Diff: suncokret.h

Revision:

3:bd92b23688ae

Child:

4:e360384c268b

diff -r b1ba1e6b10be -r bd92b23688ae suncokret.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/suncokret.h	Fri Feb 07 19:27:04 2020 +0000
@@ -0,0 +1,124 @@
+#include "mbed.h"
+#define DULJINA_PULSA1 0.001
+#define STANI 0
+#define CW 0.0035
+#define CCW 0.006
+Serial pc(SERIAL_TX, SERIAL_RX);
+AnalogIn in0(A0);
+AnalogIn in1(A1);
+AnalogIn in2(A2);
+AnalogIn in3(A3);
+DigitalOut ledica(D4);
+
+Timeout cekanje;
+
+PwmOut pwmd(D5);
+PwmOut pwmg(D6);
+
+float fotootp1=0, fotootp2=0, fotootp3=0, fotootp4=0;
+//float gore, dolje, lijevo, desno, sum;
+float ref, refV, refM;
+
+int pozicija;
+
+/*
+void sumiranje(){
+    gore = fotootp1 + fotootp2;
+    dolje = fotootp3 + fotootp4;
+    lijevo = fotootp1 + fotootp3;
+    desno = fotootp2 + fotootp4;
+    
+    sum = fotootp1+fotootp2+fotootp3+fotootp4;
+    }
+*/
+void ocitanje(){
+       /* fotootp1 = in0.read();
+        fotootp2 = in2.read();
+        fotootp3 = in2.read();
+        fotootp4 = in3.read(); */
+        
+    fotootp1 = in0.read();
+    printf("\n\r%f", fotootp1);
+    fotootp2 = in1.read();
+    printf("\n\r%f", fotootp2);
+    fotootp3 = in2.read();
+    printf("\n\r%f", fotootp3);
+    fotootp4 = in3.read();
+    printf("\n\r%f\n\n", fotootp4);
+    wait(2);
+        
+        //sumiranje();
+
+    }
+    
+    
+void gore(){
+    pwmg.period_ms(20);
+    while(1){
+        pwmg.pulsewidth(CCW);
+        }
+    }
+    
+void desno(){
+    pwmd.period_ms(20);
+    while(1){
+        pwmd.pulsewidth(CCW);
+        }
+    }
+    
+void dolje(){
+        pwmg.period_ms(20);
+    while(1){
+        pwmg.pulsewidth(CW);
+        }
+    }
+    
+void lijevo(){
+    pwmd.period_ms(20);
+    while(1){
+        pwmd.pulsewidth(CW);
+        }
+    }
+    
+
+void pozicioniranje(){
+    switch(pozicija){
+        case 1:
+            cekanje.attach(&gore, 0.1);
+            break;
+        case 2:
+            cekanje.attach(&desno, 0.1);
+            break;
+        case 3:
+            cekanje.attach(&dolje, 0.1);
+            break;
+        case 4:
+            cekanje.attach(&lijevo, 0.1);
+            break;
+        default:
+            pc.printf("pogresna informacija");
+        break;
+        }
+    }
+
+void logika(){
+    
+    }
+
+void trazenje(){
+    pwmd.period_ms(20);
+    while(1){
+        //ocitanje();
+        //pozicioniranje();
+        //logika();
+        refV = ref + 0.2;
+        refM = ref - 0.2;
+        //if(sum >= refV & sum <= refV){
+        //pwmd.pulsewidth(0.020);
+        pwmd=0.9;
+        ledica=1;
+        pc.printf("AAAAAAAAAAA");
+           // }
+        }
+    }
+