } |
Viktor5 | 0:a962eb4d6d61 | 134 | } |
Viktor5 | 0:a962eb4d6d61 | 135 | |
Viktor5 | 0:a962eb4d6d61 | 136 | |
Viktor5 | 0:a962eb4d6d61 | 137 | |
Viktor5 | 0:a962eb4d6d61 | 138 | |
Viktor5 | 0:a962eb4d6d61 | 139 | int main() |
Viktor5 | 0:a962eb4d6d61 | 140 | { |
Viktor5 | 0:a962eb4d6d61 | 141 | inv=1; //curva sul posto 1=NO |
Viktor5 | 0:a962eb4d6d61 | 142 | vel=0.9; //velocità base |
Viktor5 | 0:a962eb4d6d61 | 143 | delta=0; // |
Viktor5 | 0:a962eb4d6d61 | 144 | dist=50; // |
Viktor5 | 0:a962eb4d6d61 | 145 | soglia=30; //soglia sensore ditanza |
Viktor5 | 0:a962eb4d6d61 | 146 | |
Viktor5 | 0:a962eb4d6d61 | 147 | sensor.setRanges(1, 150); |
Viktor5 | 0:a962eb4d6d61 | 148 | |
Viktor5 | 0:a962eb4d6d61 | 149 | pc.baud(9600); // setto il baud rate della porta seriale pc |
Viktor5 | 0:a962eb4d6d61 | 150 | hc05.baud(9600); // setto il baud rate della porta rawserial hc05 |
Viktor5 | 0:a962eb4d6d61 | 151 | |
Viktor5 | 0:a962eb4d6d61 | 152 | |
Viktor5 | 0:a962eb4d6d61 | 153 | time_up.attach(&check_lux, 0.2); //provvisorio |
Viktor5 | 0:a962eb4d6d61 | 154 | //hc05.attach(&OnOff, RawSerial::RxIrq); //definitivo |
Viktor5 | 0:a962eb4d6d61 | 155 | //*************** |
Viktor5 | 0:a962eb4d6d61 | 156 | |
Viktor5 | 0:a962eb4d6d61 | 157 | while(1) |
Viktor5 | 0:a962eb4d6d61 | 158 | { |
Viktor5 | 0:a962eb4d6d61 | 159 | // |
Viktor5 | 0:a962eb4d6d61 | 160 | } |
Viktor5 | 0:a962eb4d6d61 | 161 | } |