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Ascensor: -ultrasonido -motorres
Dependencies: DebouncedIn HCSR04 mbed
main.cpp
- Committer:
- aftorob
- Date:
- 2018-06-07
- Revision:
- 0:4f72e674f36d
File content as of revision 0:4f72e674f36d:
#include "mbed.h" #include "DebouncedIn.h" #include "hcsr04.h" DigitalIn B_stop(PTC8); //Boton de paro de emergencia DigitalIn B_close(PTC9); //Boton “Cerrar” de la cabina DigitalIn B_open(PTA13); //Boton “Abrir” de la cabina DigitalIn B_c1(PTB1); //Boton "1" de la cabina DigitalIn B_c2(PTB0); //Boton "2" de la cabina DigitalIn B_c3(PTA5); //Boton "3" de la cabina DigitalIn B_p1(PTB2); //Boton piso 1 DigitalIn B_p3(PTC1); //Boton piso 3 DigitalIn B_p2u(PTB3); //Boton piso 2 arriba DigitalIn B_p2d(PTC2); //Boton piso 2 abajo PwmOut S_1(PTD2); //Servomotor piso 1 PwmOut S_2(PTD0); //Servomotor piso 2 PwmOut S_3(PTD5); //Servomotor piso 3 PwmOut Motor_en(PTA12); //Motor enable DigitalOut Motor_up(PTD4); //Motor arriba DigitalOut Motor_down(PTA4); //Motor abajo DigitalOut Trigger(PTD3); //Trigger Ultrasonido DigitalIn Echo(PTD1); //Echo ultrasonido DigitalOut myled(LED1); //monitor trigger DigitalOut myled2(LED2); //monitor echo Serial pc(PTA2, PTA1); int distance = 0; int correction = 0; Timer sonar; int sensordist(void); void comp(int dmeasured); int main(){ sonar.reset(); sonar.start(); while(Echo == 2){}; myled=0; sonar.stop(); correction = sonar.read_us(); while(true){ int d = sensordist(); comp(d); wait_ms(50); while((B_p2u == 0)){ pc.printf("u"); Motor_up = 1; Motor_down = 0; Motor_en.period_ms(50); Motor_en.pulsewidth_us(4000); } while((B_p2d == 0)){ pc.printf("d"); Motor_up = 0; Motor_down = 1; Motor_en.period_ms(50); Motor_en.pulsewidth_us(1000); } if ((B_p2u == 1) && (B_p2d == 1)){ pc.printf("p"); Motor_up = 0; Motor_down = 0; } wait_ms(500); /*if((B_p1 == 0) || (B_c1 == 0)){ pc.printf("1"); wait(1); pc.printf("u"); } if((B_p2d == 0) || (B_c2 == 0) || (B_p2u == 0)){ pc.printf("2"); wait(1); pc.printf("p"); } if((B_p3 == 0) || (B_c3 == 0)){ pc.printf("3"); wait(1); pc.printf("d"); } if((B_open == 0)){ pc.printf("4"); wait(1); } if((B_close == 0)){ pc.printf("5"); wait(1); } if((B_stop == 0)){ pc.printf("6"); wait(1); } */ } } int sensordist(void){ Trigger = 1; myled = 1; myled2 = 0; sonar.reset(); wait_us(10.0); Trigger = 0; myled = 0; while (Echo==0) {}; myled2=Echo; sonar.start(); while (Echo==1) {}; sonar.stop(); distance = (sonar.read_us()-correction)/58.0; myled2 = 0; return distance; } void comp(int dmeasured){ if((dmeasured <= 5)){ pc.printf("9"); } else if ((dmeasured > 5 && dmeasured <= 10)){ pc.printf("8"); } else if ((dmeasured > 10 && dmeasured <= 15)){ pc.printf("7"); } else if ((dmeasured > 15 && dmeasured <= 20)){ pc.printf("6"); } else if ((dmeasured > 20 && dmeasured <= 25)){ pc.printf("5"); } else if ((dmeasured > 25 && dmeasured <= 30)){ pc.printf("4"); } else if ((dmeasured > 30 && dmeasured <= 35)){ pc.printf("3"); } else if ((dmeasured > 35 && dmeasured <= 40)){ pc.printf("2"); } else if ((dmeasured > 40 && dmeasured <= 46)){ pc.printf("1"); } else{ pc.printf("0"); } }