main.cpp

00001 /*
00002 Perimeter detection
00003 John Emberson/Tercio Junker
00004 
00005 The purpose of this code is to rotate an HC-SR04 and measure the perimeter of a room.
00006 The measurements will then be sent to ThingSpeak to record the data.
00007 
00008 */
00009 
00010 #include "mbed.h"
00011 #include "hcsr04.h"
00012 #include "ESP8266.h"
00013 #include "ULN2003.h"
00014 #include "TextLCD.h"
00015 
00016 
00017 
00018 #define IP "184.106.153.149"
00019 #define spr 4096
00020 
00021 #define SSID    "IU PublicNet"
00022 #define PW      ""
00023 
00024 
00025 Serial pc(USBTX,USBRX);                     //Serial Communication with PC
00026 ESP8266 wifi(PTC17, PTC16, 115200);         //Tx Pin:PTC17; Rx Pin:PTC17; Baud rate:115200
00027 ULN2003 sm(D13,D12,D11,D10,spr);            //SM motor (In1,In2,In3,In4,StepsPerRotation=4096)
00028 HCSR04 us(D7,D6);                           //Trig:D7 Echo:D6
00029 TextLCD lcd(D9,D8,D2,D3,D4,D5);             //Rs,E,D4,D5,D6,D7
00030 
00031 char snd[255];                      //snd: send command to ESP8266        
00032 char resp[1000];                    //resp: receive response from ESP8266
00033 
00034 int dist[]={1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16};
00035 
00036 char* API = "Q34TJD14E68FMA7A";     //API key
00037 
00038 char comm[300];                     //WIFI command
00039 int timeout = 8000;                 //timeout for wifi commands
00040 
00041 
00042 int mp=16;                          //The amount of measurements per rotation
00043 int hmp=mp/2;                       //Half a rotation
00044 int delta=spr/mp;                   //setting up 16 points to take a measurment This is the amount of steps per measurement
00045 int speed=500;                      //speed in steps per second
00046 int delay=(delta/speed)/1000;       //(steps % (steps per second))/1000 = milliseconds
00047                         
00048 void MotorFront(){                  //Move motor forward half a rotation
00049     for (int i=1;i<(hmp+1);i++){
00050         sm.moveForward(delta,speed);
00051         wait_ms(delay);
00052         us.start();
00053         wait_ms(500);
00054         dist[i]=us.get_dist_cm();
00055         pc.printf("dist%d=%d\r\n",i,dist[i]);
00056         }
00057         }
00058  void MotorBack(){                  //Move motor reverse half a rotations
00059     for (int i=mp;i>(hmp);i--){
00060         sm.moveForward(delta,speed);
00061         wait_ms(delay);
00062         us.start();
00063         wait_ms(500);
00064         dist[i]=us.get_dist_cm();
00065         pc.printf("dist%d=%d\r\n",i,dist[i]);
00066         }
00067         }   
00068 
00069 void ConnWIFI(){                            //Connect to wifi
00070     wifi.SetMode(1);        
00071     wifi.SendCMD(snd);
00072     wifi.RcvReply(resp, 5000);
00073     wait(1);
00074     pc.printf("%s\r", resp);
00075     wifi.Join(SSID,PW);
00076     wifi.RcvReply(resp, 5000);
00077     wait(1);
00078     pc.printf("%s\r\n", resp);
00079     pc.printf("Connecting to WIFI...");
00080     lcd.cls();
00081     lcd.printf("Connecting to   WIFI");
00082     wifi.setTransparent();          
00083     wait(1);    
00084     pc.printf("...");
00085     lcd.printf("...");
00086     wifi.SetSingle();             
00087     wifi.RcvReply(resp, timeout);
00088     wait(1);
00089     }
00090     
00091 void ConnTS1(){                                             //Connect to ThingSpeak
00092     pc.printf("\r\nConnecting to ThingSpeak\r\n");
00093     lcd.cls();
00094     lcd.printf("Connecting to   ThingSpreak");
00095     wifi.startTCPConn(IP,80);                               //cipstart
00096     wifi.RcvReply(resp, timeout);
00097     wait(1);
00098     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]);
00099     pc.printf("Sending data to ThingSpeak\r\n");
00100     lcd.cls();
00101     lcd.printf("Sending data to ThingSpeak");
00102     wifi.sendURL(snd, comm);                                //cipsend and get command
00103     if (wifi.RcvReply(resp, timeout))    
00104         pc.printf("%s",resp);    
00105     else
00106         pc.printf("No response while sending URL \r\n");
00107     wait_ms(5000);
00108     }
00109      
00110 void ConnTS2(){                                             //Connect to ThingSpeak for second back of data
00111     pc.printf("\r\nSending second batch of data...");
00112     lcd.cls();
00113     lcd.printf("Sending second  batch of data");
00114     wifi.startTCPConn(IP,80);                               //cipstart
00115     wifi.RcvReply(resp, timeout);
00116     wait(1);
00117     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]); 
00118     pc.printf("...\r\n");
00119     lcd.printf("...");
00120     wifi.sendURL(snd, comm);                                //cipsend and get command
00121     if (wifi.RcvReply(resp, timeout))    
00122         pc.printf("%s",resp);    
00123     else
00124         pc.printf("No response while sending URL \r\n");
00125 }
00126     
00127     
00128 int main()
00129 {
00130     pc.baud(115200);                        //Baud Rate of 115200 for Tera Term
00131     pc.printf("Scanning measurments of room");   
00132     lcd.cls();                              //Clear LCD Screen           
00133     lcd.printf("Scanning measurments of room");
00134     wait_ms(2000);
00135     MotorFront();                           //Scan first 8 steps
00136     sm.moveReverse(spr,600);                //Rotates camera opposite to prevent wire tangle
00137     wait_ms(250);                           
00138     MotorBack();                            //Scan last 8 steps
00139     ConnWIFI();                             //Connecting to WIFI
00140     ConnTS1();                              //Sending first 8 steps to ThingSpeak
00141     ConnTS2();                              //Sending last 8 steps to ThingSpeak
00142     pc.printf("Done");
00143     lcd.cls();
00144     lcd.printf("Done");
00145 }