Practicas / Mbed 2 deprecated maquinaconboton

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Dependencies:   mbed Adafruit_GFX DS1820

main.cpp@5:0e6b049208d8, 2021-12-13 (annotated)

Committer:
davidmateos
Date:
Mon Dec 13 19:09:00 2021 +0000
Revision:
5:0e6b049208d8
Parent:
4:aa8a5a606384
Child:
6:23dfd7b0e58c
ultima version contador

Who changed what in which revision?

UserRevisionLine numberNew contents of line
javiervicente 0:8a1a447db446 1 #include "mbed.h"
javiervicente 0:8a1a447db446 2 #include "hcsr04.h"
javiervicente 0:8a1a447db446 3
daniferca 1:1e68e882342d 4
daniferca 1:1e68e882342d 5
javiervicente 0:8a1a447db446 6 Serial pc(USBTX, USBRX); // tx, rx
javiervicente 0:8a1a447db446 7 Ticker tickerMideDistancia;
davidmateos 4:aa8a5a606384 8 unsigned distancia=20;
javiervicente 0:8a1a447db446 9
daniferca 1:1e68e882342d 10 HCSR04 usensor(D7,D8); //(PinName TrigPin,PinName EchoPin):
daniferca 2:828e6ac4800a 11 DigitalIn finalDer(D2);
daniferca 2:828e6ac4800a 12 DigitalIn finalIzq(D3);
javiervicente 0:8a1a447db446 13 DigitalOut step(D13);
javiervicente 0:8a1a447db446 14 DigitalOut dir(D12);
javiervicente 0:8a1a447db446 15 DigitalOut enable(D11);
javiervicente 0:8a1a447db446 16
davidmateos 5:0e6b049208d8 17 int contador=0;
davidmateos 5:0e6b049208d8 18
davidmateos 5:0e6b049208d8 19
javiervicente 0:8a1a447db446 20 enum estados {cerrada, abriendose, cerrandose, abierta};
javiervicente 0:8a1a447db446 21 estados estado;
javiervicente 0:8a1a447db446 22
javiervicente 0:8a1a447db446 23
javiervicente 0:8a1a447db446 24 void mideDistancia()
javiervicente 0:8a1a447db446 25 {
javiervicente 0:8a1a447db446 26 usensor.start();
javiervicente 0:8a1a447db446 27 }
javiervicente 0:8a1a447db446 28
javiervicente 0:8a1a447db446 29 void paso(int d)
javiervicente 0:8a1a447db446 30 {
javiervicente 0:8a1a447db446 31 dir=d;
javiervicente 0:8a1a447db446 32 step=1;
daniferca 2:828e6ac4800a 33 wait_us(100); // Este es el cambio de paso
javiervicente 0:8a1a447db446 34 step=0;
daniferca 2:828e6ac4800a 35 wait_us(900); //Este hay que cambiar
javiervicente 0:8a1a447db446 36 }
javiervicente 0:8a1a447db446 37
javiervicente 0:8a1a447db446 38 void estadoCerrada()
javiervicente 0:8a1a447db446 39 {
davidmateos 5:0e6b049208d8 40
davidmateos 5:0e6b049208d8 41 if( (finalIzq == 1) && contador <3) {
davidmateos 5:0e6b049208d8 42 wait(1.0);
javiervicente 0:8a1a447db446 43 enable=1;
javiervicente 0:8a1a447db446 44 estado=abriendose;
davidmateos 4:aa8a5a606384 45 // pc.printf("Distance =%d\n",distancia);
daniferca 2:828e6ac4800a 46 pc.printf("Final2 pulsado\r\n");
daniferca 2:828e6ac4800a 47
davidmateos 4:aa8a5a606384 48
davidmateos 5:0e6b049208d8 49 //distancia < 5
javiervicente 0:8a1a447db446 50 }
davidmateos 5:0e6b049208d8 51
javiervicente 0:8a1a447db446 52 }
javiervicente 0:8a1a447db446 53
javiervicente 0:8a1a447db446 54 void estadoAbriendose()
javiervicente 0:8a1a447db446 55 {
davidmateos 5:0e6b049208d8 56 //pc.printf("Distance =%d\n",distancia);
daniferca 2:828e6ac4800a 57 if((finalDer==1)) {
daniferca 1:1e68e882342d 58
javiervicente 0:8a1a447db446 59 estado=abierta;
javiervicente 0:8a1a447db446 60 enable=0;
daniferca 2:828e6ac4800a 61
daniferca 1:1e68e882342d 62 } else {
daniferca 2:828e6ac4800a 63
daniferca 2:828e6ac4800a 64 paso(1);
daniferca 2:828e6ac4800a 65 //pc.printf("paso\n");
javiervicente 0:8a1a447db446 66
javiervicente 0:8a1a447db446 67 }
davidmateos 5:0e6b049208d8 68 // if (distancia<4){
davidmateos 5:0e6b049208d8 69 //estado=cerrandose;
davidmateos 5:0e6b049208d8 70
davidmateos 5:0e6b049208d8 71 // }
javiervicente 0:8a1a447db446 72 }
javiervicente 0:8a1a447db446 73
javiervicente 0:8a1a447db446 74 void estadoCerrandose(){
davidmateos 4:aa8a5a606384 75 //pc.printf("Distance =%d\n",distancia);
daniferca 2:828e6ac4800a 76 if((finalIzq==1)) {
daniferca 1:1e68e882342d 77
javiervicente 0:8a1a447db446 78 estado=cerrada;
javiervicente 0:8a1a447db446 79 enable=0;
daniferca 1:1e68e882342d 80 } else {
daniferca 2:828e6ac4800a 81
daniferca 2:828e6ac4800a 82 paso(0);
daniferca 2:828e6ac4800a 83 //pc.printf("paso\n");
daniferca 1:1e68e882342d 84
javiervicente 0:8a1a447db446 85 }
javiervicente 0:8a1a447db446 86 }
javiervicente 0:8a1a447db446 87
javiervicente 0:8a1a447db446 88 void estadoAbierta()
javiervicente 0:8a1a447db446 89 {
davidmateos 4:aa8a5a606384 90 //pc.printf("Distance =%d\n",distancia);
davidmateos 5:0e6b049208d8 91 //if (finalDer==1) {
daniferca 1:1e68e882342d 92
daniferca 2:828e6ac4800a 93
javiervicente 0:8a1a447db446 94 enable=1;
javiervicente 0:8a1a447db446 95 estado=cerrandose;
daniferca 2:828e6ac4800a 96 pc.printf("Final1 pulsado\r\n");
daniferca 1:1e68e882342d 97
davidmateos 5:0e6b049208d8 98 //}
davidmateos 5:0e6b049208d8 99 contador++;
javiervicente 0:8a1a447db446 100 }
javiervicente 0:8a1a447db446 101
javiervicente 0:8a1a447db446 102 int main()
javiervicente 0:8a1a447db446 103 {
javiervicente 0:8a1a447db446 104 pc.baud(115200);
javiervicente 0:8a1a447db446 105 tickerMideDistancia.attach(&mideDistancia, 0.5);
javiervicente 0:8a1a447db446 106 estado=cerrada;
davidmateos 5:0e6b049208d8 107
davidmateos 4:aa8a5a606384 108 //pc.printf("Estado cerrada\n");
davidmateos 4:aa8a5a606384 109
javiervicente 0:8a1a447db446 110 while(1) {
javiervicente 0:8a1a447db446 111 distancia=usensor.get_dist_cm();
javiervicente 0:8a1a447db446 112 switch ( estado ) {
javiervicente 0:8a1a447db446 113 case cerrada:
javiervicente 0:8a1a447db446 114 estadoCerrada();
javiervicente 0:8a1a447db446 115 break;
javiervicente 0:8a1a447db446 116 case abriendose:
javiervicente 0:8a1a447db446 117 estadoAbriendose();
javiervicente 0:8a1a447db446 118 break;
javiervicente 0:8a1a447db446 119 case abierta:
javiervicente 0:8a1a447db446 120 estadoAbierta();
javiervicente 0:8a1a447db446 121 break;
javiervicente 0:8a1a447db446 122 case cerrandose:
javiervicente 0:8a1a447db446 123 estadoCerrandose();
javiervicente 0:8a1a447db446 124 break;
javiervicente 0:8a1a447db446 125 default:
javiervicente 0:8a1a447db446 126 break;
javiervicente 0:8a1a447db446 127 }
javiervicente 0:8a1a447db446 128 }
javiervicente 0:8a1a447db446 129 }