obstacle.h

00001 
00002 /**
00003 @file main.h
00004 @brief header file containing function prototypes, defines and variables
00005 @brief shows the different applications of the ultrasonic distance sensor combined with a temperature sensor
00006 @brief Last Revision combining all of the previous trials
00007 @author Mahlet Shimellis
00008 @date April-March 2015
00009 */
00010 
00011 #ifndef MAIN_H
00012 #define MAIN_H
00013 
00014 /**
00015 @brief Below is the list of temperature sensor register adresses used
00016 @brief the first two are read and write adresses when ADD0 is connected to GROUND
00017 @brief the last two are common temerature registers
00018 */
00019 
00020 #define TMP102_R_ADD 0x91
00021 #define TMP102_W_ADD 0x90
00022 #define TEMP_REG 0x00
00023 #define CONFIG_REG 0x01
00024 
00025 #include "mbed.h"
00026 
00027 /**
00028 @namespace leds
00029 @brief This defines the mbed leds taht will be useful to detect error messages
00030 */
00031 BusOut leds(LED4,LED3,LED2,LED1);
00032 
00033 /**
00034 @namespace lcd
00035 @brief  LCD dispaly pin connections to the mbed
00036 @brief Format used N5110(PinName pwrPin, PinName scePin, PinName rstPin, PinName dcPin, PinName mosiPin, PinName sclkPin, PinName ledPin)
00037 */
00038 N5110 lcd(p5,p6,p7,p8,p11,p13,p21);
00039 
00040 /**
00041 @namespace buzzer
00042 @brief Buzzer connection to mbed
00043 */
00044 Beep buzzer(p26);
00045 
00046 /**
00047 @namespace button
00048 @brief anolog input to the mbed
00049 */
00050 InterruptIn button(p16);
00051 
00052 /**
00053 @namespace srf
00054 @brief SRF02 ultrasonic distance sensor I2C connection to mbed
00055 @brief Format srf(SDA pin, SCL pin)
00056 */
00057 SRF02 srf(p28, p27);
00058 
00059 /**
00060 @namespace tmp102
00061 @brief TMP102 temperature sensor I2C connection to mbed
00062 @brief format tmp102(SDA pin, SCL pin)
00063 */
00064 //I2C tmp102(p9,p10);
00065 
00066 /**
00067 @namespace red
00068 @brief Red  LED PwmOut connection to mbed
00069 */
00070 PwmOut red(p22);
00071 
00072 /**
00073 @namespace yellow
00074 @brief Yellow LED PwmOut connection to mbed
00075 */
00076 PwmOut yellow(p23);
00077 
00078 /**
00079 @namespace green
00080 @brief Green LED PwmOut connection to mbed
00081 */
00082 PwmOut green(p24);
00083 
00084 
00085 
00086 Ticker timer; ///global timer
00087 Ticker measure_ticker;
00088 Timer measure;
00089 int measureFlag=0; /*!< measure flag set in ISR for intial temperature and distance measurements  ??? ticker timer */
00090 double distance; /*!< distance value updated from SRF02 measurements */
00091 float temperature; /*!<temperature value updated from TMP102 measurements*/
00092 float soundSpeed; /*!<float for speed of sound */
00093 float soundTimeDelay; /*!<float time delay value for sending and receiving sound signal */
00094 Ticker temperature_ticker;
00095 
00096 /**
00097 @brief defines the high flag state for the measurement flag
00098 */
00099 void measureExpired ();
00100 
00101 /**
00102 @bSets the error signaling for the mbed connections mainly I2C when the acknowlegment bit is not received
00103 @param code - integer to classify error type
00104 */
00105 void error(int code);
00106 
00107 
00108 
00109 
00110 /**
00111 Initialises the temperature sensor
00112 */
00113 void initTMP102();
00114 
00115 /**
00116 Performs the temperature measurement
00117 @returns the temperature value with a 0.0625 resolution
00118 */
00119 float getTemperature();
00120 
00121 
00122 /**
00123 Calculates the speed of sound from the measured temperature
00124 @param temperature - float measured temperature value
00125 @returns the value of the speed of sound for each specific temeprature value
00126 */
00127  float calcSoundSpeed (float temperature);
00128 
00129 
00130 /**
00131 Calculates the delay between transmission and emission of the sound from the ultrasonic distance sensor
00132 @param distance - integer measured distance value
00133 @param soundSpeed - float calculated speed of sound value
00134 @returns timeDelay - float delay between transmission and reception of the sound after reflecting on the object for which the distance has been measured
00135 */
00136 float calcSoundTimeDelay (int distance, float soundSpeed);
00137 
00138 
00139 
00140 /**
00141 ////////////////////PART 2 - Distance Update and Speed ///////////////////////////////////
00142 @brief in this section
00143 @ brief variables
00144 @brief ticker variable
00145 @brief timer expired function   
00146 @brief distance update and storage function
00147 */
00148 
00149 
00150 Ticker update_ticker;
00151 Ticker update_ticker_two;
00152 int updateFlag=0;
00153 int r=0;
00154 float newDistance; /*!< new distance value updated from SRF02 measurements after each timer delay */
00155 float lastDistance;/*!< for eaxh new distance value updated from SRF02 measurements after each timer delay, this is the stored previous distance value */
00156 float updateDelay=0; /*!< time delay between each distance value update */
00157 
00158 ///Ticker update_ticker;
00159 //Ticker timer;
00160 
00161 /**
00162 Defines the high flag state for the distance measurement update flag
00163 */
00164 void upadteExpired();
00165 
00166 /**
00167 Stores the previous distance in the lastDistance variable and updates the newDistance variable
00168 @returns the lastDistance value of the previous measurement
00169 @returns the newDistance value from the new measurement
00170 */
00171 void update_distance_new();
00172 
00173 
00174 
00175 /**
00176 /////////////////////////////////////////PART 3 - Distance Range Alert///////////////////////////////////////////
00177 @brief in this section
00178 @brief define min, max, maxState
00179 @brief define variables (state variables, buzzerFrequency)
00180 @brief define updateState function protoype
00181 */
00182 
00183 #define MAX 200
00184 #define MIN 20
00185 #define maxState 4
00186 
00187 /**
00188 @brief Timing elements for the range differentiation module of the distance sensor
00189 */
00190 Ticker range_ticker; 
00191 Timer range;
00192 int rangeFlag =0; /*!< range flag set in ISR */
00193 
00194 int currentState =0; /*!<integer from 0 to 4 that defines the current state of the FSM*/
00195 int rangeState =0; /*!<integer from 0 to 4 that defines the range to which belongs the measured distance between MIN and MAX*/
00196 
00197 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*/
00198 
00199 /**
00200 @brief defines the high flag state for the measurement flag
00201 */
00202 void rangeExpired();
00203 
00204 /**
00205  function that defines the input of the FSM depending on the distance range from MAX to MIN
00206 @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
00207 @returns rangeState - integer from 0 to 4. defined depending on the distance range in whcih the measured distance belongs
00208 @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
00209 */
00210 void updateState();
00211 
00212 
00213 
00214 /**
00215 @brief PART 4 - Beam Pattern hard
00216 @brief in this section
00217 @brief define variables (angle related variables, counter, distance related variables)
00218 @brief define trigonometric function protoptypes
00219 @brief define drawing function prototypes
00220  */
00221 
00222 Ticker beam_ticker;
00223 Timer beam;
00224 int beamFlag=0;
00225 
00226 /**
00227 @brief defines the high flag state for the beam flag
00228 */
00229 void beamExpired();
00230 
00231 int radius =0;
00232 
00233 double angleDegrees =0; /*!<initial angles in degrees*/
00234 double angleRadians=0; /*!<angles in radians after conversion*/
00235 double a=0;
00236 int z=0; ///counter
00237 double d=0;
00238 float lateralDistance=0;
00239 float h=0; ///hypothenuse
00240 
00241 
00242 /**
00243 @brief function that converts angle units 
00244 @param angleDegrees - double
00245 @returns angleRadians
00246 */
00247 double convertDegrees (double angleDegrees);
00248 
00249 /**
00250  function that draws a semi-circle depending on the distance measured
00251 @param radius - equal to the disance measured
00252 @brief center at (WIDTH/2,1) on the LCD 
00253 */
00254 void drawSemiCircle();
00255 
00256 /**
00257  function that shifts through angles of the beam pattern
00258 @param l- lateral distance for angle a
00259 @param h - hypothenuse distance for angle a
00260 */
00261 void drawBeamLines (float lateralDistance, float h);
00262 
00263 /**
00264  function that calculates the lateral distance between the sensor center and object at angle a
00265 @param a - double angle between center if sensor and object detected
00266 @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
00267 @returns - value of the lateral distance between sensor center line and beam at angle a from center
00268 */
00269 double lat(double a, double d);
00270 
00271 /**
00272 @brief function that calculates the hypothenuse distance between the sensor center and object at angle a - this is the longest distance
00273 @param a - double angle between center if sensor and object detected
00274 @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
00275 @returns - value of the hypothenuse between sensor center line and beam at angle a from center
00276 */
00277 double hyp(double a, double d);
00278 
00279 
00280 
00281 /**
00282 ///////////////////////////////// PART 5 - the Wall Follower Simulation///////////////////////////
00283 @brief in this section
00284 @brief buzzer and led tickers
00285 @brief buzzer functions prototype
00286 @brief led functions prototype
00287 @brief counter integer variables
00288 @breif movemetn and drawing functions prototype
00289 */
00290 
00291 
00292 int wallFlag=0;
00293 Timer wall_timer;
00294 Ticker wall_ticker;
00295 /**
00296 Defines the high flag state for the beam flag
00297 */
00298 void wallExpired();
00299 
00300 /**
00301 @brief set of buzzer tickers depending on the direction of movement and signal given 
00302 @brief zero move forward
00303 @brief one turn left
00304 @brief two turn left and move forward
00305 @brief three turn right
00306 @brief four turn right and move forward
00307 @brief five stop, dead end
00308 */
00309 Ticker beep_ticker_zero;
00310 Ticker beep_ticker_one;
00311 Ticker beep_ticker_two;
00312 Ticker beep_ticker_three;
00313 Ticker beep_ticker_four;
00314 Ticker beep_ticker_five;
00315 
00316 
00317 /**
00318 @brief set of LED tickers
00319 */
00320 Ticker toggle_green_ticker;
00321 Ticker toggle_yellow_ticker;
00322 Ticker toggle_red_ticker;
00323 
00324 
00325 /**
00326 @brief Set of integer pixel counters to define and kepp track of the movement along the maze
00327 */
00328 int k=0; /*!<integer for stage 0 move forward k from 0 to 22 pixel points*/
00329 int l=0;/*!<integer for stage 1 turn left and move forward one l from 0 to 64 pixel points*/
00330 int m=0;/*!<integer for stage 2 turn left and move forward two m from 0 to 16 pixel points*/
00331 int n=0;/*!<integer for stage 3 turn right and move forward n from 0 to 78 pixel points*/
00332 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 */
00333 
00334 
00335 int buttonCounter; /*!<integer 0 to 4 counts the number of times the button has been pressed*/
00336 int buttonFlag = 0;/*!<button flag set in ISR*/
00337 
00338 /**
00339 Manages the order of displays on the screen and synchronises it to the number of button presses
00340 */
00341 void manageScreen();
00342 
00343 /**
00344 Counts the pixel step in the forward movement 
00345 @param k - integer counter from 0 to 22
00346 @returns pix - integer counter incremented stores values from 0 to k
00347 */
00348 void moveForward();
00349 
00350 /**
00351 Counts the pixel step in the turnLeftForward_one movement 
00352 @param l - integer counter from 0 to 64
00353 @returns pix - integer counter incremented stores values from k to k+l
00354 */
00355 void turnLeftForward_one();
00356 
00357 /**
00358 Counts the pixel step in the turnLeftForward_two movement 
00359 @param m - integer counter from 0 to 16
00360 @returns pix - integer counter incremented stores values from k+l to k+l+m
00361 */
00362 void turnLeftForward_two();
00363 
00364 /**
00365 Counts the pixel step in the turnLeftForward_two movement 
00366 @param n - integer counter from 0 to 78
00367 @returns pix - integer counter incremented stores values from k+l+m to k+l+m+n
00368 */
00369 void turnRightForward();
00370 
00371 /**
00372 Controls intial beep zero move forward
00373 @param sound_zero - integer set frequency value, introduced as local variable for function
00374 @param time_zero - float set time value for each buzz, introduced as local variable for function
00375 */
00376 void beep_zero();
00377 
00378 /**
00379 Turns on beep one Turn Left
00380 @param sound_one - integer set frequency value , local variable for function
00381 @param time_one - float set time value for each buzz , local variable for function
00382 */
00383 void beep_one();
00384 
00385 /**
00386 Turns on beep two Trun Left and move Forward 
00387 @param sound_two - integer set frequency value, local variable for function
00388 @param time_two - float set time value for each buzz, local variable for function
00389 */
00390 void beep_two();
00391 
00392 /**
00393 Turns on beep three Turn Right
00394 @param sound_three - integer set frequency value, local variable for function
00395 @param time_three - float set time value for each buzz, local variable for function
00396 */
00397 void beep_three();
00398 
00399 /**
00400 Turns on beep four Trun Right and move Forward 
00401 @param sound_four - integer set frequency value, local variable for function
00402 @param time_four - float set time value for each buzz, local variable for function
00403 */
00404 void beep_four();
00405 
00406 /**
00407 Turns on beep five Stop Dead End
00408 @param sound_five - integer set frequency value, local variable for function
00409 @param time_five - float set time value for each buzz, local variable for function
00410 */
00411 void beep_five();
00412 
00413 
00414 /**
00415 @brief funciton that toggles Red LED
00416 @brief controls PwmOut pin
00417 */
00418 void toggle_red();
00419 
00420 /**
00421 @brief funciton that toggles Yellow LED
00422 @brief controls PwmOut pin
00423 */
00424 void toggle_yellow();
00425 
00426 /**
00427 @brief funciton that toggles Green LED
00428 @brief controls PwmOut pin
00429 */
00430 void toggle_green();
00431 
00432 /**
00433 Controls the pixel movement along the maze
00434 Combines all of the different stages/sub-movements
00435 Combines the buzzer and led tickers for appropriate and timely signaling
00436 @param pix - integer that sums the movement cnouters and gives an idea of the location of the pixel
00437 @returns buzzer sound - output sound signal with frequency depending on the location
00438 @returns LED light - output light signal with color dependent on message/location (go forward, stop etc.)
00439 */
00440 void move();
00441 
00442 /**
00443 Draws the sample structure of the maze to reflect the wall follower movement technique
00444 Combines drawRect functions with pre-set dimensions
00445 @param x,y, width, height
00446 */
00447 void drawMaze();
00448 
00449 
00450 
00451 #endif