Dhaval Mehta
Robot Security System
Dependencies: Motordriver SHTx mbed
Diff: main.cpp
- Revision:
- 0:b6d5c2bbe0a8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Oct 12 05:21:40 2012 +0000
@@ -0,0 +1,259 @@
+#include "mbed.h"
+#include "motordriver.h"
+//#include "SCP1000.h"
+#include "TextLCD.h"
+//#include "sht15.hpp"
+#include"stdio.h"
+#include "stdlib.h"
+#include "SHTx/sht15.hpp"
+
+Serial pc(USBTX, USBRX); // tx, rx
+Serial device(p13, p14); // tx, rx
+
+DigitalOut myled3(LED3);
+DigitalOut myled2(LED2);
+DigitalOut myled4(LED4);
+
+SHTx::SHT15 sensor(p9, p10);
+float ss=0;
+Motor left(p21, p22, p23, 1); // pwm, fwd, rev, has brake feature
+Motor right(p26, p25, p24, 1);
+float dhaval=0;
+float jill=0;
+float g=0;
+float g1=0;
+float g2=0;
+float g3=0;
+//char buffer[50];
+float h=0;
+float h1=0;
+float h2=0;
+float h3=0;
+TextLCD lcd(p15, p16, p17, p18, p19, p20);
+char a[300];
+int count=0;
+int s = 0;
+
+DigitalOut busy(LED1);
+
+
+
+
+
+
+
+
+
+
+
+
+
+int main()
+{
+
+sensor.setOTPReload(false);
+ sensor.setResolution(true);
+
+
+busy = true;
+ sensor.update();
+ busy = false;
+
+ sensor.setScale(false);
+ float pp1 = (sensor.getTemperature()-2.0);
+ char halftemp[60];
+ sprintf(halftemp, "%f", pp1);
+
+ float pp2 = sensor.getHumidity();
+ char halftemp2[60];
+ sprintf(halftemp2, "%f", pp2);
+
+
+
+
+
+do{
+ while(1) {
+ count = 0;
+ if (device.readable()) {
+ do {
+ s=device.getc();
+ a[count]=s;
+
+ count++;
+ } while(s != '\r');
+
+ if(a[6]=='9' && a[7]=='0' && a[8]=='2' && a[9]=='8' && a[10]=='7' && a[11]=='8' && a[12]=='0' && a[13]=='7' && a[14]=='2' )
+ {
+ lcd.cls();
+ lcd.printf("Temperature in C: %s\n", halftemp);
+
+ myled3=!myled3;
+
+ h1=0;h2=0;h3=0;g1=0;g2=0;g3=0;
+ while (1) {
+
+ if(g1==0) {
+
+
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+
+ left.speed(0.4);
+
+ right.speed(0.8);
+
+ wait(0.5);
+// Turn off motors - coast one and brake one
+
+ right.speed(0); //////for turning right......
+ left.speed(0); ////for turning left
+ ++g1;
+
+ wait(1);
+ }
+
+ if(g2==0 ) {
+
+
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+
+ left.speed(0.2);
+
+
+ right.speed(0);
+
+ wait(1);
+// Turn off motors - coast one and brake one
+
+
+ left.stop(0); ////for turning left
+ ++g2;
+
+ wait(1);
+
+ }
+
+
+ if(g3==0) {
+
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+
+ left.speed(0.4);
+
+
+ right.speed(0.8);
+
+ wait(0.5);
+// Turn off motors - coast one and brake one
+
+ right.speed(0); //////for turning right......
+ left.speed(0); ////for turning left
+ ++g3;
+
+ ++jill;
+ wait(1);
+
+ }
+ if(jill==1)
+ break;
+ }
+
+
+ }
+
+ /////////////// TESTING SECOND CARD...F0RWARD THEN RIGHT TURN TERN BACK
+
+ if(a[6]=='9' && a[7]=='0' && a[8]=='2' && a[9]=='9' && a[10]=='1' && a[11]=='1' && a[12]=='2' && a[13]=='5' && a[14]=='0' )
+ {
+
+ lcd.cls();
+ lcd.printf("Humidity is\n: %s %%\n", halftemp2);
+
+
+
+ myled2=!myled2;
+ myled4=!myled4;
+ g1=0;g2=0;g3=0; h1=0;h2=0;h3=0;
+
+ while (1) {
+
+ if(h1==0 ) {
+
+
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+
+ left.speed(0.4);
+
+ right.speed(0.8);
+
+ wait(0.5);
+// Turn off motors - coast one and brake one
+
+ right.speed(0); //////for turning right......
+ left.speed(0); ////for turning left
+ ++h1;
+ g1=0;
+
+ wait(1);
+ }
+
+ if(h2==0 ) {
+
+
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+
+ right.speed(0.2);
+
+ left.speed(0);
+ wait(1);
+// Turn off motors - coast one and brake one
+
+ right.stop(0); //////for turning right......
+ //left.stop(0); ////for turning left
+ ++h2;
+ g2=0;
+
+ wait(1);
+
+ }
+
+
+ if(h3==0) {
+ //myled=1;
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+
+ left.speed(0.4);
+
+
+
+
+ wait(0.5);
+// Turn off motors - coast one and brake one
+
+ right.speed(0); //////for turning right......
+ left.speed(0); ////for turning left
+ ++h3;
+ g3=0;
+
+ ++dhaval;
+ wait(1);
+
+ }
+
+ if(dhaval==1)
+ break;
+
+ }
+
+
+ }
+ }
+
+ }
+
+ } while(ss==0);
+}
+
+
+
+