Siobhan Duncan / Mbed 2 deprecated HammiltonCircleWorkhopSonar

This program reads the values from the sonar sensor and prints these to the screen

Dependencies:   HC_SR04_Ultrasonic_Library mbed

main.cpp@0:46268c53a91f, 2017-11-09 (annotated)

Committer:
coloursearch
Date:
Thu Nov 09 17:17:04 2017 +0000
Revision:
0:46268c53a91f
Initial Commit, this code reads from a sonar sensor and prints to screen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
coloursearch 0:46268c53a91f 1 /***********************
coloursearch 0:46268c53a91f 2 *
coloursearch 0:46268c53a91f 3 * This programme reads the values
coloursearch 0:46268c53a91f 4 * from a sonar sensors and then prints
coloursearch 0:46268c53a91f 5 * these to the onboard prototyping screen.
coloursearch 0:46268c53a91f 6 *
coloursearch 0:46268c53a91f 7 ************************/
coloursearch 0:46268c53a91f 8
coloursearch 0:46268c53a91f 9 #include "mbed.h"
coloursearch 0:46268c53a91f 10 #include "ultrasonic.h"
coloursearch 0:46268c53a91f 11
coloursearch 0:46268c53a91f 12 #define SENREAD_SONAR_READINGSTORES_SIZE 20
coloursearch 0:46268c53a91f 13 #define SENREAD_SONAR_NUMBEROFSENSORS 3
coloursearch 0:46268c53a91f 14
coloursearch 0:46268c53a91f 15
coloursearch 0:46268c53a91f 16 const PinName SENPIN_SONAR_FCENTRE_TRIG = p24;
coloursearch 0:46268c53a91f 17 const PinName SENPIN_SONAR_FCENTRE_ECHO = p23;
coloursearch 0:46268c53a91f 18
coloursearch 0:46268c53a91f 19
coloursearch 0:46268c53a91f 20 Serial pc(USBTX, USBRX);
coloursearch 0:46268c53a91f 21
coloursearch 0:46268c53a91f 22
coloursearch 0:46268c53a91f 23 void SENFUNC_SONAR_FCENTRE(int distance);
coloursearch 0:46268c53a91f 24
coloursearch 0:46268c53a91f 25
coloursearch 0:46268c53a91f 26 //Sensor Related
coloursearch 0:46268c53a91f 27 int SENREAD_SONAR_FCENTRE_READING = 1111;
coloursearch 0:46268c53a91f 28 int SENREAD_SONAR_FCENTRE_READERROR = 0;
coloursearch 0:46268c53a91f 29
coloursearch 0:46268c53a91f 30 int SENREAD_SONAR_MAXREADING = 1000;
coloursearch 0:46268c53a91f 31 int SENREAD_SONAR_MINREADING = 0;
coloursearch 0:46268c53a91f 32
coloursearch 0:46268c53a91f 33 int SENREAD_SONAR_MAXERROR = 5;
coloursearch 0:46268c53a91f 34 int SENREAD_SONAR_READERRORSTANDARD = 1111;
coloursearch 0:46268c53a91f 35
coloursearch 0:46268c53a91f 36 int SENREAD_SONAR_FCENTRE_READINGSTORE[SENREAD_SONAR_READINGSTORES_SIZE];
coloursearch 0:46268c53a91f 37 int SENREAD_SONAR_FCENTRE_READINGSTORE_POINTER = SENREAD_SONAR_READINGSTORES_SIZE - 1;
coloursearch 0:46268c53a91f 38
coloursearch 0:46268c53a91f 39 ultrasonic SENSOR_SONAR_FCENTRE(SENPIN_SONAR_FCENTRE_TRIG, SENPIN_SONAR_FCENTRE_ECHO, 0.5, 1, &SENFUNC_SONAR_FCENTRE);
coloursearch 0:46268c53a91f 40
coloursearch 0:46268c53a91f 41
coloursearch 0:46268c53a91f 42 void SENFUNC_SONAR_FCENTRE(int distance){
coloursearch 0:46268c53a91f 43 //put code here to happen when the distance is changed
coloursearch 0:46268c53a91f 44 SENREAD_SONAR_FCENTRE_READING = distance;
coloursearch 0:46268c53a91f 45 }
coloursearch 0:46268c53a91f 46
coloursearch 0:46268c53a91f 47
coloursearch 0:46268c53a91f 48 void printToScreen(){
coloursearch 0:46268c53a91f 49 pc.printf("Value: %d\n\r", SENREAD_SONAR_FCENTRE_READING);
coloursearch 0:46268c53a91f 50 }
coloursearch 0:46268c53a91f 51
coloursearch 0:46268c53a91f 52 void updateQueue(int *store, int reading, int& element_pointer, int size){
coloursearch 0:46268c53a91f 53
coloursearch 0:46268c53a91f 54
coloursearch 0:46268c53a91f 55 if(element_pointer < (size-1)){
coloursearch 0:46268c53a91f 56 element_pointer++;
coloursearch 0:46268c53a91f 57 }
coloursearch 0:46268c53a91f 58 else{
coloursearch 0:46268c53a91f 59 element_pointer = 0;
coloursearch 0:46268c53a91f 60 }
coloursearch 0:46268c53a91f 61
coloursearch 0:46268c53a91f 62 store[element_pointer] = reading;
coloursearch 0:46268c53a91f 63 }
coloursearch 0:46268c53a91f 64
coloursearch 0:46268c53a91f 65 int main() {
coloursearch 0:46268c53a91f 66
coloursearch 0:46268c53a91f 67 wait(1.0);
coloursearch 0:46268c53a91f 68
coloursearch 0:46268c53a91f 69 //Start the sensors
coloursearch 0:46268c53a91f 70 SENSOR_SONAR_FCENTRE.startUpdates();
coloursearch 0:46268c53a91f 71 pc.printf("Sonar Program Initialising\n\r");
coloursearch 0:46268c53a91f 72
coloursearch 0:46268c53a91f 73 while(1) {
coloursearch 0:46268c53a91f 74
coloursearch 0:46268c53a91f 75 SENSOR_SONAR_FCENTRE.checkDistance();
coloursearch 0:46268c53a91f 76 updateQueue(SENREAD_SONAR_FCENTRE_READINGSTORE, SENREAD_SONAR_FCENTRE_READING, SENREAD_SONAR_FCENTRE_READINGSTORE_POINTER, SENREAD_SONAR_READINGSTORES_SIZE);
coloursearch 0:46268c53a91f 77 printToScreen();
coloursearch 0:46268c53a91f 78 wait(0.5);
coloursearch 0:46268c53a91f 79
coloursearch 0:46268c53a91f 80 }
coloursearch 0:46268c53a91f 81 }