Diff: main.cpp

Revision:

27:4d79aba70fe8

Parent:

26:9c7f39e21df4

Child:

28:528c2fbd6a54

--- a/main.cpp	Wed Jan 23 12:18:52 2019 +0000
+++ b/main.cpp	Wed Jan 23 14:44:45 2019 +0000
@@ -32,6 +32,29 @@
 // Line
 AnalogIn line(PC_1);
 
+// infrared
+#define a_depan 5000000
+#define b_depan 1.229
+// atas
+AnalogIn ira1(PC_5);
+AnalogIn ira2(PA_5);
+AnalogIn ira3(PC_2);
+AnalogIn ira4(PC_3);
+AnalogIn ira5(PB_1);
+AnalogIn ira6(PC_4);
+AnalogIn ira7(PA_6);
+AnalogIn ira8(PA_7);
+// bawah
+AnalogIn irb1(PA_0);
+AnalogIn irb2(PA_1);
+AnalogIn irb3(PA_4);
+AnalogIn irb4(PB_0);
+
+float call_depan(uint16_t x){
+    float side_distance = a_depan/pow(x,b_depan)+1;
+    return side_distance;
+}
+
 int main()
 {
     //tpax.changeaddress(0xDC,0xDE);
@@ -68,5 +91,44 @@
         pc.printf("RELAY OFF\n");    
         
         pc.printf("Line = %.2f\n", 3300*line.read());    
+        
+        uint16_t raw_a1 = ira1.read_u16();
+        uint16_t raw_a2 = ira2.read_u16();
+        uint16_t raw_a3 = ira3.read_u16();
+        uint16_t raw_a4 = ira4.read_u16();
+        uint16_t raw_a5 = ira5.read_u16();
+        uint16_t raw_a6 = ira6.read_u16();
+        uint16_t raw_a7 = ira7.read_u16();
+        uint16_t raw_a8 = ira8.read_u16();
+        
+        uint16_t raw_b1 = irb1.read_u16();
+        uint16_t raw_b2 = irb2.read_u16();
+        uint16_t raw_b3 = irb3.read_u16();
+        uint16_t raw_b4 = irb4.read_u16();
+        
+        float dist_a1 = call_depan(raw_a1);
+        float dist_a2 = call_depan(raw_a2);
+        float dist_a3 = call_depan(raw_a3);
+        float dist_a4 = call_depan(raw_a4);
+        float dist_a5 = call_depan(raw_a5);
+        float dist_a6 = call_depan(raw_a6);
+        float dist_a7 = call_depan(raw_a7);
+        float dist_a8 = call_depan(raw_a8);
+        
+        float dist_b1 = call_depan(raw_b1);
+        float dist_b2 = call_depan(raw_b2);
+        float dist_b3 = call_depan(raw_b3);
+        float dist_b4 = call_depan(raw_b4);
+        
+        pc.printf("ir atas\n");
+        pc.printf("%.2f %.2f\n", dist_a2, dist_a1);
+        pc.printf("%.2f %.2f\n", dist_a3, dist_a7);
+        pc.printf("%.2f %.2f\n", dist_a4, dist_a8);
+        pc.printf("%.2f %.2f\n", dist_a6, dist_a5);
+        
+        pc.printf("ir bawah\n");
+        pc.printf("%.2f\n", dist_b1);
+        pc.printf("%.2f %.2f\n", dist_b2, dist_b3);
+        pc.printf("%.2f\n", dist_b4);
     }
 }