tes ir atas semua
Dependencies: mbed ADS1115 StepperMotor SRF05 TPA81new
Diff: main.cpp
- Revision:
- 5:dae415fb4bad
- Parent:
- 4:9932af380e56
- Child:
- 6:69c59bcab6ea
--- a/main.cpp Fri Feb 02 15:46:42 2018 +0000 +++ b/main.cpp Fri Feb 09 15:21:40 2018 +0000 @@ -24,17 +24,17 @@ // Defines #define IR_CONST 1.229 -// Settings -Dynamixel* servos[3*6]; // Servo comm : tx, rx, txEn, id, baud -TextLCD lcd(PB_2, PB_1, PB_15, PB_14, PB_13, PC_4); // LCD : rs, e, d4-d7 -AnalogIn ir(PA_5); // Sharp IR : analog +// Settings // Servo comm : tx, rx, txEn, id, baud +TextLCD lcd(PA_5, PA_11, PA_6, PB_12, PA_7, PB_6); // LCD : rs, e, d4-d7 +AnalogIn ir(PC_5); // Sharp IR : analog DigitalOut m2(PA_15); // extinguisher : 12V out M2 DigitalOut m1(PB_7); // extinguisher : 12V out M1, possibly broken DigitalOut led1(PC_13); // GPIO high is 3V3 DigitalOut led2(PC_14); -DigitalIn sound(PA_6); // Sound act : digital +DigitalIn sound(PA_12); // Sound act : digital, active low +DigitalIn uv(PB_8); // UVTron : digital, pin 2 = active low +Serial pc(USBTX, USBRX); // tx, rx -Uvtron uv(PA_11); // UVTron : interrupt /* About interrupt Where are the interrupt pins on NUCLEO-F411RE? @@ -46,29 +46,28 @@ int main() { + // Servos + for (int i = 1; i <= 18; i++) { + Dynamixel servo(PC_6, PC_7, PC_4, i, 1000000); + servo.setSpeed(100); + servo.move(512); // Midddle, thus 90 deg position + } + float meas = 0; int snd = 0; - - // Servos - for (int i = 1; i <= 20; i++) { - servos[i] = new Dynamixel(PC_6, PC_7, PC_4, i, 1000000); - } + int uvo = 0; while (1) { // LCD - lcd.printf("%.0f cm\n", meas); - lcd.printf("sound %d | uv %d", snd, uv.Flag); - - // Servos - for (int i = 1; i <= 20; i++) { - servos[i]->setSpeed(100); - servos[i]->move(512); // Midddle, thus 90 deg position - } + lcd.printf("%.2fcm\n", meas); + pc.printf("%.2fcm ", meas); + + lcd.printf("s%d u%d\n", snd, uvo); + pc.printf("s%d u%d\n", snd, uvo); // IR meas = ir.read(); // Converts and read the analog input value (value from 0.0 to 1.0) - meas = 5000000 / powf(meas, IR_CONST)+1; - lcd.printf("%.0f cm\n", meas); + meas = ((1-meas)*26+4); // Extinguisher or 12V output m2 = 1; @@ -80,5 +79,8 @@ // Sound Activator snd = sound.read(); + + // UV + uvo = uv.read(); } } \ No newline at end of file