finales
Dependencies: mbed Servo HC-SR04 TextLCD max6675 SLCD
main.cpp@2:828a15eaad12, 2020-06-10 (annotated)
- Committer:
- juanespitiarobotica
- Date:
- Wed Jun 10 15:21:04 2020 +0000
- Revision:
- 2:828a15eaad12
- Parent:
- 1:0371f6d48091
completo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
juanespitiarobotica | 0:834b339f5f94 | 1 | #include "mbed.h" |
juanespitiarobotica | 0:834b339f5f94 | 2 | #include "HCSR04.h" |
juanespitiarobotica | 0:834b339f5f94 | 3 | #include "rtos.h" |
juanespitiarobotica | 0:834b339f5f94 | 4 | #include "Servo.h" |
juanespitiarobotica | 0:834b339f5f94 | 5 | #include "max6675.h" |
juanespitiarobotica | 0:834b339f5f94 | 6 | #include "TextLCD.h" |
juanespitiarobotica | 0:834b339f5f94 | 7 | |
20172573063 | 1:0371f6d48091 | 8 | #include "SLCD.h" |
20172573063 | 1:0371f6d48091 | 9 | |
20172573063 | 1:0371f6d48091 | 10 | |
juanespitiarobotica | 0:834b339f5f94 | 11 | HCSR04 ultrasonido(PTA7,PTA6); |
juanespitiarobotica | 0:834b339f5f94 | 12 | Servo servomotor(PTA13); |
juanespitiarobotica | 0:834b339f5f94 | 13 | I2C i2c_lcd(D7,D6); |
juanespitiarobotica | 0:834b339f5f94 | 14 | TextLCD_I2C lcd(&i2c_lcd, 0x4E, TextLCD::LCD16x2, TextLCD::HD44780); |
juanespitiarobotica | 0:834b339f5f94 | 15 | max6675 sensor(D12,D13,D5); |
juanespitiarobotica | 0:834b339f5f94 | 16 | Serial pc(USBTX,USBRX); |
juanespitiarobotica | 0:834b339f5f94 | 17 | Thread thread; |
juanespitiarobotica | 0:834b339f5f94 | 18 | Thread thread1; |
juanespitiarobotica | 0:834b339f5f94 | 19 | Thread thread2; |
juanespitiarobotica | 0:834b339f5f94 | 20 | Thread thread3; |
20172573063 | 1:0371f6d48091 | 21 | Thread thread4; |
juanespitiarobotica | 0:834b339f5f94 | 22 | |
20172573063 | 1:0371f6d48091 | 23 | DigitalOut gpo(D0); |
20172573063 | 1:0371f6d48091 | 24 | SLCD slcd; |
20172573063 | 1:0371f6d48091 | 25 | |
20172573063 | 1:0371f6d48091 | 26 | void pantallalcd() |
20172573063 | 1:0371f6d48091 | 27 | { |
juanespitiarobotica | 0:834b339f5f94 | 28 | lcd.setMode(TextLCD::DispOn); |
juanespitiarobotica | 0:834b339f5f94 | 29 | lcd.setBacklight(TextLCD::LightOn); |
juanespitiarobotica | 0:834b339f5f94 | 30 | lcd.setCursor(TextLCD::CurOff_BlkOff); |
20172573063 | 1:0371f6d48091 | 31 | } |
20172573063 | 1:0371f6d48091 | 32 | |
juanespitiarobotica | 0:834b339f5f94 | 33 | void temp_hora() |
juanespitiarobotica | 0:834b339f5f94 | 34 | { |
juanespitiarobotica | 2:828a15eaad12 | 35 | set_time(1591802062-18000); |
juanespitiarobotica | 0:834b339f5f94 | 36 | int cf = 0; |
juanespitiarobotica | 0:834b339f5f94 | 37 | while (1) { |
juanespitiarobotica | 0:834b339f5f94 | 38 | time_t seconds = time(NULL); |
juanespitiarobotica | 0:834b339f5f94 | 39 | float temp = sensor.gettemp(cf); |
juanespitiarobotica | 2:828a15eaad12 | 40 | //printf("%d", seconds); |
juanespitiarobotica | 2:828a15eaad12 | 41 | //printf("Fecha= %s", ctime(&seconds)); |
juanespitiarobotica | 0:834b339f5f94 | 42 | |
juanespitiarobotica | 0:834b339f5f94 | 43 | char buffer[32]; |
juanespitiarobotica | 0:834b339f5f94 | 44 | strftime(buffer, 32, "%H:%M:%S ", localtime(&seconds)); |
juanespitiarobotica | 2:828a15eaad12 | 45 | lcd.locate(0,1); |
juanespitiarobotica | 2:828a15eaad12 | 46 | lcd.printf("%s", buffer); |
juanespitiarobotica | 0:834b339f5f94 | 47 | |
juanespitiarobotica | 2:828a15eaad12 | 48 | //printf("%4.2f%cF \n\033[2K\033[1A",temp,176); |
juanespitiarobotica | 0:834b339f5f94 | 49 | lcd.locate(0,0); |
juanespitiarobotica | 2:828a15eaad12 | 50 | lcd.printf("temp:%1.2f",temp); |
juanespitiarobotica | 2:828a15eaad12 | 51 | lcd.locate(11,0); |
juanespitiarobotica | 2:828a15eaad12 | 52 | lcd.printf(" "); |
20172573063 | 1:0371f6d48091 | 53 | |
juanespitiarobotica | 0:834b339f5f94 | 54 | Thread::wait(1000); |
juanespitiarobotica | 0:834b339f5f94 | 55 | } |
juanespitiarobotica | 0:834b339f5f94 | 56 | } |
juanespitiarobotica | 0:834b339f5f94 | 57 | |
juanespitiarobotica | 0:834b339f5f94 | 58 | void servo() |
juanespitiarobotica | 0:834b339f5f94 | 59 | { |
juanespitiarobotica | 0:834b339f5f94 | 60 | |
juanespitiarobotica | 0:834b339f5f94 | 61 | servomotor.calibrate(0.001, 180); |
juanespitiarobotica | 0:834b339f5f94 | 62 | |
juanespitiarobotica | 0:834b339f5f94 | 63 | while(1) { |
juanespitiarobotica | 0:834b339f5f94 | 64 | for(int i=0; i<100; i++) { |
juanespitiarobotica | 0:834b339f5f94 | 65 | servomotor = i*0.01; |
juanespitiarobotica | 2:828a15eaad12 | 66 | //printf("%d",i); |
juanespitiarobotica | 0:834b339f5f94 | 67 | Thread::wait(100); |
juanespitiarobotica | 0:834b339f5f94 | 68 | } |
juanespitiarobotica | 0:834b339f5f94 | 69 | for(int i=100; i>0; i--) { |
juanespitiarobotica | 0:834b339f5f94 | 70 | servomotor = i*0.01; |
juanespitiarobotica | 2:828a15eaad12 | 71 | //printf("%d",i); |
juanespitiarobotica | 0:834b339f5f94 | 72 | Thread::wait(100); |
juanespitiarobotica | 0:834b339f5f94 | 73 | } |
juanespitiarobotica | 0:834b339f5f94 | 74 | } |
juanespitiarobotica | 0:834b339f5f94 | 75 | } |
juanespitiarobotica | 0:834b339f5f94 | 76 | |
juanespitiarobotica | 0:834b339f5f94 | 77 | void ultra() |
juanespitiarobotica | 0:834b339f5f94 | 78 | { |
juanespitiarobotica | 0:834b339f5f94 | 79 | while(1) { |
juanespitiarobotica | 0:834b339f5f94 | 80 | float distancia=ultrasonido.getCm(); |
juanespitiarobotica | 2:828a15eaad12 | 81 | //lcd.locate(0,1); |
juanespitiarobotica | 2:828a15eaad12 | 82 | printf("distancia:%2.f cm\n",distancia); |
juanespitiarobotica | 2:828a15eaad12 | 83 | //lcd.locate(11,1); |
juanespitiarobotica | 2:828a15eaad12 | 84 | //lcd.printf(" "); |
juanespitiarobotica | 0:834b339f5f94 | 85 | Thread::wait(1000); |
juanespitiarobotica | 0:834b339f5f94 | 86 | } |
20172573063 | 1:0371f6d48091 | 87 | } |
20172573063 | 1:0371f6d48091 | 88 | void seg() |
20172573063 | 1:0371f6d48091 | 89 | { |
20172573063 | 1:0371f6d48091 | 90 | while (true) { |
20172573063 | 1:0371f6d48091 | 91 | float distancia=ultrasonido.getCm(); |
20172573063 | 1:0371f6d48091 | 92 | slcd.printf("%1.3f",distancia); |
20172573063 | 1:0371f6d48091 | 93 | Thread::wait(1000); |
20172573063 | 1:0371f6d48091 | 94 | } |
20172573063 | 1:0371f6d48091 | 95 | } |
juanespitiarobotica | 0:834b339f5f94 | 96 | |
juanespitiarobotica | 0:834b339f5f94 | 97 | |
juanespitiarobotica | 0:834b339f5f94 | 98 | int main() |
juanespitiarobotica | 0:834b339f5f94 | 99 | { |
juanespitiarobotica | 0:834b339f5f94 | 100 | thread.start((ultra)); |
juanespitiarobotica | 2:828a15eaad12 | 101 | thread.set_priority (osPriorityNormal); |
juanespitiarobotica | 0:834b339f5f94 | 102 | thread1.start ((servo)); |
juanespitiarobotica | 2:828a15eaad12 | 103 | //thread1.set_priority (osPriorityNormal1); |
juanespitiarobotica | 0:834b339f5f94 | 104 | thread2.start ((temp_hora)); |
juanespitiarobotica | 2:828a15eaad12 | 105 | //thread2.set_priority (osPriorityNormal2); |
juanespitiarobotica | 2:828a15eaad12 | 106 | thread3.start((pantallalcd)); |
juanespitiarobotica | 2:828a15eaad12 | 107 | //thread3.set_priority (osPriorityNormal); |
20172573063 | 1:0371f6d48091 | 108 | thread4.start ((seg)); |
juanespitiarobotica | 2:828a15eaad12 | 109 | //thread4.set_priority (osPriorityNormal3); |
juanespitiarobotica | 2:828a15eaad12 | 110 | thread.join(); |
juanespitiarobotica | 2:828a15eaad12 | 111 | //ThisThread::sleep_for(5000); |
juanespitiarobotica | 2:828a15eaad12 | 112 | |
juanespitiarobotica | 2:828a15eaad12 | 113 | |
juanespitiarobotica | 0:834b339f5f94 | 114 | |
juanespitiarobotica | 0:834b339f5f94 | 115 | } |