John Emberson / Mbed 2 deprecated PerimeterDetection

The purpose of this code is to rotate an HC-SR04 and measure the perimeter of a room. The measurements will then be sent to ThingSpeak to record the data.

Dependencies:   mbed mbed-http TextLCD ESP8266 ULN2003_StepperDriver

main.cpp@12:701ea1b1d513, 2021-12-13 (annotated)

Committer:
27e08e1e-4785-4bb4-b751-624c9c99ee9f
Date:
Mon Dec 13 15:14:02 2021 +0000
Revision:
12:701ea1b1d513
Parent:
11:756321f0b0cd 
The purpose of this code is to rotate an HC-SR04 and measure the perimeter of a room.; The measurements will then be sent to ThingSpeak to record the data.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 1 /*
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 2 Perimeter detection
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 3 John Emberson/Tercio Junker
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 4
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 5 The purpose of this code is to rotate an HC-SR04 and measure the perimeter of a room.
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 6 The measurements will then be sent to ThingSpeak to record the data.
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 7
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 8 */
jamiedillion2019 10:e4b6bc6d9b07 9
andcor02 8:25138f7b9309 10 #include "mbed.h"
andcor02 8:25138f7b9309 11 #include "hcsr04.h"
jamiedillion2019 10:e4b6bc6d9b07 12 #include "ESP8266.h"
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 13 #include "ULN2003.h"
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 14 #include "TextLCD.h"
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 15
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 16
andcor02 8:25138f7b9309 17
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 18 #define IP "184.106.153.149"
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 19 #define spr 4096
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 20
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 21 #define SSID "IU PublicNet"
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 22 #define PW ""
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 23
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 24
jamiedillion2019 10:e4b6bc6d9b07 25 Serial pc(USBTX,USBRX); //Serial Communication with PC
jamiedillion2019 10:e4b6bc6d9b07 26 ESP8266 wifi(PTC17, PTC16, 115200); //Tx Pin:PTC17; Rx Pin:PTC17; Baud rate:115200
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 27 ULN2003 sm(D13,D12,D11,D10,spr); //SM motor (In1,In2,In3,In4,StepsPerRotation=4096)
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 28 HCSR04 us(D7,D6); //Trig:D7 Echo:D6
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 29 TextLCD lcd(D9,D8,D2,D3,D4,D5); //Rs,E,D4,D5,D6,D7
jamiedillion2019 10:e4b6bc6d9b07 30
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 31 char snd[255]; //snd: send command to ESP8266
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 32 char resp[1000]; //resp: receive response from ESP8266
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 33
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 34 int dist[]={1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16};
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 35
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 36 char* API = "Q34TJD14E68FMA7A"; //API key
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 37
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 38 char comm[300]; //WIFI command
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 39 int timeout = 8000; //timeout for wifi commands
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 40
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 41
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 42 int mp=16; //The amount of measurements per rotation
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 43 int hmp=mp/2; //Half a rotation
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 44 int delta=spr/mp; //setting up 16 points to take a measurment This is the amount of steps per measurement
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 45 int speed=500; //speed in steps per second
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 46 int delay=(delta/speed)/1000; //(steps % (steps per second))/1000 = milliseconds
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 47
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 48 void MotorFront(){ //Move motor forward half a rotation
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 49 for (int i=1;i<(hmp+1);i++){
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 50 sm.moveForward(delta,speed);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 51 wait_ms(delay);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 52 us.start();
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 53 wait_ms(500);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 54 dist[i]=us.get_dist_cm();
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 55 pc.printf("dist%d=%d\r\n",i,dist[i]);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 56 }
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 57 }
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 58 void MotorBack(){ //Move motor reverse half a rotations
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 59 for (int i=mp;i>(hmp);i--){
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 60 sm.moveForward(delta,speed);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 61 wait_ms(delay);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 62 us.start();
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 63 wait_ms(500);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 64 dist[i]=us.get_dist_cm();
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 65 pc.printf("dist%d=%d\r\n",i,dist[i]);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 66 }
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 67 }
jamiedillion2019 10:e4b6bc6d9b07 68
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 69 void ConnWIFI(){ //Connect to wifi
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 70 wifi.SetMode(1);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 71 wifi.SendCMD(snd);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 72 wifi.RcvReply(resp, 5000);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 73 wait(1);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 74 pc.printf("%s\r", resp);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 75 wifi.Join(SSID,PW);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 76 wifi.RcvReply(resp, 5000);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 77 wait(1);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 78 pc.printf("%s\r\n", resp);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 79 pc.printf("Connecting to WIFI...");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 80 lcd.cls();
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 81 lcd.printf("Connecting to WIFI");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 82 wifi.setTransparent();
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 83 wait(1);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 84 pc.printf("...");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 85 lcd.printf("...");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 86 wifi.SetSingle();
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 87 wifi.RcvReply(resp, timeout);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 88 wait(1);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 89 }
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 90
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 91 void ConnTS1(){ //Connect to ThingSpeak
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 92 pc.printf("\r\nConnecting to ThingSpeak\r\n");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 93 lcd.cls();
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 94 lcd.printf("Connecting to ThingSpreak");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 95 wifi.startTCPConn(IP,80); //cipstart
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 96 wifi.RcvReply(resp, timeout);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 97 wait(1);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 98 sprintf(snd,"https://api.thingspeak.com/update?api_key=%s&field1=%d&field2=%d&field3=%d&field4=%d&field5=%d&field6=%d&field7=%d&field8=%d\r\n",API,dist[1],dist[2],dist[3],dist[4],dist[5],dist[6],dist[7],dist[8]);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 99 pc.printf("Sending data to ThingSpeak\r\n");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 100 lcd.cls();
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 101 lcd.printf("Sending data to ThingSpeak");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 102 wifi.sendURL(snd, comm); //cipsend and get command
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 103 if (wifi.RcvReply(resp, timeout))
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 104 pc.printf("%s",resp);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 105 else
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 106 pc.printf("No response while sending URL \r\n");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 107 wait_ms(5000);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 108 }
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 109
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 110 void ConnTS2(){ //Connect to ThingSpeak for second back of data
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 111 pc.printf("\r\nSending second batch of data...");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 112 lcd.cls();
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 113 lcd.printf("Sending second batch of data");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 114 wifi.startTCPConn(IP,80); //cipstart
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 115 wifi.RcvReply(resp, timeout);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 116 wait(1);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 117 sprintf(snd,"https://api.thingspeak.com/update?api_key=%s&field1=%d&field2=%d&field3=%d&field4=%d&field5=%d&field6=%d&field7=%d&field8=%d\r\n",API,dist[9],dist[10],dist[11],dist[12],dist[13],dist[14],dist[15],dist[16]);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 118 pc.printf("...\r\n");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 119 lcd.printf("...");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 120 wifi.sendURL(snd, comm); //cipsend and get command
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 121 if (wifi.RcvReply(resp, timeout))
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 122 pc.printf("%s",resp);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 123 else
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 124 pc.printf("No response while sending URL \r\n");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 125 }
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 126
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 127
andcor02 8:25138f7b9309 128 int main()
andcor02 8:25138f7b9309 129 {
jamiedillion2019 10:e4b6bc6d9b07 130 pc.baud(115200); //Baud Rate of 115200 for Tera Term
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 131 pc.printf("Scanning measurments of room");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 132 lcd.cls(); //Clear LCD Screen
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 133 lcd.printf("Scanning measurments of room");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 134 wait_ms(2000);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 135 MotorFront(); //Scan first 8 steps
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 136 sm.moveReverse(spr,600); //Rotates camera opposite to prevent wire tangle
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 137 wait_ms(250);
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 138 MotorBack(); //Scan last 8 steps
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 139 ConnWIFI(); //Connecting to WIFI
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 140 ConnTS1(); //Sending first 8 steps to ThingSpeak
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 141 ConnTS2(); //Sending last 8 steps to ThingSpeak
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 142 pc.printf("Done");
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 143 lcd.cls();
27e08e1e-4785-4bb4-b751-624c9c99ee9f 12:701ea1b1d513 144 lcd.printf("Done");
andcor02 8:25138f7b9309 145 }