Diff: main.cpp

Revision:

0:683dbfe46abe

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 30 04:12:06 2015 +0000
@@ -0,0 +1,107 @@
+#include "mbed.h"
+#include "LSM303DLH.h"
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+
+/*
+    Misc decl.
+*/
+Serial debug(USBTX,USBRX);
+
+
+/*
+    Motor Declarations and functions
+    @param on : decidedes which bits to set from the forward and backward array 
+*/
+
+unsigned int on = 0;
+
+DigitalOut m1(p21);
+DigitalOut m2(p22);
+DigitalOut m3(p23);
+DigitalOut m4(p24);
+
+enum control{
+    forward,
+    backward
+}stepper_direction = forward;
+
+float motorTimeLapsed = 0.0, degrees = 0, motorTimerFrequency = 0.007, oneRotationTime = 15.0;
+
+char* forwardArr[] = {"1000", "1100", "0100", "0110","0010", "0011","0001", "1001"};
+char* backwardArr[] = {"1000", "1001", "0001", "0011", "0010", "0110", "0100", "1100"};
+
+
+void SetPortValues(char *myValues){
+    m1 = myValues[0] - 48;
+    m2 = myValues[1] - 48;
+    m3 = myValues[2] - 48;
+    m4 = myValues[3] - 48;
+}
+
+
+void attime() {
+    motorTimeLapsed += motorTimerFrequency;
+    if(motorTimeLapsed > oneRotationTime){ 
+        motorTimeLapsed = 0;
+        stepper_direction = stepper_direction == forward?backward:forward; 
+    }
+    stepper_direction?SetPortValues(backwardArr[++on%8]):SetPortValues(forwardArr[++on%8]);
+    degrees = (stepper_direction == forward)?(motorTimeLapsed/oneRotationTime*180.0):(180.0-(motorTimeLapsed/oneRotationTime*180.0));
+}
+
+/*
+    Sonar - decl and functions
+*/
+
+long duration, distance_cm;
+Timer timerSonar; 
+DigitalOut trig(p6); // To generate trigger for Sonar
+InterruptIn echo(p5); // To capture echo edge on I/O interrupt
+
+void begin_timer(){
+    timerSonar.reset();  //reset timer
+    timerSonar.start();
+}
+
+void end_timer()
+{
+    timerSonar.stop();
+    duration =  timerSonar.read_us(); // Pulse width measured
+    distance_cm = (double)(duration/2)*0.034  ; 
+}
+
+void echo_duration() {
+        trig=0;   // trigger low 
+        wait_us(2); //  wait 
+        trig=1;   //  trigger high
+        wait_us(10);
+        trig=0;  // trigger low
+}
+
+/*
+    Magnetometer decl and functions
+*/
+
+LSM303DLH compass(p9, p10);
+
+
+int main() { 
+    //configure motor
+    Ticker motorTimer;
+    motorTimer.attach(&attime, motorTimerFrequency);
+    //configure sonar
+    echo.rise(&begin_timer);
+    echo.fall(&end_timer);
+    //configure compass
+    float hdg;
+    compass.setOffset(29.50, -0.50, 4.00);
+    compass.setScale(1.00, 1.03, 1.21);
+    while(1) {
+        echo_duration();
+        hdg = compass.heading((vector){0,-1,0});
+        debug.printf("Degree = %f Distance = %d Heading: %.2f \n\r", degrees, distance_cm, hdg);
+    }
+}