Ryo Ogata / Mbed 2 deprecated jumpROBO5_0

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Dependencies:   ColorSensor1 HMC6352 PID QEI Servo TextLCD mbed

ping/ping.cpp@0:e6bb0bcba274, 2013-10-01 (annotated)

Committer:
OGA
Date:
Tue Oct 01 07:44:16 2013 +0000
Revision:
0:e6bb0bcba274
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
OGA 0:e6bb0bcba274 1 #include "mbed.h"
OGA 0:e6bb0bcba274 2 #include "ping.h"
OGA 0:e6bb0bcba274 3
OGA 0:e6bb0bcba274 4 //DigitalOut myled = LED1;
OGA 0:e6bb0bcba274 5
OGA 0:e6bb0bcba274 6 extern Timer timer2;
OGA 0:e6bb0bcba274 7
OGA 0:e6bb0bcba274 8 uint16_t ultrasonicVal[ALL_ULTRASONIC];
OGA 0:e6bb0bcba274 9 double ultrasonicValue[ALL_ULTRASONIC] = {0};
OGA 0:e6bb0bcba274 10
OGA 0:e6bb0bcba274 11
OGA 0:e6bb0bcba274 12 void Ultrasonic()
OGA 0:e6bb0bcba274 13 {
OGA 0:e6bb0bcba274 14 for(int i = 0 ; i < ALL_ULTRASONIC; i++){
OGA 0:e6bb0bcba274 15
OGA 0:e6bb0bcba274 16 uint8_t flag = 0;
OGA 0:e6bb0bcba274 17
OGA 0:e6bb0bcba274 18 DigitalOut PingPinOut(ultrasonic_pin[i]);
OGA 0:e6bb0bcba274 19 PingPinOut = 1;
OGA 0:e6bb0bcba274 20 wait_us(10);
OGA 0:e6bb0bcba274 21 PingPinOut = 0;
OGA 0:e6bb0bcba274 22 DigitalIn PingPin(ultrasonic_pin[i]);
OGA 0:e6bb0bcba274 23 timer2.reset();
OGA 0:e6bb0bcba274 24 while(PingPin == 0){
OGA 0:e6bb0bcba274 25 if(timer2.read_us() > 1500){ //1.5ms以上応答なし
OGA 0:e6bb0bcba274 26 ultrasonicValue[i] = PING_ERR;
OGA 0:e6bb0bcba274 27 flag = 1;
OGA 0:e6bb0bcba274 28 break;
OGA 0:e6bb0bcba274 29 }
OGA 0:e6bb0bcba274 30 }
OGA 0:e6bb0bcba274 31
OGA 0:e6bb0bcba274 32 timer2.reset();
OGA 0:e6bb0bcba274 33 while(PingPin == 1){
OGA 0:e6bb0bcba274 34 if((timer2.read_us() > 18500) || (flag == 1)){ //18.5ms以上のパルス
OGA 0:e6bb0bcba274 35 ultrasonicValue[i] = PING_ERR;
OGA 0:e6bb0bcba274 36 flag = 1;
OGA 0:e6bb0bcba274 37 break;
OGA 0:e6bb0bcba274 38 }
OGA 0:e6bb0bcba274 39 }
OGA 0:e6bb0bcba274 40
OGA 0:e6bb0bcba274 41 if(flag == 0){
OGA 0:e6bb0bcba274 42 ultrasonicValue[i] = timer2.read_us() / 1000000.0 / 2.0 * 340.0 * 1000.0; //mm MAX:3145
OGA 0:e6bb0bcba274 43 ultrasonicVal[i] = (int)(ultrasonicValue[i] * 10.0);
OGA 0:e6bb0bcba274 44 }else{
OGA 0:e6bb0bcba274 45 ultrasonicVal[i] = PING_ERR;
OGA 0:e6bb0bcba274 46 }
OGA 0:e6bb0bcba274 47
OGA 0:e6bb0bcba274 48 }
OGA 0:e6bb0bcba274 49 }