Diff: main.cpp

Revision:

0:4f72e674f36d

Child:

1:27e51c864014

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 07 18:53:31 2018 +0000
@@ -0,0 +1,171 @@
+#include "mbed.h"
+#include "DebouncedIn.h"
+#include "hcsr04.h"
+
+DigitalIn B_stop(PTC8); //Boton de paro de emergencia
+DigitalIn B_close(PTC9); //Boton “Cerrar” de la cabina
+DigitalIn B_open(PTA13); //Boton “Abrir” de la cabina
+
+DigitalIn B_c1(PTB1); //Boton "1" de la cabina
+DigitalIn B_c2(PTB0); //Boton "2" de la cabina
+DigitalIn B_c3(PTA5); //Boton "3" de la cabina
+
+DigitalIn B_p1(PTB2); //Boton piso 1
+DigitalIn B_p3(PTC1); //Boton piso 3
+DigitalIn B_p2u(PTB3); //Boton piso 2 arriba
+DigitalIn B_p2d(PTC2); //Boton piso 2 abajo
+
+PwmOut S_1(PTD2); //Servomotor piso 1
+PwmOut S_2(PTD0); //Servomotor piso 2
+PwmOut S_3(PTD5); //Servomotor piso 3
+
+PwmOut Motor_en(PTA12); //Motor enable
+DigitalOut Motor_up(PTD4); //Motor arriba
+DigitalOut Motor_down(PTA4); //Motor abajo
+
+DigitalOut Trigger(PTD3); //Trigger Ultrasonido
+DigitalIn Echo(PTD1); //Echo ultrasonido
+DigitalOut myled(LED1); //monitor trigger
+DigitalOut myled2(LED2); //monitor echo
+
+Serial pc(PTA2, PTA1);
+
+int distance = 0;
+int correction = 0;
+Timer sonar;
+
+int sensordist(void);
+void comp(int dmeasured);
+
+int main(){
+    sonar.reset();
+    sonar.start();
+    while(Echo == 2){}; 
+    myled=0;
+    sonar.stop();
+    correction = sonar.read_us();
+    
+    while(true){
+        
+        int d = sensordist();
+        comp(d);
+        wait_ms(50);
+        
+        while((B_p2u == 0)){
+            pc.printf("u");
+            Motor_up = 1;
+            Motor_down = 0;
+            Motor_en.period_ms(50);
+            Motor_en.pulsewidth_us(4000);
+            }
+        while((B_p2d == 0)){
+            pc.printf("d");
+            Motor_up = 0;
+            Motor_down = 1;
+            Motor_en.period_ms(50);
+            Motor_en.pulsewidth_us(1000);
+            }
+        if ((B_p2u == 1) && (B_p2d == 1)){
+            pc.printf("p");
+            Motor_up = 0;
+            Motor_down = 0;
+            }
+        
+        wait_ms(500);
+        
+        /*if((B_p1 == 0) || (B_c1 == 0)){
+            pc.printf("1");
+            wait(1);
+            pc.printf("u");
+            
+            
+            }
+        if((B_p2d == 0) || (B_c2 == 0) || (B_p2u == 0)){
+            pc.printf("2");
+            wait(1);
+            pc.printf("p");
+            
+            
+            }
+        if((B_p3 == 0) || (B_c3 == 0)){
+            pc.printf("3");
+            wait(1);
+            pc.printf("d");
+            
+            
+            }
+        if((B_open == 0)){
+            pc.printf("4");
+            wait(1);
+            }
+        if((B_close == 0)){
+            pc.printf("5");
+            wait(1);
+            }
+        if((B_stop == 0)){
+            pc.printf("6");
+            wait(1);
+            
+            }
+            */
+        }
+    
+    
+    }
+    
+
+
+int sensordist(void){
+    Trigger = 1;
+    myled = 1;
+    myled2 = 0;
+    sonar.reset();
+    wait_us(10.0);
+    Trigger = 0;
+    myled = 0;
+    while (Echo==0) {};
+    myled2=Echo;
+    sonar.start();
+    while (Echo==1) {};
+    sonar.stop();
+    distance = (sonar.read_us()-correction)/58.0;
+    myled2 = 0;
+    return distance;    
+}
+
+void comp(int dmeasured){
+    if((dmeasured <= 5)){
+        pc.printf("9");
+        }
+    else if ((dmeasured > 5 && dmeasured <= 10)){
+        pc.printf("8");
+        }
+    else if ((dmeasured > 10 && dmeasured <= 15)){
+        pc.printf("7");
+        }
+    else if ((dmeasured > 15 && dmeasured <= 20)){
+        pc.printf("6");
+        }
+    else if ((dmeasured > 20 && dmeasured <= 25)){
+        pc.printf("5");
+        }
+    else if ((dmeasured > 25 && dmeasured <= 30)){
+        pc.printf("4");
+        }
+    else if ((dmeasured > 30 && dmeasured <= 35)){
+        pc.printf("3");
+        }
+    else if ((dmeasured > 35 && dmeasured <= 40)){
+        pc.printf("2");
+        }
+    else if ((dmeasured > 40 && dmeasured <= 46)){
+        pc.printf("1");
+        }
+    else{
+        pc.printf("0");
+        }
+    }
+
+
+
+