Revision 3:389e402bd42f, committed 2017-10-09

Comitter:

MrBedfordVan

Date:

Mon Oct 09 17:24:44 2017 +0000

Parent:

2:b47f8dbf374c

Commit message:

Added stability and display distance for debug as it runs

Changed in this revision

diff -r b47f8dbf374c -r 389e402bd42f main.cpp
--- a/main.cpp	Tue Oct 11 09:52:30 2016 +0000
+++ b/main.cpp	Mon Oct 09 17:24:44 2017 +0000
@@ -10,16 +10,15 @@
 #include "TextLCD.h"    // LCD1602
 
 // serial PC for debug
-Serial pc(SERIAL_TX, SERIAL_RX);
+//Serial pc(SERIAL_TX, SERIAL_RX);
 // Ultrasonic sensor
-HCSR04  usensor(D3,D2);  // Trig, Echo
+HCSR04  usensor(D3,D2);  // Trig, Echo  - locks sometimes
 
 // LCD Shield
 TextLCD lcd(D8, D9, D4, D5, D6, D7);   // used to drive display
-AnalogIn keys(A0);                     // used to sample buttons
+//AnalogIn keys(A0);                     // used to sample buttons
 
 Timer lap_timer;
-Timer wait_timer;
 
 // Subroutine to display text on LCD - called from below
 // call as follows:
@@ -29,15 +28,48 @@
     
 void textLCD(char *text, int line) {
 
-    char tmpBuf[16];
-    for (int i = 0; i < 16; i++) tmpBuf[i] = 0x20;
-    for (int i = 0; i < strlen(text); i++) {
-        if (i < 16) tmpBuf[i] = text[i];
+    char tmpBuf[16];    
+    for (int i = 0; i < 14; i++) {
+        if (i < strlen(text)) {
+          tmpBuf[i] = text[i];
+        } 
+        else 
+        {
+            tmpBuf[i] = 0x20;
+        }
         lcd.locate(i, line);
         lcd.putc(tmpBuf[i]);
     }
 }
 
+// Subroutine to display Lap data on LCD - called from below
+// call as follows:
+// DisplayLap(lap_count, dist, lap_time, Show_Time);
+
+void DisplayLap(int lcl_lap_count, int lcl_dist, float lcl_lap_time, bool Show_Time) {
+
+    char lap_string[16];    
+    char lap_string2[16];    
+    //textLCD("1               ", 0);  // Clear top line on LCD
+    //textLCD("2               ", 1);  // Clear bottom line on LCD
+    //lcd.cls();
+
+    int lcl_lap_time_integerPart = (int)lcl_lap_time;
+    int lcl_lap_time_decimalPart = ((int)(lcl_lap_time*1000)%1000);
+
+    sprintf(lap_string, "Lap : %d D : %d", (char*)lcl_lap_count, (char*)lcl_dist);      // Format Lap count string   
+//    pc.printf("%s \n\r", lap_string);
+    textLCD("1               ", 0);  // Clear top line on LCD
+    textLCD(lap_string, 0);          // Display distance on LCD
+    
+    if (Show_Time) {
+        sprintf(lap_string2, "Time : %d.%d s, ", (char*)lcl_lap_time_integerPart, (char*)lcl_lap_time_decimalPart);  // Format Lap time string
+//        pc.printf("%s \n\r", lap_string);
+        textLCD("1               ", 1);  // Clear bottom line on LCD
+        textLCD(lap_string2, 1);      // Display Lap Time on LCD
+    }
+ }
+        
 ///////////////////////////////////////////////////////////////////////////////
 // Main Program starts here
 ///////////////////////////////////////////////////////////////////////////////
@@ -48,58 +80,52 @@
  //// Try changing these:
     // Variables to tune
     float min_laptime = 1.0; // Minimum laptime - time to wait after seeing car before measuring again in seconds
-    int sample_time = 100;   // Sample time - time between sampling values from sensor in milliseconds
-    int trigger_distance = 2;  // Trigger distance - distance below which the car registers as detected
+    int sample_time = 500;   // Sample time - time between sampling values from sensor in milliseconds
+    int trigger_distance = 5;  // Trigger distance - distance below which the car registers as detected
 //// Careful with anything after this though
 
     // Variables used within the program - set to their initial values
     int dist = 0;
-    float lap_time = 0;
+    float lap_time = 0.0;
     int lap_count = 0;
-    float wait_time = min_laptime + 1.0; // ensure larger than minimum lap time for first loop
-    
-    // Variables used to hold text to display on LCD for correct formatting
-    char lap_string[16];
-    char laptime_string[16];
+
     
     // Initialise the serial interface and set its data rate
-    pc.baud(9600);
+ //   pc.baud(9600);
 
     // Intro Screen
-    pc.printf("ARM Sheffield Scalextric Challenge \n"); // Display to Serial Interface
+ //   pc.printf("ARM Sheffield Scalextric Challenge \n"); // Display to Serial Interface
     textLCD("ARM Scalextric ", 0);  // Display on First Line of LCD
+    wait_ms(2000);  // Wait 2s
+    textLCD("                ", 0);  // Clear top line on LCD
 
-    // Main loop - runs foerever
+    // Main loop - runs forever
     while(1) {
        // Set up and read ultrasonic sensor after "sample_time"
        usensor.start();
        wait_ms(sample_time);
        dist=usensor.get_dist_cm();  // read sesnsor distance measure 
-       pc.printf("Distance %d\n\r", dist);  // Debug - display distance to Serial Interface
-       if (lap_count > 0) {   // If not the first lap - read value of wait timer
-         wait_time = wait_timer.read();
-       }
-       if ((dist < trigger_distance) and (wait_time > min_laptime)) { // Spotted something closer than trigger_distance from the sensor and  at least a minimum laptime later
-         wait_timer.reset(); // reset the wait timer
-         wait_timer.start(); // start the wait timer again
+       //pc.printf("Lap %d Distance %d wait_time %d \n\r", lap_count, dist, wait_time);  // Debug - display distance to Serial Interface
+       if (dist < trigger_distance) { // Spotted something closer than trigger_distance from the sensor
          if (lap_count == 0) {   // First Lap - start lap timer
            lap_timer.reset();
            lap_timer.start();
-           pc.printf("Timing... \r");        // Debug to Serial Interface
+           //pc.printf("Timing... \r");        // Debug to Serial Interface
            textLCD("Timing..........", 1);   // Message to LCD
          } else {                // Completed a lap
            lap_time = lap_timer.read();  // Get time for lap
            lap_timer.reset();
-           pc.printf("Lap : %d, Lap time : %f s \r", lap_count, lap_time);  // Debug to Serial Interface
-           sprintf(lap_string, "Lap : %d ", (char*)lap_count);      // Format Lap count string
-           sprintf(laptime_string, "Lap time : %f s, ", lap_time);  // Format Lap time string
-           textLCD("                ", 0);  // Clear top line on LCD
-           textLCD(lap_string, 0);          // Display Lap Count on LCD
-           textLCD("                ", 1);  // Clear bottom line on LCD
-           textLCD(laptime_string, 1);      // Display Lap Time on LCD
+           DisplayLap(lap_count, dist, lap_time, 1);
         }
         lap_count++;               // Increment lap counter by 1
-      }   // end of something spotted
-    }     // end of while loop 
+        wait(min_laptime);         // Wait for a time before starting to monitor sensor for next lap
+      }     // end of something spotted
+      else  // nothing spotted - output debug
+      {   
+        DisplayLap(lap_count, dist, lap_time, 0);
+      }
+    }     // end of main while loop
+    
+     
 }  // end of main program