Ascensor: -ultrasonido -motorres
Dependencies: DebouncedIn HCSR04 mbed
main.cpp@0:4f72e674f36d, 2018-06-07 (annotated)
- Committer:
- aftorob
- Date:
- Thu Jun 07 18:53:31 2018 +0000
- Revision:
- 0:4f72e674f36d
v1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
aftorob | 0:4f72e674f36d | 1 | #include "mbed.h" |
aftorob | 0:4f72e674f36d | 2 | #include "DebouncedIn.h" |
aftorob | 0:4f72e674f36d | 3 | #include "hcsr04.h" |
aftorob | 0:4f72e674f36d | 4 | |
aftorob | 0:4f72e674f36d | 5 | DigitalIn B_stop(PTC8); //Boton de paro de emergencia |
aftorob | 0:4f72e674f36d | 6 | DigitalIn B_close(PTC9); //Boton “Cerrar” de la cabina |
aftorob | 0:4f72e674f36d | 7 | DigitalIn B_open(PTA13); //Boton “Abrir” de la cabina |
aftorob | 0:4f72e674f36d | 8 | |
aftorob | 0:4f72e674f36d | 9 | DigitalIn B_c1(PTB1); //Boton "1" de la cabina |
aftorob | 0:4f72e674f36d | 10 | DigitalIn B_c2(PTB0); //Boton "2" de la cabina |
aftorob | 0:4f72e674f36d | 11 | DigitalIn B_c3(PTA5); //Boton "3" de la cabina |
aftorob | 0:4f72e674f36d | 12 | |
aftorob | 0:4f72e674f36d | 13 | DigitalIn B_p1(PTB2); //Boton piso 1 |
aftorob | 0:4f72e674f36d | 14 | DigitalIn B_p3(PTC1); //Boton piso 3 |
aftorob | 0:4f72e674f36d | 15 | DigitalIn B_p2u(PTB3); //Boton piso 2 arriba |
aftorob | 0:4f72e674f36d | 16 | DigitalIn B_p2d(PTC2); //Boton piso 2 abajo |
aftorob | 0:4f72e674f36d | 17 | |
aftorob | 0:4f72e674f36d | 18 | PwmOut S_1(PTD2); //Servomotor piso 1 |
aftorob | 0:4f72e674f36d | 19 | PwmOut S_2(PTD0); //Servomotor piso 2 |
aftorob | 0:4f72e674f36d | 20 | PwmOut S_3(PTD5); //Servomotor piso 3 |
aftorob | 0:4f72e674f36d | 21 | |
aftorob | 0:4f72e674f36d | 22 | PwmOut Motor_en(PTA12); //Motor enable |
aftorob | 0:4f72e674f36d | 23 | DigitalOut Motor_up(PTD4); //Motor arriba |
aftorob | 0:4f72e674f36d | 24 | DigitalOut Motor_down(PTA4); //Motor abajo |
aftorob | 0:4f72e674f36d | 25 | |
aftorob | 0:4f72e674f36d | 26 | DigitalOut Trigger(PTD3); //Trigger Ultrasonido |
aftorob | 0:4f72e674f36d | 27 | DigitalIn Echo(PTD1); //Echo ultrasonido |
aftorob | 0:4f72e674f36d | 28 | DigitalOut myled(LED1); //monitor trigger |
aftorob | 0:4f72e674f36d | 29 | DigitalOut myled2(LED2); //monitor echo |
aftorob | 0:4f72e674f36d | 30 | |
aftorob | 0:4f72e674f36d | 31 | Serial pc(PTA2, PTA1); |
aftorob | 0:4f72e674f36d | 32 | |
aftorob | 0:4f72e674f36d | 33 | int distance = 0; |
aftorob | 0:4f72e674f36d | 34 | int correction = 0; |
aftorob | 0:4f72e674f36d | 35 | Timer sonar; |
aftorob | 0:4f72e674f36d | 36 | |
aftorob | 0:4f72e674f36d | 37 | int sensordist(void); |
aftorob | 0:4f72e674f36d | 38 | void comp(int dmeasured); |
aftorob | 0:4f72e674f36d | 39 | |
aftorob | 0:4f72e674f36d | 40 | int main(){ |
aftorob | 0:4f72e674f36d | 41 | sonar.reset(); |
aftorob | 0:4f72e674f36d | 42 | sonar.start(); |
aftorob | 0:4f72e674f36d | 43 | while(Echo == 2){}; |
aftorob | 0:4f72e674f36d | 44 | myled=0; |
aftorob | 0:4f72e674f36d | 45 | sonar.stop(); |
aftorob | 0:4f72e674f36d | 46 | correction = sonar.read_us(); |
aftorob | 0:4f72e674f36d | 47 | |
aftorob | 0:4f72e674f36d | 48 | while(true){ |
aftorob | 0:4f72e674f36d | 49 | |
aftorob | 0:4f72e674f36d | 50 | int d = sensordist(); |
aftorob | 0:4f72e674f36d | 51 | comp(d); |
aftorob | 0:4f72e674f36d | 52 | wait_ms(50); |
aftorob | 0:4f72e674f36d | 53 | |
aftorob | 0:4f72e674f36d | 54 | while((B_p2u == 0)){ |
aftorob | 0:4f72e674f36d | 55 | pc.printf("u"); |
aftorob | 0:4f72e674f36d | 56 | Motor_up = 1; |
aftorob | 0:4f72e674f36d | 57 | Motor_down = 0; |
aftorob | 0:4f72e674f36d | 58 | Motor_en.period_ms(50); |
aftorob | 0:4f72e674f36d | 59 | Motor_en.pulsewidth_us(4000); |
aftorob | 0:4f72e674f36d | 60 | } |
aftorob | 0:4f72e674f36d | 61 | while((B_p2d == 0)){ |
aftorob | 0:4f72e674f36d | 62 | pc.printf("d"); |
aftorob | 0:4f72e674f36d | 63 | Motor_up = 0; |
aftorob | 0:4f72e674f36d | 64 | Motor_down = 1; |
aftorob | 0:4f72e674f36d | 65 | Motor_en.period_ms(50); |
aftorob | 0:4f72e674f36d | 66 | Motor_en.pulsewidth_us(1000); |
aftorob | 0:4f72e674f36d | 67 | } |
aftorob | 0:4f72e674f36d | 68 | if ((B_p2u == 1) && (B_p2d == 1)){ |
aftorob | 0:4f72e674f36d | 69 | pc.printf("p"); |
aftorob | 0:4f72e674f36d | 70 | Motor_up = 0; |
aftorob | 0:4f72e674f36d | 71 | Motor_down = 0; |
aftorob | 0:4f72e674f36d | 72 | } |
aftorob | 0:4f72e674f36d | 73 | |
aftorob | 0:4f72e674f36d | 74 | wait_ms(500); |
aftorob | 0:4f72e674f36d | 75 | |
aftorob | 0:4f72e674f36d | 76 | /*if((B_p1 == 0) || (B_c1 == 0)){ |
aftorob | 0:4f72e674f36d | 77 | pc.printf("1"); |
aftorob | 0:4f72e674f36d | 78 | wait(1); |
aftorob | 0:4f72e674f36d | 79 | pc.printf("u"); |
aftorob | 0:4f72e674f36d | 80 | |
aftorob | 0:4f72e674f36d | 81 | |
aftorob | 0:4f72e674f36d | 82 | } |
aftorob | 0:4f72e674f36d | 83 | if((B_p2d == 0) || (B_c2 == 0) || (B_p2u == 0)){ |
aftorob | 0:4f72e674f36d | 84 | pc.printf("2"); |
aftorob | 0:4f72e674f36d | 85 | wait(1); |
aftorob | 0:4f72e674f36d | 86 | pc.printf("p"); |
aftorob | 0:4f72e674f36d | 87 | |
aftorob | 0:4f72e674f36d | 88 | |
aftorob | 0:4f72e674f36d | 89 | } |
aftorob | 0:4f72e674f36d | 90 | if((B_p3 == 0) || (B_c3 == 0)){ |
aftorob | 0:4f72e674f36d | 91 | pc.printf("3"); |
aftorob | 0:4f72e674f36d | 92 | wait(1); |
aftorob | 0:4f72e674f36d | 93 | pc.printf("d"); |
aftorob | 0:4f72e674f36d | 94 | |
aftorob | 0:4f72e674f36d | 95 | |
aftorob | 0:4f72e674f36d | 96 | } |
aftorob | 0:4f72e674f36d | 97 | if((B_open == 0)){ |
aftorob | 0:4f72e674f36d | 98 | pc.printf("4"); |
aftorob | 0:4f72e674f36d | 99 | wait(1); |
aftorob | 0:4f72e674f36d | 100 | } |
aftorob | 0:4f72e674f36d | 101 | if((B_close == 0)){ |
aftorob | 0:4f72e674f36d | 102 | pc.printf("5"); |
aftorob | 0:4f72e674f36d | 103 | wait(1); |
aftorob | 0:4f72e674f36d | 104 | } |
aftorob | 0:4f72e674f36d | 105 | if((B_stop == 0)){ |
aftorob | 0:4f72e674f36d | 106 | pc.printf("6"); |
aftorob | 0:4f72e674f36d | 107 | wait(1); |
aftorob | 0:4f72e674f36d | 108 | |
aftorob | 0:4f72e674f36d | 109 | } |
aftorob | 0:4f72e674f36d | 110 | */ |
aftorob | 0:4f72e674f36d | 111 | } |
aftorob | 0:4f72e674f36d | 112 | |
aftorob | 0:4f72e674f36d | 113 | |
aftorob | 0:4f72e674f36d | 114 | } |
aftorob | 0:4f72e674f36d | 115 | |
aftorob | 0:4f72e674f36d | 116 | |
aftorob | 0:4f72e674f36d | 117 | |
aftorob | 0:4f72e674f36d | 118 | int sensordist(void){ |
aftorob | 0:4f72e674f36d | 119 | Trigger = 1; |
aftorob | 0:4f72e674f36d | 120 | myled = 1; |
aftorob | 0:4f72e674f36d | 121 | myled2 = 0; |
aftorob | 0:4f72e674f36d | 122 | sonar.reset(); |
aftorob | 0:4f72e674f36d | 123 | wait_us(10.0); |
aftorob | 0:4f72e674f36d | 124 | Trigger = 0; |
aftorob | 0:4f72e674f36d | 125 | myled = 0; |
aftorob | 0:4f72e674f36d | 126 | while (Echo==0) {}; |
aftorob | 0:4f72e674f36d | 127 | myled2=Echo; |
aftorob | 0:4f72e674f36d | 128 | sonar.start(); |
aftorob | 0:4f72e674f36d | 129 | while (Echo==1) {}; |
aftorob | 0:4f72e674f36d | 130 | sonar.stop(); |
aftorob | 0:4f72e674f36d | 131 | distance = (sonar.read_us()-correction)/58.0; |
aftorob | 0:4f72e674f36d | 132 | myled2 = 0; |
aftorob | 0:4f72e674f36d | 133 | return distance; |
aftorob | 0:4f72e674f36d | 134 | } |
aftorob | 0:4f72e674f36d | 135 | |
aftorob | 0:4f72e674f36d | 136 | void comp(int dmeasured){ |
aftorob | 0:4f72e674f36d | 137 | if((dmeasured <= 5)){ |
aftorob | 0:4f72e674f36d | 138 | pc.printf("9"); |
aftorob | 0:4f72e674f36d | 139 | } |
aftorob | 0:4f72e674f36d | 140 | else if ((dmeasured > 5 && dmeasured <= 10)){ |
aftorob | 0:4f72e674f36d | 141 | pc.printf("8"); |
aftorob | 0:4f72e674f36d | 142 | } |
aftorob | 0:4f72e674f36d | 143 | else if ((dmeasured > 10 && dmeasured <= 15)){ |
aftorob | 0:4f72e674f36d | 144 | pc.printf("7"); |
aftorob | 0:4f72e674f36d | 145 | } |
aftorob | 0:4f72e674f36d | 146 | else if ((dmeasured > 15 && dmeasured <= 20)){ |
aftorob | 0:4f72e674f36d | 147 | pc.printf("6"); |
aftorob | 0:4f72e674f36d | 148 | } |
aftorob | 0:4f72e674f36d | 149 | else if ((dmeasured > 20 && dmeasured <= 25)){ |
aftorob | 0:4f72e674f36d | 150 | pc.printf("5"); |
aftorob | 0:4f72e674f36d | 151 | } |
aftorob | 0:4f72e674f36d | 152 | else if ((dmeasured > 25 && dmeasured <= 30)){ |
aftorob | 0:4f72e674f36d | 153 | pc.printf("4"); |
aftorob | 0:4f72e674f36d | 154 | } |
aftorob | 0:4f72e674f36d | 155 | else if ((dmeasured > 30 && dmeasured <= 35)){ |
aftorob | 0:4f72e674f36d | 156 | pc.printf("3"); |
aftorob | 0:4f72e674f36d | 157 | } |
aftorob | 0:4f72e674f36d | 158 | else if ((dmeasured > 35 && dmeasured <= 40)){ |
aftorob | 0:4f72e674f36d | 159 | pc.printf("2"); |
aftorob | 0:4f72e674f36d | 160 | } |
aftorob | 0:4f72e674f36d | 161 | else if ((dmeasured > 40 && dmeasured <= 46)){ |
aftorob | 0:4f72e674f36d | 162 | pc.printf("1"); |
aftorob | 0:4f72e674f36d | 163 | } |
aftorob | 0:4f72e674f36d | 164 | else{ |
aftorob | 0:4f72e674f36d | 165 | pc.printf("0"); |
aftorob | 0:4f72e674f36d | 166 | } |
aftorob | 0:4f72e674f36d | 167 | } |
aftorob | 0:4f72e674f36d | 168 | |
aftorob | 0:4f72e674f36d | 169 | |
aftorob | 0:4f72e674f36d | 170 | |
aftorob | 0:4f72e674f36d | 171 |