tes ir atas semua
Dependencies: mbed ADS1115 StepperMotor SRF05 TPA81new
Diff: main.cpp
- Revision:
- 27:4d79aba70fe8
- Parent:
- 26:9c7f39e21df4
- Child:
- 28:528c2fbd6a54
diff -r 9c7f39e21df4 -r 4d79aba70fe8 main.cpp --- 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); } }