Diff: main.cpp

Revision:

0:ad0e2e5cb37b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jan 05 16:41:00 2016 +0000
@@ -0,0 +1,131 @@
+#include "mbed.h"
+#include "SRF02.h"
+#include "PC2119_16X2_LCD.h"
+
+// ultrasonc sensor has a resolution of 1 cm at best so can only be used for rough positional measurements
+
+// Batron LCD - this code is a bit rough and ready and doesn't cope with the second line of the dsiplay very well
+
+// Adresse I2C standard des afficheurs LCD
+#define LCDADDR 0x76
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+DigitalIn multiSensor(p20);
+//I2C i2c(p9, p10);
+//DigitalOut resetLCD(p11);
+//I2C ultraS(p28,p27);
+Serial pc(USBTX, USBRX); // tx, rx
+SRF02 srf02c(p28, p27, 0xE0, 0x52);
+SRF02 srf02l(p28, p27, 0xE2, 0x52);
+SRF02 srf02r(p28, p27, 0xE4, 0x52);
+AnalogOut anOut(p18);
+//PC2119_16X2_LCD lcd(p9, p10, p11);
+
+float filteredDistance = 1000.0;
+float range = 4000.0;
+
+// procedure declarations
+
+
+
+
+int main() 
+{
+ //   char str[10];
+//    char msb = 0;
+//    char lsb = 0;
+    float distanceC;
+    float distanceL = range;
+    float distanceR = range;
+    bool validReading;
+    
+    // set i2c frequency to 100KHz
+    //i2c.frequency(100000);
+    
+    //pc.printf("clear lcd display\n");
+    multiSensor.mode(PullUp);
+    
+    // do forever
+    while (1)
+    {
+        validReading = false;
+        
+        distanceC = srf02c.read();
+        
+        if (multiSensor == true)
+        {
+            distanceL = srf02l.read();
+            distanceR = srf02r.read();
+        }
+        
+        if (distanceC < range)
+        {
+            led1 = 1;
+            validReading = true;
+        }
+        else
+        {
+            led1 = 0;
+        }
+        
+        if (multiSensor == true){
+            if (distanceL < range)
+            {
+                led2 = 1;
+                validReading = true;
+            }
+            else
+            {
+                led2 = 0;
+            }
+    
+            if (distanceR < range)
+            {
+                led3 = 1;
+                validReading = true;
+            }
+            else
+            {
+                led3 = 0;
+            }
+        }
+        
+        //pc.printf("Distances %5.3f, %5.3f, %5.3f\n", distanceC, distanceL, distanceR);
+        
+        if (validReading)
+        {
+            float shortestDistance = 0.0;
+            
+            if (multiSensor == true){
+                if (distanceC < distanceL && distanceC < distanceR)
+                    shortestDistance = distanceC;
+                else
+                    if (distanceL < distanceR)
+                        shortestDistance = distanceL;
+                    else
+                        shortestDistance = distanceR;
+            }
+            else
+                shortestDistance = distanceC;
+                            
+            filteredDistance = (0.7 * filteredDistance) + (0.3 * shortestDistance);
+
+            pc.printf("Average distance %5.3f\n", filteredDistance);
+            
+            anOut = filteredDistance / range;
+        }
+        else
+        {
+            pc.printf("Out of range\n");
+            
+            anOut = 0.0;
+        }        
+        
+        // wait a while then loop again - was 20 ms     
+        //wait_ms(100);
+    }
+}
+