Revision 1:37d0985c814e, committed 2015-05-11

Comitter:

MahletShimellis

Date:

Mon May 11 22:30:17 2015 +0000

Parent:

0:fd19182020c8

Commit message:

Echolocation using Obstacle Detection with Ultrasonic Distance Sensor SRF02

Changed in this revision

diff -r fd19182020c8 -r 37d0985c814e main.cpp
--- a/main.cpp	Mon May 11 02:46:35 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,523 +0,0 @@
-
-#include "mbed.h"
-#include "SRF02.h"
-#include "N5110.h"
-#include "beep.h"
-#include "main.h"
-
-
-
-/*PART 1 - Setting up*/
-
-
-void error(int code)
-{
-    while(1) {
-        leds = 0;
-        wait(0.25);
-        leds = code;
-        wait(0.25);
-    }
-}
-/*
-void initTMP102()
-{
-    tmp102.frequency(400000); // set bus speed to 400 kHz
-    int ack; // used to store acknowledgement bit
-    char data[2]; // array for data
-    char reg = CONFIG_REG; // register address
-//////// Read current status of configuration register ///////
-
-    ack = tmp102.write(TMP102_W_ADD,&reg,1); // send the slave write address and the configuration register address
-    if (ack)
-        error(1); // if we don't receive acknowledgement, flash error message
-    ack = tmp102.read(TMP102_R_ADD,data,2); // read default 2 bytes from configuration register and store in buffer
-    if (ack)
-        error(2); // if we don't receive acknowledgement, flash error message
-///////// Configure the register //////////
-// set conversion rate to 1 Hz
-    data[1] |= (1 << 6); // set bit 6
-    data[1] &= ~(1 << 7); // clear bit 7
-
-//////// Send the configured register to the slave ////////////
-
-    ack = tmp102.write(TMP102_W_ADD,&reg,1); // send the slave write address and the configuration register address
-    if (ack)
-        error(3); // if we don't receive acknowledgement, flash error message
-    ack = tmp102.write(TMP102_W_ADD,data,2); // send 2 data bytes to the configuration register
-    if (ack)
-        error(4); // if we don't receive acknowledgement, flash error message
-
-}
-
-float getTemperature()
-{
-    int ack; // used to store acknowledgement bit
-    char data[2]; // array for data
-    char reg = TEMP_REG; // temperature register address
-    ack = tmp102.write(TMP102_W_ADD,&reg,1); // send temperature register address
-    if (ack)
-        error(5); // if we don't receive acknowledgement, flash error message
-    ack = tmp102.read(TMP102_R_ADD,data,2); // read 2 bytes from temperature register and store in array
-    if (ack)
-        error(6); // if we don't receive acknowledgement, flash error message
-    temperature = (data[0] << 4) | (data[1] >> 4);
-    return temperature*0.0625;
-}
-
-float calcSoundSpeed(float temperature)
-{
-    return soundSpeed = temperature*0.6 + 331.3;
-}
-
-float calcSoundTimeDelay (int distance, float soundSpeed)
-{
-    return soundTimeDelay = distance/soundSpeed;
-}
-
-*/
-void measureExpired()
-{
-    measureFlag =1;
-}
-
-////////*PART 2 - Distance Upadate and Speed *///////////
-
-
-void updateExpired()
-{
-    updateFlag=1;
-}
-
-void update_distance_new()
-{
-    lastDistance = newDistance; ///updates the lastDistance variable by storing into it the previous distacne measurement
-    newDistance = srf.getDistanceCm();///updates the newDistance variable by adding to it the new distance measurement
-}
-
-
-/////////*PART 3 - Distance Range Alert*/////////////
-
-void rangeExpired()
-{
-    rangeFlag =1;
-}
-
-struct State {
-    float bOutput; // buzzer output value
-    int nextState[5]; // array of next states
-};
-typedef const struct State STyp;
-
-STyp fsm[5] = {
-    {8000,{0,1,2,3,4}}, // State 0 - person stops, stop sound from buzzer output ideally for 5 seconds to detect the area
-    {2000,{0,1,2,3,4}}, // 1 - turn/rotate sound that advices the person to rotate by 180 degress to better detect the area and obstacle locations
-    {1000,{0,1,2,3,4}}, // 2 - turn right sound- for obstacle located on the left
-    {500,{0,1,2,3,4}}, // 3 - turn right and move forward sound as long as a new obstacle is not detected then stop
-    {200,{0,1,2,3,4}}, // 4 - turn left sound - for obstacle located on the right
-
-};
-
-void updateState()
-{
-    //  int rangeState;
-    if(distance<=20) rangeState=0;
-    else if((distance>20)&&(distance<=65))rangeState=1;
-    else if ((distance>65)&&(distance<=110))rangeState=2;
-    else if ((distance>110)&&(distance<=155))rangeState=3;
-    else if ((distance>155)&&(distance<=200))rangeState=4;
-
-    currentState = fsm[currentState].nextState[rangeState];
-}
-
-///////*PART 4 - Beam Pattern hard */////
-
-
-
-
-
-
-
-///////*PART 5 - the Wall Follower Simulation *//////
-
-void wallExpired()
-{
-    wallFlag=1;
-}
-
-
-void moveForward()
-{
-// sets pixel to move forward
-    // k++;
-    //if (k>=22) k=0;
-    for(int k=0; k<=22; k++) {
-        lcd.setPixel(16,k);  // x,y,radius,black fill
-        wait(0.2);
-        pix++;
-        lcd.refresh();
-    }
-    //lcd.refresh();
-}
-
-void turnLeftForward_one()
-{
-// turn left forward
-    //l++;
-    //if (l>=64) l=0;
-    for(int l=0; l<=64; l++) {
-        lcd.setPixel(l+16,22);  // x,y,radius,black fill
-        wait(0.2);
-        pix=pix+1;
-        lcd.refresh();
-    }
-    //lcd.refresh();
-}
-
-void turnLeftForward_two()
-{
-//turn right forward one
-    //m++;
-    //if (m>=16) m=0;
-    for (int m=0; m<=16; m++) {
-        lcd.setPixel(80,m+22);  // x,y,radius,black fill
-        wait(0.2);
-        pix=pix+1;
-        lcd.refresh();
-    }
-    //lcd.refresh();
-}
-
-void turnRightForward()
-{
-//turn right forward two
-    //n++;
-    //if (n>=78) n=0;
-    for(int n=0; n<=78; n++) {
-        lcd.setPixel(80-n,38);
-        wait(0.2);
-        pix=pix+1;
-        lcd.refresh();
-    }
-    //lcd.refresh();
-}
-
-
-//intial beep zero move forward
-void beep_zero()
-{
-    int sound_zero = 200;
-    float time_zero = 0.22; //rectangle two width + 2 pixels
-    buzzer.beep(sound_zero,time_zero); //fix time ***
-
-}
-
-//turns on beep one Turn Left
-void beep_one()
-{
-    int sound_one = 600;
-    float time_one = 0.2;
-    buzzer.beep(sound_one,time_one); //fix time ***
-}
-
-//waits two seconds and turns on beep two Trun Left and move Forward (2= 1+0)
-void beep_two()
-{
-    int sound_two = 800;
-    float time_two = 0.23; //2+19+2
-    buzzer.beep(sound_two,time_two); //fix time ***
-}
-
-//turns on beep three Turn Right
-void beep_three()
-{
-    int sound_three = 1600;
-    float time_three = 0.2;
-    buzzer.beep(sound_three,time_three); //fix time ***
-}
-
-//waits two seconds and turns on beep four Turn Right and move Forward (4= 3+0)
-void beep_four()
-{
-    int sound_four = 2000;
-    float time_four = 0.14; //2+10+2
-    buzzer.beep(sound_four,time_four); //fix time ***
-}
-
-//waits 40ms and turns on beep five Stop Dead End
-void beep_five()
-{
-    int sound_five = 2600;
-    float time_five = 0.6;
-    buzzer.beep(sound_five,time_five); //fix time ***
-}
-
-void toggle_red()
-{
-    red=!red;
-}
-void toggle_yellow()
-{
-    yellow=!yellow;
-}
-void toggle_green()
-{
-    green=!green;
-}
-void move()
-{
-
-    if (pix<=22) {
-        lcd.printString(" Forward ",32,0);
-        beep_ticker_zero.attach(&beep_zero, 0.61); //move forward
-        toggle_green_ticker.attach(&toggle_green, 0.61);
-        moveForward();
-
-
-    }
-    beep_ticker_zero.detach();
-    beep_ticker_one.attach(&beep_one, 0.2);//turn left
-    lcd.printString(" T Left ",32,0);
-    toggle_green_ticker.detach();
-    toggle_red_ticker.attach(&toggle_red,0.1);
-    wait(0.5);
-    beep_ticker_one.detach();
-    //  toggle_red_ticker.detach();
-    if (22<pix && pix<86) {
-        toggle_red_ticker.detach();
-        lcd.printString(" Forward ",32,0);
-        beep_ticker_two.attach(&beep_two, 0.66); //turn left and move forward
-        toggle_green_ticker.attach(&toggle_green, 0.66);
-        turnLeftForward_one();
-    }
-    beep_ticker_two.detach();
-    beep_ticker_three.attach(&beep_three,0.2);//turn right
-    lcd.printString(" T Right ",32,0);
-    toggle_green_ticker.detach();
-    toggle_red_ticker.attach(&toggle_red,0.1);
-    wait(0.5);
-    beep_ticker_three.detach();
-    //toggle_red_ticker.detach();
-    if(86<pix && pix<102) {
-        toggle_red_ticker.detach();
-        lcd.printString(" Forward ",32,0);
-        toggle_green_ticker.attach(&toggle_green, 0.76);
-        beep_ticker_four.attach(&beep_four, 0.76);//turn right and move forward
-        turnLeftForward_two();
-
-    }
-    beep_ticker_four.detach();
-    beep_ticker_three.attach(&beep_three,0.2);//turn right
-    lcd.printString(" T Right ",32,0);
-    toggle_red_ticker.attach(&toggle_red,0.1);
-    wait(0.5);
-    beep_ticker_three.detach();
-    //toggle_red_ticker.detach();
-    if (102<pix) {
-        toggle_red_ticker.detach();
-        beep_ticker_four.attach(&beep_four,0.8);//turn right and move forward
-        toggle_green_ticker.attach(&toggle_green, 0.76);
-        lcd.printString(" Forward ",32,0);
-        turnRightForward();
-
-    }
-    beep_ticker_four.detach();
-    toggle_green_ticker.detach();
-    lcd.printString("  STOP!! ",32,0);
-    toggle_red_ticker.attach(&toggle_red,0.1);
-    beep_ticker_five.attach(&beep_five,0.8);//stop dead end
-}
-
-void drawMaze() // draws rectangle one bottom left
-{
-    lcd.drawRect(0,0,12,25,1);  // filled black rectangle
-    //draws rectangle two bottom right
-    lcd.drawRect(20,0,10,20,1);
-    lcd.drawRect(30,10,52,10,1);
-    // draws rectangle three top left
-    lcd.drawRect(0,25,76,10,1);
-    //draws rectangle four top final
-    lcd.drawRect(0,40,80,1,1);
-    //draws small rectangle top end
-    lcd.drawRect(0,36,1,4,1);
-    lcd.refresh();
-}
-/*
-InterruptIn button(p16);
-int buttonCounter = 0;
-
-void manageScreen()
-{
-    if ( buttonCounter > 4) {
-
-        buttonCounter = 0;
-
-    }
-
-
-    if ( buttonCounter == 0) {
-
-        measureFlag = !measureFlag;
-
-
-
-    } else if ( buttonCounter == 1) {
-
-        buttonFlag = !buttonFlag;
-
-
-
-    } else if ( buttonCounter == 2) {
-
-        updateFlag = !updateFlag;
-
-
-    } else if ( buttonCounter == 3) {
-
-        rangeFlag = !rangeFlag;
-
-
-
-    } else if ( buttonCounter == 4) {
-
-        beamFlag = !beamFlag;
-
-
-
-
-    } else {
-
-        wallFlag = !wallFlag;
-
-
-
-    }
-
-
-    if(measureFlag == 1) {
-
-    } else {
-
-    }
-
-    if(buttonFlag == 1) {
-
-    } else {
-
-    }
-
-    if(updateFlag == 1) {
-        update_ticker.attach(&updateExpired,1.0);
-    } else {
-        update_ticker.detach();     // detach ticker
-    }
-
-    if(rangeFlag == 1) {
-
-    } else {
-
-    }
-
-
-    if(beamFlag == 1) {
-
-    } else {
-
-    }
-
-    if(wallFlag == 1) {
-
-    } else {
-
-    }
-
-
-
-    buttonCounter++;
-}
-*/
-int main()
-{
-    lcd.init();
-
-// these are default settings so not strictly needed
-    lcd.normalMode();      /// normal colour mode
-    lcd.setBrightness(0.5); /// put LED backlight on 50%
-
-    measure.attach(&measureExpired,0.5);
-    update_ticker.attach(&updateExpired,1.0);
-    while(1) {
-        if(measureFlag) {
-            lcd.clear();
-            measureFlag =0;
-
-            char buffer[14];
-
-            distance = srf.getDistanceCm();  /// same idea with floats
-            int length = sprintf(buffer,"D = %d cm",distance);
-            if (length <= 14)
-                lcd.printString(buffer,0,4);
-
-            /*   temperature = getTemperature();
-               int lengthT = sprintf(buffer,"T = %.2f C",temperature); /// print formatted data to buffer
-               if (lengthT <= 14)  /// if string will fit on display
-                   lcd.printString(buffer,0,5);
-
-               soundSpeed = calcSoundSpeed(temperature);
-               soundTimeDelay = calcSoundTimeDelay(distance, soundSpeed); */
-        }
-        lcd.refresh();
-
-
-        if(updateFlag) {
-            lcd.clear();
-            updateFlag=0;
-            char bufferOne[14]; ///character array that stores the values of the newDistance variable
-            char bufferTwo[14];///character array that stores the values of the lastDistance variable
-
-
-            int lengthN = sprintf(bufferOne,"Dn = %d cm",newDistance);
-            if (lengthN <= 14)
-                lcd.printString(bufferOne,0,4);
-
-            int lengthL = sprintf(bufferTwo,"Dl = %d cm",lastDistance);
-            if (lengthL <= 14)
-                lcd.printString(bufferTwo,0,5);
-        }
-        lcd.refresh();
-
-        if (rangeFlag) {
-            lcd.clear();
-            rangeFlag=0;
-            char buffer[14];
-
-            distance = srf.getDistanceCm();  // same idea with floats
-            int length = sprintf(buffer," %d cm",distance);
-            if (length <= 14) {
-                lcd.printString(buffer,11,2);
-            }
-
-            buzzerFrequency=fsm[currentState].bOutput;
-            buzzer.beep(buzzerFrequency,1);
-            int lengthB = sprintf(buffer," %.2f hz",buzzerFrequency);
-            if (lengthB <= 14) {
-                lcd.printString(buffer,11,4);
-            }
-
-            lcd.refresh();
-
-        }
-
-        if (beamFlag) {
-
-        }
-
-        if (wallFlag) {
-
-        }
-
-    }
-}
-
-
-/*PART 2 - Distance Upadate and Speed */
\ No newline at end of file

diff -r fd19182020c8 -r 37d0985c814e main.h
--- a/main.h	Mon May 11 02:46:35 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,377 +0,0 @@
-
-
-
-
-/*PART 1 - Setting up*/
-//define temperature registers
-
-//variables distance, temperature, time delay, speed of sound
-
-//distance measurement setting functions
-
-//temperature measurement setting functions
-
-//speed of sound measurement setting fucntions
-
-//
-
-/**
-@file main.h
-@brief header file containing function prototypes, defines and variables
-@brief shows the different applications of the ultrasonic distance sensor combined with a temperature sensor
-@brief Last Revision combining all of the previous trials
-@author Mahlet Shimellis
-@date April-March 2015
-*/
-
-#ifndef MAIN_H
-#define MAIN_H
-
-/**
-@brief Below is the list of temperature sensor register adresses used
-@brief the first two are read and write adresses when ADD0 is connected to GROUND
-@brief the last two are common temerature registers
-*/
-
-#define TMP102_R_ADD 0x91
-#define TMP102_W_ADD 0x90
-#define TEMP_REG 0x00
-#define CONFIG_REG 0x01
-
-#include "mbed.h"
-
-/**
-@namespace leds
-@brief This defines the mbed leds taht will be useful to detect error messages
-*/
-BusOut leds(LED4,LED3,LED2,LED1);
-
-/**
-@namespace lcd
-@brief  LCD dispaly pin connections to the mbed
-@brief Format used N5110(PinName pwrPin, PinName scePin, PinName rstPin, PinName dcPin, PinName mosiPin, PinName sclkPin, PinName ledPin)
-*/
-N5110 lcd(p5,p6,p7,p8,p11,p13,p21);
-
-/**
-@namespace buzzer
-@brief Buzzer connection to mbed
-*/
-Beep buzzer(p26);
-
-/**
-@namespace srf
-@brief SRF02 ultrasonic distance sensor I2C connection to mbed
-@brief Format srf(SDA pin, SCL pin)
-*/
-SRF02 srf(p28, p27);
-
-/**
-@namespace tmp102
-@brief TMP102 temperature sensor I2C connection to mbed
-@brief format tmp102(SDA pin, SCL pin)
-*/
-///I2C tmp102(p9,p10);
-
-/**
-@namespace red
-@brief Red  LED PwmOut connection to mbed
-*/
-PwmOut red(p24);
-
-/**
-@namespace yellow
-@brief Yellow LED PwmOut connection to mbed
-*/
-PwmOut yellow(p23);
-
-/**
-@namespace green
-@brief Green LED PwmOut connection to mbed
-*/
-PwmOut green(p22);
-Ticker measure;
-int measureFlag=0; /*!< measure flag set in ISR for intial temperature and distance measurements  ??? ticker timer */
-int distance=0; /*!< distance value updated from SRF02 measurements */
-float temperature; /*!<temperature value updated from TMP102 measurements*/
-int soundSpeed;
-int soundTimeDelay;
-
-/**
-@brief defines the high flag state for the measurement flag
-*/
-void measureExpired ();
-
-/**
-@brief sets the error signaling for the mbed connections mainly I2C when the acknowlegment bit is not received
-@param code - integer to classify error type
-*/
-void error(int code);
-
-
-
-
-/**
-@brief this function initialises the temperature sensor
-*/
-void initTMP102();
-
-/**
-@brief this function performs the temperature measurement
-@returns the temperature value with a 0.0625 resolution
-*/
-float getTemperature();
-
-
-/**
-@brief this funciton calculates the speed of sound from the measured temperature
-@param temperature - float measured temperature value
-@returns the value of the speed of sound for each specific temeprature value
-*/
- float calcSoundSpeed (float temperature);
-
-
-/**
-@brief this function calculates the delay between transmission and emission of the sound from the ultrasonic distance sensor
-@param distance - integer measured distance value
-@param soundSpeed - float calculated speed of sound value
-@returns timeDelay - float delay between transmission and reception of the sound after reflecting on the object for which the distance has been measured
-*/
-float calcSoundTimeDelay (int distance, float soundSpeed);
-
-
-
-/*PART 2 - Distance Upadate and Speed */
-
-//variables**
-
-//ticker variable
-
-//timer expired function   TIMER ONE*****
-
-//distance update and storage function
-
-//mostly main
-
-
-Ticker update_ticker;
-Timer update;
-int updateFlag=0;
-int u=0;
-int newDistance=0; /*!< new distance value updated from SRF02 measurements after each timer delay */
-int lastDistance=0;/*!< for eaxh new distance value updated from SRF02 measurements after each timer delay, this is the stored previous distance value */
-float updateDelay=0; /*!< time delay between each distance value update */
-
-
-///Ticker update_ticker;
-//Ticker timer;
-
-/**
-@brief defines the high flag state for the distance measurement update flag
-*/
-void upadteExpired();
-
-/**
-@brief this function stores the previous distance in the lastDistance variable and updates the newDistance variable
-@returns the lastDistance value of the previous measurement
-@returns the newDistance value from the new measurement
-*/
-void update_distance_new();
-
-
-/*PART 3 - Distance Range Alert*/
-
-//define min, max, maxState
-
-//define variables
-
-//define structure
-
-//update input function
-
-//buzzer frequency function returns float
-
-//main and while
-
-#define MAX 200
-#define MIN 20
-#define maxState 4
-
-/**
-@brief Timing elements for the range differentiation module of the distance sensor
-*/
-Ticker range_ticker; 
-Timer range;
-int rangeFlag =0; /*!< range flag set in ISR */
-
-int currentState =0; /*!<integer from 0 to 4 that defines the current state of the FSM*/
-int rangeState =0; /*!<integer from 0 to 4 that defines the range to which belongs the measured distance between MIN and MAX*/
-
-float buzzerFrequency =0; /*!<float that defines the frequency of the buzzer depending on the distance range. higher frequencies as we get closer to the object. output of the FSM structure*/
-
-/**
-@brief defines the high flag state for the measurement flag
-*/
-void rangeExpired();
-
-/**
-@brief function that defines the input of the FSM depending on the distance range from MAX to MIN
-@param distance - integer measured value by the SRF02 sensor and to be classified as part of a set of five ranges from MAX to MIN
-@returns rangeState - integer from 0 to 4. defined depending on the distance range in whcih the measured distance belongs
-@returns currentState - integer from 0 to 4. depending on the value of the rangeState, the actual current state and the FSM nextState from the structure definition
-*/
-void updateState();
-
-
-/*PART 4 - Beam Pattern hard */
-//introduce angle array
-
-//convert degrees function
-
-//drawLine
-
-//drawRadius
-
-//add string-- 'please wait, ranging'
-
-
-int beamFlag=0;
-void beamExpired();
-
-
-
-/*PART 5 - the Wall Follower Simulation */
-//tickers for buzzer
-
-//tickers for LEDs
-
-//variables for sound
-
-//variables for counters
-
-//timer expired funcion  -not used actually- TIMER TWO
-
-//buzzer funcitons
-
-//movement functions
-
-//LED functions
-
-//main draw rect import from nokia library
-
-
-int wallFlag=0;
-Timer wall_timer;
-Ticker wall_ticker;
-void wallExpired();
-
-/**
-@brief set of buzzer tickers depending on the direction of movement and signal given 
-@brief zero move forward
-@brief one turn left
-@brief two turn left and move forward
-@brief three turn right
-@brief four turn right and move forward
-@brief five stop, dead end
-*/
-Ticker beep_ticker_zero;
-Ticker beep_ticker_one;
-Ticker beep_ticker_two;
-Ticker beep_ticker_three;
-Ticker beep_ticker_four;
-Ticker beep_ticker_five;
-
-
-/**
-@brief set of LED tickers
-*/
-Ticker toggle_green_ticker;
-Ticker toggle_yellow_ticker;
-Ticker toggle_red_ticker;
-
-
-/**
-@brief set of integer pixel counters to define and kepp track of the movement along the maze
-*/
-int k=0; /*!<integer for stage 0 move forward k from 0 to 22 pixel points*/
-int l=0;/*!<integer for stage 1 turn left and move forward one l from 0 to 64 pixel points*/
-int m=0;/*!<integer for stage 2 turn left and move forward two m from 0 to 16 pixel points*/
-int n=0;/*!<integer for stage 3 turn right and move forward n from 0 to 78 pixel points*/
-int pix=0;/*!<integer that keeps track of the sum of all the counter integers as the pixel moves along the maze. helps keep track of the location of the pixel */
-
-void moveForward();
-
-void turnLeftForward_one();
-
-void turnLeftForward_two();
-
-void turnRightForward();
-
-/**
-@brief function that controls intial beep zero move forward
-*/
-void beep_zero();
-
-/**
-@brief function that turns on beep one Turn Left
-*/
-void beep_one();
-
-/**
-@brief function that turns on beep two Trun Left and move Forward 
-*/
-void beep_two();
-/**
-@brief function that turns on beep three Turn Right
-*/
-void beep_three();
-
-/**
-@brief function that turns on beep four Trun Right and move Forward 
-*/
-void beep_four();
-
-/**
-@brief function that turns on beep five Stop Dead End
-*/
-void beep_five();
-
-
-/**
-@brief funciton that toggles Red LED
-@brief controls PwmOut pin
-*/
-void toggle_red();
-
-/**
-@brief funciton that toggles Yellow LED
-@brief controls PwmOut pin
-*/
-void toggle_yellow();
-
-/**
-@brief funciton that toggles Green LED
-@brief controls PwmOut pin
-*/
-void toggle_green();
-
-/**
-@brief function that controls the pixel movement along the maze
-@brief combines all of the different stages/sub-movements
-@brief combines the buzzer and led tickers for appropriate and timely signaling
-@param pix - integer that sums the movement cnouters and gives an idea of the location of the pixel
-@returns buzzer sound - output sound signal with frequency depending on the location
-@returns LED light - output light signal with color dependent on message/location (go forward, stop etc.)
-*/
-void move();
-
-/**
-@brief function that draws the sample structure of the maze to reflect the wall follower movement technique
-@brief combines drawRect functions with pre-set dimensions
-@param origin, width, height
-*/
-void drawMaze();
-
-
-
-#endif

diff -r fd19182020c8 -r 37d0985c814e obstacle.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/obstacle.cpp	Mon May 11 22:30:17 2015 +0000
@@ -0,0 +1,578 @@
+/**
+@file obstacle.cpp
+@brief Program Implementation
+*/
+
+#include "mbed.h"
+#include "SRF02.h"
+#include "N5110.h"
+#include "beep.h"
+#include "obstacle.h"
+
+
+//////////////////////////PART 1 - SETTING UP THE MEASUREMENTS//////////////////////////////
+
+int timerFlag=0;
+void timerExpired()
+{
+    timerFlag =1;
+}
+
+void error(int code)
+{
+    while(1) {
+        leds = 0;
+        wait(0.25);
+        leds = code;
+        wait(0.25);
+    }
+}
+
+void measureExpired()
+{
+    measureFlag =1;
+}
+
+
+/*
+void initTMP102()
+{
+    tmp102.frequency(400000); // set bus speed to 400 kHz
+    int ack; // used to store acknowledgement bit
+    char data[2]; // array for data
+    char reg = CONFIG_REG; // register address
+//////// Read current status of configuration register ///////
+
+    ack = tmp102.write(TMP102_W_ADD,&reg,1); // send the slave write address and the configuration register address
+    if (ack)
+        error(1); // if we don't receive acknowledgement, flash error message
+    ack = tmp102.read(TMP102_R_ADD,data,2); // read default 2 bytes from configuration register and store in buffer
+    if (ack)
+        error(2); // if we don't receive acknowledgement, flash error message
+///////// Configure the register //////////
+// set conversion rate to 1 Hz
+    data[1] |= (1 << 6); // set bit 6
+    data[1] &= ~(1 << 7); // clear bit 7
+
+//////// Send the configured register to the slave ////////////
+
+    ack = tmp102.write(TMP102_W_ADD,&reg,1); // send the slave write address and the configuration register address
+    if (ack)
+        error(3); // if we don't receive acknowledgement, flash error message
+    ack = tmp102.write(TMP102_W_ADD,data,2); // send 2 data bytes to the configuration register
+    if (ack)
+        error(4); // if we don't receive acknowledgement, flash error message
+
+}
+
+float getTemperature()
+{
+    int ack; // used to store acknowledgement bit
+    char data[2]; // array for data
+    char reg = TEMP_REG; // temperature register address
+    ack = tmp102.write(TMP102_W_ADD,&reg,1); // send temperature register address
+    if (ack)
+        error(5); // if we don't receive acknowledgement, flash error message
+    ack = tmp102.read(TMP102_R_ADD,data,2); // read 2 bytes from temperature register and store in array
+    if (ack)
+        error(6); // if we don't receive acknowledgement, flash error message
+    temperature = (data[0] << 4) | (data[1] >> 4);
+    return temperature*0.0625;
+}
+
+float calcSoundSpeed(float temperature)
+{
+    return soundSpeed = temperature*0.6 + 331.3;
+}
+
+float calcSoundTimeDelay (int distance, float soundSpeed)
+{   distance =srf.getDistanceCm();
+    return soundTimeDelay = distance/soundSpeed;
+}
+*/
+
+
+///////////////////PART 2 - Distance Upadate and Speed //////////////////////
+
+
+void updateExpired()
+{
+    updateFlag=1;    ///
+}
+
+void update_distance_new()
+{
+    lastDistance = newDistance; ///updates the lastDistance variable by storing into it the previous distance measurement
+    newDistance = srf.getDistanceCm();///updates the newDistance variable by adding to it the new distance measurement
+}
+
+
+///////////////////PART 3 - Distance Range Alert//////////////////////////////
+
+void rangeExpired()
+{
+    rangeFlag =1;
+}
+
+struct State {
+    float bOutput; /// buzzer output value
+    int nextState[5]; /// array of next states
+};
+typedef const struct State STyp;
+
+STyp fsm[5] = {
+    {8000,{0,1,2,3,4}}, // State 0 - object at less than 20 cm away
+    {2000,{0,1,2,3,4}}, // 1 - object in the 20-65cm range from the person
+    {1000,{0,1,2,3,4}}, // 2 - object in the 65-110cm range from the person
+    {500,{0,1,2,3,4}}, // 3 - object in the 110-155cm range from the person
+    {200,{0,1,2,3,4}}, // 4 - object in the 155-200cm range from the person
+
+};
+
+void updateState()
+{
+
+    distance = srf.getDistanceCm();
+    if(distance<=20) rangeState=0;
+    else if((distance>20)&&(distance<=65))rangeState=1;
+    else if ((distance>65)&&(distance<=110))rangeState=2;
+    else if ((distance>110)&&(distance<=155))rangeState=3;
+    else if ((distance>155)&&(distance<=200))rangeState=4;
+
+
+    currentState = fsm[currentState].nextState[rangeState];
+}
+
+///////////////////PART 4 - Beam Pattern ///////////////////////////////////
+
+double angleArray[5]= {0,10,20,30,40}; /*!<array of angles from the center of the sensor*/
+
+
+void beamExpired()
+{
+    beamFlag=1;
+}
+
+double convertDegrees(double angleDegrees)
+{
+     ///uses equivalence of 2pi and 180 degrees
+    return angleDegrees*3.16/180;     
+}
+
+void drawSemiCircle()
+{
+//draws a semi circle on the screen of radius equal to the distance from the object
+    int radius = srf.getDistanceCm(); /// int radius = ((30*srf.getDistanceCm())/20); other possibility
+    lcd.drawCircle(WIDTH/2,1,radius,0);  /// x,y,radius,transparent with outline
+    lcd.drawLine(WIDTH/2,1,WIDTH/2,radius,2); ///draws one diameter
+    lcd.refresh();
+}
+
+void drawBeamLines()
+{
+///draws a beam line for each calcualted value
+    lcd.drawLine(WIDTH/2,1,WIDTH/2+l,h,2);
+    lcd.drawLine(WIDTH/2,1,WIDTH/2-l,h,2);
+    lcd.refresh();
+}
+
+double lat(double a, double d)
+{
+    return (tan(a) *d);
+}
+
+double hyp(double a, double d)
+{
+    return ((tan(a) *d)/sin(a));
+}
+
+/////////////////////////PART 5 - the Wall Follower Simulation //////////////////////
+
+void wallExpired()
+{
+    wallFlag=1;
+}
+
+void moveForward()
+{
+/// sets pixel to move forward
+
+    for(int k=0; k<=22; k++) {
+        lcd.setPixel(16,k);  /// (x,y) starting point of the pixel - here fixed x coordinate - vertical movement
+        wait(0.2);  ///can be considered as the "speed of the movement" because it defines the rate if change of pixel - delay between two k values
+        pix++;  ///increments the pix vlaue for each increase in k
+        lcd.refresh();
+    }
+}
+
+void turnLeftForward_one()
+{
+///sets the pixel to turn left forward
+
+    for(int l=0; l<=64; l++) {
+        lcd.setPixel(l+16,22);  /// (x,22) starting point of the pixel - here fixed y coordinate - horizontal movement
+        wait(0.2);
+        pix=pix+1; ///increments the pix vlaue for each increase in l
+        lcd.refresh();
+    }
+
+}
+
+void turnLeftForward_two()
+{
+///sets the pixel to turn right forward -one
+
+    for (int m=0; m<=16; m++) {
+        lcd.setPixel(80,m+22);  /// (80,y) starting point of the pixel - here fixed x coordinate - vertical movement
+        wait(0.2);
+        pix=pix+1; ///increments the pix vlaue for each increase in m
+        lcd.refresh();
+    }
+
+}
+
+void turnRightForward()
+{
+///sets the pixel to turn right forward -two
+
+    for(int n=0; n<=78; n++) {
+        lcd.setPixel(80-n,38);  /// (x,38) starting point of the pixel - here fixed y coordinate - horizontal movement- x=80-n because counting down from the end x=80 to he beginning x=2 of the screen
+        wait(0.2);
+        pix=pix+1; ///increments the pix vlaue for each increase in n
+        lcd.refresh();
+    }
+    //lcd.refresh();
+}
+
+
+///intial beep zero move forward
+void beep_zero()
+{
+    int sound_zero = 200; /// local varaible integer gives specific frequency value for the buzzer
+    float time_zero = 0.22; /// local varaible integer gives specific time for the buzzer
+    buzzer.beep(sound_zero,time_zero);
+
+}
+
+///turns on beep one Turn Left
+void beep_one()
+{
+    int sound_one = 600;
+    float time_one = 0.2;
+    buzzer.beep(sound_one,time_one);
+}
+
+/// turns on beep two Trun Left and move Forward
+void beep_two()
+{
+    int sound_two = 800;
+    float time_two = 0.23;
+    buzzer.beep(sound_two,time_two);
+}
+
+//turns on beep three Turn Right
+void beep_three()
+{
+    int sound_three = 1600;
+    float time_three = 0.2;
+    buzzer.beep(sound_three,time_three);
+}
+
+/// turns on beep four Turn Right and move Forward
+void beep_four()
+{
+    int sound_four = 2000;
+    float time_four = 0.14;
+    buzzer.beep(sound_four,time_four);
+}
+
+/// turns on beep five Stop Dead End
+void beep_five()
+{
+    int sound_five = 2600;
+    float time_five = 0.6;
+    buzzer.beep(sound_five,time_five);
+}
+
+void toggle_red()
+{
+    red=!red; ///toggle red led
+}
+void toggle_yellow()
+{
+    yellow=!yellow;  ///toggles yellow led
+}
+void toggle_green()
+{
+    green=!green;  ///toggles green led
+}
+
+
+
+void move()
+{
+    if (pix<=22) {
+        lcd.printString(" Forward ",32,0);
+        beep_ticker_zero.attach(&beep_zero, 0.61); //move forward
+        toggle_green_ticker.attach(&toggle_green, 0.61);
+        moveForward();
+    }
+
+    beep_ticker_zero.detach();
+    beep_ticker_one.attach(&beep_one, 0.2);//turn left
+    lcd.printString(" T Left ",32,0);
+    toggle_green_ticker.detach();
+    toggle_red_ticker.attach(&toggle_red,0.1);
+    wait(0.5);
+    beep_ticker_one.detach();
+   
+
+    if (22<pix && pix<86) {
+        toggle_red_ticker.detach();
+        lcd.printString(" Forward ",32,0);
+        beep_ticker_two.attach(&beep_two, 0.66); //turn left and move forward
+        toggle_green_ticker.attach(&toggle_green, 0.66);
+        turnLeftForward_one();
+    }
+
+    beep_ticker_two.detach();
+    beep_ticker_three.attach(&beep_three,0.2);//turn right
+    lcd.printString(" T Right ",32,0);
+    toggle_green_ticker.detach();
+    toggle_red_ticker.attach(&toggle_red,0.1);
+    wait(0.5);
+    beep_ticker_three.detach();
+    
+
+    if(86<pix && pix<102) {
+        toggle_red_ticker.detach();
+        lcd.printString(" Forward ",32,0);
+        toggle_green_ticker.attach(&toggle_green, 0.76);
+        beep_ticker_four.attach(&beep_four, 0.76);//turn right and move forward
+        turnLeftForward_two();
+    }
+
+    beep_ticker_four.detach();
+    beep_ticker_three.attach(&beep_three,0.2);//turn right
+    lcd.printString(" T Right ",32,0);
+    toggle_red_ticker.attach(&toggle_red,0.1);
+    wait(0.5);
+    beep_ticker_three.detach();
+   
+
+    if (102<pix) {
+        toggle_red_ticker.detach();
+        beep_ticker_four.attach(&beep_four,0.8);///turn right and move forward- function called every 0.8s
+        toggle_green_ticker.attach(&toggle_green, 0.76); /// toggle green led function called every 0.76s
+        lcd.printString(" Forward ",32,0);
+        turnRightForward();
+    }
+
+    beep_ticker_four.detach();
+    toggle_green_ticker.detach();
+    lcd.printString("  STOP!! ",32,0);
+    toggle_red_ticker.attach(&toggle_red,0.1);
+    beep_ticker_five.attach(&beep_five,0.8);//stop dead end
+}
+
+void drawMaze()
+{
+    lcd.drawRect(0,0,12,25,1);  /// top left filled rectangle-green on report
+    lcd.drawRect(20,0,10,20,1); /// top middle filled rectangle-orange on report
+    lcd.drawRect(30,10,52,10,1); /// top right filled rectangle-pink on report
+    lcd.drawRect(0,25,76,10,1); /// middle filled rectangle-purple on report
+    lcd.drawRect(0,40,80,1,1); /// bottom filled rectangle-red on report
+    lcd.drawRect(0,36,1,4,1); /// dead end small filled rectangle-black on report
+    lcd.refresh();
+}
+
+///////////////////////////////Transitions/User interface (button) selection and event order elements//////////////////////////////////
+
+void buttonPressed()
+{
+    buttonFlag++;  ///increments and keepd the value of the buttonFlag counter for every button press
+    if ( buttonFlag > 4) {  /// sets the limit value of the buttonFlag before going back to zero => five different flag states to be used for the five different modules
+        buttonFlag = 0;
+    }
+}
+
+
+void manageScreen()
+{
+    if ( buttonFlag== 0) {
+        measureFlag = !measureFlag; /// toggles measureFlag - if the flag is intially low then it goes high for buttonFlag = 0 - first screen view
+    }
+    if ( buttonFlag == 1) {
+        updateFlag = !updateFlag; /// toggles updateFlag - if the flag is intially low then it goes high for buttonFlag = 1 - first button press - second screen view
+    }
+    if ( buttonFlag == 2) {
+
+        rangeFlag = !rangeFlag;  /// toggles rangeFlag - if the flag is intially low then it goes high for buttonFlag = 2 - second button press - third screen view
+    }
+    if ( buttonFlag == 3) {
+        beamFlag = !beamFlag;  /// toggles beamFlag - if the flag is intially low then it goes high for buttonFlag = 3 - third button press - fourth screen view
+    }
+    if ( buttonFlag == 4) {
+        wallFlag = !wallFlag;  /// toggles wallFlag - if the flag is intially low then it goes high for buttonFlag = 4 - fourth button press - fifth screen view
+    }
+
+    if(measureFlag == 1) {
+        measure_ticker.attach(&update_distance_new,1.0);
+        //  temperature_ticker.attach(&getTemperature,1.0);
+    } else {
+        measure_ticker.detach();
+    }
+
+    if(updateFlag == 1) {
+
+        update_ticker.attach(&updateExpired,2.0);
+
+    } else {
+        update_ticker.detach();     // detach ticker
+    }
+
+    if(rangeFlag == 1) {
+        range_ticker.attach(&rangeExpired,3.0);
+    } else {
+        range_ticker.detach();
+    }
+
+    if(beamFlag == 1) {
+        beam_ticker.attach(&beamExpired,1.0);
+    } else {
+        beam_ticker.detach();
+    }
+
+    if(wallFlag == 1) {
+        wall_ticker.attach(&wallExpired, 4.0);
+    } else {
+        wall_ticker.detach();
+    }
+}
+
+
+
+
+
+int main()
+{
+    lcd.init(); //initializes the LCD display
+///  initTMP102();
+
+    lcd.normalMode();      /// normal colour mode
+    lcd.setBrightness(0.5); /// put LED backlight on 50%
+    button.rise(&buttonPressed); /// indicates that the button has been pressed. button flag rises when button pressed
+
+    measure_ticker.attach(&measureExpired,1.0);
+    update_ticker.attach(&updateExpired,2.0);
+    beam_ticker.attach(&beamExpired,3.0);
+    //  update_ticker_two.attach(&update_distance_new,2.0);
+    range_ticker.attach(&rangeExpired,4.0);
+    wall_ticker.attach(&wallExpired, 5.0);
+
+
+    while(1) {
+        // distance = srf.getDistanceCm();
+
+        manageScreen();
+        if (timerFlag) {
+            timerFlag=0;   ///reset flag
+
+
+            if(measureFlag) {
+                lcd.clear();
+                measureFlag =0;  ///reset flag
+
+                char buffer[14];
+
+                distance = srf.getDistanceCm();  /// same idea with floats
+                float length = sprintf(buffer,"D = %.2f cm",distance);
+                if (length <= 14)
+                    lcd.printString(buffer,0,4);
+
+            /*    temperature = getTemperature();
+                     int lengthT = sprintf(buffer,"T = %.2f C",temperature); /// print formatted data to buffer
+                     if (lengthT <= 14)  /// if string will fit on display
+                         lcd.printString(buffer,0,5);
+               
+                soundSpeed = calcSoundSpeed(temperature);
+                soundTimeDelay = calcSoundTimeDelay(distance, soundSpeed);
+                */
+            }
+            lcd.refresh();
+
+
+            if(updateFlag) {
+                lcd.clear();
+                updateFlag=0;  ///reset flag
+                char bufferOne[14]; ///character array that stores the values of the newDistance variable
+                char bufferTwo[14];///character array that stores the values of the lastDistance variable
+
+
+
+                float lengthN = sprintf(bufferOne,"Dn = %.2f cm",distance);
+                if (lengthN <= 14)
+                    lcd.printString(bufferTwo,0,4);
+
+                float lengthL = sprintf(bufferTwo,"Dl = %.2f cm",lastDistance);
+                if (lengthL <= 14)
+                    lcd.printString(bufferTwo,0,5);
+            }
+            lcd.refresh();
+
+
+            if (rangeFlag) {
+                lcd.clear();
+                rangeFlag=0;  ///reset  flag
+                char buffer[14];
+
+                //   distance = srf.getDistanceCm();  // same idea with floats
+                float length = sprintf(buffer," %.2f cm",distance);
+                if (length <= 14) {
+                    lcd.printString(buffer,11,2);
+                }
+
+                buzzerFrequency=fsm[currentState].bOutput;  /// retrieves the buzzer frequency associated to the currentState from the FSM definition
+                buzzer.beep(buzzerFrequency,1);
+                float lengthB = sprintf(buffer," %.2f hz",buzzerFrequency);
+                if (lengthB <= 14) {
+                    lcd.printString(buffer,11,4);
+                }
+                lcd.refresh();
+            }
+
+
+            if (beamFlag) {
+                lcd.clear();
+                beamFlag =0;
+
+                z++;
+                if (z>=5) z=0;
+                angleDegrees = angleArray[z];
+                angleRadians=convertDegrees(angleDegrees);
+                a=angleRadians;
+
+                drawSemiCircle();
+                d =srf.getDistanceCm();
+//simply assigns the function results under conditions (a,d) to the distance variable values. calls the pointers defined previously
+                lateralDistance = 2*lat(a,d);
+                h = hyp(a,d);
+
+                drawBeamLines();
+
+            }
+            lcd.refresh();
+
+
+            if (wallFlag) {
+                lcd.clear();
+                wallFlag=0; ///reset flag
+                drawMaze();  ///draws the screen backgroung structure
+                move();    ///controls the movement and associated signals for the moving pixel point
+            }
+
+        }
+    }
+}
+
+

diff -r fd19182020c8 -r 37d0985c814e obstacle.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/obstacle.h	Mon May 11 22:30:17 2015 +0000
@@ -0,0 +1,451 @@
+
+/**
+@file main.h
+@brief header file containing function prototypes, defines and variables
+@brief shows the different applications of the ultrasonic distance sensor combined with a temperature sensor
+@brief Last Revision combining all of the previous trials
+@author Mahlet Shimellis
+@date April-March 2015
+*/
+
+#ifndef MAIN_H
+#define MAIN_H
+
+/**
+@brief Below is the list of temperature sensor register adresses used
+@brief the first two are read and write adresses when ADD0 is connected to GROUND
+@brief the last two are common temerature registers
+*/
+
+#define TMP102_R_ADD 0x91
+#define TMP102_W_ADD 0x90
+#define TEMP_REG 0x00
+#define CONFIG_REG 0x01
+
+#include "mbed.h"
+
+/**
+@namespace leds
+@brief This defines the mbed leds taht will be useful to detect error messages
+*/
+BusOut leds(LED4,LED3,LED2,LED1);
+
+/**
+@namespace lcd
+@brief  LCD dispaly pin connections to the mbed
+@brief Format used N5110(PinName pwrPin, PinName scePin, PinName rstPin, PinName dcPin, PinName mosiPin, PinName sclkPin, PinName ledPin)
+*/
+N5110 lcd(p5,p6,p7,p8,p11,p13,p21);
+
+/**
+@namespace buzzer
+@brief Buzzer connection to mbed
+*/
+Beep buzzer(p26);
+
+/**
+@namespace button
+@brief anolog input to the mbed
+*/
+InterruptIn button(p16);
+
+/**
+@namespace srf
+@brief SRF02 ultrasonic distance sensor I2C connection to mbed
+@brief Format srf(SDA pin, SCL pin)
+*/
+SRF02 srf(p28, p27);
+
+/**
+@namespace tmp102
+@brief TMP102 temperature sensor I2C connection to mbed
+@brief format tmp102(SDA pin, SCL pin)
+*/
+//I2C tmp102(p9,p10);
+
+/**
+@namespace red
+@brief Red  LED PwmOut connection to mbed
+*/
+PwmOut red(p22);
+
+/**
+@namespace yellow
+@brief Yellow LED PwmOut connection to mbed
+*/
+PwmOut yellow(p23);
+
+/**
+@namespace green
+@brief Green LED PwmOut connection to mbed
+*/
+PwmOut green(p24);
+
+
+
+Ticker timer; ///global timer
+Ticker measure_ticker;
+Timer measure;
+int measureFlag=0; /*!< measure flag set in ISR for intial temperature and distance measurements  ??? ticker timer */
+double distance; /*!< distance value updated from SRF02 measurements */
+float temperature; /*!<temperature value updated from TMP102 measurements*/
+float soundSpeed; /*!<float for speed of sound */
+float soundTimeDelay; /*!<float time delay value for sending and receiving sound signal */
+Ticker temperature_ticker;
+
+/**
+@brief defines the high flag state for the measurement flag
+*/
+void measureExpired ();
+
+/**
+@bSets the error signaling for the mbed connections mainly I2C when the acknowlegment bit is not received
+@param code - integer to classify error type
+*/
+void error(int code);
+
+
+
+
+/**
+Initialises the temperature sensor
+*/
+void initTMP102();
+
+/**
+Performs the temperature measurement
+@returns the temperature value with a 0.0625 resolution
+*/
+float getTemperature();
+
+
+/**
+Calculates the speed of sound from the measured temperature
+@param temperature - float measured temperature value
+@returns the value of the speed of sound for each specific temeprature value
+*/
+ float calcSoundSpeed (float temperature);
+
+
+/**
+Calculates the delay between transmission and emission of the sound from the ultrasonic distance sensor
+@param distance - integer measured distance value
+@param soundSpeed - float calculated speed of sound value
+@returns timeDelay - float delay between transmission and reception of the sound after reflecting on the object for which the distance has been measured
+*/
+float calcSoundTimeDelay (int distance, float soundSpeed);
+
+
+
+/**
+////////////////////PART 2 - Distance Update and Speed ///////////////////////////////////
+@brief in this section
+@ brief variables
+@brief ticker variable
+@brief timer expired function   
+@brief distance update and storage function
+*/
+
+
+Ticker update_ticker;
+Ticker update_ticker_two;
+int updateFlag=0;
+int r=0;
+float newDistance; /*!< new distance value updated from SRF02 measurements after each timer delay */
+float lastDistance;/*!< for eaxh new distance value updated from SRF02 measurements after each timer delay, this is the stored previous distance value */
+float updateDelay=0; /*!< time delay between each distance value update */
+
+///Ticker update_ticker;
+//Ticker timer;
+
+/**
+Defines the high flag state for the distance measurement update flag
+*/
+void upadteExpired();
+
+/**
+Stores the previous distance in the lastDistance variable and updates the newDistance variable
+@returns the lastDistance value of the previous measurement
+@returns the newDistance value from the new measurement
+*/
+void update_distance_new();
+
+
+
+/**
+/////////////////////////////////////////PART 3 - Distance Range Alert///////////////////////////////////////////
+@brief in this section
+@brief define min, max, maxState
+@brief define variables (state variables, buzzerFrequency)
+@brief define updateState function protoype
+*/
+
+#define MAX 200
+#define MIN 20
+#define maxState 4
+
+/**
+@brief Timing elements for the range differentiation module of the distance sensor
+*/
+Ticker range_ticker; 
+Timer range;
+int rangeFlag =0; /*!< range flag set in ISR */
+
+int currentState =0; /*!<integer from 0 to 4 that defines the current state of the FSM*/
+int rangeState =0; /*!<integer from 0 to 4 that defines the range to which belongs the measured distance between MIN and MAX*/
+
+float buzzerFrequency =0; /*!<float that defines the frequency of the buzzer depending on the distance range. higher frequencies as we get closer to the object. output of the FSM structure*/
+
+/**
+@brief defines the high flag state for the measurement flag
+*/
+void rangeExpired();
+
+/**
+ function that defines the input of the FSM depending on the distance range from MAX to MIN
+@param distance - integer measured value by the SRF02 sensor and to be classified as part of a set of five ranges from MAX to MIN
+@returns rangeState - integer from 0 to 4. defined depending on the distance range in whcih the measured distance belongs
+@returns currentState - integer from 0 to 4. depending on the value of the rangeState, the actual current state and the FSM nextState from the structure definition
+*/
+void updateState();
+
+
+
+/**
+@brief PART 4 - Beam Pattern hard
+@brief in this section
+@brief define variables (angle related variables, counter, distance related variables)
+@brief define trigonometric function protoptypes
+@brief define drawing function prototypes
+ */
+
+Ticker beam_ticker;
+Timer beam;
+int beamFlag=0;
+
+/**
+@brief defines the high flag state for the beam flag
+*/
+void beamExpired();
+
+int radius =0;
+
+double angleDegrees =0; /*!<initial angles in degrees*/
+double angleRadians=0; /*!<angles in radians after conversion*/
+double a=0;
+int z=0; ///counter
+double d=0;
+float lateralDistance=0;
+float h=0; ///hypothenuse
+
+
+/**
+@brief function that converts angle units 
+@param angleDegrees - double
+@returns angleRadians
+*/
+double convertDegrees (double angleDegrees);
+
+/**
+ function that draws a semi-circle depending on the distance measured
+@param radius - equal to the disance measured
+@brief center at (WIDTH/2,1) on the LCD 
+*/
+void drawSemiCircle();
+
+/**
+ function that shifts through angles of the beam pattern
+@param l- lateral distance for angle a
+@param h - hypothenuse distance for angle a
+*/
+void drawBeamLines(float lateralDistance, float h);
+
+/**
+ function that calculates the lateral distance between the sensor center and object at angle a
+@param a - double angle between center if sensor and object detected
+@param d - double shortest right angle distance between center of center and object detected. this is the distance measured directly in front of the sensor
+@returns - value of the lateral distance between sensor center line and beam at angle a from center
+*/
+double lat(double a, double d);
+
+/**
+@brief function that calculates the hypothenuse distance between the sensor center and object at angle a - this is the longest distance
+@param a - double angle between center if sensor and object detected
+@param d - double shortest right angle distance between center of center and object detected. this is the distance measured directly in front of the sensor
+@returns - value of the hypothenuse between sensor center line and beam at angle a from center
+*/
+double hyp(double a, double d);
+
+
+
+/**
+///////////////////////////////// PART 5 - the Wall Follower Simulation///////////////////////////
+@brief in this section
+@brief buzzer and led tickers
+@brief buzzer functions prototype
+@brief led functions prototype
+@brief counter integer variables
+@breif movemetn and drawing functions prototype
+*/
+
+
+int wallFlag=0;
+Timer wall_timer;
+Ticker wall_ticker;
+/**
+Defines the high flag state for the beam flag
+*/
+void wallExpired();
+
+/**
+@brief set of buzzer tickers depending on the direction of movement and signal given 
+@brief zero move forward
+@brief one turn left
+@brief two turn left and move forward
+@brief three turn right
+@brief four turn right and move forward
+@brief five stop, dead end
+*/
+Ticker beep_ticker_zero;
+Ticker beep_ticker_one;
+Ticker beep_ticker_two;
+Ticker beep_ticker_three;
+Ticker beep_ticker_four;
+Ticker beep_ticker_five;
+
+
+/**
+@brief set of LED tickers
+*/
+Ticker toggle_green_ticker;
+Ticker toggle_yellow_ticker;
+Ticker toggle_red_ticker;
+
+
+/**
+@brief Set of integer pixel counters to define and kepp track of the movement along the maze
+*/
+int k=0; /*!<integer for stage 0 move forward k from 0 to 22 pixel points*/
+int l=0;/*!<integer for stage 1 turn left and move forward one l from 0 to 64 pixel points*/
+int m=0;/*!<integer for stage 2 turn left and move forward two m from 0 to 16 pixel points*/
+int n=0;/*!<integer for stage 3 turn right and move forward n from 0 to 78 pixel points*/
+int pix=0;/*!<integer that keeps track of the sum of all the counter integers as the pixel moves along the maze. helps keep track of the location of the pixel */
+
+
+int buttonCounter; /*!<integer 0 to 4 counts the number of times the button has been pressed*/
+int buttonFlag = 0;/*!<button flag set in ISR*/
+
+/**
+Manages the order of displays on the screen and synchronises it to the number of button presses
+*/
+void manageScreen();
+
+/**
+Counts the pixel step in the forward movement 
+@param k - integer counter from 0 to 22
+@returns pix - integer counter incremented stores values from 0 to k
+*/
+void moveForward();
+
+/**
+Counts the pixel step in the turnLeftForward_one movement 
+@param l - integer counter from 0 to 64
+@returns pix - integer counter incremented stores values from k to k+l
+*/
+void turnLeftForward_one();
+
+/**
+Counts the pixel step in the turnLeftForward_two movement 
+@param m - integer counter from 0 to 16
+@returns pix - integer counter incremented stores values from k+l to k+l+m
+*/
+void turnLeftForward_two();
+
+/**
+Counts the pixel step in the turnLeftForward_two movement 
+@param n - integer counter from 0 to 78
+@returns pix - integer counter incremented stores values from k+l+m to k+l+m+n
+*/
+void turnRightForward();
+
+/**
+Controls intial beep zero move forward
+@param sound_zero - integer set frequency value, introduced as local variable for function
+@param time_zero - float set time value for each buzz, introduced as local variable for function
+*/
+void beep_zero();
+
+/**
+Turns on beep one Turn Left
+@param sound_one - integer set frequency value , local variable for function
+@param time_one - float set time value for each buzz , local variable for function
+*/
+void beep_one();
+
+/**
+Turns on beep two Trun Left and move Forward 
+@param sound_two - integer set frequency value, local variable for function
+@param time_two - float set time value for each buzz, local variable for function
+*/
+void beep_two();
+
+/**
+Turns on beep three Turn Right
+@param sound_three - integer set frequency value, local variable for function
+@param time_three - float set time value for each buzz, local variable for function
+*/
+void beep_three();
+
+/**
+Turns on beep four Trun Right and move Forward 
+@param sound_four - integer set frequency value, local variable for function
+@param time_four - float set time value for each buzz, local variable for function
+*/
+void beep_four();
+
+/**
+Turns on beep five Stop Dead End
+@param sound_five - integer set frequency value, local variable for function
+@param time_five - float set time value for each buzz, local variable for function
+*/
+void beep_five();
+
+
+/**
+@brief funciton that toggles Red LED
+@brief controls PwmOut pin
+*/
+void toggle_red();
+
+/**
+@brief funciton that toggles Yellow LED
+@brief controls PwmOut pin
+*/
+void toggle_yellow();
+
+/**
+@brief funciton that toggles Green LED
+@brief controls PwmOut pin
+*/
+void toggle_green();
+
+/**
+Controls the pixel movement along the maze
+Combines all of the different stages/sub-movements
+Combines the buzzer and led tickers for appropriate and timely signaling
+@param pix - integer that sums the movement cnouters and gives an idea of the location of the pixel
+@returns buzzer sound - output sound signal with frequency depending on the location
+@returns LED light - output light signal with color dependent on message/location (go forward, stop etc.)
+*/
+void move();
+
+/**
+Draws the sample structure of the maze to reflect the wall follower movement technique
+Combines drawRect functions with pre-set dimensions
+@param x,y, width, height
+*/
+void drawMaze();
+
+
+
+#endif