Andres Arevalo / Mbed 2 deprecated escaner_RTOS

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Dependencies:   mbed Servo MFRC522_Updated HC-SR04 ssd1306_library

main.cpp@0:366b3e64c83c, 2020-06-06 (annotated)

Committer:
20172573073
Date:
Sat Jun 06 21:46:44 2020 +0000
Revision:
0:366b3e64c83c
Child:
1:849d12c9b2be
escaner rtos; ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
20172573073 0:366b3e64c83c 1 #include "mbed.h"
20172573073 0:366b3e64c83c 2 #include "rtos.h"
20172573073 0:366b3e64c83c 3 #include "Servo.h"
20172573073 0:366b3e64c83c 4 #include "HCSR04.h"
20172573073 0:366b3e64c83c 5 #include "MFRC522.h"
20172573073 0:366b3e64c83c 6 #include "ssd1306.h"
20172573073 0:366b3e64c83c 7 SSD1306 lcd (D7,D6);
20172573073 0:366b3e64c83c 8 BusOut display7Seg(PTC10, PTC7, PTC6, PTC4, PTC0, PTB19, PTB18);
20172573073 0:366b3e64c83c 9 DigitalOut display1(PTC11);
20172573073 0:366b3e64c83c 10 DigitalOut display2(PTC13);
20172573073 0:366b3e64c83c 11 Servo myservo(D2);
20172573073 0:366b3e64c83c 12 Thread thread;
20172573073 0:366b3e64c83c 13 Thread t;
20172573073 0:366b3e64c83c 14 Thread t1;
20172573073 0:366b3e64c83c 15 Thread t2;
20172573073 0:366b3e64c83c 16 Thread t3;
20172573073 0:366b3e64c83c 17 Serial pc(USBTX, USBRX);
20172573073 0:366b3e64c83c 18 HCSR04 sonar(D3,D4);
20172573073 0:366b3e64c83c 19 int a,q;
20172573073 0:366b3e64c83c 20 float menor;
20172573073 0:366b3e64c83c 21 float da;
20172573073 0:366b3e64c83c 22 float dis = 0.0;
20172573073 0:366b3e64c83c 23
20172573073 0:366b3e64c83c 24
20172573073 0:366b3e64c83c 25 int anodeComun[10] = {
20172573073 0:366b3e64c83c 26 0b0000001, // 0
20172573073 0:366b3e64c83c 27 0b1001111, // 1
20172573073 0:366b3e64c83c 28 0b0010010, // 2
20172573073 0:366b3e64c83c 29 0b0000110, // 3
20172573073 0:366b3e64c83c 30 0b1001100, // 4
20172573073 0:366b3e64c83c 31 0b0100100, // 5
20172573073 0:366b3e64c83c 32 0b0100000, // 6
20172573073 0:366b3e64c83c 33 0b0001111, // 7
20172573073 0:366b3e64c83c 34 0b0000000, // 8
20172573073 0:366b3e64c83c 35 0b0001100, // 9
20172573073 0:366b3e64c83c 36 };
20172573073 0:366b3e64c83c 37
20172573073 0:366b3e64c83c 38 void servo()
20172573073 0:366b3e64c83c 39 {
20172573073 0:366b3e64c83c 40 while(true) {
20172573073 0:366b3e64c83c 41 menor = sonar.getCm();
20172573073 0:366b3e64c83c 42 a=0;
20172573073 0:366b3e64c83c 43 for(int i=0; i<40; i++) {
20172573073 0:366b3e64c83c 44 myservo = i/40.0;
20172573073 0:366b3e64c83c 45 da = sonar.getCm();
20172573073 0:366b3e64c83c 46 pc.printf("Distancia %.2f cm \n\r",da);
20172573073 0:366b3e64c83c 47 if(menor > da) {
20172573073 0:366b3e64c83c 48 menor = da;
20172573073 0:366b3e64c83c 49 a=(i*180)/40;
20172573073 0:366b3e64c83c 50 }
20172573073 0:366b3e64c83c 51 //ThisThread::sleep_for(500);
20172573073 0:366b3e64c83c 52 wait(0.5);
20172573073 0:366b3e64c83c 53 }
20172573073 0:366b3e64c83c 54 pc.printf("menor final %.2f cm \n\r",menor);
20172573073 0:366b3e64c83c 55 menor=sonar.getCm();
20172573073 0:366b3e64c83c 56 a=0;
20172573073 0:366b3e64c83c 57 for(int i=40; i>0; i--) {
20172573073 0:366b3e64c83c 58 myservo = i/40.0;
20172573073 0:366b3e64c83c 59 da = sonar.getCm();
20172573073 0:366b3e64c83c 60 pc.printf("Distancia %.2f cm \n\r",da);
20172573073 0:366b3e64c83c 61 if(menor > da) {
20172573073 0:366b3e64c83c 62 menor = da;
20172573073 0:366b3e64c83c 63 a=(i*180)/40;
20172573073 0:366b3e64c83c 64 }
20172573073 0:366b3e64c83c 65 //ThisThread::sleep_for(500);
20172573073 0:366b3e64c83c 66 wait(0.5);
20172573073 0:366b3e64c83c 67 }
20172573073 0:366b3e64c83c 68 pc.printf("menor %.2f cm \n\r",menor);
20172573073 0:366b3e64c83c 69 }
20172573073 0:366b3e64c83c 70 }
20172573073 0:366b3e64c83c 71 void seg7()
20172573073 0:366b3e64c83c 72 {
20172573073 0:366b3e64c83c 73 while(1) {
20172573073 0:366b3e64c83c 74 int d,u,n;
20172573073 0:366b3e64c83c 75 n=int(menor);
20172573073 0:366b3e64c83c 76
20172573073 0:366b3e64c83c 77 d = n /10;
20172573073 0:366b3e64c83c 78 u = n % 10;
20172573073 0:366b3e64c83c 79
20172573073 0:366b3e64c83c 80 display1=1;
20172573073 0:366b3e64c83c 81 display2=0;
20172573073 0:366b3e64c83c 82 display7Seg=anodeComun[d];
20172573073 0:366b3e64c83c 83 //ThisThread::sleep_for(25);
20172573073 0:366b3e64c83c 84 wait(0.025);
20172573073 0:366b3e64c83c 85 display1=0;
20172573073 0:366b3e64c83c 86 display2=1;
20172573073 0:366b3e64c83c 87 display7Seg=anodeComun[u];
20172573073 0:366b3e64c83c 88 //ThisThread::sleep_for(25);
20172573073 0:366b3e64c83c 89 wait(0.025);
20172573073 0:366b3e64c83c 90 }
20172573073 0:366b3e64c83c 91 }
20172573073 0:366b3e64c83c 92 void oled()
20172573073 0:366b3e64c83c 93 {
20172573073 0:366b3e64c83c 94 while(1) {
20172573073 0:366b3e64c83c 95 lcd.init();
20172573073 0:366b3e64c83c 96 lcd.speed (SSD1306::Fast);
20172573073 0:366b3e64c83c 97 lcd.cls();
20172573073 0:366b3e64c83c 98 lcd.locate (3,1);
20172573073 0:366b3e64c83c 99 lcd.printf ("angulo :%d ",a);
20172573073 0:366b3e64c83c 100 lcd.locate (5,1);
20172573073 0:366b3e64c83c 101 lcd.printf ("dis menor :%2.f ",menor);
20172573073 0:366b3e64c83c 102 set_time(q);
20172573073 0:366b3e64c83c 103 lcd.locate (1,0);
20172573073 0:366b3e64c83c 104 time_t seconds = time(NULL);
20172573073 0:366b3e64c83c 105 lcd.printf("fecha %s",ctime(&seconds));
20172573073 0:366b3e64c83c 106 lcd.redraw();
20172573073 0:366b3e64c83c 107 wait(0.5);
20172573073 0:366b3e64c83c 108 }
20172573073 0:366b3e64c83c 109 }
20172573073 0:366b3e64c83c 110 void tiempo()
20172573073 0:366b3e64c83c 111 {
20172573073 0:366b3e64c83c 112 while(1) {
20172573073 0:366b3e64c83c 113 q=q+1;
20172573073 0:366b3e64c83c 114 //ThisThread::sleep_for(1000);
20172573073 0:366b3e64c83c 115 wait(1);
20172573073 0:366b3e64c83c 116 }
20172573073 0:366b3e64c83c 117 }
20172573073 0:366b3e64c83c 118 int main()
20172573073 0:366b3e64c83c 119 {
20172573073 0:366b3e64c83c 120 myservo.calibrate(0.0015,360);
20172573073 0:366b3e64c83c 121 t.start((servo));
20172573073 0:366b3e64c83c 122 t1.start(seg7);
20172573073 0:366b3e64c83c 123 t2.start(oled);
20172573073 0:366b3e64c83c 124 t3.start(tiempo);
20172573073 0:366b3e64c83c 125 q=1590029272;
20172573073 0:366b3e64c83c 126 q=q-((5*60)*60);
20172573073 0:366b3e64c83c 127 //thread.flags_set(STOP_FLAG);
20172573073 0:366b3e64c83c 128 //thread.join();
20172573073 0:366b3e64c83c 129 }