Revision 0:96f88638114b, committed 2017-03-21

Comitter:

EHess

Date:

Tue Mar 21 14:57:54 2017 +0000

Commit message:

Hallo ka

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IRSensor.cpp	Tue Mar 21 14:57:54 2017 +0000
@@ -0,0 +1,67 @@
+/*
+ * 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 Mar 21 14:57:54 2017 +0000
@@ -0,0 +1,40 @@
+/*
+ * 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 Mar 21 14:57:54 2017 +0000
@@ -0,0 +1,75 @@
+#include "mbed.h"
+#include "IRSensor.h"
+
+//E. Hess
+//Robotterbewegungen
+
+DigitalOut led(LED1);
+
+//Erstellt In- / Outputs
+AnalogIn distance(PB_1); 
+DigitalOut enable(PC_1);
+DigitalOut bit0(PH_1);
+DigitalOut bit1(PC_2);
+DigitalOut bit2(PC_3);
+IRSensor sensors[6];        //-> Was
+
+//LED Indikatoren rund um Roboter
+DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
+
+//Timer-Objekt für LED- und Distanzsensor
+Ticker t1;
+
+//Motoren
+DigitalOut enableMotorDriver(PB_2); //Erstellt das Objekt
+PwmOut pwmL(PA_8);
+PwmOut pwmR(PA_9);
+
+//DistanzLEDs ->Was
+void ledDistance(){
+    for( int ii = 0; ii<6; ++ii)
+        sensors[ii]< 0.1f ? leds[ii] = 1 : leds[ii] = 0;
+}
+
+//Blinkt beim Start und startet die DistanzLEDs
+void ledShow(){
+    static int timer = 0;
+    for( int ii = 0; ii<6; ++ii)
+        leds[ii] = !leds[ii];
+
+    //Beendet den Ticker und startet die DistanzLED-Show
+    if( ++timer > 10) {
+        t1.detach();
+        t1.attach( &ledDistance, 0.01f );
+    }
+}
+
+int main()
+{
+    pwmL.period(0.00005f); // Setzt die Periode auf 50 μs -> f speichert float anstatt double (schneller)
+    pwmR.period(0.00005f);
+    pwmL = 0.5f; // Setzt die Duty-Cycle auf 50%
+    pwmR = 0.5f;
+    enableMotorDriver = 1;
+
+    t1.attach( &ledShow, 0.05f ); //->Was
+
+    //Initialisiert Distanzsensoren
+    for( int ii = 0; ii<6; ++ii)
+        sensors[ii].init(&distance, &bit0, &bit1, &bit2, ii);
+
+    enable = 1;
+
+    while(1) {
+        wait( 0.2f );
+        if(sensors[0].read() < 0.2f){
+            pwmL = 0.55f;
+            pwmR = 0.55f;
+        }
+        else{
+            pwmL = 0.6f;
+            pwmR = 0.4f;
+        }
+//float x = sensor[0];
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Mar 21 14:57:54 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90
\ No newline at end of file