TVZ2020 / Mbed 2 deprecated AUTO_RAMPA_SAMBOLEK

AUTO_RAMPA_SAMBOLEK

Dependencies:   mbed HCSR04 TextLCD

main.cpp@1:d4075ab93f44, 2021-09-21 (annotated)

Committer:
msambolek
Date:
Tue Sep 21 15:48:06 2021 +0000
Revision:
1:d4075ab93f44
Parent:
0:83ddf858b8ae 
Finalna verzija

Who changed what in which revision?

UserRevisionLine numberNew contents of line
msambolek 0:83ddf858b8ae 1 #include "mbed.h"
msambolek 0:83ddf858b8ae 2 #include "TextLCD.h"
msambolek 0:83ddf858b8ae 3 #include "HCSR04.h"
msambolek 0:83ddf858b8ae 4
msambolek 0:83ddf858b8ae 5 TextLCD lcd(PB_10, PA_8, PA_10, PB_3, PB_5, PB_4); //inicijacija 20x4 LCD-a
msambolek 1:d4075ab93f44 6 HCSR04 hcsr(PA_6, PA_7); //inicijalizacija senzora udaljenosti
msambolek 1:d4075ab93f44 7 DigitalOut Stop(PB_9);
msambolek 0:83ddf858b8ae 8 DigitalOut Kreni(PB_8);
msambolek 0:83ddf858b8ae 9
msambolek 1:d4075ab93f44 10 InterruptIn Tipka(PA_5);
msambolek 1:d4075ab93f44 11 Timer debounce; //deklaracija timera za debounce
msambolek 1:d4075ab93f44 12 void proces(void); //deklaracija funkcije
msambolek 0:83ddf858b8ae 13
msambolek 1:d4075ab93f44 14 PwmOut SM(PB_0); //deklaracija izlaznog PWM pina
msambolek 0:83ddf858b8ae 15
msambolek 1:d4075ab93f44 16 Ticker provjera; //deklaracija tickera
msambolek 0:83ddf858b8ae 17
msambolek 1:d4075ab93f44 18 Timer ZatRamp; //deklaracija timera za zadržavanje rampe
msambolek 0:83ddf858b8ae 19
msambolek 1:d4075ab93f44 20 void mjerenje() //funkcija za detekciju predmeta ispred senzora udaljenosti
msambolek 0:83ddf858b8ae 21 {
msambolek 0:83ddf858b8ae 22 hcsr.startMeasurement();
msambolek 1:d4075ab93f44 23 if( hcsr.getDistance_mm()<90 && Kreni==1) //predmet ispred senzora udaljenosti
msambolek 0:83ddf858b8ae 24 {
msambolek 0:83ddf858b8ae 25 SM=0.105;
msambolek 0:83ddf858b8ae 26 }
msambolek 1:d4075ab93f44 27 if( hcsr.getDistance_mm()>90 && Kreni == 1)
msambolek 0:83ddf858b8ae 28 {
msambolek 1:d4075ab93f44 29 ZatRamp.start(); // timer za spuštanje rampe
msambolek 0:83ddf858b8ae 30 Stop=1;
msambolek 0:83ddf858b8ae 31 Kreni=0;
msambolek 0:83ddf858b8ae 32 lcd.cls();
msambolek 0:83ddf858b8ae 33 lcd.locate(4,1);
msambolek 0:83ddf858b8ae 34 lcd.printf("Dobro dosli!\n");
msambolek 0:83ddf858b8ae 35 lcd.locate(1,2);
msambolek 0:83ddf858b8ae 36 lcd.printf("Pritisnite tipku !");
msambolek 0:83ddf858b8ae 37 }
msambolek 0:83ddf858b8ae 38 }
msambolek 0:83ddf858b8ae 39
msambolek 0:83ddf858b8ae 40 int main()
msambolek 0:83ddf858b8ae 41 {
msambolek 0:83ddf858b8ae 42
msambolek 1:d4075ab93f44 43 provjera.attach(&mjerenje,0.1); //tickeru se dodijeljuje funkcija mjerenje
msambolek 1:d4075ab93f44 44 SM=0.0534; //pocetni otklon rampe
msambolek 1:d4075ab93f44 45 Stop = 1; //aktivan crvena LEDica
msambolek 0:83ddf858b8ae 46 Kreni=0;
msambolek 1:d4075ab93f44 47 Tipka.mode(PullUp); //digitalni ulaz za tipku pritegnut sa pull up otpornikom
msambolek 1:d4075ab93f44 48 SM.period(0.020); //period PWM signala za motor
msambolek 0:83ddf858b8ae 49 lcd.cls();
msambolek 0:83ddf858b8ae 50 lcd.locate(4,1);
msambolek 0:83ddf858b8ae 51 lcd.printf("Dobro dosli!\n");
msambolek 0:83ddf858b8ae 52 lcd.locate(1,2);
msambolek 0:83ddf858b8ae 53 lcd.printf("Pritisnite tipku !");
msambolek 0:83ddf858b8ae 54
msambolek 0:83ddf858b8ae 55
msambolek 0:83ddf858b8ae 56 while(1)
msambolek 0:83ddf858b8ae 57 {
msambolek 1:d4075ab93f44 58 debounce.start(); //start tajmera za debounce tipke
msambolek 1:d4075ab93f44 59 Tipka.fall(&proces); //na padajući brid tipke za podizanje rampe poziva se funkcija proces
msambolek 1:d4075ab93f44 60 if(ZatRamp.read_ms()>5000) //provjera vrijednosti timera za spuštanje rampe
msambolek 0:83ddf858b8ae 61 {
msambolek 0:83ddf858b8ae 62 SM=0.0534;
msambolek 0:83ddf858b8ae 63 ZatRamp.reset();
msambolek 1:d4075ab93f44 64 }
msambolek 0:83ddf858b8ae 65 }
msambolek 0:83ddf858b8ae 66 }
msambolek 0:83ddf858b8ae 67
msambolek 0:83ddf858b8ae 68 void proces(){
msambolek 0:83ddf858b8ae 69 if (debounce.read_ms()>200)
msambolek 0:83ddf858b8ae 70 {
msambolek 0:83ddf858b8ae 71 hcsr.startMeasurement();
msambolek 0:83ddf858b8ae 72 if(hcsr.getDistance_mm()<90 && Kreni==0){
msambolek 0:83ddf858b8ae 73 lcd.cls();
msambolek 0:83ddf858b8ae 74 lcd.locate(4,1);
msambolek 0:83ddf858b8ae 75 lcd.printf("Dovidjenja!\n");
msambolek 0:83ddf858b8ae 76 lcd.locate(4,2);
msambolek 0:83ddf858b8ae 77 lcd.printf("Sretan put!");
msambolek 0:83ddf858b8ae 78 Stop=!Stop;
msambolek 0:83ddf858b8ae 79 Kreni=!Kreni;
msambolek 0:83ddf858b8ae 80 SM=0.105;
msambolek 0:83ddf858b8ae 81 }
msambolek 1:d4075ab93f44 82 }
msambolek 1:d4075ab93f44 83 debounce.reset();
msambolek 1:d4075ab93f44 84 }