Revision 0:f4862c7fd394, committed 2017-02-28

Comitter:

ZHAW_Prometheus

Date:

Tue Feb 28 15:28:07 2017 +0000

Commit message:

0.1;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IRSensor.cpp	Tue Feb 28 15:28:07 2017 +0000
@@ -0,0 +1,68 @@
+/*
+ * IRSensor.cpp
+ * Copyright (c) 2016, ZHAW
+ * All rights reserved.
+ */
+
+#include <cmath>
+#include "IRSensor.h"
+
+
+/**
+ * Creates an IRSensor object.
+ * @param distance an analog input object to read the voltage of the sensor.
+ * @param bit0 a digital output to set the first bit of the multiplexer.
+ * @param bit1 a digital output to set the second bit of the multiplexer.
+ * @param bit2 a digital output to set the third bit of the multiplexer.
+ * @param number the number of the sensor, either 0, 1, 2, 3, 4 or 5.
+ */
+IRSensor::IRSensor(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
+{
+    init(distance, bit0, bit1, bit2, number);
+}
+
+
+IRSensor::IRSensor()
+{
+}
+
+void IRSensor::init(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number)
+{
+
+    this->distance = distance;  // set local references to objects
+    this->bit0 = bit0;
+    this->bit1 = bit1;
+    this->bit2 = bit2;
+
+    this->number = number;
+}
+
+
+/**
+ * Deletes the IRSensor object.
+ */
+IRSensor::~IRSensor() {}
+
+/**
+ * Gets the distance measured with the IR sensor in [m].
+ * @return the distance, given in [m].
+ */
+float IRSensor::read()
+{
+    *bit0 = (number >> 0) & 1;
+    *bit1 = (number >> 1) & 1;
+    *bit2 = (number >> 2) & 1;
+
+    float d = -0.38f*sqrt(distance->read())+0.38f;  // calculate the distance in [m]
+    return d;
+}
+
+/**
+ * The empty operator is a shorthand notation of the <code>read()</code> method.
+ */
+IRSensor::operator float()
+{
+
+    return read();
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IRSensor.h	Tue Feb 28 15:28:07 2017 +0000
@@ -0,0 +1,41 @@
+/*
+ * IRSensor.h
+ * Copyright (c) 2016, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef IR_SENSOR_H_
+#define IR_SENSOR_H_
+
+#include <cstdlib>
+#include <mbed.h>
+
+/**
+ * This is a device driver class to read the distance measured with a Sharp IR sensor.
+ */
+class IRSensor
+{
+
+public:
+
+    IRSensor(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
+    IRSensor();
+    
+    void        init(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
+    virtual     ~IRSensor();
+    float       read();
+
+    operator float();
+
+private:
+
+    AnalogIn*       distance;
+    DigitalOut*     bit0;
+    DigitalOut*     bit1;
+    DigitalOut*     bit2;
+
+    int             number;
+};
+
+#endif /* IR_SENSOR_H_ */
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 28 15:28:07 2017 +0000
@@ -0,0 +1,67 @@
+#include "mbed.h"
+#include "IRSensor.h"
+
+DigitalOut led(LED1);
+
+//Perophery for distance sensors
+AnalogIn distance(PB_1); 
+DigitalOut enable(PC_1);
+DigitalOut bit0(PH_1);
+DigitalOut bit1(PC_2);
+DigitalOut bit2(PC_3);
+IRSensor sensors[6];
+
+//indicator leds arround robot
+DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
+
+//timer object for ledshow and distance sensor
+Ticker t1;
+
+//motor stuff
+DigitalOut enableMotorDriver(PB_2);
+PwmOut pwmL(PA_8);
+PwmOut pwmR(PA_9);
+
+//lights up the led according to the sensor signal
+void ledDistance()
+{
+    for( int ii = 0; ii<6; ++ii)
+        sensors[ii]< 0.1f ? leds[ii] = 1 : leds[ii] = 0;
+}
+
+//blinks at startup and starts ledDistance task
+void ledShow()
+{
+    static int timer = 0;
+    for( int ii = 0; ii<6; ++ii)
+        leds[ii] = !leds[ii];
+
+    //quit ticker and start led distance show
+    if( ++timer > 10) {
+        t1.detach();
+        t1.attach( &ledDistance, 0.01f );
+    }
+}
+
+int main()
+{
+    pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
+    pwmR.period(0.00005f);
+
+    pwmL = 0.5f; // Setzt die Duty-Cycle auf 50%
+    pwmR = 0.5f;
+    enableMotorDriver = 0;
+
+    t1.attach( &ledShow, 0.05f );
+
+    //init distance sensors
+    for( int ii = 0; ii<6; ++ii)
+        sensors[ii].init(&distance, &bit0, &bit1, &bit2, ii);
+
+    enable = 1;
+
+    while(1) {
+        wait( 0.2f );
+    }
+}
+