main.cpp

00001 #include "mbed.h"
00002 #include "SRF02.h"
00003 #include "PC2119_16X2_LCD.h"
00004 
00005 // ultrasonc sensor has a resolution of 1 cm at best so can only be used for rough positional measurements
00006 
00007 // Batron LCD - this code is a bit rough and ready and doesn't cope with the second line of the dsiplay very well
00008 
00009 // Adresse I2C standard des afficheurs LCD
00010 #define LCDADDR 0x76
00011 
00012 DigitalOut led1(LED1);
00013 DigitalOut led2(LED2);
00014 DigitalOut led3(LED3);
00015 DigitalOut led4(LED4);
00016 DigitalIn multiSensor(p20);
00017 //I2C i2c(p9, p10);
00018 //DigitalOut resetLCD(p11);
00019 //I2C ultraS(p28,p27);
00020 Serial pc(USBTX, USBRX); // tx, rx
00021 SRF02 srf02c(p28, p27, 0xE0, 0x52);
00022 SRF02 srf02l(p28, p27, 0xE2, 0x52);
00023 SRF02 srf02r(p28, p27, 0xE4, 0x52);
00024 AnalogOut anOut(p18);
00025 //PC2119_16X2_LCD lcd(p9, p10, p11);
00026 
00027 float filteredDistance = 1000.0;
00028 float range = 4000.0;
00029 
00030 // procedure declarations
00031 
00032 
00033 
00034 
00035 int main() 
00036 {
00037  //   char str[10];
00038 //    char msb = 0;
00039 //    char lsb = 0;
00040     float distanceC;
00041     float distanceL = range;
00042     float distanceR = range;
00043     bool validReading;
00044     
00045     // set i2c frequency to 100KHz
00046     //i2c.frequency(100000);
00047     
00048     //pc.printf("clear lcd display\n");
00049     multiSensor.mode(PullUp);
00050     
00051     // do forever
00052     while (1)
00053     {
00054         validReading = false;
00055         
00056         distanceC = srf02c.read();
00057         
00058         if (multiSensor == true)
00059         {
00060             distanceL = srf02l.read();
00061             distanceR = srf02r.read();
00062         }
00063         
00064         if (distanceC < range)
00065         {
00066             led1 = 1;
00067             validReading = true;
00068         }
00069         else
00070         {
00071             led1 = 0;
00072         }
00073         
00074         if (multiSensor == true){
00075             if (distanceL < range)
00076             {
00077                 led2 = 1;
00078                 validReading = true;
00079             }
00080             else
00081             {
00082                 led2 = 0;
00083             }
00084     
00085             if (distanceR < range)
00086             {
00087                 led3 = 1;
00088                 validReading = true;
00089             }
00090             else
00091             {
00092                 led3 = 0;
00093             }
00094         }
00095         
00096         //pc.printf("Distances %5.3f, %5.3f, %5.3f\n", distanceC, distanceL, distanceR);
00097         
00098         if (validReading)
00099         {
00100             float shortestDistance = 0.0;
00101             
00102             if (multiSensor == true){
00103                 if (distanceC < distanceL && distanceC < distanceR)
00104                     shortestDistance = distanceC;
00105                 else
00106                     if (distanceL < distanceR)
00107                         shortestDistance = distanceL;
00108                     else
00109                         shortestDistance = distanceR;
00110             }
00111             else
00112                 shortestDistance = distanceC;
00113                             
00114             filteredDistance = (0.7 * filteredDistance) + (0.3 * shortestDistance);
00115 
00116             pc.printf("Average distance %5.3f\n", filteredDistance);
00117             
00118             anOut = filteredDistance / range;
00119         }
00120         else
00121         {
00122             pc.printf("Out of range\n");
00123             
00124             anOut = 0.0;
00125         }        
00126         
00127         // wait a while then loop again - was 20 ms     
00128         //wait_ms(100);
00129     }
00130 }
00131