Patrick Stokes / Mbed 2 deprecated INST_Distance

Inst Project Submission

Dependencies:   C12832 HC_SR04_Ultrasonic_Library mbed

main.cpp@0:f28e44548b08, 2018-08-11 (annotated)

Committer:
PCStokes
Date:
Sat Aug 11 08:57:24 2018 +0000
Revision:
0:f28e44548b08
Submission

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PCStokes 0:f28e44548b08 1 #include "mbed.h"
PCStokes 0:f28e44548b08 2 #include "C12832.h"
PCStokes 0:f28e44548b08 3
PCStokes 0:f28e44548b08 4 DigitalOut trig(p21); //definition of the input signal.
PCStokes 0:f28e44548b08 5 DigitalIn echo(p22); //definition of the input signal.
PCStokes 0:f28e44548b08 6
PCStokes 0:f28e44548b08 7 DigitalOut led1(LED1); // defines the led 1 used to show the trigger signal is happening.
PCStokes 0:f28e44548b08 8 DigitalOut led2(LED2); // defines the led 2 used to show the echo signal is happening.
PCStokes 0:f28e44548b08 9 DigitalOut led4(LED4); //defines the led 1 used to show the buzzer is turned on or off.
PCStokes 0:f28e44548b08 10
PCStokes 0:f28e44548b08 11 C12832 lcd(p5, p7, p6, p8, p11); //Definition of LCD & Pins.
PCStokes 0:f28e44548b08 12
PCStokes 0:f28e44548b08 13 Timer sonar; //definition of the sonar timer.
PCStokes 0:f28e44548b08 14
PCStokes 0:f28e44548b08 15 PwmOut spker (p26); //Definition of the speaker.
PCStokes 0:f28e44548b08 16
PCStokes 0:f28e44548b08 17 PwmOut r (p23); //Definition of the red led.
PCStokes 0:f28e44548b08 18 PwmOut g (p24); //Definition of the green led.
PCStokes 0:f28e44548b08 19 PwmOut b (p25); //Definition of the blue led.
PCStokes 0:f28e44548b08 20
PCStokes 0:f28e44548b08 21 InterruptIn button(p14); //interrupt used to turn on/off buzzer. "calls function to flip buzzstart".
PCStokes 0:f28e44548b08 22 Timer debounce; //debounces button timer.
PCStokes 0:f28e44548b08 23
PCStokes 0:f28e44548b08 24 int measurement; //defines the measurement variable.
PCStokes 0:f28e44548b08 25
PCStokes 0:f28e44548b08 26 int offset = 0; //definition of the sonar timer offset.
PCStokes 0:f28e44548b08 27
PCStokes 0:f28e44548b08 28 float inMin = 200; //minimum value readable in mm.
PCStokes 0:f28e44548b08 29 float inMax = 4000; //maximum readable value in mm.
PCStokes 0:f28e44548b08 30 float outMin = 0; //minimum mapped output value.
PCStokes 0:f28e44548b08 31 float outMax = 1; //maximum mapped output value.
PCStokes 0:f28e44548b08 32 float mapping = 0; //mapping value.
PCStokes 0:f28e44548b08 33
PCStokes 0:f28e44548b08 34 bool buzzstart; // value flipped from o-1 to turn on off buzzer.
PCStokes 0:f28e44548b08 35
PCStokes 0:f28e44548b08 36 float spkerVal=0.5; //initial pwm out value.
PCStokes 0:f28e44548b08 37
PCStokes 0:f28e44548b08 38 //ranges used for buzzer.
PCStokes 0:f28e44548b08 39 int range1Min = 300;
PCStokes 0:f28e44548b08 40 int range2Min = 800;
PCStokes 0:f28e44548b08 41 int range3Min = 1200;
PCStokes 0:f28e44548b08 42
PCStokes 0:f28e44548b08 43 //ranges used for speaker output.
PCStokes 0:f28e44548b08 44 int spkroutnear= 1000;
PCStokes 0:f28e44548b08 45 int spkroutmid= 600;
PCStokes 0:f28e44548b08 46 int spkroutfar= 200;
PCStokes 0:f28e44548b08 47
PCStokes 0:f28e44548b08 48 float mapped_led() //function to create the map value for the leds.
PCStokes 0:f28e44548b08 49 {
PCStokes 0:f28e44548b08 50 //mapping calculation for the measured distance to a float value between 0 and 1 used for RGB colour gradient shifts colour from green to red as the distance changes. I could have done this more directly but the mapping calculation is a nice bit of code to have to map one range of values to another.
PCStokes 0:f28e44548b08 51 mapping = ((measurement - inMin) * (outMax - outMin) / (inMax - inMin) + outMin);
PCStokes 0:f28e44548b08 52 //Caps the value for the RGBs between 0 and 1
PCStokes 0:f28e44548b08 53 if (mapping < 0.00f) { //if statement less than 0 return 0.
PCStokes 0:f28e44548b08 54 return 0;
PCStokes 0:f28e44548b08 55 } else if (mapping > 1.00f) { //if statement greater than 1 return 1.
PCStokes 0:f28e44548b08 56 return 1;
PCStokes 0:f28e44548b08 57 } else {
PCStokes 0:f28e44548b08 58 return mapping; //value to return between 0 and 1.
PCStokes 0:f28e44548b08 59 }
PCStokes 0:f28e44548b08 60 }
PCStokes 0:f28e44548b08 61
PCStokes 0:f28e44548b08 62 void ledCntrl() //function to control the leds pwm value on the application board.
PCStokes 0:f28e44548b08 63 {
PCStokes 0:f28e44548b08 64 r=mapped_led(); //sets the value of the common anode RGB red to a duty cycle equal to the mapped value.
PCStokes 0:f28e44548b08 65 g=1-mapped_led (); //sets the value of the common anode RGB green to a duty cycle of 1 less the mapped value.
PCStokes 0:f28e44548b08 66
PCStokes 0:f28e44548b08 67 if (buzzstart==1) { //condition based on bool value used to set the on condition of the onboard speaker.
PCStokes 0:f28e44548b08 68 if (measurement <= range1Min) { //if the measurement from the sensor is less than or equal to the lower value then;
PCStokes 0:f28e44548b08 69 spker.period(1.0/spkroutnear); //creates the Pwm out for the speaker/frequency to make the sound.
PCStokes 0:f28e44548b08 70 spker=spkerVal; // this is the value for the speaker duty cycle output 0 would turn the speaker off.
PCStokes 0:f28e44548b08 71 }
PCStokes 0:f28e44548b08 72 if (measurement >= range1Min && measurement <= range2Min) { //condition if measurement is less than/equal to range 1 and less than/equal to range 2 do the following;
PCStokes 0:f28e44548b08 73 spker.period(1.0/spkroutmid); //creates the Pwm out for the speaker/frequency to make the sound.
PCStokes 0:f28e44548b08 74 spker=spkerVal; // this is the value for the speaker duty cycle output 0 would turn the speaker off.
PCStokes 0:f28e44548b08 75 }
PCStokes 0:f28e44548b08 76 if (measurement >= range2Min && measurement <= range3Min) { //condition if measurement is greater than/equal to range 2 and less than/equal to range 3 do the following;
PCStokes 0:f28e44548b08 77 spker.period(1.0/spkroutfar); //creates the Pwm out for the speaker/frequency to make the sound.
PCStokes 0:f28e44548b08 78 spker=spkerVal; // this is the value for the speaker duty cycle output 0 would turn the speaker off.
PCStokes 0:f28e44548b08 79 } else if (measurement > range3Min) {//condition if measurement is greater than range 3 do the following;
PCStokes 0:f28e44548b08 80 spker = 0; //turns off the speaker.
PCStokes 0:f28e44548b08 81 }
PCStokes 0:f28e44548b08 82 } else if (measurement > range3Min) { //condition if measurement is greater than range 3 do the following;
PCStokes 0:f28e44548b08 83 spker = 0; //turns off the speaker.
PCStokes 0:f28e44548b08 84 }
PCStokes 0:f28e44548b08 85 }
PCStokes 0:f28e44548b08 86 void buzzCntrl() //function to control the bool value used to activate the buzzer.
PCStokes 0:f28e44548b08 87 {
PCStokes 0:f28e44548b08 88 if (debounce.read_ms() >(200)) { //this conditional statement checks to see if the debounce time is greater than x milliseconds. It ignores any detected presses inside of this time.
PCStokes 0:f28e44548b08 89 debounce.reset(); //this will reset the button press timer allowing for another press to happen and the debouncing timer to start again.
PCStokes 0:f28e44548b08 90 led4=!led4; //flips the condition of led 4.
PCStokes 0:f28e44548b08 91 buzzstart = led4.read(); // links the state of buzzstart to led 4.
PCStokes 0:f28e44548b08 92 }
PCStokes 0:f28e44548b08 93 }
PCStokes 0:f28e44548b08 94 void printdim() //LCD Print Function
PCStokes 0:f28e44548b08 95 {
PCStokes 0:f28e44548b08 96 lcd.cls(); //Clears the LCD
PCStokes 0:f28e44548b08 97 lcd.locate(2,15); //Location to be used for measurement information in mm.
PCStokes 0:f28e44548b08 98 lcd.printf("Measurement %d mm" ,measurement); //send the measurement to the lcd for display.
PCStokes 0:f28e44548b08 99 }
PCStokes 0:f28e44548b08 100 void measure_offset () //allows for the measure of software polling timer delay in microseconds used to correct possible errors in the measurement times due to the delay.
PCStokes 0:f28e44548b08 101 {
PCStokes 0:f28e44548b08 102 while (echo==2) {}; // loops while the value of echo is 2, then following happens.
PCStokes 0:f28e44548b08 103 led2 = 0; // condition of led 2 is set to 0.
PCStokes 0:f28e44548b08 104 sonar.stop(); // the timer sonar is stopped.
PCStokes 0:f28e44548b08 105 offset = sonar.read_us(); // reads the timer
PCStokes 0:f28e44548b08 106 }
PCStokes 0:f28e44548b08 107 void take_measure() //measure distance between 2cm and 4m.
PCStokes 0:f28e44548b08 108 {
PCStokes 0:f28e44548b08 109 int A_sum = 0; //sets the initial value for the average sum of the readings.
PCStokes 0:f28e44548b08 110
PCStokes 0:f28e44548b08 111 while(1) { //Loop to read Sonar distance values, scale, and print values.
PCStokes 0:f28e44548b08 112 trig = 1; // trigger sonar to send a ping
PCStokes 0:f28e44548b08 113 led1 = trig; // led1 was set to trigger
PCStokes 0:f28e44548b08 114 led2 = 0; // led 2 was set to 0
PCStokes 0:f28e44548b08 115 sonar.reset(); //the sonar timer was reset.
PCStokes 0:f28e44548b08 116 wait_us(10.0); // wait period for trigger out signal.
PCStokes 0:f28e44548b08 117 trig = 0; // turns of the trigger signal
PCStokes 0:f28e44548b08 118 led1 = trig; //sets the led1 to the value of the trigger.
PCStokes 0:f28e44548b08 119 //wait for echo high
PCStokes 0:f28e44548b08 120 while (echo==0) {}; // loop while the echo = o, then do the following.
PCStokes 0:f28e44548b08 121 led2=echo; // sets led 2 equal to the state of echo.
PCStokes 0:f28e44548b08 122 sonar.start(); //echo high, so start timer
PCStokes 0:f28e44548b08 123 while (echo==1) {}; //loop while echo = 1, then do the following;
PCStokes 0:f28e44548b08 124 sonar.stop(); //stop timer
PCStokes 0:f28e44548b08 125 for (int A = 0; A < 5; ++A) { //for the increments of I, read the sonar and sum the values, each reading has the software overhead timer delay subtracted and is scaled to mm
PCStokes 0:f28e44548b08 126 A_sum += (((sonar.read_us()-offset)/58.0)*10); //value of the sum.
PCStokes 0:f28e44548b08 127 }
PCStokes 0:f28e44548b08 128 measurement = A_sum/5.00f; //average of the readings by dividing the sum by the number of reading “5”.
PCStokes 0:f28e44548b08 129 led2 = 0; //sets the value of the led to 0.
PCStokes 0:f28e44548b08 130 wait(0.2); //loop wait period.
PCStokes 0:f28e44548b08 131 break; // breaks out of the loop.
PCStokes 0:f28e44548b08 132 }
PCStokes 0:f28e44548b08 133 }
PCStokes 0:f28e44548b08 134 int main() //main function of the application.
PCStokes 0:f28e44548b08 135 {
PCStokes 0:f28e44548b08 136 r=1; //initial value of the red led.
PCStokes 0:f28e44548b08 137 g=1; //initial value of the red green.
PCStokes 0:f28e44548b08 138 b=1; //initial value of the blue led.
PCStokes 0:f28e44548b08 139 sonar.reset();// resets the value of the sonar.
PCStokes 0:f28e44548b08 140 sonar.start(); //starts the sonar timer.
PCStokes 0:f28e44548b08 141 measure_offset(); //calls the measure offset value.
PCStokes 0:f28e44548b08 142 button.rise(&buzzCntrl); //interrupt in call the buzzer control function.
PCStokes 0:f28e44548b08 143 debounce.start(); //starts the button debounce timer.
PCStokes 0:f28e44548b08 144
PCStokes 0:f28e44548b08 145 while(1) { // main while loop.
PCStokes 0:f28e44548b08 146 take_measure(); //calls the measure function.
PCStokes 0:f28e44548b08 147 mapped_led(); // calls the value mapping function for the leds.
PCStokes 0:f28e44548b08 148 printdim(); //calls the print function to print the dimensions out the to the led screen.
PCStokes 0:f28e44548b08 149 ledCntrl(); // calls the led control function.
PCStokes 0:f28e44548b08 150 }
PCStokes 0:f28e44548b08 151 }
PCStokes 0:f28e44548b08 152
PCStokes 0:f28e44548b08 153