Route Fix
Dependencies: mbed Motor LSM9DS1_Library_cal PinDetect HC_SR04_Ultrasonic_Library
Diff: main.cpp
- Revision:
- 8:2d0fc244cc65
- Parent:
- 7:5667ce16d526
- Child:
- 9:ec0ceec8f5f5
--- a/main.cpp Sun Nov 25 20:09:50 2018 +0000 +++ b/main.cpp Wed Nov 28 18:28:04 2018 +0000 @@ -8,7 +8,8 @@ // Global Variables: bool tr = true; bool turnflag = false; - +int leftdistance= 0; +int rightdistance = 0; //---------------------| // PIN INITIALIZATIONS | //---------------------| @@ -114,13 +115,38 @@ } } +void dist2(int distance) // left sensor interrupt +{ + /*if (distance < 150) { + pc.printf("Left Sensor trigg"); + } + else { + pc.printf("Left Sensor echo"); + }*/ + leftdistance = distance; +} + +void dist3(int distance) // right sensor interrupt +{ + /*if (distance < 150) { + pc.printf("Right Sensor trigg"); + } + else { + pc.printf("Right Sensor echo"); + }*/ + rightdistance = distance; +} + + //------------------------------| // PIN INITIALIZATIONS (cont'd) | //------------------------------| // Setup Ultrasonic Sensor pins: ultrasonic usensor(p13, p14, .07, 1, &dist); // trigger to p13, echo to p14... - // update every .07 secs w/ timeout after 1 sec... + // update every .07 secs w/ timeout after 1 sec... // call "dist" when the distance changes... +ultrasonic usensor2(p13, p26, .07, 1, &dist2); // left trigger +ultrasonic usensor3(p13, p25, .07, 1, &dist3); //right trigger //---------------| // MAIN FUNCTION | @@ -130,14 +156,18 @@ sw.mode(PullUp); // Initialize the Ultrasonic Sensor: usensor.startUpdates(); - + usensor2.startUpdates(); + usensor3.startUpdates(); // Initialize the Timer: t.start(); while(!sw) { usensor.checkDistance(); - - wait(0.1); + usensor2.checkDistance(); + usensor3.checkDistance(); + pc.printf("Left Distance %d mm\r\n", leftdistance); + pc.printf("Right Distance %d mm\r\n", rightdistance); + wait(1); } }