Jan Mader
Distanzhelm
Revision 8:2ae54c6a9dc6, committed 2021-05-24
- Comitter:
- madjan01
- Date:
- Mon May 24 20:44:16 2021 +0000
- Parent:
- 7:3b3a2c158803
- Commit message:
- Abgabe Version 24.05.21
Changed in this revision
diff -r 3b3a2c158803 -r 2ae54c6a9dc6 PM2_Libary.lib --- a/PM2_Libary.lib Wed May 12 23:35:22 2021 +0000 +++ b/PM2_Libary.lib Mon May 24 20:44:16 2021 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/pmic/code/PM2_Libary/#8b42e643b294 +https://os.mbed.com/users/pmic/code/PM2_Libary/#6b747ad59ff5
diff -r 3b3a2c158803 -r 2ae54c6a9dc6 RangeFinder.lib --- a/RangeFinder.lib Wed May 12 23:35:22 2021 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://os.mbed.com/teams/altb_pmic/code/RangeFinder/#600591c78153
diff -r 3b3a2c158803 -r 2ae54c6a9dc6 main.cpp
--- a/main.cpp Wed May 12 23:35:22 2021 +0000
+++ b/main.cpp Mon May 24 20:44:16 2021 +0000
@@ -14,45 +14,47 @@
DigitalOut led(LED1);
// create servo objects
- Servo servo_0(PA_6);
+ Servo servo_0(PA_6); //PA_6
//Infrarotsensor
- DigitalIn pirlinks(PB_12);
- DigitalIn pirhinten(PC_7); //pc_6 puuty besetzt
- DigitalIn pirrechts(PB_7); //pc_8
- DigitalIn pirvorne(PA_1); //pc-9
- //im moment nich eingebaut
- // DigitalIn ultrarechts(PB_1);
- // DigitalIn ultralinks(PB_13); //immer eins behoben
- // DigitalIn ultravorne(PC_3);
- //DigitalIn ultrahinten(PA_9);// immer eins behoben
+ DigitalIn pirrechts(PB_12);
+ DigitalIn pirvorne(PC_7);
+ DigitalIn pirhinten(PB_7);
+ DigitalIn pirlinks(PA_1);
+
+ /*
+ pc-6 pc_ 9 sicher mit putty besetzt pc_8 immer eins
+
+
+ */
+
+
+
+ // Groove Ultrasonic Ranger V2.0
+ // https://ch.rs-online.com/web/p/entwicklungstools-sensorik/1743238/?cm_mmc=CH-PLA-DS3A-_-google-_-CSS_CH_DE_Raspberry_Pi_%26_Arduino_und_Entwicklungstools_Whoop-_-(CH:Whoop!)+Entwicklungstools+Sensorik-_-1743238&matchtype=&pla-306637898829&gclid=Cj0KCQjwpdqDBhCSARIsAEUJ0hOLQOOaw_2-Ob03u4YGwXthQPeSyjaazFqNuMkTIT8Ie18B1pD7P9AaAn18EALw_wcB&gclsrc=aw.ds
+ /* create range finder object (ultra sonic distance sensor) */
+ RangeFinder ultrarechts(PC_5, 5782.0f, 0.02f, 17500); // 1/Ts_ms = 20 Hz parametrization
+ RangeFinder ultralinks(PC_3, 5782.0f, 0.02f, 17500); // 1/Ts_ms = 20 Hz parametrization
+ RangeFinder ultravorne(PB_1, 5782.0f, 0.02f, 17500); // 1/Ts_ms = 20 Hz parametrization
+ RangeFinder ultrahinten(PC_2, 5782.0f, 0.02f, 17500); // 1/Ts_ms = 20 Hz parametrization
//Output
//Servo
DigitalOut pumpe(PB_6);
- DigitalOut summer(PA_0);
-
- // Groove Ultrasonic Ranger V2.0
- // https://ch.rs-online.com/web/p/entwicklungstools-sensorik/1743238/?cm_mmc=CH-PLA-DS3A-_-google-_-CSS_CH_DE_Raspberry_Pi_%26_Arduino_und_Entwicklungstools_Whoop-_-(CH:Whoop!)+Entwicklungstools+Sensorik-_-1743238&matchtype=&pla-306637898829&gclid=Cj0KCQjwpdqDBhCSARIsAEUJ0hOLQOOaw_2-Ob03u4YGwXthQPeSyjaazFqNuMkTIT8Ie18B1pD7P9AaAn18EALw_wcB&gclsrc=aw.ds
- /* create range finder object (ultra sonic distance sensor) */
- RangeFinder ultrarechts(PB_1, 5782.0f, 0.02f, 17500); // 1/Ts_ms = 20 Hz parametrization
- RangeFinder ultralinks(PB_13, 5782.0f, 0.02f, 17500); // 1/Ts_ms = 20 Hz parametrization
- RangeFinder ultravorne(PC_3, 5782.0f, 0.02f, 17500); // 1/Ts_ms = 20 Hz parametrization
- RangeFinder ultrahinten(PA_9, 5782.0f, 0.02f, 17500); // 1/Ts_ms = 20 Hz parametrization
-
+ DigitalOut summer(PA_0);
/* input your stuff here */
Timer loop_timer;
-int Ts_ms = 500;
+int Ts_ms = 1000;
char CZustand = 0;
-int spritz = 3000; //spritzzeit
-float fhelp = 0.0f;
+int spritz = 1000; //spritzzeit, summerzeit = 2*spritzzeit
+//float dist_USSensor = 0.0f;
-/*Interrupt*/
+/*Interrupt nciht verwendet möglich erweiterung*/
/*
class Counter {
@@ -82,24 +84,30 @@
servo_0.Enable(1500,20000);
+ summer =1;
+ thread_sleep_for(200);
+ summer = 0;
+//thread_sleep_for(15000);
+
while (true) {
loop_timer.reset();
- /* if(user_button == 0)
+ /* if(user_button == 0) // hilfsstart zustand varbiable muss auf Wert über 10 geändert werden
{
printf("nicht aktiv");
CZustand = 0;
}*/
- /* ------------- start hacking ------------- -------------*/
+ /* ------------- start hacking ------------- -------------*/
if(CZustand == 0) // Aufstarten
{
//servo_0.SetPosition(1000);
printf("Grundposition\n");
+
thread_sleep_for(100);
CZustand = 1;
@@ -107,12 +115,12 @@
if(CZustand == 1)// Warten
{
led = 0;
- //printf("Warten\n");
+ printf("Warten\n");
if(pirrechts == 1)
{
CZustand = 2;
- printf("erkennt\n");
- thread_sleep_for(100);
+ //printf("erkennt\n");
+ //thread_sleep_for(100);
//servo_0.SetPosition(2000);
}
@@ -126,7 +134,7 @@
}
if(pirhinten == 1)
{
- printf("pirhinten\n");
+ //printf("pirhinten\n");
CZustand = 5;
}
@@ -144,50 +152,56 @@
led = 1;
printf("rechts\n");
- servo_0.SetPosition(2100); //1250
- if(ultrarechts.read_cm() < 200)
+ servo_0.SetPosition(1900); //1250
+ if((30 < ultrarechts.read_cm()) & (ultrarechts.read_cm() < 200))
{
- fhelp = ultrarechts.read_cm();
- printf("%f;",fhelp);
- CZustand = 6;
- }
- else{
- CZustand = 0;
+ //fhelp = ultrarechts.read_cm();
+ //printf("%3.3f;",fhelp);
+ CZustand = 6;
+ }
+ else{
+ CZustand = 0;
- }
+ }
thread_sleep_for(100);
}
+
+
if(CZustand == 3)//links erkennt
{
printf("links\n");
- servo_0.SetPosition(1000);
- if(ultralinks.read_cm() < 200)
+ servo_0.SetPosition(900);
+ if((30 < ultralinks.read_cm()) & (ultralinks.read_cm() < 200))
{
- fhelp = ultralinks.read_cm();
- printf("%3.3f;\r\n",fhelp);
- CZustand = 6;
+ //fhelp = ultralinks.read_cm();
+ //thread_sleep_for(10);
+ //printf("%3.3f;\r\n",fhelp);
+
+ CZustand = 6;
}
else{
- CZustand = 0;
- //thread_sleep_for(100);
+ CZustand = 0;
+ //thread_sleep_for(100);
}
thread_sleep_for(100);
}
+
+
if(CZustand == 4)//vorne erkennt
{
- printf("vorne\n");
- servo_0.SetPosition(1500);
- if(ultravorne.read_cm() < 200)
+ printf("vorne\n");
+ servo_0.SetPosition(1400);
+ if((30 < ultravorne.read_cm()) & (ultravorne.read_cm() < 200))
{
- CZustand = 6;
+ CZustand = 6;
}
else{
- CZustand = 0;
- thread_sleep_for(100);
+ CZustand = 0;
+ //thread_sleep_for(100);
}
@@ -197,13 +211,13 @@
if(CZustand == 5)//hinten erkennt
{
printf("hinten\n");
- servo_0.SetPosition(2450);
- if(ultrahinten.read_cm() < 200)
+ servo_0.SetPosition(2400);
+ if((30 < ultrahinten.read_cm()) & (ultrahinten.read_cm() < 200))
{
- CZustand = 6;
+ CZustand = 6;
}
else{
- CZustand = 0;
+ CZustand = 0;
}
@@ -211,14 +225,15 @@
}
if(CZustand == 6)//spritzen
{
- printf("spritzen");
+ printf("spritzen\n");
summer = 1;
+ thread_sleep_for(spritz);
pumpe = 1;
thread_sleep_for(spritz); // Spritzzeit
+ pumpe = 0;
summer = 0;
- pumpe = 0;
CZustand = 0;
- servo_0.SetPosition(1500);
+ servo_0.SetPosition(1400);
}