Himanshu Arora
Trying out a new commit
Revision 0:683dbfe46abe, committed 2015-10-30
- Comitter:
- hiarora
- Date:
- Fri Oct 30 04:12:06 2015 +0000
- Commit message:
- sex
Changed in this revision
diff -r 000000000000 -r 683dbfe46abe LSM303DLH.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM303DLH.lib Fri Oct 30 04:12:06 2015 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/hiarora/code/LSM303DLH/#f79253ebb396
diff -r 000000000000 -r 683dbfe46abe main.cpp
--- /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);
+ }
+}
diff -r 000000000000 -r 683dbfe46abe mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Oct 30 04:12:06 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9296ab0bfc11 \ No newline at end of file