Diff: main.cpp

Revision:

0:7d0227dcc289

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jun 19 08:42:10 2013 +0000
@@ -0,0 +1,110 @@
+#include "mbed.h"
+#include "TextLCD.h"
+#include "main.h"
+
+int ave5point(int source)
+{
+    static int tmp[5] = {0};
+    static int sum = 0;
+    
+    sum -= tmp[4];
+    sum += source;
+    tmp[4] = tmp[3];
+    tmp[3] = tmp[2];
+    tmp[2] = tmp[1];
+    tmp[1] = tmp[0];
+    tmp[0] = source;
+    
+    for(uint8_t i = 0; i < 5; i++){
+        if((tmp[i] > 180) || (tmp[i] < 10)){
+            return 0xFF;
+        }
+    }
+    
+    return (int)(sum / 5.0);
+
+}
+
+void init()
+{
+    device.baud(BAUD_RATE);
+    device.printf("START");
+    device2.printf("START"); 
+    device.attach(&dev_tx,Serial::TxIrq);
+    device.attach(&dev_rx,Serial::RxIrq);
+    device2.attach(&dev2_tx,Serial::TxIrq);
+    device2.attach(&dev2_rx,Serial::RxIrq);
+    Button.mode(PullUp);
+    
+    timer2.start();
+    
+    lcd.cls();
+}
+
+int main() 
+{
+    uint8_t state = 0;
+
+    init();
+    
+    for(;;){
+        if((!Button) && (state == 0)){
+            wait(0.3);
+            state = 1;
+        }else if((!Button) && (state == 1)){
+            wait(0.3);
+            state = 2;
+        }else if((!Button) &&(state == 2)){
+            wait(0.3);
+            state = 0;
+        }
+        
+        mbedleds = 0;
+        
+        Ultrasonic();
+        IR_Position();
+        AveDistance = ave5point(Distance);
+        
+        lcd.cls();
+        
+        if(state == 0){
+            lcd.locate(0,0);
+            lcd.printf("R:%d,F:%d",(int)ultrasonicValue[1],(int)ultrasonicValue[0]);
+            lcd.locate(0,1);
+            lcd.printf("L:%d,B:%d",(int)ultrasonicValue[3],(int)ultrasonicValue[2]);
+        }else if(state == 1){
+            lcd.locate(0,0);
+            lcd.printf("%d,%d,%d",direction,data[2],(data[0] << 8) + data[1]);//data[2]
+            lcd.locate(0,1);
+            lcd.printf("%d,%d",AveDistance,data2[0]);
+        }else if(state == 2){
+            lcd.locate(0,0);
+            lcd.printf("%d,%d,%d",irDistance[0],irDistance[1],irDistance[2]);//data[2]
+            lcd.locate(0,1);
+            lcd.printf("%d,%d,%d",irDistance[3],irDistance[4],irDistance[5]);
+        }
+        
+        //pc.printf("%d\n",direction);
+        /*
+        pc.printf("R:%d,\tF:%d\t",(int)ultrasonicValue[1],(int)ultrasonicValue[0]);
+        pc.printf("L:%d,\tB:%d\n",(int)ultrasonicValue[3],(int)ultrasonicValue[2]);
+        */
+        /*
+        lcd.locate(0,0);
+        lcd.printf("%d",(data[0] << 8) + data[1]);
+        lcd.locate(0,1);
+        lcd.printf("%d",data[2]);
+        */
+        /*
+        lcd.locate(0,0);
+        lcd.printf("%d,%d",direction,data[3]);//data[2]
+        lcd.locate(0,1);
+        lcd.printf("%d",AveDistance);
+        */
+        /*
+        lcd.locate(0,0);
+        lcd.printf("%d",data[0]);
+        lcd.locate(0,1);
+        lcd.printf("%d",data[1]);*/
+    }
+}