hisyam fs / Mbed 2 deprecated Test_all

tes ir atas semua

Dependencies:   mbed ADS1115 StepperMotor SRF05 TPA81new

main.cpp@49:d23d76689933, 2019-03-06 (annotated)

Committer:
hisyamfs
Date:
Wed Mar 06 13:17:10 2019 +0000
Revision:
49:d23d76689933
Parent:
48:c8c9c624d46d 
tes bisa semua, tanpa servo. uvtron nggak bisa

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 41:71c6f608fd2b 5 #include "Stepper.h"
hisyamfs 42:3b682b7d0388 6 #include "AMG8833.h"
hisyamfs 44:49ef8addf233 7 #include "Adafruit_ADS1015.h"
hisyamfs 44:49ef8addf233 8
hisyamfs 44:49ef8addf233 9 // Konstanta
hisyamfs 49:d23d76689933 10 #define WAIT_TIME 0.02
hisyamfs 44:49ef8addf233 11 // infrared
hisyamfs 44:49ef8addf233 12 #define a_depan 5000000
hisyamfs 44:49ef8addf233 13 #define b_depan 1.229
hisyamfs 44:49ef8addf233 14 #define a_ads 500000
hisyamfs 44:49ef8addf233 15 #define b_ads 1.184
hisyamfs 49:d23d76689933 16 #define I2C_ADDR 0xC0
hisyamfs 14:207770fefedf 17
hisyamfs 49:d23d76689933 18 Serial pc(USBTX,USBRX, 115200);
hisyamfs 17:fd06e8104835 19
hisyamfs 42:3b682b7d0388 20 // AMG
hisyamfs 44:49ef8addf233 21 Adafruit_AMG88xx amg(PB_3, PB_10); // sda, scl
hisyamfs 42:3b682b7d0388 22 float pixels[AMG88xx_PIXEL_ARRAY_SIZE];
dmgongora 0:79e2a8171b16 23
hisyamfs 18:f3b23331090f 24 DigitalOut relay(PB_2);
hisyamfs 44:49ef8addf233 25 Uvtron uv(PC_12);
hisyamfs 26:9c7f39e21df4 26 DigitalIn sound(PA_9);
hisyamfs 21:bfb064f77f88 27 AnalogIn line(PC_1);
hisyamfs 21:bfb064f77f88 28
hisyamfs 45:96815f504b17 29 // Infrared
hisyamfs 27:4d79aba70fe8 30 // atas
hisyamfs 27:4d79aba70fe8 31 AnalogIn ira1(PC_5);
hisyamfs 27:4d79aba70fe8 32 AnalogIn ira2(PA_5);
hisyamfs 27:4d79aba70fe8 33 AnalogIn ira3(PC_2);
hisyamfs 27:4d79aba70fe8 34 AnalogIn ira4(PC_3);
hisyamfs 44:49ef8addf233 35 AnalogIn ira5(PC_4);
hisyamfs 44:49ef8addf233 36 AnalogIn ira6(PB_1);
hisyamfs 44:49ef8addf233 37 AnalogIn ira7(PA_7);
hisyamfs 44:49ef8addf233 38 AnalogIn ira8(PA_6);
hisyamfs 27:4d79aba70fe8 39 // bawah
hisyamfs 27:4d79aba70fe8 40 AnalogIn irb1(PA_0);
hisyamfs 27:4d79aba70fe8 41 AnalogIn irb2(PA_1);
hisyamfs 27:4d79aba70fe8 42 AnalogIn irb3(PA_4);
hisyamfs 27:4d79aba70fe8 43 AnalogIn irb4(PB_0);
hisyamfs 44:49ef8addf233 44 // ADC
hisyamfs 44:49ef8addf233 45 I2C ads_i2c(PB_9, PB_8); // sda, scl
hisyamfs 45:96815f504b17 46 Adafruit_ADS1015 ads(&ads_i2c);
hisyamfs 27:4d79aba70fe8 47
hisyamfs 49:d23d76689933 48 // kompas
hisyamfs 49:d23d76689933 49 I2C cmps12(PB_4, PA_8); //sda, scl
hisyamfs 49:d23d76689933 50
hisyamfs 49:d23d76689933 51 // stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir);
hisyamfs 45:96815f504b17 52 stepper s(PC_8, PC_6, PA_12, PA_11, PB_12, PC_7);
hisyamfs 49:d23d76689933 53
hisyamfs 49:d23d76689933 54 // sound
hisyamfs 49:d23d76689933 55 //DigitalIn sound(PA_9);
hisyamfs 40:1c29f33d54d7 56
hisyamfs 44:49ef8addf233 57 DigitalOut led_api(PB_6);
hisyamfs 37:f0b535131cbf 58 DigitalOut led_sound(PH_1);
hisyamfs 37:f0b535131cbf 59
hisyamfs 45:96815f504b17 60 float call_depan(uint16_t x)
hisyamfs 45:96815f504b17 61 {
hisyamfs 27:4d79aba70fe8 62 float side_distance = a_depan/pow(x,b_depan)+1;
hisyamfs 27:4d79aba70fe8 63 return side_distance;
hisyamfs 27:4d79aba70fe8 64 }
hisyamfs 27:4d79aba70fe8 65
hisyamfs 44:49ef8addf233 66 float call_ads(uint16_t ir) {
hisyamfs 44:49ef8addf233 67 float voltage = ir * 6.2676 * 10e-5; // ubah ke mV
hisyamfs 44:49ef8addf233 68 uint16_t x = (voltage/3.3f) * 0xFFFF; // ubah ke uint16_t sesuai max nucleo
hisyamfs 45:96815f504b17 69 float dist = a_ads/pow(x, b_ads)+1;
hisyamfs 44:49ef8addf233 70 return dist;
hisyamfs 44:49ef8addf233 71 }
hisyamfs 44:49ef8addf233 72
dmgongora 0:79e2a8171b16 73 int main()
hisyamfs 12:1e3227a6fcd7 74 {
hisyamfs 46:4030083b43b3 75 uint16_t ads_raw[4] = {};
hisyamfs 49:d23d76689933 76 int status = amg.begin(AMG88xx_ADDRESS);
hisyamfs 49:d23d76689933 77 amg.setMovingAverageMode(1);
hisyamfs 49:d23d76689933 78 if (!status) {
hisyamfs 49:d23d76689933 79 pc.printf("Could not find a valid AMG88xx sensor, check wiring! \n");
hisyamfs 49:d23d76689933 80 while (1);
hisyamfs 49:d23d76689933 81 }
hisyamfs 49:d23d76689933 82 relay = 1;
hisyamfs 49:d23d76689933 83 wait_ms(100);
hisyamfs 49:d23d76689933 84 while (sound.read() == 1){
hisyamfs 49:d23d76689933 85 wait_ms(100);
hisyamfs 49:d23d76689933 86 };
hisyamfs 49:d23d76689933 87 pc.printf("Sound detected\n");
hisyamfs 45:96815f504b17 88 while (1) {
hisyamfs 49:d23d76689933 89 led_sound = 1;
hisyamfs 42:3b682b7d0388 90 // IR
hisyamfs 48:c8c9c624d46d 91 for (uint8_t i=0; i < 4; i++) {
hisyamfs 48:c8c9c624d46d 92 ads_raw[i] = ads.readADC_SingleEnded(i);
hisyamfs 48:c8c9c624d46d 93 wait_ms(10);
hisyamfs 48:c8c9c624d46d 94 };
hisyamfs 27:4d79aba70fe8 95 uint16_t raw_a1 = ira1.read_u16();
hisyamfs 27:4d79aba70fe8 96 uint16_t raw_a2 = ira2.read_u16();
hisyamfs 27:4d79aba70fe8 97 uint16_t raw_a3 = ira3.read_u16();
hisyamfs 27:4d79aba70fe8 98 uint16_t raw_a4 = ira4.read_u16();
hisyamfs 27:4d79aba70fe8 99 uint16_t raw_a5 = ira5.read_u16();
hisyamfs 27:4d79aba70fe8 100 uint16_t raw_a6 = ira6.read_u16();
hisyamfs 27:4d79aba70fe8 101 uint16_t raw_a7 = ira7.read_u16();
hisyamfs 27:4d79aba70fe8 102 uint16_t raw_a8 = ira8.read_u16();
hisyamfs 45:96815f504b17 103
hisyamfs 27:4d79aba70fe8 104 uint16_t raw_b1 = irb1.read_u16();
hisyamfs 27:4d79aba70fe8 105 uint16_t raw_b2 = irb2.read_u16();
hisyamfs 27:4d79aba70fe8 106 uint16_t raw_b3 = irb3.read_u16();
hisyamfs 27:4d79aba70fe8 107 uint16_t raw_b4 = irb4.read_u16();
hisyamfs 45:96815f504b17 108
hisyamfs 27:4d79aba70fe8 109 float dist_a1 = call_depan(raw_a1);
hisyamfs 27:4d79aba70fe8 110 float dist_a2 = call_depan(raw_a2);
hisyamfs 27:4d79aba70fe8 111 float dist_a3 = call_depan(raw_a3);
hisyamfs 27:4d79aba70fe8 112 float dist_a4 = call_depan(raw_a4);
hisyamfs 27:4d79aba70fe8 113 float dist_a5 = call_depan(raw_a5);
hisyamfs 27:4d79aba70fe8 114 float dist_a6 = call_depan(raw_a6);
hisyamfs 27:4d79aba70fe8 115 float dist_a7 = call_depan(raw_a7);
hisyamfs 27:4d79aba70fe8 116 float dist_a8 = call_depan(raw_a8);
hisyamfs 48:c8c9c624d46d 117 float dist_a9 = call_ads(ads_raw[1]);
hisyamfs 48:c8c9c624d46d 118 float dist_a10 = call_ads(ads_raw[3]);
hisyamfs 48:c8c9c624d46d 119 float dist_a11 = call_ads(ads_raw[2]);
hisyamfs 48:c8c9c624d46d 120 float dist_a12 = call_ads(ads_raw[0]);
hisyamfs 27:4d79aba70fe8 121 float dist_b1 = call_depan(raw_b1);
hisyamfs 27:4d79aba70fe8 122 float dist_b2 = call_depan(raw_b2);
hisyamfs 27:4d79aba70fe8 123 float dist_b3 = call_depan(raw_b3);
hisyamfs 27:4d79aba70fe8 124 float dist_b4 = call_depan(raw_b4);
hisyamfs 45:96815f504b17 125
hisyamfs 27:4d79aba70fe8 126 pc.printf("ir atas\n");
hisyamfs 48:c8c9c624d46d 127 pc.printf("%.2f %.2f %.2f %.2f\n", dist_a9, dist_a10, dist_a11, dist_a12);
hisyamfs 44:49ef8addf233 128 pc.printf("%.2f %.2f\n", dist_a3, dist_a1);
hisyamfs 44:49ef8addf233 129 pc.printf("%.2f %.2f\n", dist_a4, dist_a6);
hisyamfs 44:49ef8addf233 130 pc.printf("%.2f %.2f %.2f %.2f\n", dist_a2, dist_a8, dist_a7, dist_a5);
hisyamfs 45:96815f504b17 131
hisyamfs 27:4d79aba70fe8 132 pc.printf("ir bawah\n");
hisyamfs 28:528c2fbd6a54 133 pc.printf(" %.2f\n", dist_b1);
hisyamfs 28:528c2fbd6a54 134 pc.printf("%.2f %.2f\n", dist_b2, dist_b3);
hisyamfs 28:528c2fbd6a54 135 pc.printf(" %.2f\n", dist_b4);
hisyamfs 49:d23d76689933 136
hisyamfs 49:d23d76689933 137 // baca amg
hisyamfs 49:d23d76689933 138 float therm_temp = amg.readThermistor();
hisyamfs 49:d23d76689933 139 amg.readPixels(pixels);
hisyamfs 49:d23d76689933 140 pc.printf("%.2f\n", therm_temp);
hisyamfs 49:d23d76689933 141 float max_temp = pixels[0];
hisyamfs 49:d23d76689933 142 int max_i = 0;
hisyamfs 49:d23d76689933 143 float sum_temp = 0;
hisyamfs 49:d23d76689933 144 for (int i = 1; i <= AMG88xx_PIXEL_ARRAY_SIZE; i++) {
hisyamfs 49:d23d76689933 145 // pc.printf("%.2f ", pixels[i-1]);
hisyamfs 49:d23d76689933 146 // if (i % 8 == 0) pc.printf("\n");
hisyamfs 49:d23d76689933 147 if (pixels[i-1] > max_temp) {
hisyamfs 49:d23d76689933 148 max_temp = pixels[i-1];
hisyamfs 49:d23d76689933 149 max_i = i;
hisyamfs 49:d23d76689933 150 }
hisyamfs 49:d23d76689933 151 sum_temp += pixels[i-1];
hisyamfs 49:d23d76689933 152 }
hisyamfs 49:d23d76689933 153
hisyamfs 49:d23d76689933 154 // uvtron
hisyamfs 49:d23d76689933 155 uv.Read();
hisyamfs 49:d23d76689933 156 int read = uv.Flag;
hisyamfs 49:d23d76689933 157 if (read) pc.printf("FIRE DETECTED\n");
hisyamfs 49:d23d76689933 158 else pc.printf("NOT DETECTED\n");
hisyamfs 49:d23d76689933 159
hisyamfs 49:d23d76689933 160 pc.printf("temp max= %.2f at %d\n", max_temp, max_i);
hisyamfs 49:d23d76689933 161 pc.printf("temp rata2 = %.2f\n", sum_temp/AMG88xx_PIXEL_ARRAY_SIZE);
hisyamfs 49:d23d76689933 162
hisyamfs 49:d23d76689933 163 // baca kompas
hisyamfs 49:d23d76689933 164 char data[2] = {0x1, 0xFF};
hisyamfs 49:d23d76689933 165 int nack;
hisyamfs 49:d23d76689933 166 nack = cmps12.write(I2C_ADDR, data, 1);
hisyamfs 49:d23d76689933 167 nack = cmps12.read(I2C_ADDR, data+1, 1);
hisyamfs 49:d23d76689933 168 pc.printf("Bearing kompas = %.2f\n", (float) data[1]/255*360);
hisyamfs 49:d23d76689933 169
hisyamfs 49:d23d76689933 170 // stepper
hisyamfs 49:d23d76689933 171 pc.printf("Stepper \n");
hisyamfs 49:d23d76689933 172 for (int i = 0; i < 50; i++) {
hisyamfs 49:d23d76689933 173 s.step(1, 1, 1/WAIT_TIME); // CCW
hisyamfs 49:d23d76689933 174 }
hisyamfs 49:d23d76689933 175
hisyamfs 49:d23d76689933 176 for (int i = 0; i < 50; i++) {
hisyamfs 49:d23d76689933 177 s.step(1, 0, 1/WAIT_TIME); // CW
hisyamfs 49:d23d76689933 178 }
hisyamfs 49:d23d76689933 179
hisyamfs 49:d23d76689933 180 // pompa
hisyamfs 49:d23d76689933 181 relay = 0; // active low
hisyamfs 49:d23d76689933 182 pc.printf("Pompa on!\n");
hisyamfs 49:d23d76689933 183 wait(1);
hisyamfs 49:d23d76689933 184 relay = 1;
hisyamfs 49:d23d76689933 185 pc.printf("Pompa off\n");
hisyamfs 49:d23d76689933 186 wait(1);
hisyamfs 49:d23d76689933 187
hisyamfs 45:96815f504b17 188 wait_ms(200);
hisyamfs 49:d23d76689933 189
hisyamfs 37:f0b535131cbf 190 pc.printf("\033[2J\033[H");
hisyamfs 14:207770fefedf 191 }
hisyamfs 15:da7a15289893 192 }