Ciprian Tironeac
Tot
Dependencies: HCSR04 TextLCD mbed
Diff: main.cpp
- Revision:
- 0:10cdeeb1f90e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun May 07 11:18:58 2017 +0000
@@ -0,0 +1,241 @@
+#include "mbed.h"
+#include "TextLCD.h"
+#include "hcsr04.h"
+
+PwmOut dreapta(PTA4);
+PwmOut stanga(PTD3);
+DigitalOut in1(PTA5);
+DigitalOut in2(PTC8);
+DigitalOut in3(PTD0);
+DigitalOut in4(PTD2);
+TextLCD lcd(PTE21,PTE20,PTB0,PTB1,PTB2,PTB3);
+Serial device(PTE22, PTE23);
+DigitalOut Spate(PTC2);
+DigitalOut Fata1(PTC1);
+DigitalOut Fata2(PTA1);
+DigitalOut SemnalizareStanga(PTD1);
+DigitalOut SemnalizareDreapta(PTA2);
+
+void setare_PWM_motoare(double Stanga,double Dreapta)
+{
+ stanga.period(0.020);
+ dreapta.period(0.020);
+ stanga.pulsewidth(Stanga);
+ dreapta.pulsewidth(Dreapta);
+}
+
+int main() {
+ double S,D;
+ char Instr;
+ device.baud(9600);
+
+ while(1)
+ {
+
+ if(device.readable())
+ {
+
+ lcd.cls();
+ lcd.locate(0,0);
+ Instr = device.getc();
+ switch (Instr){
+ case 48://viteza motoare
+ lcd.cls();
+ lcd.locate(3,0);
+ lcd.printf("Viteza 0");
+ break;
+ case 49://viteza motoare
+ lcd.cls();
+ lcd.locate(3,0);
+ lcd.printf("Viteza 1");
+ S=0.005;
+ D=0.005;
+ break;
+ case 50://viteza motoare
+ lcd.cls();
+ lcd.locate(3,0);
+ lcd.printf("Viteza 2");
+ S=0.006;
+ D=0.006;
+ break;
+ case 51://viteza motoare
+ lcd.cls();
+ lcd.locate(3,0);
+ lcd.printf("Viteza 3");
+ S=0.008;
+ D=0.008;
+ break;
+ case 52://viteza motoare
+ lcd.cls();
+ lcd.locate(3,0);
+ lcd.printf("Viteza 4");
+ S=0.010;
+ D=0.010;
+ break;
+ case 53://viteza motoare
+ lcd.cls();
+ lcd.locate(3,0);
+ lcd.printf("Viteza 5");
+ S=0.012;
+ D=0.012;
+ break;
+ case 54://viteza motoare
+ lcd.cls();
+ lcd.locate(3,0);
+ lcd.printf("Viteza 6");
+ S=0.014;
+ D=0.014;
+ break;
+ case 55://viteza motoare
+ lcd.cls();
+ lcd.locate(3,0);
+ lcd.printf("Viteza 7");
+ S=0.016;
+ D=0.016;
+ break;
+ case 56://viteza motoare
+ lcd.cls();
+ lcd.locate(3,0);
+ lcd.printf("Viteza 8");
+ S=0.018;
+ D=0.018;
+ break;
+ case 57://viteza motoare
+ lcd.cls();
+ lcd.locate(3,0);
+ lcd.printf("Viteza 9");
+ S=0.019;
+ D=0.019;
+ break;
+ case 87: //faruri fata ON
+ Fata1=1;
+ Fata2=1;
+ break;
+ case 119://faruri fata OFF
+ Fata1=0;
+ Fata2=0;
+ case 83://Stop
+ setare_PWM_motoare(0,0);
+ lcd.cls();
+ lcd.locate(5,0);
+ lcd.printf("Stop");
+ SemnalizareStanga=0;
+ SemnalizareDreapta=0;
+ Spate=1;
+ wait(0.02);
+ Spate=0;
+ break;
+ case 70://inainte
+ lcd.cls();
+ lcd.locate(5,0);
+ lcd.printf("Inainte");
+ in1=0;
+ in2=1;
+ in3=1;
+ in4=0;
+ setare_PWM_motoare(S,D);
+ Spate=0;
+ SemnalizareStanga=0;
+ SemnalizareDreapta=0;
+ break;
+ case 66://inapoi
+ lcd.cls();
+ lcd.locate(5,0);
+ lcd.printf("Inapoi");
+ in1=1;
+ in2=0;
+ in3=0;
+ in4=1;
+ setare_PWM_motoare(S,D);
+ Spate=1;
+ SemnalizareStanga=0;
+ SemnalizareDreapta=0;
+ break;
+ case 82://viraj dreapta
+ lcd.cls();
+ lcd.locate(5,0);
+ lcd.printf("Dreapta");
+ setare_PWM_motoare(S,0);
+ SemnalizareStanga=0;
+ SemnalizareDreapta=1;
+ wait(0.04);
+ SemnalizareDreapta=0;
+ break;
+ case 76://viraj stanga
+ lcd.cls();
+ lcd.locate(5,0);
+ lcd.printf("Stanga");
+ setare_PWM_motoare(0,D);
+ SemnalizareStanga=1;
+ SemnalizareDreapta=0;
+ wait(0.04);
+ SemnalizareStanga=0;
+ break;
+ case 73://inainte->dreapta
+ lcd.cls();
+ lcd.locate(5,0);
+ lcd.printf("Inainte");
+ lcd.locate(5,1);
+ lcd.printf("Dreapta");
+ in1=0;
+ in2=1;
+ in3=1;
+ in4=0;
+ setare_PWM_motoare(S,D-0.005);
+ SemnalizareStanga=0;
+ SemnalizareDreapta=1;
+ wait(0.04);
+ SemnalizareDreapta=0;
+ break;
+ case 71://inainte->stanga
+ lcd.cls();
+ lcd.locate(5,0);
+ lcd.printf("Inainte");
+ lcd.locate(5,1);
+ lcd.printf("Stanga");
+ in1=0;
+ in2=1;
+ in3=1;
+ in4=0;
+ setare_PWM_motoare(S-0.005,D);
+ SemnalizareStanga=1;
+ SemnalizareDreapta=0;
+ wait(0.04);
+ SemnalizareStanga=0;
+ break;
+ case 72://inapoi->stanga
+ lcd.cls();
+ lcd.locate(5,0);
+ lcd.printf("Inapoi");
+ lcd.locate(5,1);
+ lcd.printf("Stanga");
+ in1=1;
+ in2=0;
+ in3=0;
+ in4=1;
+ setare_PWM_motoare(S-0.005,D);
+ SemnalizareStanga=1;
+ SemnalizareDreapta=0;
+ wait(0.04);
+ SemnalizareStanga=0;
+ break;
+ case 74://inapoi->dreapta
+ lcd.cls();
+ lcd.locate(5,0);
+ lcd.printf("Inapoi");
+ lcd.locate(5,1);
+ lcd.printf("Dreapta");
+ in1=1;
+ in2=0;
+ in3=0;
+ in4=1;
+ setare_PWM_motoare(S,D-0.005);
+ SemnalizareStanga=0;
+ SemnalizareDreapta=1;
+ wait(0.04);
+ SemnalizareDreapta=0;
+ break;
+ }
+ }
+ }
+}