part2.h

00001 #include "mbed.h"
00002 #include "ultrasonic.h"
00003  
00004 Serial pc(USBTX, USBRX);
00005 
00006 void dist(int distance)
00007 {
00008     //put code here to execute when the distance has changed
00009     pc.printf("Distance %d mm\r\n", distance);
00010 }
00011  
00012 ultrasonic mu(p6, p7, .1, 1, &dist);    //Set the trigger pin to p6 and the echo pin to p7
00013                                         //have updates every .1 seconds and a timeout after 1
00014                                         //second, and call dist when the distance changes
00015  
00016 int run_part2()
00017 {
00018     mu.startUpdates();//start measuring the distance
00019     while(1)
00020     {
00021         //Do something else here
00022         mu.checkDistance();     //call checkDistance() as much as possible, as this is where
00023                                 //the class checks if dist needs to be called.
00024     }
00025 }
00026 
00027 //Theremin style demo using HC-SR04 Sonar and a speaker
00028 // moving a hand away/towards sonar changes audio frequency
00029  
00030 DigitalOut audio(p26); //output to speaker amp or audio jack
00031 DigitalOut led(LED1); 
00032 DigitalOut led2(LED2);
00033  
00034 Timeout cycle;
00035  
00036 volatile int half_cycle_time = 1;
00037  
00038 //two calls to this interrupt routine generates a square wave
00039 void toggle_interrupt()
00040 {
00041     if (half_cycle_time>22000) audio=0; //mute if nothing in range
00042     else audio = !audio; //toggle to make half a square wave
00043     led = !led;
00044     cycle.detach();
00045     //update time for interrupt activation -change frequency of square wave
00046     cycle.attach_us(&toggle_interrupt, half_cycle_time);
00047 }
00048 void newdist(int distance)
00049 {
00050     //update frequency based on new sonar data
00051     led2 = !led2;
00052     half_cycle_time = distance<<3;
00053 }
00054 //HC-SR04 Sonar module
00055 ultrasonic mu2(p6, p7, .07, 1, &newdist);    
00056 //Set the trigger pin to p6 and the echo pin to p7
00057 //have updates every .07 seconds and a timeout after 1
00058 //second, and call newdist when the distance changes
00059 int run_part2_EC()
00060 {
00061     audio = 0;
00062     led = 0;
00063     cycle.attach(&toggle_interrupt, half_cycle_time);
00064     mu2.startUpdates();//start measuring the distance with the sonar
00065     while(1) {
00066         //Do something else here
00067         mu2.checkDistance();     
00068         //call checkDistance() as much as possible, as this is where
00069         //the class checks if dist needs to be called.
00070     }
00071 }