Cambios
Dependencies: mbed Adafruit_GFX SeeedShieldBot BluetoothSerial
main.cpp@5:e3fe2afec9b6, 2020-12-22 (annotated)
- Committer:
- arturodeusto
- Date:
- Tue Dec 22 11:02:59 2020 +0000
- Revision:
- 5:e3fe2afec9b6
- Parent:
- 4:5182de07691c
final
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
aitor98 | 0:92bf762d49fa | 1 | #include "mbed.h" |
aitor98 | 0:92bf762d49fa | 2 | #include "hcsr04.h" |
aitor98 | 0:92bf762d49fa | 3 | #include "Adafruit_SSD1306.h" |
aitor98 | 0:92bf762d49fa | 4 | |
aitor98 | 0:92bf762d49fa | 5 | |
arturodeusto | 5:e3fe2afec9b6 | 6 | class I2CPreInit : public I2C |
aitor98 | 0:92bf762d49fa | 7 | { |
aitor98 | 0:92bf762d49fa | 8 | public: |
aitor98 | 0:92bf762d49fa | 9 | I2CPreInit(PinName sda, PinName scl) : I2C(sda, scl) |
aitor98 | 0:92bf762d49fa | 10 | { |
aitor98 | 0:92bf762d49fa | 11 | frequency(100000); |
aitor98 | 0:92bf762d49fa | 12 | start(); |
aitor98 | 0:92bf762d49fa | 13 | }; |
aitor98 | 0:92bf762d49fa | 14 | }; |
aitor98 | 0:92bf762d49fa | 15 | |
aitor98 | 0:92bf762d49fa | 16 | I2CPreInit gI2C(PB_9,PB_8); |
arturodeusto | 5:e3fe2afec9b6 | 17 | Adafruit_SSD1306_I2c gOled(gI2C,NC,0x78,64,128); |
aitor98 | 0:92bf762d49fa | 18 | |
aitor98 | 0:92bf762d49fa | 19 | Serial pc(USBTX, USBRX); // tx, rx |
aitor98 | 0:92bf762d49fa | 20 | Serial bt(A5, A4); // tx, rx |
aitor98 | 0:92bf762d49fa | 21 | Ticker repeticion; |
aitor98 | 0:92bf762d49fa | 22 | |
aitor98 | 0:92bf762d49fa | 23 | DigitalOut led(LED1); |
aitor98 | 0:92bf762d49fa | 24 | DigitalOut step(D13); |
aitor98 | 0:92bf762d49fa | 25 | DigitalOut dir(D12); |
aitor98 | 0:92bf762d49fa | 26 | DigitalOut enable(D11); |
aitor98 | 0:92bf762d49fa | 27 | DigitalOut dirAMotor(D4); |
aitor98 | 0:92bf762d49fa | 28 | PwmOut dirBMotor(A3); |
aitor98 | 0:92bf762d49fa | 29 | InterruptIn encoderA(A2); |
aitor98 | 0:92bf762d49fa | 30 | DigitalOut rele(D3); |
aitor98 | 0:92bf762d49fa | 31 | HCSR04 usensor(D7,D8); |
aitor98 | 0:92bf762d49fa | 32 | DigitalIn final1(D9); |
aitor98 | 4:5182de07691c | 33 | DigitalIn final2(D10); |
aitor98 | 0:92bf762d49fa | 34 | AnalogIn Vout(A0); |
aitor98 | 0:92bf762d49fa | 35 | AnalogIn Aout(A1); |
aitor98 | 0:92bf762d49fa | 36 | |
aitor98 | 0:92bf762d49fa | 37 | enum estados {inicio,movder,calentar,movizq1,centro,movizq2,soplado}; |
aitor98 | 0:92bf762d49fa | 38 | estados estado; |
aitor98 | 0:92bf762d49fa | 39 | |
aitor98 | 0:92bf762d49fa | 40 | |
aitor98 | 0:92bf762d49fa | 41 | void medir_corriente() |
aitor98 | 0:92bf762d49fa | 42 | { |
aitor98 | 0:92bf762d49fa | 43 | |
aitor98 | 0:92bf762d49fa | 44 | float corriente=((Aout.read()*5)-2.5)/0.185; |
aitor98 | 0:92bf762d49fa | 45 | |
aitor98 | 0:92bf762d49fa | 46 | bt.printf("Intensidad medida = %.4f A \n", corriente); |
aitor98 | 0:92bf762d49fa | 47 | |
aitor98 | 0:92bf762d49fa | 48 | } |
aitor98 | 0:92bf762d49fa | 49 | |
aitor98 | 0:92bf762d49fa | 50 | int dato=0; |
aitor98 | 0:92bf762d49fa | 51 | |
aitor98 | 0:92bf762d49fa | 52 | void estadoinicio() |
aitor98 | 0:92bf762d49fa | 53 | { |
aitor98 | 0:92bf762d49fa | 54 | { |
aitor98 | 0:92bf762d49fa | 55 | if(bt.readable()) { //Mira si hay algun dato pendiente en el bt |
aitor98 | 0:92bf762d49fa | 56 | dato=bt.getc(); //Lee un caracter del bt |
aitor98 | 0:92bf762d49fa | 57 | |
aitor98 | 0:92bf762d49fa | 58 | } |
aitor98 | 0:92bf762d49fa | 59 | if (dato=='1') { //Si el dato es un 1 comienza el proceso |
aitor98 | 0:92bf762d49fa | 60 | |
aitor98 | 0:92bf762d49fa | 61 | estado = movder; |
arturodeusto | 3:b33d698b0a5c | 62 | bt.printf("Transportando a calentador\n"); |
aitor98 | 0:92bf762d49fa | 63 | |
aitor98 | 0:92bf762d49fa | 64 | |
arturodeusto | 3:b33d698b0a5c | 65 | } else { |
aitor98 | 0:92bf762d49fa | 66 | } |
aitor98 | 0:92bf762d49fa | 67 | } |
aitor98 | 0:92bf762d49fa | 68 | } |
aitor98 | 0:92bf762d49fa | 69 | |
aitor98 | 0:92bf762d49fa | 70 | |
aitor98 | 0:92bf762d49fa | 71 | void estadomovderecha() |
aitor98 | 0:92bf762d49fa | 72 | { |
aitor98 | 0:92bf762d49fa | 73 | if(final1==0) { |
aitor98 | 0:92bf762d49fa | 74 | enable=1; //activar el motor |
aitor98 | 0:92bf762d49fa | 75 | dir=1; //direccion hacia la derecha |
aitor98 | 0:92bf762d49fa | 76 | //step=1; // avanzar |
aitor98 | 0:92bf762d49fa | 77 | step=1; |
aitor98 | 0:92bf762d49fa | 78 | wait_us(100); |
aitor98 | 0:92bf762d49fa | 79 | step=0; |
aitor98 | 0:92bf762d49fa | 80 | wait_us(900); |
aitor98 | 0:92bf762d49fa | 81 | } else { |
aitor98 | 0:92bf762d49fa | 82 | enable=0; |
aitor98 | 0:92bf762d49fa | 83 | estado=calentar; |
arturodeusto | 3:b33d698b0a5c | 84 | |
arturodeusto | 1:035ceace4dc3 | 85 | bt.printf("Calentando\n"); |
arturodeusto | 1:035ceace4dc3 | 86 | |
aitor98 | 0:92bf762d49fa | 87 | } |
aitor98 | 0:92bf762d49fa | 88 | } |
aitor98 | 0:92bf762d49fa | 89 | |
aitor98 | 0:92bf762d49fa | 90 | void estadocalentar() |
aitor98 | 0:92bf762d49fa | 91 | { |
aitor98 | 0:92bf762d49fa | 92 | float tension=Vout.read()*3.3; |
aitor98 | 0:92bf762d49fa | 93 | |
aitor98 | 0:92bf762d49fa | 94 | float resistencia= ((3.3*100000.0)/tension)-100000.0; |
aitor98 | 0:92bf762d49fa | 95 | |
arturodeusto | 3:b33d698b0a5c | 96 | float temp= (3950.0/(log(resistencia/100000.0)+(3950.0/298.0))-273.0); |
arturodeusto | 1:035ceace4dc3 | 97 | bt.printf("Calentando a: %.4f\n",temp); |
arturodeusto | 3:b33d698b0a5c | 98 | |
aitor98 | 0:92bf762d49fa | 99 | |
arturodeusto | 3:b33d698b0a5c | 100 | if (temp<35.0) { |
arturodeusto | 3:b33d698b0a5c | 101 | rele=1; |
aitor98 | 0:92bf762d49fa | 102 | |
aitor98 | 0:92bf762d49fa | 103 | } else { |
aitor98 | 0:92bf762d49fa | 104 | rele=0; |
aitor98 | 0:92bf762d49fa | 105 | estado=movizq1; |
arturodeusto | 3:b33d698b0a5c | 106 | |
arturodeusto | 3:b33d698b0a5c | 107 | bt.printf("Transportando a revision\n"); |
aitor98 | 0:92bf762d49fa | 108 | } |
aitor98 | 0:92bf762d49fa | 109 | } |
aitor98 | 0:92bf762d49fa | 110 | |
aitor98 | 0:92bf762d49fa | 111 | void estadomovizq1() |
aitor98 | 0:92bf762d49fa | 112 | { |
aitor98 | 0:92bf762d49fa | 113 | usensor.start(); |
arturodeusto | 1:035ceace4dc3 | 114 | wait(0.01); |
arturodeusto | 5:e3fe2afec9b6 | 115 | dist=0.9*dist +0.1*usensor.get_dist_cm(); |
aitor98 | 0:92bf762d49fa | 116 | |
aitor98 | 0:92bf762d49fa | 117 | if(dist>20) { |
aitor98 | 0:92bf762d49fa | 118 | enable=1; //activar el motor |
aitor98 | 0:92bf762d49fa | 119 | dir=0; //direccion hacia la derecha |
aitor98 | 0:92bf762d49fa | 120 | step=1; // avanzar |
aitor98 | 0:92bf762d49fa | 121 | wait_us(100); |
aitor98 | 0:92bf762d49fa | 122 | step=0; |
aitor98 | 0:92bf762d49fa | 123 | wait_us(900); |
arturodeusto | 1:035ceace4dc3 | 124 | |
aitor98 | 0:92bf762d49fa | 125 | } else { |
aitor98 | 0:92bf762d49fa | 126 | enable=0; |
aitor98 | 0:92bf762d49fa | 127 | estado=centro; |
arturodeusto | 3:b33d698b0a5c | 128 | |
arturodeusto | 3:b33d698b0a5c | 129 | bt.printf("Revisando\n"); |
aitor98 | 0:92bf762d49fa | 130 | } |
aitor98 | 0:92bf762d49fa | 131 | } |
aitor98 | 0:92bf762d49fa | 132 | |
aitor98 | 0:92bf762d49fa | 133 | |
aitor98 | 0:92bf762d49fa | 134 | void estadocentro() |
aitor98 | 0:92bf762d49fa | 135 | { |
aitor98 | 0:92bf762d49fa | 136 | { |
aitor98 | 0:92bf762d49fa | 137 | if(bt.readable()) { //Mira si hay algun dato pendiente en el bt |
aitor98 | 0:92bf762d49fa | 138 | dato=bt.getc(); //Lee un caracter del bt |
aitor98 | 0:92bf762d49fa | 139 | |
aitor98 | 0:92bf762d49fa | 140 | } |
aitor98 | 0:92bf762d49fa | 141 | if (dato=='2') { //Si el dato es un 1 comienza el proceso |
aitor98 | 0:92bf762d49fa | 142 | |
aitor98 | 0:92bf762d49fa | 143 | estado = movder; |
arturodeusto | 3:b33d698b0a5c | 144 | |
arturodeusto | 1:035ceace4dc3 | 145 | bt.printf("Pieza incorrecta\n"); |
arturodeusto | 3:b33d698b0a5c | 146 | bt.printf("Transportando a calentador\n"); |
arturodeusto | 1:035ceace4dc3 | 147 | |
aitor98 | 0:92bf762d49fa | 148 | |
aitor98 | 0:92bf762d49fa | 149 | } else if(dato=='3') { //Si el dato es una b enciende el led |
aitor98 | 0:92bf762d49fa | 150 | |
aitor98 | 0:92bf762d49fa | 151 | estado = movizq2; |
arturodeusto | 3:b33d698b0a5c | 152 | |
arturodeusto | 1:035ceace4dc3 | 153 | bt.printf("Pieza correcta\n"); |
arturodeusto | 3:b33d698b0a5c | 154 | bt.printf("Transportando a soplador\n"); |
aitor98 | 4:5182de07691c | 155 | wait(0.01); |
aitor98 | 0:92bf762d49fa | 156 | } |
aitor98 | 0:92bf762d49fa | 157 | } |
aitor98 | 0:92bf762d49fa | 158 | } |
aitor98 | 0:92bf762d49fa | 159 | |
aitor98 | 0:92bf762d49fa | 160 | void estadomovizq2() |
aitor98 | 0:92bf762d49fa | 161 | { |
aitor98 | 0:92bf762d49fa | 162 | if(final2==0) { |
aitor98 | 0:92bf762d49fa | 163 | enable=1; //activar el motor |
arturodeusto | 1:035ceace4dc3 | 164 | dir=0; //direccion hacia la derecha |
aitor98 | 0:92bf762d49fa | 165 | step=1; // avanzar |
aitor98 | 0:92bf762d49fa | 166 | wait_us(100); |
aitor98 | 0:92bf762d49fa | 167 | step=0; |
aitor98 | 0:92bf762d49fa | 168 | wait_us(900); |
aitor98 | 0:92bf762d49fa | 169 | } else { |
aitor98 | 0:92bf762d49fa | 170 | enable=0; |
aitor98 | 0:92bf762d49fa | 171 | estado=soplado; |
arturodeusto | 3:b33d698b0a5c | 172 | |
arturodeusto | 1:035ceace4dc3 | 173 | bt.printf("Soplando\n"); |
aitor98 | 0:92bf762d49fa | 174 | } |
aitor98 | 0:92bf762d49fa | 175 | } |
aitor98 | 0:92bf762d49fa | 176 | |
aitor98 | 0:92bf762d49fa | 177 | void estadosoplado() |
aitor98 | 0:92bf762d49fa | 178 | { |
arturodeusto | 1:035ceace4dc3 | 179 | dirAMotor=0; |
arturodeusto | 1:035ceace4dc3 | 180 | dirBMotor=1; |
arturodeusto | 3:b33d698b0a5c | 181 | wait(7); |
aitor98 | 0:92bf762d49fa | 182 | dirAMotor=0; |
arturodeusto | 1:035ceace4dc3 | 183 | dirBMotor=0; |
aitor98 | 0:92bf762d49fa | 184 | estado=inicio; |
arturodeusto | 5:e3fe2afec9b6 | 185 | piezas= piezas+1; |
arturodeusto | 3:b33d698b0a5c | 186 | |
arturodeusto | 1:035ceace4dc3 | 187 | bt.printf("Reposo\n"); |
arturodeusto | 5:e3fe2afec9b6 | 188 | gOled.printf("Nº de piezas:%d\n",piezas); |
arturodeusto | 5:e3fe2afec9b6 | 189 | gOled.display(); |
arturodeusto | 5:e3fe2afec9b6 | 190 | gOled.setTextCursor(0,0); |
arturodeusto | 1:035ceace4dc3 | 191 | |
aitor98 | 0:92bf762d49fa | 192 | |
aitor98 | 0:92bf762d49fa | 193 | } |
aitor98 | 0:92bf762d49fa | 194 | |
aitor98 | 0:92bf762d49fa | 195 | |
aitor98 | 0:92bf762d49fa | 196 | |
aitor98 | 0:92bf762d49fa | 197 | int main() |
aitor98 | 0:92bf762d49fa | 198 | { |
arturodeusto | 5:e3fe2afec9b6 | 199 | int piezas=0; |
arturodeusto | 5:e3fe2afec9b6 | 200 | float dist; |
aitor98 | 0:92bf762d49fa | 201 | pc.baud(115200); |
aitor98 | 0:92bf762d49fa | 202 | estado = inicio; |
arturodeusto | 5:e3fe2afec9b6 | 203 | gOled.begin(); |
arturodeusto | 5:e3fe2afec9b6 | 204 | gOled.clearDisplay(); |
aitor98 | 0:92bf762d49fa | 205 | |
arturodeusto | 3:b33d698b0a5c | 206 | repeticion.attach(&medir_corriente, 10.0); //Medir la intensidad cada tres segundos |
aitor98 | 0:92bf762d49fa | 207 | |
aitor98 | 0:92bf762d49fa | 208 | |
aitor98 | 0:92bf762d49fa | 209 | while(1) { |
aitor98 | 0:92bf762d49fa | 210 | switch (estado) { |
aitor98 | 0:92bf762d49fa | 211 | case inicio: |
aitor98 | 0:92bf762d49fa | 212 | estadoinicio(); |
aitor98 | 0:92bf762d49fa | 213 | break; |
aitor98 | 0:92bf762d49fa | 214 | case movder: |
aitor98 | 0:92bf762d49fa | 215 | estadomovderecha(); |
aitor98 | 0:92bf762d49fa | 216 | break; |
aitor98 | 0:92bf762d49fa | 217 | case calentar: |
aitor98 | 0:92bf762d49fa | 218 | estadocalentar(); |
aitor98 | 0:92bf762d49fa | 219 | break; |
aitor98 | 0:92bf762d49fa | 220 | case movizq1: |
aitor98 | 0:92bf762d49fa | 221 | estadomovizq1(); |
aitor98 | 0:92bf762d49fa | 222 | break; |
aitor98 | 0:92bf762d49fa | 223 | case centro: |
aitor98 | 0:92bf762d49fa | 224 | estadocentro(); |
aitor98 | 0:92bf762d49fa | 225 | break; |
aitor98 | 0:92bf762d49fa | 226 | case movizq2: |
aitor98 | 0:92bf762d49fa | 227 | estadomovizq2(); |
aitor98 | 0:92bf762d49fa | 228 | break; |
aitor98 | 0:92bf762d49fa | 229 | case soplado: |
aitor98 | 0:92bf762d49fa | 230 | estadosoplado(); |
aitor98 | 0:92bf762d49fa | 231 | break; |
aitor98 | 0:92bf762d49fa | 232 | default: |
aitor98 | 0:92bf762d49fa | 233 | break; |
aitor98 | 0:92bf762d49fa | 234 | |
aitor98 | 0:92bf762d49fa | 235 | } |
aitor98 | 0:92bf762d49fa | 236 | } |
aitor98 | 0:92bf762d49fa | 237 | } |
aitor98 | 0:92bf762d49fa | 238 |