hisyam fs / Mbed 2 deprecated Test_all

tes ir atas semua

Dependencies:   mbed ADS1115 StepperMotor SRF05 TPA81new

main.cpp@31:95396425b44b, 2019-01-24 (annotated)

Committer:
hisyamfs
Date:
Thu Jan 24 14:52:52 2019 +0000
Revision:
31:95396425b44b
Parent:
30:5efd59a0226f
Child:
35:c2af31894a91
bisa, tanpa servo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hisyamfs 12:1e3227a6fcd7 1 #include "mbed.h"
hisyamfs 12:1e3227a6fcd7 2 #include "TPA81new.h"
hisyamfs 16:771d84a80e3d 3 #include "SRF05.h"
hisyamfs 19:9a7b34bedc6c 4 #include "Uvtron.h"
hisyamfs 30:5efd59a0226f 5 #include "Stepper.h"
hisyamfs 16:771d84a80e3d 6
hisyamfs 16:771d84a80e3d 7 #define LCD_D4_DIG PA_15
hisyamfs 16:771d84a80e3d 8 #define LCD_D5_DIG PA_14
hisyamfs 16:771d84a80e3d 9 #define LCD_E_DIG PC_15
hisyamfs 16:771d84a80e3d 10 #define LCD_RS_DIG PB_7
hisyamfs 14:207770fefedf 11
hisyamfs 15:da7a15289893 12 Serial pc(USBTX,USBRX);
hisyamfs 17:fd06e8104835 13
hisyamfs 17:fd06e8104835 14 // TPA
hisyamfs 15:da7a15289893 15 TPA81 tpax(PB_9, PB_8, 0xDC);
hisyamfs 26:9c7f39e21df4 16 TPA81 tpay(PB_9, PB_8, 0xDE);
dmgongora 0:79e2a8171b16 17
hisyamfs 17:fd06e8104835 18 // Ultrasonik
hisyamfs 25:a75d6875cb55 19 //SRF05 srf1(PC_13, PA_14); // trigger, echo
hisyamfs 25:a75d6875cb55 20 //SRF05 srf1(PA_11, PB_12);
hisyamfs 25:a75d6875cb55 21 //SRF05 srf1(PB_12, PA_11);
hisyamfs 25:a75d6875cb55 22 SRF05 srf1(PB_3, PB_10);
hisyamfs 16:771d84a80e3d 23 SRF05 srf2(PA_15, PB_7); // trigger, echo
hisyamfs 16:771d84a80e3d 24
hisyamfs 18:f3b23331090f 25 DigitalOut relay(PB_2);
hisyamfs 18:f3b23331090f 26
hisyamfs 17:fd06e8104835 27 // UVTron
hisyamfs 17:fd06e8104835 28 Uvtron uv(PC_12);
hisyamfs 17:fd06e8104835 29
hisyamfs 19:9a7b34bedc6c 30 // Sound
hisyamfs 26:9c7f39e21df4 31 DigitalIn sound(PA_9);
hisyamfs 19:9a7b34bedc6c 32
hisyamfs 21:bfb064f77f88 33 // Line
hisyamfs 21:bfb064f77f88 34 AnalogIn line(PC_1);
hisyamfs 21:bfb064f77f88 35
hisyamfs 27:4d79aba70fe8 36 // infrared
hisyamfs 27:4d79aba70fe8 37 #define a_depan 5000000
hisyamfs 27:4d79aba70fe8 38 #define b_depan 1.229
hisyamfs 27:4d79aba70fe8 39 // atas
hisyamfs 27:4d79aba70fe8 40 AnalogIn ira1(PC_5);
hisyamfs 27:4d79aba70fe8 41 AnalogIn ira2(PA_5);
hisyamfs 27:4d79aba70fe8 42 AnalogIn ira3(PC_2);
hisyamfs 27:4d79aba70fe8 43 AnalogIn ira4(PC_3);
hisyamfs 27:4d79aba70fe8 44 AnalogIn ira5(PB_1);
hisyamfs 27:4d79aba70fe8 45 AnalogIn ira6(PC_4);
hisyamfs 27:4d79aba70fe8 46 AnalogIn ira7(PA_6);
hisyamfs 27:4d79aba70fe8 47 AnalogIn ira8(PA_7);
hisyamfs 27:4d79aba70fe8 48 // bawah
hisyamfs 27:4d79aba70fe8 49 AnalogIn irb1(PA_0);
hisyamfs 27:4d79aba70fe8 50 AnalogIn irb2(PA_1);
hisyamfs 27:4d79aba70fe8 51 AnalogIn irb3(PA_4);
hisyamfs 27:4d79aba70fe8 52 AnalogIn irb4(PB_0);
hisyamfs 27:4d79aba70fe8 53
hisyamfs 30:5efd59a0226f 54 #define WAIT_TIME 0.02
hisyamfs 30:5efd59a0226f 55
hisyamfs 30:5efd59a0226f 56 // stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir);
hisyamfs 30:5efd59a0226f 57 stepper s(PC_6, PC_8, PA_12, PC_7, PA_11, PB_12);
hisyamfs 30:5efd59a0226f 58
hisyamfs 27:4d79aba70fe8 59 float call_depan(uint16_t x){
hisyamfs 27:4d79aba70fe8 60 float side_distance = a_depan/pow(x,b_depan)+1;
hisyamfs 27:4d79aba70fe8 61 return side_distance;
hisyamfs 27:4d79aba70fe8 62 }
hisyamfs 27:4d79aba70fe8 63
dmgongora 0:79e2a8171b16 64 int main()
hisyamfs 12:1e3227a6fcd7 65 {
hisyamfs 15:da7a15289893 66 //tpax.changeaddress(0xDC,0xDE);
hisyamfs 31:95396425b44b 67 relay = 1;
hisyamfs 26:9c7f39e21df4 68 while(sound.read()){}
hisyamfs 26:9c7f39e21df4 69 pc.printf("Sound Detected\n");
hisyamfs 15:da7a15289893 70 while(1) {
hisyamfs 15:da7a15289893 71 pc.printf("%d", tpay.getTemp(0));
hisyamfs 15:da7a15289893 72 int i;
hisyamfs 15:da7a15289893 73 pc.printf("\nTPA Y \n");
hisyamfs 15:da7a15289893 74 tpay.Read();
hisyamfs 15:da7a15289893 75 for (i=2; i<=9; i++) {
hisyamfs 15:da7a15289893 76 pc.printf("%d ",tpay.getTemp(i));
Ezeuz 8:5e1854c119ba 77 }
hisyamfs 15:da7a15289893 78
hisyamfs 15:da7a15289893 79 pc.printf("\nTPA X \n");
hisyamfs 15:da7a15289893 80 tpax.Read();
hisyamfs 15:da7a15289893 81 for (i=2; i<=9; i++) {
hisyamfs 15:da7a15289893 82 pc.printf("%d ",tpax.getTemp(i));
hisyamfs 15:da7a15289893 83 }
hisyamfs 15:da7a15289893 84 pc.printf("\n");
hisyamfs 15:da7a15289893 85
hisyamfs 16:771d84a80e3d 86 pc.printf("us 1: %.2f\tus 2:%.2f\n", srf1.read(), srf2.read());
hisyamfs 17:fd06e8104835 87
hisyamfs 17:fd06e8104835 88 uv.Read();
hisyamfs 17:fd06e8104835 89 int read = uv.Flag;
hisyamfs 17:fd06e8104835 90 if (read) pc.printf("FIRE DETECTED\n");
hisyamfs 17:fd06e8104835 91 else pc.printf("NOT DETECTED\n");
hisyamfs 15:da7a15289893 92 wait(0.5); // 200 ms
hisyamfs 31:95396425b44b 93 relay = 0;
hisyamfs 31:95396425b44b 94 pc.printf("RELAY ON\n");
hisyamfs 31:95396425b44b 95 wait(1);
hisyamfs 18:f3b23331090f 96 relay = 1;
hisyamfs 31:95396425b44b 97 pc.printf("RELAY OFF\n");
hisyamfs 31:95396425b44b 98
hisyamfs 31:95396425b44b 99
hisyamfs 21:bfb064f77f88 100
hisyamfs 21:bfb064f77f88 101 pc.printf("Line = %.2f\n", 3300*line.read());
hisyamfs 27:4d79aba70fe8 102
hisyamfs 30:5efd59a0226f 103 for (int i=0; i<200; i++)
hisyamfs 30:5efd59a0226f 104 {
hisyamfs 30:5efd59a0226f 105 s.step(1, 1, 1/WAIT_TIME);
hisyamfs 30:5efd59a0226f 106 }
hisyamfs 31:95396425b44b 107
hisyamfs 31:95396425b44b 108 uint16_t raw_a1 = ira1.read_u16();
hisyamfs 31:95396425b44b 109 uint16_t raw_a2 = ira2.read_u16();
hisyamfs 31:95396425b44b 110 uint16_t raw_a3 = ira3.read_u16();
hisyamfs 31:95396425b44b 111 uint16_t raw_a4 = ira4.read_u16();
hisyamfs 31:95396425b44b 112 uint16_t raw_a5 = ira5.read_u16();
hisyamfs 31:95396425b44b 113 uint16_t raw_a6 = ira6.read_u16();
hisyamfs 31:95396425b44b 114 uint16_t raw_a7 = ira7.read_u16();
hisyamfs 31:95396425b44b 115 uint16_t raw_a8 = ira8.read_u16();
hisyamfs 31:95396425b44b 116
hisyamfs 31:95396425b44b 117 uint16_t raw_b1 = irb1.read_u16();
hisyamfs 31:95396425b44b 118 uint16_t raw_b2 = irb2.read_u16();
hisyamfs 31:95396425b44b 119 uint16_t raw_b3 = irb3.read_u16();
hisyamfs 31:95396425b44b 120 uint16_t raw_b4 = irb4.read_u16();
hisyamfs 31:95396425b44b 121
hisyamfs 31:95396425b44b 122 float dist_a1 = call_depan(raw_a1);
hisyamfs 31:95396425b44b 123 float dist_a2 = call_depan(raw_a2);
hisyamfs 31:95396425b44b 124 float dist_a3 = call_depan(raw_a3);
hisyamfs 31:95396425b44b 125 float dist_a4 = call_depan(raw_a4);
hisyamfs 31:95396425b44b 126 float dist_a5 = call_depan(raw_a5);
hisyamfs 31:95396425b44b 127 float dist_a6 = call_depan(raw_a6);
hisyamfs 31:95396425b44b 128 float dist_a7 = call_depan(raw_a7);
hisyamfs 31:95396425b44b 129 float dist_a8 = call_depan(raw_a8);
hisyamfs 31:95396425b44b 130
hisyamfs 31:95396425b44b 131 float dist_b1 = call_depan(raw_b1);
hisyamfs 31:95396425b44b 132 float dist_b2 = call_depan(raw_b2);
hisyamfs 31:95396425b44b 133 float dist_b3 = call_depan(raw_b3);
hisyamfs 31:95396425b44b 134 float dist_b4 = call_depan(raw_b4);
hisyamfs 31:95396425b44b 135
hisyamfs 31:95396425b44b 136 pc.printf("ir atas\n");
hisyamfs 31:95396425b44b 137 pc.printf(" %.2f %.2f\n", dist_a2, dist_a1);
hisyamfs 31:95396425b44b 138 pc.printf("%.2f %.2f\n", dist_a3, dist_a7);
hisyamfs 31:95396425b44b 139 pc.printf("%.2f %.2f\n", dist_a4, dist_a8);
hisyamfs 31:95396425b44b 140 pc.printf(" %.2f %.2f\n", dist_a6, dist_a5);
hisyamfs 31:95396425b44b 141
hisyamfs 31:95396425b44b 142 pc.printf("ir bawah\n");
hisyamfs 31:95396425b44b 143 pc.printf(" %.2f\n", dist_b1);
hisyamfs 31:95396425b44b 144 pc.printf("%.2f %.2f\n", dist_b2, dist_b3);
hisyamfs 31:95396425b44b 145 pc.printf(" %.2f\n", dist_b4);
hisyamfs 31:95396425b44b 146 wait(1);
hisyamfs 14:207770fefedf 147 }
hisyamfs 15:da7a15289893 148 }