main.cpp

00001 #include "mbed.h"
00002 #include "TPA81new.h"
00003 #include "SRF05.h"
00004 #include "Uvtron.h"
00005 #include "Stepper.h"
00006 #include "AMG8833.h"
00007 #include "Adafruit_ADS1015.h"
00008 
00009 // Konstanta
00010 #define WAIT_TIME 0.02
00011 // infrared
00012 #define a_depan 5000000
00013 #define b_depan 1.229
00014 #define a_ads 500000
00015 #define b_ads 1.184
00016 #define I2C_ADDR 0xC0
00017 
00018 Serial pc(USBTX,USBRX, 115200);
00019 
00020 // AMG
00021 Adafruit_AMG88xx amg(PB_3, PB_10); // sda, scl
00022 float pixels[AMG88xx_PIXEL_ARRAY_SIZE];
00023 
00024 DigitalOut relay(PB_2);
00025 Uvtron uv(PC_12);
00026 DigitalIn sound(PA_9);
00027 AnalogIn line(PC_1);
00028 
00029 // Infrared
00030 // atas
00031 AnalogIn ira1(PC_5);
00032 AnalogIn ira2(PA_5);
00033 AnalogIn ira3(PC_2);
00034 AnalogIn ira4(PC_3);
00035 AnalogIn ira5(PC_4);
00036 AnalogIn ira6(PB_1);
00037 AnalogIn ira7(PA_7);
00038 AnalogIn ira8(PA_6);
00039 // bawah
00040 AnalogIn irb1(PA_0);
00041 AnalogIn irb2(PA_1);
00042 AnalogIn irb3(PA_4);
00043 AnalogIn irb4(PB_0);
00044 // ADC
00045 I2C ads_i2c(PB_9, PB_8); // sda, scl
00046 Adafruit_ADS1015 ads(&ads_i2c);
00047 
00048 // kompas
00049 I2C cmps12(PB_4, PA_8); //sda, scl
00050 
00051 // stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir);
00052 stepper s(PC_8, PC_6, PA_12, PA_11, PB_12, PC_7);
00053 
00054 // sound
00055 //DigitalIn sound(PA_9);
00056 
00057 DigitalOut led_api(PB_6);
00058 DigitalOut led_sound(PH_1);
00059 
00060 float call_depan(uint16_t x)
00061 {
00062     float side_distance = a_depan/pow(x,b_depan)+1;
00063     return side_distance;
00064 }
00065 
00066 float call_ads(uint16_t ir) {
00067     float voltage = ir * 6.2676 * 10e-5; // ubah ke mV
00068     uint16_t x = (voltage/3.3f) * 0xFFFF; // ubah ke uint16_t sesuai max nucleo
00069     float dist = a_ads/pow(x, b_ads)+1;    
00070     return dist;
00071 }
00072 
00073 int main()
00074 {
00075     uint16_t ads_raw[4] = {};
00076     int status = amg.begin(AMG88xx_ADDRESS);
00077     amg.setMovingAverageMode(1);
00078     if (!status) {
00079         pc.printf("Could not find a valid AMG88xx sensor, check wiring! \n");
00080         while (1);
00081     }
00082     relay = 1;
00083     wait_ms(100);
00084     while (sound.read() == 1){
00085         wait_ms(100);    
00086     };
00087     pc.printf("Sound detected\n");
00088     while (1) {
00089         led_sound = 1;
00090         // IR
00091         for (uint8_t i=0; i < 4; i++) {
00092             ads_raw[i] = ads.readADC_SingleEnded(i);
00093             wait_ms(10);
00094         }; 
00095         uint16_t raw_a1 = ira1.read_u16();
00096         uint16_t raw_a2 = ira2.read_u16();
00097         uint16_t raw_a3 = ira3.read_u16();
00098         uint16_t raw_a4 = ira4.read_u16();
00099         uint16_t raw_a5 = ira5.read_u16();
00100         uint16_t raw_a6 = ira6.read_u16();
00101         uint16_t raw_a7 = ira7.read_u16();
00102         uint16_t raw_a8 = ira8.read_u16();
00103 
00104         uint16_t raw_b1 = irb1.read_u16();
00105         uint16_t raw_b2 = irb2.read_u16();
00106         uint16_t raw_b3 = irb3.read_u16();
00107         uint16_t raw_b4 = irb4.read_u16();
00108 
00109         float dist_a1 = call_depan(raw_a1);
00110         float dist_a2 = call_depan(raw_a2);
00111         float dist_a3 = call_depan(raw_a3);
00112         float dist_a4 = call_depan(raw_a4);
00113         float dist_a5 = call_depan(raw_a5);
00114         float dist_a6 = call_depan(raw_a6);
00115         float dist_a7 = call_depan(raw_a7);
00116         float dist_a8 = call_depan(raw_a8);
00117         float dist_a9 = call_ads(ads_raw[1]);
00118         float dist_a10 = call_ads(ads_raw[3]);
00119         float dist_a11 = call_ads(ads_raw[2]);
00120         float dist_a12 = call_ads(ads_raw[0]);
00121         float dist_b1 = call_depan(raw_b1);
00122         float dist_b2 = call_depan(raw_b2);
00123         float dist_b3 = call_depan(raw_b3);
00124         float dist_b4 = call_depan(raw_b4);
00125 
00126         pc.printf("ir atas\n");
00127         pc.printf("%.2f   %.2f %.2f   %.2f\n", dist_a9, dist_a10, dist_a11, dist_a12);
00128         pc.printf("%.2f               %.2f\n", dist_a3, dist_a1);
00129         pc.printf("%.2f               %.2f\n", dist_a4, dist_a6);
00130         pc.printf("%.2f   %.2f %.2f   %.2f\n", dist_a2, dist_a8, dist_a7, dist_a5);
00131 
00132         pc.printf("ir bawah\n");
00133         pc.printf("      %.2f\n", dist_b1);
00134         pc.printf("%.2f            %.2f\n", dist_b2, dist_b3);
00135         pc.printf("      %.2f\n", dist_b4);
00136         
00137         // baca amg
00138         float therm_temp = amg.readThermistor();
00139         amg.readPixels(pixels);
00140         pc.printf("%.2f\n", therm_temp);
00141         float max_temp = pixels[0];
00142         int max_i = 0;
00143         float sum_temp = 0;
00144         for (int i = 1; i <= AMG88xx_PIXEL_ARRAY_SIZE; i++) {
00145 //            pc.printf("%.2f ", pixels[i-1]);   
00146 //            if (i % 8 == 0) pc.printf("\n");
00147             if (pixels[i-1] > max_temp) {
00148                 max_temp = pixels[i-1];
00149                 max_i = i;
00150             }
00151             sum_temp += pixels[i-1];
00152         }
00153         
00154         // uvtron
00155         uv.Read();
00156         int read = uv.Flag;
00157         if (read) pc.printf("FIRE DETECTED\n");
00158         else pc.printf("NOT DETECTED\n");
00159         
00160         pc.printf("temp max= %.2f at %d\n", max_temp, max_i);
00161         pc.printf("temp rata2 = %.2f\n", sum_temp/AMG88xx_PIXEL_ARRAY_SIZE);
00162         
00163         // baca kompas
00164         char data[2] = {0x1, 0xFF};
00165         int nack;
00166         nack = cmps12.write(I2C_ADDR, data, 1);   
00167         nack = cmps12.read(I2C_ADDR, data+1, 1);
00168         pc.printf("Bearing kompas = %.2f\n", (float) data[1]/255*360);
00169         
00170         // stepper
00171         pc.printf("Stepper \n");
00172         for (int i = 0; i < 50; i++) {
00173             s.step(1, 1, 1/WAIT_TIME); // CCW
00174         }
00175         
00176         for (int i = 0; i < 50; i++) {
00177             s.step(1, 0, 1/WAIT_TIME); // CW
00178         }
00179         
00180         // pompa 
00181         relay = 0; // active low
00182         pc.printf("Pompa on!\n");
00183         wait(1);
00184         relay = 1;
00185         pc.printf("Pompa off\n");
00186         wait(1);
00187         
00188         wait_ms(200);
00189         
00190         pc.printf("\033[2J\033[H");
00191     }
00192 }