Revision 0:8a1a447db446, committed 2021-12-09

Comitter:

javiervicente

Date:

Thu Dec 09 17:59:02 2021 +0000

Commit message:

cambio;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hcsr04.cpp	Thu Dec 09 17:59:02 2021 +0000
@@ -0,0 +1,98 @@
+/* Copyright (c) 2013 Prabhu Desai
+ * pdtechworld@gmail.com
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+#include "hcsr04.h"
+
+
+HCSR04::HCSR04(PinName TrigPin,PinName EchoPin):
+    trigger(TrigPin), echo(EchoPin)
+{
+    pulsetime.stop();
+    pulsetime.reset();
+    echo.rise(this,&HCSR04::isr_rise);
+    echo.fall(this,&HCSR04::isr_fall);
+    trigger=0;
+}
+
+HCSR04::~HCSR04()
+{
+}
+
+void HCSR04::isr_rise(void)
+{
+    pulsetime.start();
+}
+void HCSR04::start(void)
+{
+    trigger=1;
+    wait_us(10);
+    trigger=0;
+}
+
+void HCSR04::isr_fall(void)
+{
+    pulsetime.stop();
+    pulsedur = pulsetime.read_us();
+    distance= (pulsedur*343)/20000;
+    pulsetime.reset();
+}
+
+void HCSR04::rise (void (*fptr)(void))
+{
+    echo.rise(fptr);
+}
+void HCSR04::fall (void (*fptr)(void))
+{
+    echo.fall(fptr);
+}
+
+unsigned int HCSR04::get_dist_cm()
+{
+    return distance;
+}
+unsigned int HCSR04::get_pulse_us()
+{
+    return pulsedur;
+}
+
+
+
+/*******************************************************
+   Here is a sample code usage
+********************************************************* 
+#include "hcsr04.h"
+HCSR04  usensor(p25,p6);
+int main()
+{
+    unsigned char count=0;
+    while(1) {
+        usensor.start();
+        wait_ms(500); 
+        dist=usensor.get_dist_cm();
+        lcd.cls();
+        lcd.locate(0,0);
+        lcd.printf("cm:%ld",dist );
+ 
+        count++;
+        lcd.locate(0,1);
+        lcd.printf("Distance =%d",count);
+        
+    }
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hcsr04.h	Thu Dec 09 17:59:02 2021 +0000
@@ -0,0 +1,68 @@
+/* Copyright (c) 2013 Prabhu Desai
+ * pdtechworld@gmail.com
+ *
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * For more details on the sensor :
+ * http://www.elecfreaks.com/store/hcsr04-ultrasonic-sensor-distance-measuring-module-p-91.html?zenid=pgm8pgnvaodbe36dibq5s1soi3
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef MBED_HCSR04_H
+#define MBED_HCSR04_H
+
+#include "mbed.h"
+
+/** HCSR04 Class(es)
+ */
+
+class HCSR04
+{
+public:
+    /** Create a HCSR04 object connected to the specified pin
+    * @param pin i/o pin to connect to
+    */
+    HCSR04(PinName TrigPin,PinName EchoPin);
+    ~HCSR04();
+
+    /** Return the distance from obstacle in cm
+    * @param distance in cms and returns -1, in case of failure
+    */
+    unsigned int get_dist_cm(void);
+    /** Return the pulse duration equal to sonic waves travelling to obstacle and back to receiver.
+    * @param pulse duration in microseconds.
+    */
+    unsigned int get_pulse_us(void);
+    /** Generates the trigger pulse of 10us on the trigger PIN.
+    */
+    void start(void );
+    void isr_rise(void);
+    void isr_fall(void);
+    void fall (void (*fptr)(void));
+    void rise (void (*fptr)(void));
+
+
+
+private:
+
+    Timer pulsetime;
+    DigitalOut  trigger;
+    InterruptIn echo;
+    unsigned int pulsedur;
+    unsigned int distance;
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Dec 09 17:59:02 2021 +0000
@@ -0,0 +1,104 @@
+#include "mbed.h"
+#include "hcsr04.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+Ticker tickerMideDistancia;
+unsigned distancia=1000;;
+
+
+DigitalIn final1(D10);
+DigitalIn final2(D9);
+DigitalOut step(D13);
+DigitalOut dir(D12);
+DigitalOut enable(D11);
+
+enum estados {cerrada, abriendose, cerrandose, abierta};
+estados estado;
+
+HCSR04  usensor(D7,D8); //(PinName TrigPin,PinName EchoPin):
+
+void mideDistancia()
+{
+    usensor.start();
+}
+
+void paso(int d)
+{
+    dir=d;
+    step=1;
+    wait_us(100);
+    step=0;
+    wait_us(900);
+}
+
+void estadoCerrada()
+{
+    if(distancia<10) {
+        enable=1;
+        estado=abriendose;
+        pc.printf("Estado Abriendose, distancia %d\n",distancia);
+    }
+}
+
+void estadoAbriendose()
+{
+    if((final1==1)&&(distancia<10)) {
+        estado=abierta;
+        enable=0;
+    } else if((final1==1)&&(distancia>=10)) {
+        enable=1;
+        estado=cerrandose;
+    } else {
+        paso(1);
+        pc.printf("paso\n");
+        
+    }
+}
+
+void estadoCerrandose(){
+      if(distancia<10) {
+        estado=abriendose;
+        enable=1;
+    } else if(final2==1) {
+        estado=cerrada;
+        enable=0;
+    } else {
+        paso(0);
+        pc.printf("paso\n");
+    }
+}
+
+void estadoAbierta()
+{
+    if (distancia>=10) {
+        enable=1;
+        estado=cerrandose;
+    }
+}
+
+int main()
+{
+    pc.baud(115200);
+    tickerMideDistancia.attach(&mideDistancia, 0.5);
+    estado=cerrada;
+     pc.printf("Estado cerrada\n");
+    while(1) {
+        distancia=usensor.get_dist_cm();
+        switch ( estado ) {
+            case cerrada:
+                estadoCerrada();
+                break;
+            case abriendose:
+                estadoAbriendose();
+                break;
+            case abierta:
+                estadoAbierta();
+                break;
+            case cerrandose:
+                estadoCerrandose();
+                break;
+            default:
+                break;
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Dec 09 17:59:02 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file