File content as of revision 0:838a1c343613:

#include "mbed.h"
#include "Servo.h"


//#include "BusIn.h"
//#include "DigitalIn.h"


//--------------------------------------------windsensor  begin

Timer t;
void Goedzo_staan_groen();
void Rechtsdraaien();
void Linksdraaien();
void Goedzo_BO_groen();
void Boven_draaien();
void Onder_draaien();
void veiligheidsmodus();
void counter();

Serial pc(USBTX, USBRX);

volatile int IRQcount;
// DigitalIn inputpin(p5);//was p2
int pin_irq = 0; //IRQ that matches to pin 2

InterruptIn Windinterrupt(p5);


DigitalIn PMS_PIN(p6);
bool count = false;
int t1 = 0, t2 = 0;
int hits = 0;
int rpp = 0;
int rps = 0;
int pwm = 13;

const int numReadings = 10;
int readings[numReadings];      // the readings from the analog input
int index1 = 0;                  // the index of the current reading
int total = 0;                  // the running total
int average = 0;                // the average


int gemrij1=0;

int Aantalmetingen1 = 20;
//int reeks1[Aantalmetingen1]={0};
const int maxwindpulsen = 20; //Te groot voor te testen
const int MinimaalLicht = 20;
//------------------------------------------- Windsensor  einde
Servo myservo(p21);
int pos = 0;
int wachttijd = 1000;
int buttonState = 0;         // variable for reading the pushbutton status

DigitalOut linksdraaien (p14);
DigitalOut  goedzo (p13);
DigitalOut  rechtsdraaien (p12);

DigitalOut  bovendraaien  (p11);
DigitalOut goedzoBO (p10);
DigitalOut  onderdraaien (p9);


AnalogIn Pin (p17);   // Analog input pin that the potentiometer is attached to
AnalogIn Pin1 (p18);  // Analog input pin that the potentiometer is attached to
AnalogIn Pin2 (p19);  // Analog input pin that the potentiometer is attached to
AnalogIn Pin3 (p20);  // Analog input pin that the potentiometer is attached to
//const int analogOutPin4 = 9; // Analog output pin that the LED is attached to





const int aantalmetingen = 2;

int rij1[aantalmetingen]= {0};
int rij2[aantalmetingen]= {0};
int rij3[aantalmetingen]= {0};
int rij4[aantalmetingen]= {0};




unsigned long PrevTime=0;
int sensorValue = 0;        // value read from the pot
int sensorValue1 = 0;        // value read from the pot
int sensorValue2= 0;        // value read from the pot
int sensorValue3 = 0;        // value read from the pot
int outputValue = 0;        // value output to the PWM (analog out)




int ugemiddeld(int*);

int ugemiddeld(int *rijgem)
{
    int som=0;
    for (int i=0; i<aantalmetingen; i++) {
        som=som+rijgem[i];
    }
    int gemiddeld=(som/aantalmetingen);
    return (int)gemiddeld;
}






//-------------------------------------------------------------------------- Windsensor  begin

// put your setup code here, to run once:

// attachInterrupt(pin_irq, IRQcounter, RISING);



// put your setup code here, to run once:
//-------------------------------------------------------------------------- Windsensor  einde



// initialize the pushbutton pin as an input:

//-------------------------------------------------------------------------- Windsensor  begin
void IRQcounter()
{
    IRQcount++;
}
long int frq;
//-------------------------------------------------------------------------- Windsensor  einde

int main()
{
    t.start();
    while (1) {
        Windinterrupt.rise(&counter);

        for (int thisReading = 0; thisReading < numReadings; thisReading++)
            readings[thisReading] = 0;

        //-------------------------------------------------------------------------- Windsensor  begin
        t2 = t.read();
        if (t2 >= (t1 + 1000)) {
            rpp = hits/1;// delen door 6 voor aantal rondjes
            rps = hits/6;// delen door 6 voor aantal rondjes
            hits = 0;


        }

        // subtract the last reading:
        total= total - readings[index1];
        // read from the sensor:
        readings[index1] = rpp;
        // add the reading to the total:
        total= total + readings[index1];
        // advance to the next position in the array:
        index1 = index1 + 1;

        // if we're at the end of the array...
        if (index1 >= numReadings)
            // ...wrap around to the beginning:
            index1 = 0;

        // calculate the average:
        average = total / numReadings;
        // send it to the computer as ASCII digits

        // wait_ms(1);        //        wait_ms in between reads for stability

        pc.printf("pulsen per seconde: %d\t\t",rpp);
        pc.printf("RPM: %d\t\t",rps*60 );
        pc.printf("GEM: %d\n",average);

        wait_ms(1000);


        // attachInterrupt(0, counter, RISING);
//-------------------------------------------------------------------------- Windsensor  einde

        // read the state of the pushbutton value:

        // read the analog in value:
        PrevTime = t.read();
        //while (PrevPrevPrevPrevTime==wachttijd)//variabele van maken!!!

        for (int huidigemeting=0; huidigemeting <= aantalmetingen; huidigemeting++) {
            wait_ms(10);
            rij1[huidigemeting] = Pin.read();
            rij2[huidigemeting] = Pin1.read();
            rij3[huidigemeting] = Pin2.read();
            rij4[huidigemeting] = Pin3.read();

        }


        sensorValue = Pin.read();
        sensorValue1 = Pin1.read();
        sensorValue2 = Pin2.read();
        sensorValue3 = Pin3.read();
        // map it to the range of the analog out:

        int gemrij1=ugemiddeld(rij1);
        int gemrij2=ugemiddeld(rij2);

        int gemrij3=ugemiddeld(rij3);
        int gemrij4=ugemiddeld(rij4);

        int gemrij1en3=(gemrij1 + gemrij3)/2;
        int gemrij2en4=(gemrij2 + gemrij4)/2;
        int gemrij1en2=(gemrij1 + gemrij2)/2;
        int gemrij3en4=(gemrij3 + gemrij4)/2;

//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ Te weinig Ligt
        int TeWeinigLicht = (gemrij1 + gemrij2 + gemrij3 + gemrij4)/4;

        pc.printf("------------------------------------" );
        pc.printf("sensorGem = %d, %d, %d, %d \n  " ,gemrij1, gemrij2, gemrij3, gemrij4 );


// check if the pushbutton is not pressed.
        // if it is, the buttonState is LOW
        if ( average <= maxwindpulsen &&  TeWeinigLicht >= MinimaalLicht)

        {
            if(gemrij2en4 > gemrij1en3-10&&gemrij2en4 < gemrij1en3+10) {
                Goedzo_staan_groen();
                wait_ms(10);


            }

            if(gemrij2en4 > gemrij1en3+10) {
                Rechtsdraaien();

            } else {
                if(gemrij1en3 > gemrij2en4+10) {
                    Linksdraaien();

                }
            }

            if(gemrij1en2 > gemrij3en4-10&&gemrij1en2 < gemrij3en4+10) {
                Goedzo_BO_groen();

            }

            if(gemrij1en2 > gemrij3en4+10) {
                Boven_draaien();

            } else {
                if(gemrij3en4 > gemrij1en2+10) {
                    Onder_draaien();
                }
            }
        }

        else {

            veiligheidsmodus();
        }

    }
}

void Goedzo_staan_groen()
{

    int gemrij1=ugemiddeld(rij1);
    int gemrij2=ugemiddeld(rij2);
    int gemrij3=ugemiddeld(rij3);
    int gemrij4=ugemiddeld(rij4);
    int gemrij1en3=(gemrij1 + gemrij3)/2;
    int gemrij2en4=(gemrij2 + gemrij4)/2;


    pc.printf("Is goed zo! Verschil links rechts = %d ,     Pos = %d \n", gemrij2en4-gemrij1en3, pos);

//   wait_ms(10)(1000);
    rechtsdraaien = 0;    // turn the LED off by making the voltage LOW
    goedzo = 1;    // turn the LED off by making the voltage LOW
    linksdraaien = 0;    // turn the LED off by making the voltage LOW
}

void Linksdraaien()
{
    int gemrij1=ugemiddeld(rij1);
    int gemrij2=ugemiddeld(rij2);
    int gemrij3=ugemiddeld(rij3);
    int gemrij4=ugemiddeld(rij4);
    int gemrij1en3 = (gemrij1+gemrij3)/2;
    int gemrij2en4 = (gemrij2+gemrij4)/2;

    if(gemrij1en3 > gemrij2en4+10) {
        pos+=2;
        myservo.write(pos);

        pc.printf("Sensor1en3 = %d < Sensor2en4 = %d \n ",gemrij1en3, gemrij2en4);
        //     wait_ms(10)(1000);
        rechtsdraaien = 0;    // turn the LED off by making the voltage LOW
        goedzo = 0;    // turn the LED off by making the voltage LOW
        linksdraaien = 1;    // turn the LED off by making the voltage LOW
    }
}

void Rechtsdraaien()
{

    int gemrij1=ugemiddeld(rij1);
    int gemrij2=ugemiddeld(rij2);
    int gemrij3=ugemiddeld(rij3);
    int gemrij4=ugemiddeld(rij4);
    int gemrij1en3 = (gemrij1+gemrij3)/2;
    int gemrij2en4 = (gemrij2+gemrij4)/2;
    pos-=2;
    myservo.write(pos);
    pc.printf("Sensor1en3 = %d  > Sensor2en4 = %d \n ",gemrij1en3,gemrij2en4);

    // wait_ms(1000);
    rechtsdraaien = 1;    // turn the LED off by making the voltage LOW
    goedzo = 0;    // turn the LED off by making the voltage LOW
    linksdraaien = 0;    // turn the LED off by making the voltage LOW
}
void Goedzo_BO_groen()
{

    int gemrij1=ugemiddeld(rij1);
    int gemrij2=ugemiddeld(rij2);
    int gemrij3=ugemiddeld(rij3);
    int gemrij4=ugemiddeld(rij4);
    int gemrij1en2=(gemrij1 + gemrij2)/2;
    int gemrij3en4=(gemrij3 + gemrij4)/2;


    pc.printf("Is goed zo! Verschil boven onder = %d ,     Pos = %d",gemrij1en2-gemrij3en4,pos );

    wait_ms(1000);
    onderdraaien =  0;    // turn the LED off by making the voltage LOW
    goedzoBO = 1;    // turn the LED off by making the voltage LOW
    bovendraaien = 0;    // turn the LED off by making the voltage LOW
}

void Onder_draaien()
{
    int gemrij1=ugemiddeld(rij1);
    int gemrij2=ugemiddeld(rij2);
    int gemrij3=ugemiddeld(rij3);
    int gemrij4=ugemiddeld(rij4);
    int gemrij1en2=(gemrij1 + gemrij2)/2;
    int gemrij3en4=(gemrij3 + gemrij4)/2;

    if(gemrij3en4 > gemrij1en2+10) {
        //pos+=2;
        //myservo.write(pos);

        pc.printf("Sensor3en4 = %d < Sensor1en2 =  %d ", gemrij3en4, gemrij1en2);

        //   wait_ms(1000);
        onderdraaien =  0;    // turn the LED off by making the voltage LOW
        goedzoBO = 0;    // turn the LED off by making the voltage LOW
        bovendraaien = 1;    // turn the LED off by making the voltage LOW
    }
}

void Boven_draaien()
{

    int gemrij1=ugemiddeld(rij1);
    int gemrij2=ugemiddeld(rij2);
    int gemrij3=ugemiddeld(rij3);
    int gemrij4=ugemiddeld(rij4);
    int gemrij1en2=(gemrij1 + gemrij2)/2;
    int gemrij3en4=(gemrij3 + gemrij4)/2;
    //pos-=2;
    //myservo.write(pos);
    pc.printf("Sensor3en4 = %d > Sensor1en2 =  %d", gemrij3en4, gemrij1en2);

    // wait_ms(1000);
    onderdraaien =  0;    // turn the LED off by making the voltage LOW
    goedzoBO = 0;    // turn the LED off by making the voltage LOW
    bovendraaien = 1;    // turn the LED off by making the voltage LOW
}
void veiligheidsmodus()
{
    while (pos <= 180) {
        // goes from 180 degrees to 0 degrees
        myservo.write(pos);              // tell servo to go to position in variable 'pos'
        wait_ms(15);
        pos += 1;
        // GROOT      wait_ms VOOR WACHTEN TOT WEER OMHOOG GAAN OFTEWEL VOLGENDE METING
    }
}
//-------------------------------------------------------------------------- Windsensor  begin
void counter(void)
{
    if (PMS_PIN.read() == 1) {
        if (!count) {
            count = true;
            hits++;
        }
        count = false;
    } else {
        count = false;
    }
}
//-------------------------------------------------------------------------- Windsensor  einde