Mathias Lyngklip
/
RoboticHackathonFINAL
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Dependencies: Autopilot dillerdasker Rfid mbed
Fork of
RoboticHackathon2
by 
Mathias Lyngklip
Revision 0:47165eb4e54d, committed 2014-04-05
- Comitter:
- iLyngklip
- Date:
- Sat Apr 05 07:59:04 2014 +0000
- Child:
- 1:e854d5c12659
- Commit message:
- hej
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HCSR04.lib Sat Apr 05 07:59:04 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/iLyngklip/code/dillerdasker/#506625fdcd0e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SG90.lib Sat Apr 05 07:59:04 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/iLyngklip/code/SG90/#a62b163b1dbb
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/hack_motor.lib Sat Apr 05 07:59:04 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/iLyngklip/code/hack_motor/#66a1feb3ba85
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Apr 05 07:59:04 2014 +0000
@@ -0,0 +1,72 @@
+#include "mbed.h"
+#include "HCSR04.h"
+#include "SG90.h"
+#include "PwmOut.h"
+
+
+Serial pc(USBTX, USBRX);
+servo myservo;
+
+ int i = 0;
+int G0 = 0;
+int G15 = 0;
+int G30 = 0;
+int G45 = 0;
+int G60 = 0;
+int G75 = 0;
+int G90 = 0;
+int G105 = 0;
+int G120 = 0;
+int G135 = 0;
+int G150 = 0;
+int G165 = 0;
+int G180 = 0;
+
+float m = 0.5;
+
+PwmOut left(PTE23 );
+PwmOut right(PTE22 );
+int delay = 200; // Delay mellem målingerne
+double B = 0; // Vinklen B Tegning 1
+int A = 179; // Vinkel mellem de to målinger
+
+
+
+int main(){
+ pc.baud(9600);
+ HCSR04 sensor(PTA13, PTD5);
+ left.period(0.0066);
+ right.period(0.0066);
+ while(1){
+ myservo.position(1, 0);
+ wait_ms(delay);
+ G0 = sensor.distance(CM);
+ i = i + A;
+ myservo.position(1, 180);
+ G180 = sensor.distance(CM);
+ wait_ms(delay);
+ i = i + A;
+
+ pc.printf("G0: %ld G15: %ld G30: %ld G45: %ld G60: %ld G75: %ld G90: %ld G105: %ld G120: %ld G135: %ld G150: %ld G165: %ld G180: %ld \r\n", G0, G15, G30, G45, G60, G75, G90, G105, G120, G135, G150, G165, G180);
+
+
+ if(G0 > G180){
+ left.write(0.4);
+ right.write(0.2);
+ }
+ else if(G180 > G0){
+ left.write(0.2);
+ right.write(0.4);
+ }
+
+
+
+
+
+
+ if(i >= 180 || i+20 >= 180){
+ i=0;
+ }//if
+ } // while
+} // main
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Apr 05 07:59:04 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7d30d6019079 \ No newline at end of file