Gugus
Dependencies: mbed
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