Supakorn Meelarp / Mbed 2 deprecated 8B_Bike_Light_Back

Bike Light Back Side

Dependencies:   mbed

main.cpp@0:b5bafad435c8, 2015-12-09 (annotated)

Committer:
kornvarrel
Date:
Wed Dec 09 10:15:06 2015 +0000
Revision:
0:b5bafad435c8
Bike Light Back Side

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kornvarrel 0:b5bafad435c8 1 #include "mbed.h"
kornvarrel 0:b5bafad435c8 2 #include "hcsr04.h"
kornvarrel 0:b5bafad435c8 3 #include "math.h"
kornvarrel 0:b5bafad435c8 4
kornvarrel 0:b5bafad435c8 5 Serial pc(D8, D2);
kornvarrel 0:b5bafad435c8 6
kornvarrel 0:b5bafad435c8 7 DigitalIn digi(D6);
kornvarrel 0:b5bafad435c8 8 DigitalOut led(LED1);
kornvarrel 0:b5bafad435c8 9
kornvarrel 0:b5bafad435c8 10 //D12 TRIGGER D9 ECHO
kornvarrel 0:b5bafad435c8 11 HCSR04 sensor(D12, D9);
kornvarrel 0:b5bafad435c8 12
kornvarrel 0:b5bafad435c8 13 Timer t;
kornvarrel 0:b5bafad435c8 14
kornvarrel 0:b5bafad435c8 15 SPI max72_spi(D11,NC,D13);
kornvarrel 0:b5bafad435c8 16 DigitalOut load(D10);
kornvarrel 0:b5bafad435c8 17
kornvarrel 0:b5bafad435c8 18 int maxInUse = 1;
kornvarrel 0:b5bafad435c8 19
kornvarrel 0:b5bafad435c8 20 #define max7219_reg_noop 0x00
kornvarrel 0:b5bafad435c8 21 #define max7219_reg_digit0 0x01
kornvarrel 0:b5bafad435c8 22 #define max7219_reg_digit1 0x02
kornvarrel 0:b5bafad435c8 23 #define max7219_reg_digit2 0x03
kornvarrel 0:b5bafad435c8 24 #define max7219_reg_digit3 0x04
kornvarrel 0:b5bafad435c8 25 #define max7219_reg_digit4 0x05
kornvarrel 0:b5bafad435c8 26 #define max7219_reg_digit5 0x06
kornvarrel 0:b5bafad435c8 27 #define max7219_reg_digit6 0x07
kornvarrel 0:b5bafad435c8 28 #define max7219_reg_digit7 0x08
kornvarrel 0:b5bafad435c8 29 #define max7219_reg_decodeMode 0x09
kornvarrel 0:b5bafad435c8 30 #define max7219_reg_intensity 0x0a
kornvarrel 0:b5bafad435c8 31 #define max7219_reg_scanLimit 0x0b
kornvarrel 0:b5bafad435c8 32 #define max7219_reg_shutdown 0x0c
kornvarrel 0:b5bafad435c8 33 #define max7219_reg_displayTest 0x0f
kornvarrel 0:b5bafad435c8 34
kornvarrel 0:b5bafad435c8 35 #define MHZ 1000000
kornvarrel 0:b5bafad435c8 36
kornvarrel 0:b5bafad435c8 37 void maxSin(int reg,int col)
kornvarrel 0:b5bafad435c8 38 {
kornvarrel 0:b5bafad435c8 39 load = 0;
kornvarrel 0:b5bafad435c8 40 max72_spi.write(reg);
kornvarrel 0:b5bafad435c8 41 max72_spi.write(col);
kornvarrel 0:b5bafad435c8 42 load =1;
kornvarrel 0:b5bafad435c8 43 }
kornvarrel 0:b5bafad435c8 44 void maxall(int reg,int col)
kornvarrel 0:b5bafad435c8 45 {
kornvarrel 0:b5bafad435c8 46 load = 0;
kornvarrel 0:b5bafad435c8 47 for(int c=1; c<=maxInUse; c++) {
kornvarrel 0:b5bafad435c8 48 max72_spi.write(reg);
kornvarrel 0:b5bafad435c8 49 max72_spi.write(col);
kornvarrel 0:b5bafad435c8 50 }
kornvarrel 0:b5bafad435c8 51 load =1;
kornvarrel 0:b5bafad435c8 52 }
kornvarrel 0:b5bafad435c8 53 /*void maxOne(int NU,int reg,int col)
kornvarrel 0:b5bafad435c8 54 {
kornvarrel 0:b5bafad435c8 55 int c=0;
kornvarrel 0:b5bafad435c8 56 load = 0;
kornvarrel 0:b5bafad435c8 57 for(c=maxInUse; c>NU; c--) {
kornvarrel 0:b5bafad435c8 58 max72_spi.write(0);
kornvarrel 0:b5bafad435c8 59 max72_spi.write(0);
kornvarrel 0:b5bafad435c8 60 }
kornvarrel 0:b5bafad435c8 61 max72_spi.write(reg);
kornvarrel 0:b5bafad435c8 62 max72_spi.write(col);
kornvarrel 0:b5bafad435c8 63 for(c=NU-1; c>=1; c--) {
kornvarrel 0:b5bafad435c8 64 max72_spi.write(0);
kornvarrel 0:b5bafad435c8 65 max72_spi.write(0);
kornvarrel 0:b5bafad435c8 66 }
kornvarrel 0:b5bafad435c8 67 load = 1;
kornvarrel 0:b5bafad435c8 68 }*/
kornvarrel 0:b5bafad435c8 69 void Set()
kornvarrel 0:b5bafad435c8 70 {
kornvarrel 0:b5bafad435c8 71 max72_spi.format(8,0);
kornvarrel 0:b5bafad435c8 72
kornvarrel 0:b5bafad435c8 73 maxall(max7219_reg_scanLimit,0x07);
kornvarrel 0:b5bafad435c8 74 maxall(max7219_reg_decodeMode,0x00);
kornvarrel 0:b5bafad435c8 75 maxall(max7219_reg_shutdown,0x01);
kornvarrel 0:b5bafad435c8 76 maxall(max7219_reg_displayTest,0x00);
kornvarrel 0:b5bafad435c8 77 for(int i=1; i<=8; i++) {
kornvarrel 0:b5bafad435c8 78 maxall(i,0);
kornvarrel 0:b5bafad435c8 79 }
kornvarrel 0:b5bafad435c8 80 maxall(max7219_reg_intensity,0x0f&0x0f);
kornvarrel 0:b5bafad435c8 81
kornvarrel 0:b5bafad435c8 82 }
kornvarrel 0:b5bafad435c8 83 void loop()
kornvarrel 0:b5bafad435c8 84 {
kornvarrel 0:b5bafad435c8 85 int i,j,k,f,n;
kornvarrel 0:b5bafad435c8 86 double z=2;
kornvarrel 0:b5bafad435c8 87
kornvarrel 0:b5bafad435c8 88 int q,w;
kornvarrel 0:b5bafad435c8 89 int num1,num2,num3,num4;
kornvarrel 0:b5bafad435c8 90
kornvarrel 0:b5bafad435c8 91 int hallState = 0;
kornvarrel 0:b5bafad435c8 92 int count = 0;
kornvarrel 0:b5bafad435c8 93 int speed;
kornvarrel 0:b5bafad435c8 94 float rad = 1;
kornvarrel 0:b5bafad435c8 95 int dis = 0;
kornvarrel 0:b5bafad435c8 96 int di = 0;
kornvarrel 0:b5bafad435c8 97
kornvarrel 0:b5bafad435c8 98 t.start();
kornvarrel 0:b5bafad435c8 99
kornvarrel 0:b5bafad435c8 100 while(1) {
kornvarrel 0:b5bafad435c8 101
kornvarrel 0:b5bafad435c8 102
kornvarrel 0:b5bafad435c8 103 if(pc.readable()) {
kornvarrel 0:b5bafad435c8 104 num1 = pc.getc();
kornvarrel 0:b5bafad435c8 105 num1 = pc.getc();
kornvarrel 0:b5bafad435c8 106 num2 = pc.getc();
kornvarrel 0:b5bafad435c8 107 num3 = pc.getc();
kornvarrel 0:b5bafad435c8 108 num4 = pc.getc();
kornvarrel 0:b5bafad435c8 109
kornvarrel 0:b5bafad435c8 110 //printf("%c%c%c%c\n",num1,num2,num3,num4);
kornvarrel 0:b5bafad435c8 111
kornvarrel 0:b5bafad435c8 112 if(num1 == '#' && num4 == '$') {
kornvarrel 0:b5bafad435c8 113 if(num2 == 'T') {
kornvarrel 0:b5bafad435c8 114 if(num3 == 'R') {
kornvarrel 0:b5bafad435c8 115 printf("%c%c%c%c\n",num1,num2,num3,num4);
kornvarrel 0:b5bafad435c8 116 //wait_ms(20);
kornvarrel 0:b5bafad435c8 117 for(j=8; j>=1; j--) {
kornvarrel 0:b5bafad435c8 118 for(n=8; n>=1; n--) {
kornvarrel 0:b5bafad435c8 119 q = (pow(z,j+1));
kornvarrel 0:b5bafad435c8 120 w = (pow(z,j));
kornvarrel 0:b5bafad435c8 121 i = (pow(z,j+2));
kornvarrel 0:b5bafad435c8 122 k = (pow(z,j-1));
kornvarrel 0:b5bafad435c8 123 maxSin(1,w);
kornvarrel 0:b5bafad435c8 124 maxSin(2,k);
kornvarrel 0:b5bafad435c8 125 maxSin(3,i);
kornvarrel 0:b5bafad435c8 126 maxSin(4,w);
kornvarrel 0:b5bafad435c8 127 maxSin(5,i);
kornvarrel 0:b5bafad435c8 128 maxSin(6,q);
kornvarrel 0:b5bafad435c8 129 maxSin(7,q);
kornvarrel 0:b5bafad435c8 130 maxSin(8,k);
kornvarrel 0:b5bafad435c8 131 wait_ms(5);
kornvarrel 0:b5bafad435c8 132 f++;
kornvarrel 0:b5bafad435c8 133 if(f>8) {
kornvarrel 0:b5bafad435c8 134 f=0;
kornvarrel 0:b5bafad435c8 135 }
kornvarrel 0:b5bafad435c8 136 }
kornvarrel 0:b5bafad435c8 137 }
kornvarrel 0:b5bafad435c8 138 }
kornvarrel 0:b5bafad435c8 139 //TURN LEFT
kornvarrel 0:b5bafad435c8 140 if(num3 == 'L') {
kornvarrel 0:b5bafad435c8 141 printf("%c%c%c%c\n",num1,num2,num3,num4);
kornvarrel 0:b5bafad435c8 142 //wait_ms(20);
kornvarrel 0:b5bafad435c8 143 for(j=1; j<=8; j++) {
kornvarrel 0:b5bafad435c8 144 for(n=1; n<=8; n++) {
kornvarrel 0:b5bafad435c8 145 q = (pow(z,j-3));
kornvarrel 0:b5bafad435c8 146 w = (pow(z,j-2));
kornvarrel 0:b5bafad435c8 147 i = (pow(z,j-4));
kornvarrel 0:b5bafad435c8 148 k = (pow(z,j-1));
kornvarrel 0:b5bafad435c8 149 maxSin(1,w);
kornvarrel 0:b5bafad435c8 150 maxSin(2,k);
kornvarrel 0:b5bafad435c8 151 maxSin(3,i);
kornvarrel 0:b5bafad435c8 152 maxSin(4,w);
kornvarrel 0:b5bafad435c8 153 maxSin(5,i);
kornvarrel 0:b5bafad435c8 154 maxSin(6,q);
kornvarrel 0:b5bafad435c8 155 maxSin(7,q);
kornvarrel 0:b5bafad435c8 156 maxSin(8,k);
kornvarrel 0:b5bafad435c8 157 wait_ms(5);
kornvarrel 0:b5bafad435c8 158 f++;
kornvarrel 0:b5bafad435c8 159 if(f>8) {
kornvarrel 0:b5bafad435c8 160 f=0;
kornvarrel 0:b5bafad435c8 161 }
kornvarrel 0:b5bafad435c8 162 }
kornvarrel 0:b5bafad435c8 163 }
kornvarrel 0:b5bafad435c8 164 }
kornvarrel 0:b5bafad435c8 165 }
kornvarrel 0:b5bafad435c8 166
kornvarrel 0:b5bafad435c8 167 }
kornvarrel 0:b5bafad435c8 168
kornvarrel 0:b5bafad435c8 169 if(num2 == 'B' && num3 == 'R') {
kornvarrel 0:b5bafad435c8 170 printf("%c%c%c%c\n",num1,num2,num3,num4);
kornvarrel 0:b5bafad435c8 171 //wait_ms(20);
kornvarrel 0:b5bafad435c8 172
kornvarrel 0:b5bafad435c8 173 maxSin(1,255);
kornvarrel 0:b5bafad435c8 174 maxSin(2,255);
kornvarrel 0:b5bafad435c8 175 maxSin(3,255);
kornvarrel 0:b5bafad435c8 176 maxSin(4,255);
kornvarrel 0:b5bafad435c8 177 maxSin(5,255);
kornvarrel 0:b5bafad435c8 178 maxSin(6,255);
kornvarrel 0:b5bafad435c8 179 maxSin(7,255);
kornvarrel 0:b5bafad435c8 180 maxSin(8,255);
kornvarrel 0:b5bafad435c8 181
kornvarrel 0:b5bafad435c8 182 }
kornvarrel 0:b5bafad435c8 183
kornvarrel 0:b5bafad435c8 184 /*if(num2 == 'E' && num3 == 'M') {
kornvarrel 0:b5bafad435c8 185 printf("%c%c%c%c\n",num1,num2,num3,num4);
kornvarrel 0:b5bafad435c8 186 //wait_ms(20);
kornvarrel 0:b5bafad435c8 187
kornvarrel 0:b5bafad435c8 188 maxSin(1,66);
kornvarrel 0:b5bafad435c8 189 maxSin(2,66);
kornvarrel 0:b5bafad435c8 190 maxSin(4,36);
kornvarrel 0:b5bafad435c8 191 maxSin(6,36);
kornvarrel 0:b5bafad435c8 192 maxSin(8,255);
kornvarrel 0:b5bafad435c8 193 wait(0.10);
kornvarrel 0:b5bafad435c8 194 maxSin(1,0);
kornvarrel 0:b5bafad435c8 195 maxSin(2,0);
kornvarrel 0:b5bafad435c8 196 maxSin(4,0);
kornvarrel 0:b5bafad435c8 197 maxSin(6,0);
kornvarrel 0:b5bafad435c8 198 maxSin(8,0);
kornvarrel 0:b5bafad435c8 199 wait(0.10);
kornvarrel 0:b5bafad435c8 200 }*/
kornvarrel 0:b5bafad435c8 201
kornvarrel 0:b5bafad435c8 202
kornvarrel 0:b5bafad435c8 203
kornvarrel 0:b5bafad435c8 204 //if(num2 == 'M' && num3 == 'D') {
kornvarrel 0:b5bafad435c8 205 //printf("%c%c%c%c\n",num1,num2,num3,num4);
kornvarrel 0:b5bafad435c8 206 //wait_ms(20);
kornvarrel 0:b5bafad435c8 207 else {
kornvarrel 0:b5bafad435c8 208
kornvarrel 0:b5bafad435c8 209 //printf("%c%c%c%c\n",num1,num2,num3,num4);
kornvarrel 0:b5bafad435c8 210 //wait_ms(20);
kornvarrel 0:b5bafad435c8 211
kornvarrel 0:b5bafad435c8 212 maxSin(1,0);
kornvarrel 0:b5bafad435c8 213 maxSin(2,0);
kornvarrel 0:b5bafad435c8 214 maxSin(3,0);
kornvarrel 0:b5bafad435c8 215 maxSin(4,0);
kornvarrel 0:b5bafad435c8 216 maxSin(5,0);
kornvarrel 0:b5bafad435c8 217 maxSin(6,0);
kornvarrel 0:b5bafad435c8 218 maxSin(7,0);
kornvarrel 0:b5bafad435c8 219 maxSin(8,0);
kornvarrel 0:b5bafad435c8 220
kornvarrel 0:b5bafad435c8 221
kornvarrel 0:b5bafad435c8 222 }
kornvarrel 0:b5bafad435c8 223 }
kornvarrel 0:b5bafad435c8 224
kornvarrel 0:b5bafad435c8 225 hallState = digi.read();
kornvarrel 0:b5bafad435c8 226
kornvarrel 0:b5bafad435c8 227 if(t.read()<=1) {
kornvarrel 0:b5bafad435c8 228
kornvarrel 0:b5bafad435c8 229 if (hallState == 0) {
kornvarrel 0:b5bafad435c8 230 // turn LED on:
kornvarrel 0:b5bafad435c8 231 led = 1;
kornvarrel 0:b5bafad435c8 232 //wait_ms(5);
kornvarrel 0:b5bafad435c8 233 //printf("%d\n",hallState);
kornvarrel 0:b5bafad435c8 234 //wait(0.5);
kornvarrel 0:b5bafad435c8 235 count++;
kornvarrel 0:b5bafad435c8 236 ++dis;
kornvarrel 0:b5bafad435c8 237 //pc.printf("%d\n",count);
kornvarrel 0:b5bafad435c8 238 //wait_ms(50);
kornvarrel 0:b5bafad435c8 239
kornvarrel 0:b5bafad435c8 240 } else {
kornvarrel 0:b5bafad435c8 241 // turn LED off:
kornvarrel 0:b5bafad435c8 242 led = 0;
kornvarrel 0:b5bafad435c8 243 //wait_ms(5);
kornvarrel 0:b5bafad435c8 244 //printf("%d\n",hallState);
kornvarrel 0:b5bafad435c8 245 //wait(0.5);
kornvarrel 0:b5bafad435c8 246 }
kornvarrel 0:b5bafad435c8 247 } else {
kornvarrel 0:b5bafad435c8 248
kornvarrel 0:b5bafad435c8 249 di = (dis*rad);
kornvarrel 0:b5bafad435c8 250
kornvarrel 0:b5bafad435c8 251 speed = count*rad;
kornvarrel 0:b5bafad435c8 252 speed = speed*(3.6);
kornvarrel 0:b5bafad435c8 253 //speed = 79.2;
kornvarrel 0:b5bafad435c8 254
kornvarrel 0:b5bafad435c8 255 //printf("%d\n",speed);
kornvarrel 0:b5bafad435c8 256 //pc.printf("#S%02d$",speed);
kornvarrel 0:b5bafad435c8 257
kornvarrel 0:b5bafad435c8 258 long distance = sensor.distance();
kornvarrel 0:b5bafad435c8 259
kornvarrel 0:b5bafad435c8 260 pc.printf("#");
kornvarrel 0:b5bafad435c8 261 //printf("#");
kornvarrel 0:b5bafad435c8 262 if(distance >= 570 && distance < 620) {
kornvarrel 0:b5bafad435c8 263 pc.printf("#D00S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 264 //printf("#D00$");
kornvarrel 0:b5bafad435c8 265 //printf("#D00S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 266 } else if(distance >= 520 && distance < 570) {
kornvarrel 0:b5bafad435c8 267 pc.printf("#D01S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 268 //printf("#D01$");
kornvarrel 0:b5bafad435c8 269 //printf("#D01S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 270 } else if(distance >= 470 && distance < 520) {
kornvarrel 0:b5bafad435c8 271 pc.printf("#D02S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 272 //printf("#D02$");
kornvarrel 0:b5bafad435c8 273 //printf("#D02S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 274 } else if(distance >= 420 && distance < 470) {
kornvarrel 0:b5bafad435c8 275 pc.printf("#D03S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 276 //printf("#D03$");
kornvarrel 0:b5bafad435c8 277 printf("#D03S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 278 } else if(distance >= 370 && distance < 420) {
kornvarrel 0:b5bafad435c8 279 pc.printf("#D04S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 280 //printf("#D04$");
kornvarrel 0:b5bafad435c8 281 //printf("#D04S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 282 } else if(distance >= 220 && distance < 370) {
kornvarrel 0:b5bafad435c8 283 pc.printf("#D05S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 284 //printf("#D05$");
kornvarrel 0:b5bafad435c8 285 //printf("#D05S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 286 } else if(distance >= 170 && distance < 220) {
kornvarrel 0:b5bafad435c8 287 pc.printf("#D06S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 288 //printf("#D06$");
kornvarrel 0:b5bafad435c8 289 //printf("#D06S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 290 } else if(distance >= 120 && distance < 170) {
kornvarrel 0:b5bafad435c8 291 pc.printf("#D07S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 292 //printf("#D07$");
kornvarrel 0:b5bafad435c8 293 //printf("#D07S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 294 } else if(distance >= 70 && distance < 120 ) {
kornvarrel 0:b5bafad435c8 295 pc.printf("#D08S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 296 //printf("#D08$");
kornvarrel 0:b5bafad435c8 297 //printf("#D08S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 298 } else if(distance <= 70) {
kornvarrel 0:b5bafad435c8 299 pc.printf("#D09S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 300 //printf("#D09S%02dK%03d$",speed,di);
kornvarrel 0:b5bafad435c8 301 //printf("#D09$");
kornvarrel 0:b5bafad435c8 302 } //else {
kornvarrel 0:b5bafad435c8 303 // pc.printf("%d cm",distance);
kornvarrel 0:b5bafad435c8 304 //}
kornvarrel 0:b5bafad435c8 305
kornvarrel 0:b5bafad435c8 306 count = 0;
kornvarrel 0:b5bafad435c8 307 t.reset();
kornvarrel 0:b5bafad435c8 308 }
kornvarrel 0:b5bafad435c8 309 }
kornvarrel 0:b5bafad435c8 310 }
kornvarrel 0:b5bafad435c8 311
kornvarrel 0:b5bafad435c8 312 int main()
kornvarrel 0:b5bafad435c8 313 {
kornvarrel 0:b5bafad435c8 314 Set();
kornvarrel 0:b5bafad435c8 315 loop();
kornvarrel 0:b5bafad435c8 316 }