Diff: main.cpp

Revision:

0:8cc71e8eb869

Child:

1:d3628d93e4d4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 20 03:57:32 2018 +0000
@@ -0,0 +1,130 @@
+// Servo control class, based on a PwmOut
+ 
+ 
+  // Continuously sweep the servo through it's full range
+  #include "mbed.h"
+  #include "Servo.h"
+  #include "HCSR04.h"
+
+ Serial pc(USBTX,USBRX);     // Create a serial connection to pc through the mbed USB cable
+
+ 
+HCSR04 sensor(D8,D9);        //hcsr04 pin numbers
+Servo LRmyservo(PTC5);       //servo pwm pin
+InterruptIn motion(D2);      //pir motion sensor interrupt pin
+
+//Input at switch SW2 and output at led2
+DigitalIn sw2(SW2);
+DigitalOut Green(LED2);
+ 
+
+int motion_detected = 0;
+
+
+//interrupt and other functions
+ void irq_handler(void)
+ {
+     motion_detected = 1;
+ }
+ 
+ void rotateServo(bool rotate)
+ {
+    int i = 0;
+    if (rotate == true){ //rotate right
+        for(i=10; i<111; i++){
+            LRmyservo = i/100.00;
+            //pc.printf("read = %f\r\n", LRmyservo);
+            wait_ms(4);
+            if(motion_detected){
+                break;
+            }
+        }
+    } else{ 
+        for(i=110; i>=10; i--){ //rotate left
+            LRmyservo = i/100.00;
+            //pc.printf("read = %d, signal = %d\r\n", LRmyservo.read(),something);
+            wait_ms(4);
+            if(motion_detected){
+                break;
+            }
+        }
+    }
+ }
+ 
+ void dist(int distance)
+{
+    //put code here to execute when the distance has changed
+    printf("Distance %d mm\r\n", distance);
+}
+
+
+
+//main program, runs one peripheral at a time, unable to interface simutanously
+    int main() 
+    {
+        
+        //Initialize variables
+        bool flag = false;
+        bool rotate = true;
+        
+        //Initilize motor positions
+
+        while(flag == false)
+        {
+            //check to make sure the motion sensor was not triggered
+            if (sw2 == 0)
+            {
+                rotateServo(rotate);
+                if (rotate == true)
+                { //adjust rotation direction for next iteration
+                    rotate = false;
+                } else{
+                        rotate = true;
+                        }
+            }
+        }
+        pc.printf("I am finished with the program");
+        //wait_ms(5);
+        
+///////for ditecting motion at the dispenser tray using hcsr04
+    /*
+        wait_ms(4000);
+        int echoVal = sensor.echo_duration();
+        Green = 1;
+   
+        while(1){
+             int a = sensor.echo_duration();
+             if (a - echoVal > 75 || echoVal - a > 75){
+                   Green=0;
+                   wait(.2);
+                   Green=1;
+                   wait(.2);
+             }
+             pc.printf("%d \n\r",a);
+             wait_ms(50);
+        }
+    */
+    
+///////for ditecting motion motion of the pill passing through the channel using PIR motion sensor
+    /*
+        int cnt = 0;
+        motion.fall(&irq_handler);
+        Green=1;
+    
+        while(1) 
+        {
+            if(motion_detected) 
+            {
+                cnt++;
+                motion_detected = 0;
+                pc.printf("Hello! I've detected %d times since reset\r\n", cnt);
+                Green=0;
+                wait(.2);
+                Green=1;
+                wait(1);
+            } else{
+                pc.printf("did not detect\r\n");
+                }
+        }
+    */
+    }
\ No newline at end of file