Jose Ruiz / Mbed 2 deprecated ZMOTO42

Programa realizado para el trabajo: SISTEMA DE DETECCIÓN Y ALERTAS POR APROXIMACIÓN DE VEHÍCULOS EN ZONAS CIEGAS DE UNA MOTOCICLETA // JOSE ALBERTO RUIZ ORTEGA // UNIVERSIDAD NACIONAL DE COLOMBIA // SEDE MEDELLÍN // Realizado con colaboración del estudiante Jair Hernan Vargas y asesoría de los docentes: Gustavo Ramirez y Jesus Hernandez

Dependencies:   DebouncedIn HCSR04 HCSR042 HCSR043 HCSR044 MMA8451Q TextLCD USBDevice mbed

main.cpp@0:694ea51ef4bf, 2014-12-04 (annotated)

Committer:
jaruiz
Date:
Thu Dec 04 06:32:31 2014 +0000
Revision:
0:694ea51ef4bf
Programa realizado para el trabajo: SISTEMA DE DETECCI?N Y ALERTAS POR APROXIMACI?N DE VEH?CULOS EN ZONAS CIEGAS DE UNA MOTOCICLETA // JOSE ALBERTO RUIZ ORTEGA // INGENIER?A DE CONTROL// UNAL;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jaruiz 0:694ea51ef4bf 1 //
jaruiz 0:694ea51ef4bf 2 //
jaruiz 0:694ea51ef4bf 3 // SISTEMA DE DETECCIÓN Y ALERTAS POR APROXIMACIÓN DE VEHÍCULOS EN
jaruiz 0:694ea51ef4bf 4 // ZONAS CIEGAS DE UNA MOTOCICLETA
jaruiz 0:694ea51ef4bf 5 //
jaruiz 0:694ea51ef4bf 6 // JOSE ALBERTO RUIZ ORTEGA
jaruiz 0:694ea51ef4bf 7 // 1085262530
jaruiz 0:694ea51ef4bf 8 //
jaruiz 0:694ea51ef4bf 9 // INGENIERIA DE CONTROL
jaruiz 0:694ea51ef4bf 10 //
jaruiz 0:694ea51ef4bf 11 // UNIVERSIDAD NACIONAL DE COLOMBIA
jaruiz 0:694ea51ef4bf 12 //
jaruiz 0:694ea51ef4bf 13 // Programa realizado para la detección de vehiculos que se acercan a una motocicleta.
jaruiz 0:694ea51ef4bf 14 // Para la realización de este trabajo se contó con la colaboracion del estudiante Jair Hernán Vargas
jaruiz 0:694ea51ef4bf 15 //
jaruiz 0:694ea51ef4bf 16
jaruiz 0:694ea51ef4bf 17
jaruiz 0:694ea51ef4bf 18 //:::::::::::::::::: Librerías
jaruiz 0:694ea51ef4bf 19 #include "mbed.h"
jaruiz 0:694ea51ef4bf 20 #include "HCSR04.h"
jaruiz 0:694ea51ef4bf 21 #include "HCSR042.h"
jaruiz 0:694ea51ef4bf 22 #include "HCSR043.h"
jaruiz 0:694ea51ef4bf 23 #include "HCSR044.h"
jaruiz 0:694ea51ef4bf 24 #include "TextLCD.h"
jaruiz 0:694ea51ef4bf 25 #include "MMA8451Q.h"
jaruiz 0:694ea51ef4bf 26 #include "DebouncedIn.h"
jaruiz 0:694ea51ef4bf 27 #define MMA8451_I2C_ADDRESS (0x1d<<1)
jaruiz 0:694ea51ef4bf 28
jaruiz 0:694ea51ef4bf 29 //:::::::::::::::::: Puertos
jaruiz 0:694ea51ef4bf 30 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
jaruiz 0:694ea51ef4bf 31 PwmOut rojo(LED_RED);
jaruiz 0:694ea51ef4bf 32 PwmOut verde(LED_GREEN);
jaruiz 0:694ea51ef4bf 33 PwmOut azul(LED_BLUE);
jaruiz 0:694ea51ef4bf 34 DigitalOut led2(PTE23);
jaruiz 0:694ea51ef4bf 35 DigitalOut led3(PTE29);
jaruiz 0:694ea51ef4bf 36 DigitalOut led4(PTC17);
jaruiz 0:694ea51ef4bf 37 DigitalOut led5(PTA16);
jaruiz 0:694ea51ef4bf 38 PwmOut ledD(PTC8);
jaruiz 0:694ea51ef4bf 39 PwmOut ledI(PTC9);
jaruiz 0:694ea51ef4bf 40 PwmOut sound(PTA12);
jaruiz 0:694ea51ef4bf 41 DigitalOut ledbD(PTC7);
jaruiz 0:694ea51ef4bf 42 DigitalOut ledbI(PTC0);
jaruiz 0:694ea51ef4bf 43 DigitalOut ledgD(PTC5);
jaruiz 0:694ea51ef4bf 44 DigitalOut ledgI(PTC6);
jaruiz 0:694ea51ef4bf 45 HCSR04 sensor(PTD4, PTA13);
jaruiz 0:694ea51ef4bf 46 HCSR042 sensor2(PTA5, PTD5);
jaruiz 0:694ea51ef4bf 47 HCSR043 sensor3(PTA1, PTD0);
jaruiz 0:694ea51ef4bf 48 HCSR044 sensor4(PTA4, PTD2);
jaruiz 0:694ea51ef4bf 49 DebouncedIn button1(PTC12);
jaruiz 0:694ea51ef4bf 50
jaruiz 0:694ea51ef4bf 51 //:::::::::::::::::::::::::::::: Display
jaruiz 0:694ea51ef4bf 52
jaruiz 0:694ea51ef4bf 53 TextLCD lcd(PTB10, PTB11, PTE2, PTE3, PTE4, PTE5);
jaruiz 0:694ea51ef4bf 54
jaruiz 0:694ea51ef4bf 55 //:::::::::::::::::::::::::::::: Variables
jaruiz 0:694ea51ef4bf 56
jaruiz 0:694ea51ef4bf 57 float X,Y,Z;
jaruiz 0:694ea51ef4bf 58 bool b;
jaruiz 0:694ea51ef4bf 59 bool a;
jaruiz 0:694ea51ef4bf 60 bool c;
jaruiz 0:694ea51ef4bf 61 bool d;
jaruiz 0:694ea51ef4bf 62 int e;
jaruiz 0:694ea51ef4bf 63 float DD1;
jaruiz 0:694ea51ef4bf 64 float DD2;
jaruiz 0:694ea51ef4bf 65
jaruiz 0:694ea51ef4bf 66 //::::::::::::::::::::::::::::::::: PROGRAMA
jaruiz 0:694ea51ef4bf 67 int main()
jaruiz 0:694ea51ef4bf 68 {
jaruiz 0:694ea51ef4bf 69
jaruiz 0:694ea51ef4bf 70 while(1){
jaruiz 0:694ea51ef4bf 71 //a=0;
jaruiz 0:694ea51ef4bf 72
jaruiz 0:694ea51ef4bf 73 //b=0;
jaruiz 0:694ea51ef4bf 74 //:::::::::::::::::::::::::: Acelerómetro
jaruiz 0:694ea51ef4bf 75
jaruiz 0:694ea51ef4bf 76
jaruiz 0:694ea51ef4bf 77 X=acc.getAccX();
jaruiz 0:694ea51ef4bf 78 Y=acc.getAccY();
jaruiz 0:694ea51ef4bf 79 Z=acc.getAccZ();
jaruiz 0:694ea51ef4bf 80 rojo=1.0 - abs(X);
jaruiz 0:694ea51ef4bf 81 verde=1.0 - abs(Y);
jaruiz 0:694ea51ef4bf 82 azul=1.0 - abs(Z);
jaruiz 0:694ea51ef4bf 83 wait(0.1);
jaruiz 0:694ea51ef4bf 84
jaruiz 0:694ea51ef4bf 85 if (Y>=0.1)
jaruiz 0:694ea51ef4bf 86 {
jaruiz 0:694ea51ef4bf 87 led2=1;
jaruiz 0:694ea51ef4bf 88 c=1;
jaruiz 0:694ea51ef4bf 89 d=0;
jaruiz 0:694ea51ef4bf 90 }
jaruiz 0:694ea51ef4bf 91 else
jaruiz 0:694ea51ef4bf 92 {
jaruiz 0:694ea51ef4bf 93 led2=0;
jaruiz 0:694ea51ef4bf 94 c=0;
jaruiz 0:694ea51ef4bf 95 }
jaruiz 0:694ea51ef4bf 96 if (Y<=-0.1)
jaruiz 0:694ea51ef4bf 97 {
jaruiz 0:694ea51ef4bf 98 d=1;
jaruiz 0:694ea51ef4bf 99 c=0;
jaruiz 0:694ea51ef4bf 100 led3=1;
jaruiz 0:694ea51ef4bf 101 }
jaruiz 0:694ea51ef4bf 102 else
jaruiz 0:694ea51ef4bf 103 {
jaruiz 0:694ea51ef4bf 104 led3=0;
jaruiz 0:694ea51ef4bf 105 d=0;
jaruiz 0:694ea51ef4bf 106 }
jaruiz 0:694ea51ef4bf 107
jaruiz 0:694ea51ef4bf 108 // :::::::::::::::::::::::::::::::::: Selección de Modos
jaruiz 0:694ea51ef4bf 109
jaruiz 0:694ea51ef4bf 110 lcd.locate(0,0);
jaruiz 0:694ea51ef4bf 111 lcd.printf("e:%d ",e);
jaruiz 0:694ea51ef4bf 112 wait(0.1);
jaruiz 0:694ea51ef4bf 113
jaruiz 0:694ea51ef4bf 114 if (button1.falling())
jaruiz 0:694ea51ef4bf 115 {
jaruiz 0:694ea51ef4bf 116 e=e+1;
jaruiz 0:694ea51ef4bf 117
jaruiz 0:694ea51ef4bf 118 }
jaruiz 0:694ea51ef4bf 119 if (e==3)
jaruiz 0:694ea51ef4bf 120 {
jaruiz 0:694ea51ef4bf 121 e=0;
jaruiz 0:694ea51ef4bf 122 }
jaruiz 0:694ea51ef4bf 123
jaruiz 0:694ea51ef4bf 124 // MODO CARRETERA
jaruiz 0:694ea51ef4bf 125 if (e==0)
jaruiz 0:694ea51ef4bf 126 {
jaruiz 0:694ea51ef4bf 127 DD1=120;
jaruiz 0:694ea51ef4bf 128 DD2=400;
jaruiz 0:694ea51ef4bf 129 lcd.locate(0,0);
jaruiz 0:694ea51ef4bf 130 lcd.printf("Modo Carretera");
jaruiz 0:694ea51ef4bf 131 wait(0.1);
jaruiz 0:694ea51ef4bf 132 }
jaruiz 0:694ea51ef4bf 133
jaruiz 0:694ea51ef4bf 134 // MODO CIUDAD
jaruiz 0:694ea51ef4bf 135
jaruiz 0:694ea51ef4bf 136 if (e==1)
jaruiz 0:694ea51ef4bf 137 {
jaruiz 0:694ea51ef4bf 138 DD1=70;
jaruiz 0:694ea51ef4bf 139 DD2=300;
jaruiz 0:694ea51ef4bf 140 lcd.locate(0,1);
jaruiz 0:694ea51ef4bf 141 lcd.printf("Modo Ciudad");
jaruiz 0:694ea51ef4bf 142 wait(0.1);
jaruiz 0:694ea51ef4bf 143 }
jaruiz 0:694ea51ef4bf 144
jaruiz 0:694ea51ef4bf 145 // MODO SIN ALARMAS
jaruiz 0:694ea51ef4bf 146
jaruiz 0:694ea51ef4bf 147 if (e==2)
jaruiz 0:694ea51ef4bf 148 {
jaruiz 0:694ea51ef4bf 149 sound=0;
jaruiz 0:694ea51ef4bf 150 lcd.locate(0,1);
jaruiz 0:694ea51ef4bf 151 lcd.printf("Modo Sin Alarma");
jaruiz 0:694ea51ef4bf 152 wait(0.1);
jaruiz 0:694ea51ef4bf 153 }
jaruiz 0:694ea51ef4bf 154
jaruiz 0:694ea51ef4bf 155 //:::::::::::::::::::::::::::::::::::::::::::::SENSADO
jaruiz 0:694ea51ef4bf 156
jaruiz 0:694ea51ef4bf 157 // SENSOR 1 DERECHA ________________________________________________________________________________________
jaruiz 0:694ea51ef4bf 158 long d = sensor.distance(1);
jaruiz 0:694ea51ef4bf 159 lcd.locate(0,0);
jaruiz 0:694ea51ef4bf 160 lcd.printf("DER:%d ",sensor.distance(1));
jaruiz 0:694ea51ef4bf 161
jaruiz 0:694ea51ef4bf 162
jaruiz 0:694ea51ef4bf 163 // SENSOR 2 IZQUIERDA ________________________________________________________________________________________
jaruiz 0:694ea51ef4bf 164 long s = sensor2.distance(1);
jaruiz 0:694ea51ef4bf 165 lcd.locate(8,0);
jaruiz 0:694ea51ef4bf 166 lcd.printf("IZQ:%d ",sensor2.distance(1));
jaruiz 0:694ea51ef4bf 167
jaruiz 0:694ea51ef4bf 168 // SENSOR 3 POSTERIOR ________________________________________________________________________________________
jaruiz 0:694ea51ef4bf 169 long p = sensor3.distance(1);
jaruiz 0:694ea51ef4bf 170 lcd.locate(0,1);
jaruiz 0:694ea51ef4bf 171 lcd.printf("FRN:%d ",sensor3.distance(1));
jaruiz 0:694ea51ef4bf 172 //wait(0.5);
jaruiz 0:694ea51ef4bf 173
jaruiz 0:694ea51ef4bf 174 // SENSOR 4 FRONTAL ________________________________________________________________________________________
jaruiz 0:694ea51ef4bf 175 long q = sensor4.distance(1);
jaruiz 0:694ea51ef4bf 176 lcd.locate(8,1);
jaruiz 0:694ea51ef4bf 177 lcd.printf("TRS:%d ",sensor4.distance(1));
jaruiz 0:694ea51ef4bf 178 //wait(0.5);
jaruiz 0:694ea51ef4bf 179
jaruiz 0:694ea51ef4bf 180 //:::::::::::::::::::::::: ALARMAS
jaruiz 0:694ea51ef4bf 181
jaruiz 0:694ea51ef4bf 182 // ::::::::::::::::::::::::::::::::ALERTA MUY CERCANA DERECHA
jaruiz 0:694ea51ef4bf 183
jaruiz 0:694ea51ef4bf 184 if (d>-1 && d<=DD1)
jaruiz 0:694ea51ef4bf 185 {
jaruiz 0:694ea51ef4bf 186 lcd.locate(0,0);
jaruiz 0:694ea51ef4bf 187 lcd.printf("AMAXD ");
jaruiz 0:694ea51ef4bf 188 ledbD=0;
jaruiz 0:694ea51ef4bf 189 ledgD=0;
jaruiz 0:694ea51ef4bf 190
jaruiz 0:694ea51ef4bf 191 ledD.period(4.0); // 4 second period
jaruiz 0:694ea51ef4bf 192 //ledD.pulsewidth(0.2); // 2 second pulse (on)
jaruiz 0:694ea51ef4bf 193 ledD.write(0.20f); // 50% duty cycle
jaruiz 0:694ea51ef4bf 194 //while(1); // led flashing
jaruiz 0:694ea51ef4bf 195 a=1;
jaruiz 0:694ea51ef4bf 196 }
jaruiz 0:694ea51ef4bf 197
jaruiz 0:694ea51ef4bf 198 // ::::::::::::::::::::::::::::::::ALERTA MUY CERCANA IZQUIERDA
jaruiz 0:694ea51ef4bf 199 if(s>-1 && s<=DD1)
jaruiz 0:694ea51ef4bf 200 {
jaruiz 0:694ea51ef4bf 201 lcd.locate(8,0);
jaruiz 0:694ea51ef4bf 202 lcd.printf("AMAXI ");
jaruiz 0:694ea51ef4bf 203 ledbI=0;
jaruiz 0:694ea51ef4bf 204 ledgI=0;
jaruiz 0:694ea51ef4bf 205
jaruiz 0:694ea51ef4bf 206 ledI.period(6.0); // 4 second period
jaruiz 0:694ea51ef4bf 207 //ledI.pulsewidth(0.2); // 2 second pulse (on)
jaruiz 0:694ea51ef4bf 208 ledI.write(0.20f); // 50% duty cycle
jaruiz 0:694ea51ef4bf 209 //while(1); // led flashing
jaruiz 0:694ea51ef4bf 210 a=1;
jaruiz 0:694ea51ef4bf 211 }
jaruiz 0:694ea51ef4bf 212
jaruiz 0:694ea51ef4bf 213 // ::::::::::::::::::::::::::::::::ALERTA CERCANA DERECHA
jaruiz 0:694ea51ef4bf 214 if(d>DD1 && d<=DD2)
jaruiz 0:694ea51ef4bf 215 {
jaruiz 0:694ea51ef4bf 216 ledD=0;
jaruiz 0:694ea51ef4bf 217 ledbD=1;
jaruiz 0:694ea51ef4bf 218 ledgD=0;
jaruiz 0:694ea51ef4bf 219 a=1;
jaruiz 0:694ea51ef4bf 220 lcd.locate(0,0);
jaruiz 0:694ea51ef4bf 221 lcd.printf("AMIND ");
jaruiz 0:694ea51ef4bf 222
jaruiz 0:694ea51ef4bf 223 }
jaruiz 0:694ea51ef4bf 224
jaruiz 0:694ea51ef4bf 225 // ::::::::::::::::::::::::::::::::ALERTA CERCANA IZQUIERDA
jaruiz 0:694ea51ef4bf 226 if(s>DD1 && s<=DD2)
jaruiz 0:694ea51ef4bf 227 {
jaruiz 0:694ea51ef4bf 228 ledI=0;
jaruiz 0:694ea51ef4bf 229 ledbI=1;
jaruiz 0:694ea51ef4bf 230 ledgI=0;
jaruiz 0:694ea51ef4bf 231 a=1;
jaruiz 0:694ea51ef4bf 232 lcd.locate(8,0);
jaruiz 0:694ea51ef4bf 233 lcd.printf("AMINI ");
jaruiz 0:694ea51ef4bf 234 }
jaruiz 0:694ea51ef4bf 235
jaruiz 0:694ea51ef4bf 236
jaruiz 0:694ea51ef4bf 237 // ::::::::::::::::::::::::::::::::SIN ALERTAS DERECHA
jaruiz 0:694ea51ef4bf 238 if(d>DD2)
jaruiz 0:694ea51ef4bf 239 {
jaruiz 0:694ea51ef4bf 240 ledD=0;
jaruiz 0:694ea51ef4bf 241 ledbD=0;
jaruiz 0:694ea51ef4bf 242 ledgD=1;
jaruiz 0:694ea51ef4bf 243 a=0;
jaruiz 0:694ea51ef4bf 244 lcd.locate(0,0);
jaruiz 0:694ea51ef4bf 245 lcd.printf("NOALD ");
jaruiz 0:694ea51ef4bf 246 }
jaruiz 0:694ea51ef4bf 247
jaruiz 0:694ea51ef4bf 248 //:::::::::::::::::::::::::::::::: SIN ALERTAS IZQ
jaruiz 0:694ea51ef4bf 249 if(s>DD2)
jaruiz 0:694ea51ef4bf 250 {
jaruiz 0:694ea51ef4bf 251 ledI=0;
jaruiz 0:694ea51ef4bf 252 ledbI=0;
jaruiz 0:694ea51ef4bf 253 ledgI=1;
jaruiz 0:694ea51ef4bf 254 a=0;
jaruiz 0:694ea51ef4bf 255 lcd.locate(8,0);
jaruiz 0:694ea51ef4bf 256 lcd.printf("NOALI ");
jaruiz 0:694ea51ef4bf 257 }
jaruiz 0:694ea51ef4bf 258 // :::::::::::::::::::::::::::::::: SIN ALERTAS DERECHA
jaruiz 0:694ea51ef4bf 259 if(d==-1)
jaruiz 0:694ea51ef4bf 260 {
jaruiz 0:694ea51ef4bf 261 ledD=0;
jaruiz 0:694ea51ef4bf 262 ledbD=0;
jaruiz 0:694ea51ef4bf 263 ledgD=1;
jaruiz 0:694ea51ef4bf 264 a=0;
jaruiz 0:694ea51ef4bf 265 lcd.locate(0,0);
jaruiz 0:694ea51ef4bf 266 lcd.printf("NOALD ");
jaruiz 0:694ea51ef4bf 267 }
jaruiz 0:694ea51ef4bf 268
jaruiz 0:694ea51ef4bf 269 // :::::::::::::::::::::::::::::::: SIN ALERTAS IZQUIERDA
jaruiz 0:694ea51ef4bf 270 if(s==-1)
jaruiz 0:694ea51ef4bf 271 {
jaruiz 0:694ea51ef4bf 272 ledI=0;
jaruiz 0:694ea51ef4bf 273 ledbI=0;
jaruiz 0:694ea51ef4bf 274 ledgI=1;
jaruiz 0:694ea51ef4bf 275 a=0;
jaruiz 0:694ea51ef4bf 276 lcd.locate(8,0);
jaruiz 0:694ea51ef4bf 277 lcd.printf("NOALI ");
jaruiz 0:694ea51ef4bf 278 }
jaruiz 0:694ea51ef4bf 279
jaruiz 0:694ea51ef4bf 280
jaruiz 0:694ea51ef4bf 281 // ::::::::::::::::::::::::::::::::alarma POSTERIOR
jaruiz 0:694ea51ef4bf 282 if (p<=100)
jaruiz 0:694ea51ef4bf 283 {
jaruiz 0:694ea51ef4bf 284 led4=1;
jaruiz 0:694ea51ef4bf 285 }
jaruiz 0:694ea51ef4bf 286 else
jaruiz 0:694ea51ef4bf 287 {
jaruiz 0:694ea51ef4bf 288 led4=0;
jaruiz 0:694ea51ef4bf 289 }
jaruiz 0:694ea51ef4bf 290
jaruiz 0:694ea51ef4bf 291 // ::::::::::::::::::::::::::::::::alarma POSTERIOR
jaruiz 0:694ea51ef4bf 292 if (q<=100)
jaruiz 0:694ea51ef4bf 293 {
jaruiz 0:694ea51ef4bf 294 led5=1;
jaruiz 0:694ea51ef4bf 295 }
jaruiz 0:694ea51ef4bf 296 else
jaruiz 0:694ea51ef4bf 297 {
jaruiz 0:694ea51ef4bf 298 led5=0;
jaruiz 0:694ea51ef4bf 299 }
jaruiz 0:694ea51ef4bf 300 // :::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::SONIDO
jaruiz 0:694ea51ef4bf 301
jaruiz 0:694ea51ef4bf 302 if (abs(Y)>=0.1 && a==1)
jaruiz 0:694ea51ef4bf 303 {
jaruiz 0:694ea51ef4bf 304 sound=1;
jaruiz 0:694ea51ef4bf 305 wait(0.07);
jaruiz 0:694ea51ef4bf 306 sound=0;
jaruiz 0:694ea51ef4bf 307 }
jaruiz 0:694ea51ef4bf 308
jaruiz 0:694ea51ef4bf 309
jaruiz 0:694ea51ef4bf 310
jaruiz 0:694ea51ef4bf 311 }
jaruiz 0:694ea51ef4bf 312 }