Garn E
ProgettoFinaleProRCplus
Dependencies: HC-SR04 Motor mbed
Revision 0:a962eb4d6d61, committed 2016-12-04
- Comitter:
- Viktor5
- Date:
- Sun Dec 04 15:15:57 2016 +0000
- Commit message:
- Progetto Finale
Changed in this revision
diff -r 000000000000 -r a962eb4d6d61 HC-SR04.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HC-SR04.lib Sun Dec 04 15:15:57 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/Garn-E/code/HC-SR04/#4f947daf86c8
diff -r 000000000000 -r a962eb4d6d61 Motor.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Sun Dec 04 15:15:57 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/Garn-E/code/Motor/#1b9d3f564fbe
diff -r 000000000000 -r a962eb4d6d61 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Dec 04 15:15:57 2016 +0000
@@ -0,0 +1,161 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "HCSR04.h"
+
+Motor mSx(D10, D8, D9); //pwm (E1), fwd (1A), rev (1B)
+Motor mDx(D5, D6, D7); //pwm (E2), fwd (2A), rev (2B)
+
+HCSR04 sensor(D11, D12); //echo pin, trig pin
+
+AnalogIn luxSx(A2); //PhotoR Sx
+AnalogIn luxFw(A1); //PhotoR Fw
+AnalogIn luxDx(A0); //PhotoR Dx
+
+//DigitalOut ledSx(D2);
+//DigitalOut ledFw(D3);
+//DigitalOut ledDx(D4);
+
+Serial pc (SERIAL_TX, SERIAL_RX);
+
+RawSerial hc05(D13, D14);
+
+Ticker time_up;
+
+//DigitalIn button(PC_13);
+
+float inv;
+float vel;
+float delta;
+float dist;
+float soglia;
+char a;
+
+void forward(float v) //v rta 0 e 1
+{
+ mDx.speed(v);//DX
+ mSx.speed(v); //SX
+
+ //ledSx=0;
+ //ledFw=1;
+ //ledDx=0;
+
+ pc.printf("Fw");
+}
+
+void turnDx (float v, float t) //t tra 0 e 1
+{
+ mDx.speed(v*t);//DX
+ mSx.speed(v); //SX
+
+ //ledSx=0;
+ //ledFw=0;
+ //ledDx=1;
+
+ pc.printf("Dx");
+}
+void turnSx (float v, float t)
+{
+ mDx.speed(v);//DX
+ mSx.speed(v*t); //SX
+
+ //ledSx=1;
+ //ledFw=0;
+ //ledDx=0;
+
+ pc.printf("Sx");
+}
+
+void check_lux()
+{
+ float Sx=luxSx.read();
+ float Fw=luxFw.read();
+ float Dx=luxDx.read();
+
+ dist=50; //provvisorio
+ //dist=sensor.getDistance_cm(); //definitivo
+ //**************
+
+ if(dist>soglia)
+ {
+ inv=1;
+ }
+ else
+ {
+ inv=-1;
+ }
+
+ delta=Sx-Dx;
+
+ if(Fw>Sx&Fw>Dx&dist>soglia)
+ {
+ forward(vel);
+ }
+ else if (delta>0)
+ {
+ turnSx(vel,inv*(1-delta));
+ }
+ else
+ {
+ turnDx(vel,inv*(delta-1));
+ }
+}
+
+void OnOff()
+{
+ if(hc05.readable()) // se e’¨ stato ricevuto un carattere
+ {
+ a=hc05.getc(); // assegna il carattere ricevuto alla var a
+ switch(a)
+ {
+ case ('s'): //Start
+ time_up.attach(&check_lux, 0.2);
+ pc.printf("Start %c\n\r",a);
+ break;
+ case ('d'): //Stop
+ time_up.detach();
+ pc.printf("Stop %c\n\r",a);
+ break;
+ case ('a'): //accelera
+ if(vel<=1)
+ {
+ vel+=0.1;
+ }
+ break;
+ case ('f'): //frena
+ if(vel>0)
+ {
+ vel-=0.1;
+ }
+ break;
+ default:
+ break;
+ }
+ }
+}
+
+
+
+
+int main()
+{
+ inv=1; //curva sul posto 1=NO
+ vel=0.9; //velocità base
+ delta=0; //
+ dist=50; //
+ soglia=30; //soglia sensore ditanza
+
+ sensor.setRanges(1, 150);
+
+ pc.baud(9600); // setto il baud rate della porta seriale pc
+ hc05.baud(9600); // setto il baud rate della porta rawserial hc05
+
+
+ time_up.attach(&check_lux, 0.2); //provvisorio
+ //hc05.attach(&OnOff, RawSerial::RxIrq); //definitivo
+ //***************
+
+ while(1)
+ {
+ //
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r a962eb4d6d61 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Dec 04 15:15:57 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/0ab6a29f35bf \ No newline at end of file