david steven camargo / Mbed OS proyecto_2_avanzados_final

radar

Dependencies:   Servo

main.cpp@2:fdb856775f71, 2020-12-03 (annotated)

Committer:
DAVIID222
Date:
Thu Dec 03 13:19:37 2020 +0000
Revision:
2:fdb856775f71
Parent:
1:5b8b3a6e9f8c 
hola

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DAVIID222 0:24034ea3555d 1 #include "mbed.h"
DAVIID222 0:24034ea3555d 2 #include "rtos.h"
DAVIID222 0:24034ea3555d 3 #include "Servo.h"
DAVIID222 0:24034ea3555d 4
intersect20 1:5b8b3a6e9f8c 5 Serial pc(USBTX, USBRX);
DAVIID222 0:24034ea3555d 6 DigitalOut trig(D3);
DAVIID222 0:24034ea3555d 7 DigitalIn echo(D2);
DAVIID222 0:24034ea3555d 8 Servo myservo(D4);
DAVIID222 0:24034ea3555d 9 Thread hilo_tarea1;
DAVIID222 0:24034ea3555d 10 Thread hilo_tarea2;
DAVIID222 0:24034ea3555d 11 Timer senal;
DAVIID222 0:24034ea3555d 12 float distancia;
intersect20 1:5b8b3a6e9f8c 13 float angle;
DAVIID222 0:24034ea3555d 14 void tarea1(void);
DAVIID222 0:24034ea3555d 15 void tarea2(void);
DAVIID222 0:24034ea3555d 16
DAVIID222 0:24034ea3555d 17 int main()
DAVIID222 0:24034ea3555d 18 {
intersect20 1:5b8b3a6e9f8c 19
DAVIID222 0:24034ea3555d 20 hilo_tarea1.start(tarea1);
DAVIID222 0:24034ea3555d 21 hilo_tarea2.start(tarea2);
DAVIID222 0:24034ea3555d 22 hilo_tarea1.set_priority(osPriorityNormal);
DAVIID222 0:24034ea3555d 23 while (true) {
intersect20 1:5b8b3a6e9f8c 24
DAVIID222 0:24034ea3555d 25 }
DAVIID222 0:24034ea3555d 26 }
DAVIID222 0:24034ea3555d 27
intersect20 1:5b8b3a6e9f8c 28 void tarea1(void)
intersect20 1:5b8b3a6e9f8c 29 {
intersect20 1:5b8b3a6e9f8c 30 while(true) {
DAVIID222 0:24034ea3555d 31 senal.reset();
DAVIID222 0:24034ea3555d 32 trig = 0;
DAVIID222 0:24034ea3555d 33 wait_us(2);
DAVIID222 0:24034ea3555d 34 trig = 1;
DAVIID222 0:24034ea3555d 35 wait_us(10);
DAVIID222 0:24034ea3555d 36 trig = 0;
DAVIID222 0:24034ea3555d 37 while(echo==0);
DAVIID222 0:24034ea3555d 38 senal.start();
DAVIID222 0:24034ea3555d 39 while(echo==1);
DAVIID222 0:24034ea3555d 40 senal.stop();
DAVIID222 0:24034ea3555d 41 distancia = (senal.read_us())/58;
DAVIID222 2:fdb856775f71 42 pc.printf("' ',%f,%f,\r\n' '",angle,distancia);
DAVIID222 0:24034ea3555d 43 ThisThread::sleep_for(50);
DAVIID222 0:24034ea3555d 44 }
DAVIID222 0:24034ea3555d 45 }
DAVIID222 0:24034ea3555d 46
intersect20 1:5b8b3a6e9f8c 47 void tarea2(void)
intersect20 1:5b8b3a6e9f8c 48 {
intersect20 1:5b8b3a6e9f8c 49 float range = 0.0009;
intersect20 1:5b8b3a6e9f8c 50 bool direction = true;
intersect20 1:5b8b3a6e9f8c 51 float position = 0.0;
intersect20 1:5b8b3a6e9f8c 52 myservo.calibrate(range, 45.0);
intersect20 1:5b8b3a6e9f8c 53 while(true) {
intersect20 1:5b8b3a6e9f8c 54 if(direction) {
intersect20 1:5b8b3a6e9f8c 55 for (int i=-90; i< 90; i++) {
intersect20 1:5b8b3a6e9f8c 56 angle= i+90;
intersect20 1:5b8b3a6e9f8c 57 myservo.position(i);
intersect20 1:5b8b3a6e9f8c 58 wait_ms(17);
intersect20 1:5b8b3a6e9f8c 59 }
intersect20 1:5b8b3a6e9f8c 60 direction=false;
intersect20 1:5b8b3a6e9f8c 61 } else {
intersect20 1:5b8b3a6e9f8c 62 for (int i=90; i> -90; i--) {
intersect20 1:5b8b3a6e9f8c 63 angle = i+90;
intersect20 1:5b8b3a6e9f8c 64 myservo.position(i);
intersect20 1:5b8b3a6e9f8c 65 wait_ms(17);
intersect20 1:5b8b3a6e9f8c 66 }
intersect20 1:5b8b3a6e9f8c 67 direction=true;
intersect20 1:5b8b3a6e9f8c 68
DAVIID222 0:24034ea3555d 69 }
DAVIID222 0:24034ea3555d 70 }
DAVIID222 0:24034ea3555d 71 }