Diff: main.cpp

Revision:

0:b8adbf13199b

Child:

1:17ea74f31633

diff -r 000000000000 -r b8adbf13199b main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 10 20:35:27 2021 +0000
@@ -0,0 +1,302 @@
+#include "mbed.h"
+#include "platform/mbed_thread.h"
+#include "SparkfunAnalogJoystick.h"
+
+#define M_PI 3.14159265358979323846
+
+
+Thread thread1;
+Thread thread2;
+Thread thread3;
+Thread thread4;
+Thread thread5;
+
+int distance1 = 0;
+int distance2 = 0;
+int distance3 = 0;
+int distance4 = 0;
+
+int distanceLimit = 10;
+
+
+void thread1_HCSR04()
+{
+    DigitalOut trigger(D0);
+    DigitalIn  echo(D1);
+    Timer sonar;
+
+    int correction = 0;
+    sonar.reset();
+    // measure actual software polling timer delays
+    // delay used later in time correction
+    // start timer
+    sonar.start();
+    // min software polling delay to read echo pin
+    while (echo==2) {};
+    
+    // stop timer
+    sonar.stop();
+    // read timer
+    correction = sonar.read_us();
+    printf("Sensor proximidad 1: Approximate software overhead timer delay is %d uS\n\r",correction);
+ 
+    //Loop to read Sonar distance values, scale, and print
+    while(1) {
+    // trigger sonar to send a ping
+        trigger = 1;
+        
+       
+        sonar.reset();
+        wait_us(10.0);
+        trigger = 0;
+   
+    //wait for echo high
+        while (echo==0) {};
+        
+    //echo high, so start timer
+        sonar.start();
+    //wait for echo low
+        while (echo==1) {};
+    //stop timer and read value
+        sonar.stop();
+    //subtract software overhead timer delay and scale to cm
+        distance1 = (sonar.read_us()-correction)/58.0;
+        
+        //printf("Sensor proximidad 1: %d cm \n\r",distance1);
+    //wait so that any echo(s) return before sending another ping
+    thread_sleep_for(1000);
+    }  
+}
+
+void thread2_HCSR04()
+{
+    DigitalOut trigger(D2);
+    DigitalIn  echo(D3);
+    Timer sonar;
+    
+    int correction = 0;
+    sonar.reset();
+    // measure actual software polling timer delays
+    // delay used later in time correction
+    // start timer
+    sonar.start();
+    // min software polling delay to read echo pin
+    while (echo==2) {};
+    
+    // stop timer
+    sonar.stop();
+    // read timer
+    correction = sonar.read_us();
+    printf("Sensor proximidad 2: Approximate software overhead timer delay is %d uS\n\r",correction);
+ 
+    //Loop to read Sonar distance values, scale, and print
+    while(1) {
+    // trigger sonar to send a ping
+        trigger = 1;
+        
+       
+        sonar.reset();
+        wait_us(10.0);
+        trigger = 0;
+   
+    //wait for echo high
+        while (echo==0) {};
+        
+    //echo high, so start timer
+        sonar.start();
+    //wait for echo low
+        while (echo==1) {};
+    //stop timer and read value
+        sonar.stop();
+    //subtract software overhead timer delay and scale to cm
+        distance2 = (sonar.read_us()-correction)/58.0;
+        
+        //printf("Sensor proximidad 2: %d cm \n\r",distance2);
+    //wait so that any echo(s) return before sending another ping
+    thread_sleep_for(1000);
+    }  
+}
+ 
+ 
+void thread3_HCSR04()
+{
+    DigitalOut trigger(D4);
+    DigitalIn  echo(D5);
+    Timer sonar;
+    
+    int correction = 0;
+    sonar.reset();
+    // measure actual software polling timer delays
+    // delay used later in time correction
+    // start timer
+    sonar.start();
+    // min software polling delay to read echo pin
+    while (echo==2) {};
+    
+    // stop timer
+    sonar.stop();
+    // read timer
+    correction = sonar.read_us();
+    printf("Sensor proximidad 3: Approximate software overhead timer delay is %d uS\n\r",correction);
+ 
+    //Loop to read Sonar distance values, scale, and print
+    while(1) {
+    // trigger sonar to send a ping
+        trigger = 1;
+        
+       
+        sonar.reset();
+        wait_us(10.0);
+        trigger = 0;
+   
+    //wait for echo high
+        while (echo==0) {};
+        
+    //echo high, so start timer
+        sonar.start();
+    //wait for echo low
+        while (echo==1) {};
+    //stop timer and read value
+        sonar.stop();
+    //subtract software overhead timer delay and scale to cm
+        distance3 = (sonar.read_us()-correction)/58.0;
+        
+        //printf("Sensor proximidad 3: %d cm \n\r",distance3);
+    //wait so that any echo(s) return before sending another ping
+    thread_sleep_for(1000);
+    }  
+}
+
+
+void thread4_HCSR04()
+{
+    DigitalOut trigger(D6);
+    DigitalIn  echo(D7);
+    Timer sonar;
+    
+    int correction = 0;
+    sonar.reset();
+    // measure actual software polling timer delays
+    // delay used later in time correction
+    // start timer
+    sonar.start();
+    // min software polling delay to read echo pin
+    while (echo==2) {};
+    
+    // stop timer
+    sonar.stop();
+    // read timer
+    correction = sonar.read_us();
+    printf("Sensor proximidad 4: Approximate software overhead timer delay is %d uS\n\r",correction);
+ 
+    //Loop to read Sonar distance values, scale, and print
+    while(1) {
+    // trigger sonar to send a ping
+        trigger = 1;
+        
+       
+        sonar.reset();
+        wait_us(10.0);
+        trigger = 0;
+   
+    //wait for echo high
+        while (echo==0) {};
+        
+    //echo high, so start timer
+        sonar.start();
+    //wait for echo low
+        while (echo==1) {};
+    //stop timer and read value
+        sonar.stop();
+    //subtract software overhead timer delay and scale to cm
+        distance4 = (sonar.read_us()-correction)/58.0;
+        
+        //printf("Sensor proximidad 4: %d cm \n\r",distance4);
+    //wait so that any echo(s) return before sending another ping
+    thread_sleep_for(1000);
+    }  
+}
+
+void thread5_Joystick(){
+    SparkfunAnalogJoystick JoyStick(A1, A0, D1);
+    
+    float X;
+    float Y;
+    
+    while(1)
+    {
+        
+        X = JoyStick.xAxis();
+        Y = JoyStick.yAxis();
+        
+        /*
+        printf("X-Axis: %f\n\r", X);
+        printf("Y-Axis: %f\n\r", Y);
+        printf(" \n\r");
+        */
+        
+        if(X >= -0.60f && X  <= 0.60f && Y >= 0.90f && Y <= 1.00f ){
+            if(distance1 > distanceLimit)
+            {
+               printf(" Hacia adelante \r \n");  
+            }
+            else{
+                printf(" Obstaculo! No se puede ir hacia adelante. \r \n");      
+            }
+            
+            thread_sleep_for(1000);   
+        }
+        if(X >= -0.60f && X  <= 0.60f && Y <= -0.90f && Y >= -1.00f){
+            
+            if(distance2 > distanceLimit)
+            {
+               printf(" Hacia atras \r \n"); 
+            }
+            else{
+              printf(" Obstaculo! No se puede ir hacia atras. \r \n");      
+            }
+             
+            thread_sleep_for(1000); 
+        }
+        if(Y >= -0.60f && Y  <= 0.60f && X <= -0.90f && X >= -1.00f){
+            
+            if(distance3 > distanceLimit)
+            {
+               printf(" Hacia la izquierda \r \n"); 
+            }
+            else{
+              printf(" Obstaculo! No se puede ir hacia la izquierda. \r \n");      
+            }
+            
+            thread_sleep_for(1000);    
+        }
+        if(Y >= -0.60f && Y  <= 0.60f && X >= 0.90f && X <= 1.00f){
+            
+            if(distance4 > distanceLimit)
+            {
+               printf(" Hacia la derecha \r \n"); 
+            }
+            else{
+              printf(" Obstaculo! No se puede ir hacia la derecha. \r \n");      
+            }
+            
+    
+            thread_sleep_for(1000);   
+        }
+        
+        //thread_sleep_for(1000); 
+    }
+    
+
+ }
+ 
+ 
+int main()
+{
+    thread1.start(thread1_HCSR04);
+    thread2.start(thread2_HCSR04);
+    thread3.start(thread3_HCSR04);
+    thread4.start(thread4_HCSR04);
+    thread5.start(thread5_Joystick);
+    
+}
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