Supakorn Meelarp
Bike Light Back Side
Revision 0:b5bafad435c8, committed 2015-12-09
- Comitter:
- kornvarrel
- Date:
- Wed Dec 09 10:15:06 2015 +0000
- Commit message:
- Bike Light Back Side
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/hcsr04.cpp Wed Dec 09 10:15:06 2015 +0000
@@ -0,0 +1,29 @@
+#include "hcsr04.h"
+#include "mbed.h"
+/*
+*HCSR04.cpp
+*/
+HCSR04::HCSR04(PinName t, PinName e) : trig(t), echo(e) {}
+ long HCSR04::echo_duration() {
+
+ timer.reset(); //reset timer
+ trig=0; // trigger low
+ wait_us(2); // wait
+ trig=1; // trigger high
+ wait_us(10);
+ trig=0; // trigger low
+ while(!echo); // start pulseIN
+ timer.start();
+ while(echo);
+ timer.stop();
+ return timer.read_us();
+
+}
+
+//return distance in cm
+long HCSR04::distance(){
+ duration = echo_duration();
+ distance_cm = (duration/2)/29.1 ;
+ return distance_cm;
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/hcsr04.h Wed Dec 09 10:15:06 2015 +0000
@@ -0,0 +1,50 @@
+/* File: HCSR04.h
+ * Author: Antonio Buonanno
+ *Board: STM NUCLEO F401RE,
+ *Hardware: Ultrasonic Range HC-SR04,
+ *
+ *This work derived from Arduino library,
+ *
+ * Desc: driver for HCSR04 Ultrasonic Range Finder. The returned range
+ * is in units of meters.
+ *
+ *
+ *
+*/
+
+/* EXAMPLE
+#include "mbed.h"
+#include "hcsr04.h"
+
+//D12 TRIGGER D11 ECHO
+ HCSR04 sensor(D12, D11);
+int main() {
+ while(1) {
+
+ long distance = sensor.distance();
+ printf("distanza %d \n",distance);
+ wait(1.0); // 1 sec
+
+ }
+}
+*/
+#ifndef hcsr04_H
+#define hcsr04_H
+#include "mbed.h"
+
+
+
+class HCSR04 {
+ public:
+ HCSR04(PinName t, PinName e);
+ long echo_duration();
+ long distance();
+
+ private:
+ DigitalOut trig;
+ DigitalIn echo;
+ Timer timer;
+ long duration,distance_cm;
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Dec 09 10:15:06 2015 +0000
@@ -0,0 +1,316 @@
+#include "mbed.h"
+#include "hcsr04.h"
+#include "math.h"
+
+Serial pc(D8, D2);
+
+DigitalIn digi(D6);
+DigitalOut led(LED1);
+
+//D12 TRIGGER D9 ECHO
+HCSR04 sensor(D12, D9);
+
+Timer t;
+
+SPI max72_spi(D11,NC,D13);
+DigitalOut load(D10);
+
+int maxInUse = 1;
+
+#define max7219_reg_noop 0x00
+#define max7219_reg_digit0 0x01
+#define max7219_reg_digit1 0x02
+#define max7219_reg_digit2 0x03
+#define max7219_reg_digit3 0x04
+#define max7219_reg_digit4 0x05
+#define max7219_reg_digit5 0x06
+#define max7219_reg_digit6 0x07
+#define max7219_reg_digit7 0x08
+#define max7219_reg_decodeMode 0x09
+#define max7219_reg_intensity 0x0a
+#define max7219_reg_scanLimit 0x0b
+#define max7219_reg_shutdown 0x0c
+#define max7219_reg_displayTest 0x0f
+
+#define MHZ 1000000
+
+void maxSin(int reg,int col)
+{
+ load = 0;
+ max72_spi.write(reg);
+ max72_spi.write(col);
+ load =1;
+}
+void maxall(int reg,int col)
+{
+ load = 0;
+ for(int c=1; c<=maxInUse; c++) {
+ max72_spi.write(reg);
+ max72_spi.write(col);
+ }
+ load =1;
+}
+/*void maxOne(int NU,int reg,int col)
+{
+ int c=0;
+ load = 0;
+ for(c=maxInUse; c>NU; c--) {
+ max72_spi.write(0);
+ max72_spi.write(0);
+ }
+ max72_spi.write(reg);
+ max72_spi.write(col);
+ for(c=NU-1; c>=1; c--) {
+ max72_spi.write(0);
+ max72_spi.write(0);
+ }
+ load = 1;
+}*/
+void Set()
+{
+ max72_spi.format(8,0);
+
+ maxall(max7219_reg_scanLimit,0x07);
+ maxall(max7219_reg_decodeMode,0x00);
+ maxall(max7219_reg_shutdown,0x01);
+ maxall(max7219_reg_displayTest,0x00);
+ for(int i=1; i<=8; i++) {
+ maxall(i,0);
+ }
+ maxall(max7219_reg_intensity,0x0f&0x0f);
+
+}
+void loop()
+{
+ int i,j,k,f,n;
+ double z=2;
+
+ int q,w;
+ int num1,num2,num3,num4;
+
+ int hallState = 0;
+ int count = 0;
+ int speed;
+ float rad = 1;
+ int dis = 0;
+ int di = 0;
+
+ t.start();
+
+ while(1) {
+
+
+ if(pc.readable()) {
+ num1 = pc.getc();
+ num1 = pc.getc();
+ num2 = pc.getc();
+ num3 = pc.getc();
+ num4 = pc.getc();
+
+ //printf("%c%c%c%c\n",num1,num2,num3,num4);
+
+ if(num1 == '#' && num4 == '$') {
+ if(num2 == 'T') {
+ if(num3 == 'R') {
+ printf("%c%c%c%c\n",num1,num2,num3,num4);
+ //wait_ms(20);
+ for(j=8; j>=1; j--) {
+ for(n=8; n>=1; n--) {
+ q = (pow(z,j+1));
+ w = (pow(z,j));
+ i = (pow(z,j+2));
+ k = (pow(z,j-1));
+ maxSin(1,w);
+ maxSin(2,k);
+ maxSin(3,i);
+ maxSin(4,w);
+ maxSin(5,i);
+ maxSin(6,q);
+ maxSin(7,q);
+ maxSin(8,k);
+ wait_ms(5);
+ f++;
+ if(f>8) {
+ f=0;
+ }
+ }
+ }
+ }
+ //TURN LEFT
+ if(num3 == 'L') {
+ printf("%c%c%c%c\n",num1,num2,num3,num4);
+ //wait_ms(20);
+ for(j=1; j<=8; j++) {
+ for(n=1; n<=8; n++) {
+ q = (pow(z,j-3));
+ w = (pow(z,j-2));
+ i = (pow(z,j-4));
+ k = (pow(z,j-1));
+ maxSin(1,w);
+ maxSin(2,k);
+ maxSin(3,i);
+ maxSin(4,w);
+ maxSin(5,i);
+ maxSin(6,q);
+ maxSin(7,q);
+ maxSin(8,k);
+ wait_ms(5);
+ f++;
+ if(f>8) {
+ f=0;
+ }
+ }
+ }
+ }
+ }
+
+ }
+
+ if(num2 == 'B' && num3 == 'R') {
+ printf("%c%c%c%c\n",num1,num2,num3,num4);
+ //wait_ms(20);
+
+ maxSin(1,255);
+ maxSin(2,255);
+ maxSin(3,255);
+ maxSin(4,255);
+ maxSin(5,255);
+ maxSin(6,255);
+ maxSin(7,255);
+ maxSin(8,255);
+
+ }
+
+ /*if(num2 == 'E' && num3 == 'M') {
+ printf("%c%c%c%c\n",num1,num2,num3,num4);
+ //wait_ms(20);
+
+ maxSin(1,66);
+ maxSin(2,66);
+ maxSin(4,36);
+ maxSin(6,36);
+ maxSin(8,255);
+ wait(0.10);
+ maxSin(1,0);
+ maxSin(2,0);
+ maxSin(4,0);
+ maxSin(6,0);
+ maxSin(8,0);
+ wait(0.10);
+ }*/
+
+
+
+ //if(num2 == 'M' && num3 == 'D') {
+ //printf("%c%c%c%c\n",num1,num2,num3,num4);
+ //wait_ms(20);
+ else {
+
+ //printf("%c%c%c%c\n",num1,num2,num3,num4);
+ //wait_ms(20);
+
+ maxSin(1,0);
+ maxSin(2,0);
+ maxSin(3,0);
+ maxSin(4,0);
+ maxSin(5,0);
+ maxSin(6,0);
+ maxSin(7,0);
+ maxSin(8,0);
+
+
+ }
+ }
+
+ hallState = digi.read();
+
+ if(t.read()<=1) {
+
+ if (hallState == 0) {
+ // turn LED on:
+ led = 1;
+ //wait_ms(5);
+ //printf("%d\n",hallState);
+ //wait(0.5);
+ count++;
+ ++dis;
+ //pc.printf("%d\n",count);
+ //wait_ms(50);
+
+ } else {
+ // turn LED off:
+ led = 0;
+ //wait_ms(5);
+ //printf("%d\n",hallState);
+ //wait(0.5);
+ }
+ } else {
+
+ di = (dis*rad);
+
+ speed = count*rad;
+ speed = speed*(3.6);
+ //speed = 79.2;
+
+ //printf("%d\n",speed);
+ //pc.printf("#S%02d$",speed);
+
+ long distance = sensor.distance();
+
+ pc.printf("#");
+ //printf("#");
+ if(distance >= 570 && distance < 620) {
+ pc.printf("#D00S%02dK%03d$",speed,di);
+ //printf("#D00$");
+ //printf("#D00S%02dK%03d$",speed,di);
+ } else if(distance >= 520 && distance < 570) {
+ pc.printf("#D01S%02dK%03d$",speed,di);
+ //printf("#D01$");
+ //printf("#D01S%02dK%03d$",speed,di);
+ } else if(distance >= 470 && distance < 520) {
+ pc.printf("#D02S%02dK%03d$",speed,di);
+ //printf("#D02$");
+ //printf("#D02S%02dK%03d$",speed,di);
+ } else if(distance >= 420 && distance < 470) {
+ pc.printf("#D03S%02dK%03d$",speed,di);
+ //printf("#D03$");
+ printf("#D03S%02dK%03d$",speed,di);
+ } else if(distance >= 370 && distance < 420) {
+ pc.printf("#D04S%02dK%03d$",speed,di);
+ //printf("#D04$");
+ //printf("#D04S%02dK%03d$",speed,di);
+ } else if(distance >= 220 && distance < 370) {
+ pc.printf("#D05S%02dK%03d$",speed,di);
+ //printf("#D05$");
+ //printf("#D05S%02dK%03d$",speed,di);
+ } else if(distance >= 170 && distance < 220) {
+ pc.printf("#D06S%02dK%03d$",speed,di);
+ //printf("#D06$");
+ //printf("#D06S%02dK%03d$",speed,di);
+ } else if(distance >= 120 && distance < 170) {
+ pc.printf("#D07S%02dK%03d$",speed,di);
+ //printf("#D07$");
+ //printf("#D07S%02dK%03d$",speed,di);
+ } else if(distance >= 70 && distance < 120 ) {
+ pc.printf("#D08S%02dK%03d$",speed,di);
+ //printf("#D08$");
+ //printf("#D08S%02dK%03d$",speed,di);
+ } else if(distance <= 70) {
+ pc.printf("#D09S%02dK%03d$",speed,di);
+ //printf("#D09S%02dK%03d$",speed,di);
+ //printf("#D09$");
+ } //else {
+ // pc.printf("%d cm",distance);
+ //}
+
+ count = 0;
+ t.reset();
+ }
+ }
+}
+
+int main()
+{
+ Set();
+ loop();
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Dec 09 10:15:06 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/165afa46840b \ No newline at end of file