Revision 31:95396425b44b, committed 2019-01-24

Comitter:

hisyamfs

Date:

Thu Jan 24 14:52:52 2019 +0000

Parent:

30:5efd59a0226f

Child:

35:c2af31894a91

Commit message:

bisa, tanpa servo

Changed in this revision

--- a/main.cpp	Thu Jan 24 11:27:26 2019 +0000
+++ b/main.cpp	Thu Jan 24 14:52:52 2019 +0000
@@ -64,6 +64,7 @@
 int main()
 {
     //tpax.changeaddress(0xDC,0xDE);
+    relay = 1;
     while(sound.read()){}
     pc.printf("Sound Detected\n");
     while(1) {
@@ -89,12 +90,13 @@
         if (read) pc.printf("FIRE DETECTED\n");
         else pc.printf("NOT DETECTED\n");
         wait(0.5); // 200 ms
-
+        relay = 0;
+        pc.printf("RELAY ON\n"); 
+        wait(1);
         relay = 1;
-        pc.printf("RELAY ON\n");
-        wait(0.5);
-        relay = 0;
-        pc.printf("RELAY OFF\n");    
+        pc.printf("RELAY OFF\n");
+        
+           
         
         pc.printf("Line = %.2f\n", 3300*line.read());    
         
@@ -102,44 +104,45 @@
         {
             s.step(1, 1, 1/WAIT_TIME);
         }
-        //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);
-//        wait(1);
+        
+        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);
+        wait(1);
     }
 }