Diff: main.cpp

Revision:

1:d3628d93e4d4

Parent:

0:8cc71e8eb869

diff -r 8cc71e8eb869 -r d3628d93e4d4 main.cpp
--- a/main.cpp	Tue Mar 20 03:57:32 2018 +0000
+++ b/main.cpp	Wed Mar 21 18:06:06 2018 +0000
@@ -1,130 +1,154 @@
-// 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"
+//   THis program contains 3 different parts, to control a servo motor, interface a PIR motion sensor and an Ultrasonic sensor
+//   with the NXP FRDM-k64f board.
+//   The program uses 3 libraries, one for the mbed functions, one for the Servo motor and one for the ultrasonic sensor.
+//   The motion sensor sends out digital signals which are used as inputs to trigger interrupts.
+
+
+//   Including libraries
+#include "mbed.h"
+#include "Servo.h"
+#include "HCSR04.h"
+
 
- Serial pc(USBTX,USBRX);     // Create a serial connection to pc through the mbed USB cable
+//   Create a serial connection to pc through the mbed USB cable
+Serial pc(USBTX,USBRX);     
+
 
- 
-HCSR04 sensor(D8,D9);        //hcsr04 pin numbers
-Servo LRmyservo(PTC5);       //servo pwm pin
-InterruptIn motion(D2);      //pir motion sensor interrupt pin
+//   Initializing instances of HCSR04, servo and interrupt pin
+HCSR04 sensor(D8,D9);        //D8 is PTC12 and D9 is PTC4
+Servo LRmyservo(PTC5);
+InterruptIn motion(D2);      //D2 is PTB9
 
-//Input at switch SW2 and output at led2
+
+
+//   Initializing input at switch 2 and output at led 2
 DigitalIn sw2(SW2);
 DigitalOut Green(LED2);
  
 
+//   Initializing global variables
 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;
+
+//   Defining IRQ routine
+void irq_handler(void)
+{
+    motion_detected = 1;                                                       //raise flag if motion is detected
+}
+
+
+//   Function to rotate the servo, swaping direction of rotation based on position
+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;                                                          //Makes sure the servo doesnt drop another pill if one is already dropped
+           }
+       }
+   } else                                                                      //rotate left
+     { 
+       for(i=110; i>=10; i--)
+       {
+           LRmyservo = i/100.00;
+           //pc.printf("read = %d, signal = %d\r\n", LRmyservo.read(),something);
+           wait_ms(4);
+           if(motion_detected)
+           {
+               break;                                                          //Makes sure the servo doesnt drop another pill if one is already dropped
+           }
+       }
+     }
+}
+
+
+//   Function to rotate the servo when switch is pressed
+void servo_fnc()
+{
+    bool flag = false;
+    bool rotate = true;
+    
+    while(flag == false)
+    {
+            if (sw2 == 0)
+            {
+                rotateServo(rotate);
+                if (rotate == true)                                            //adjust rotation direction for next iteration
+                { 
+                    rotate = false;
+                } else
+                {
+                    rotate = true;
+                }
             }
+    }
+}
+
+
+//   Function to detect motion on the tray, if pills are dispensed
+void ultrasonic_fn()
+{
+    wait_ms(4000);
+    int echoVal = sensor.echo_duration();
+    Green = 1;
+    
+    while(1)
+    {
+        int a = sensor.echo_duration();
+        if (a - echoVal > 75 || echoVal - a > 75)                              //blinks green led as long as the hand is detected over the tray
+        {
+            Green=0;
+            wait(.2);
+            Green=1;
+            wait(.2);
         }
-    } 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;
-            }
+        pc.printf("%d \n\r",a);
+        wait_ms(50);
+    }
+}
+
+
+//   Function to detect motion of pill passing through the channel
+void motion_sensor_fn()
+{
+    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;                                                           //blinks led 2 green once when pill is detected
+            wait(.2);
+            Green=1;
+            wait(1);
+        } else
+        {
+            pc.printf("did not detect\r\n");
         }
     }
- }
- 
- 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
+//   Main program, runs one peripheral at a time since we were unable to run them concurrently
+//   3 function calls define the respective routines, 2 are commented at a time to test the one
+int main() 
+{
+    servo_fnc();
+    //ultrasonic_fn()
+    //motion_sensor_fn()
+}   
\ No newline at end of file