main.cpp

00001 #include "mbed.h"
00002 #include "FXOS8700Q.h"
00003 #include "FXAS21000.h"
00004 #include "hcsr04.h"
00005 #include "LED_Bar.h"
00006     I2C i2c(PTE25, PTE24);
00007     Serial pc(USBTX,USBRX);
00008     FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1);    // Configured for the FRDM-K64F with onboard sensors
00009     FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
00010     FXAS21000 gyro(D14,D15);
00011     HCSR04 usensor1(D8,D9);                     //ECHO Pin=D9, TRIG Pin=D8
00012     HCSR04 usensor2(D7,D6);                     //ECHO Pin=D7, TRIG Pin=D6
00013     LED_Bar bar(D5,D4);
00014     DigitalOut buzzer(D2);
00015     int buzz_on=1, buzz_off=0;
00016 
00017     int main(void)
00018     {
00019         int num = 0;
00020         int distance1, distance2;
00021         int led_speed;
00022         float dist_remaining1, dist_percent1, dist_remaining2, dist_percent2;
00023         char snd[255],rcv[1000];                    //snd: send command to ESP8266
00024                                             //rcv: receive response from ESP8266
00025 
00026         //Ultrasound Sensor (HC-SR04) #1 Initialization
00027         int a = 30;
00028         float gyro_data[3];
00029         motion_data_units_t acc_data, mag_data;
00030         motion_data_counts_t acc_raw, mag_raw;
00031         float faX, faY, faZ, fmX, fmY, fmZ, tmp_float;
00032         int16_t raX, raY, raZ, rmX, rmY, rmZ, tmp_int;
00033         acc.enable();
00034         mag.enable();
00035         //DigitalOut Red(LED1);
00036 //        Red=1;
00037 //        DigitalOut Blue(LED3);
00038 //        DigitalOut Green(LED2);
00039 //        Blue=1;
00040 //        Green=1;
00041         
00042         while (true) {
00043             // counts based results
00044             acc.getAxis(acc_raw);
00045             mag.getAxis(mag_raw);
00046             acc.getX(raX);
00047             acc.getY(raY);
00048             acc.getZ(raZ);
00049             mag.getX(rmX);
00050             mag.getY(rmY);
00051             mag.getZ(rmZ);
00052             // unit based results
00053             acc.getAxis(acc_data);
00054             mag.getAxis(mag_data);
00055             acc.getX(faX);
00056             acc.getY(faY);
00057             acc.getZ(faZ);
00058             mag.getX(fmX);
00059             mag.getY(fmY);
00060             mag.getZ(fmZ);
00061            pc.printf("FXOSQ8700Q ACC: X=%1.4f   Y=%1.4f   Z=%1.4f", acc.getX(faX),acc.getY(faY),acc.getZ(faZ));
00062            pc.printf("  MAG: X=%4.1f   Y=%4.1f   Z=%4.1f\r\n", mag.getX(fmX),mag.getY(fmY), mag.getZ(fmZ));
00063            gyro.ReadXYZ(gyro_data);
00064            pc.printf("FXAS21000  Gyro: X=%6.2f   Y=%6.2f    Z=%6.2f\r\n", gyro_data[0],gyro_data[1], gyro_data[2]);
00065            
00066            
00067            usensor1.start();
00068             wait_ms(500);
00069         
00070     //Calculating Distance Percentage Remaining for Sensor # 1
00071             distance1 = usensor1.get_dist_cm();
00072             dist_remaining1 = a-distance1;
00073             dist_percent1 = (dist_remaining1/30)*100;
00074         
00075     ////LED and Tera Term Output
00076 //            if (distance1<30 && distance2<30) {
00077 //            
00078 //            pc.printf("You are colse!\n\r"); while(1) {
00079 //                    pc.putc(pc.getc() + 1);}
00080 //            //printf("Percent remaining: %f\r", dist_percent1 && dist_percent2);
00081 //        } else {
00082 //            //GLed = 1;
00083 ////            BLed = 1;
00084 ////            RLed = 0;
00085 //            pc.printf("You are far!\n\r"); while(1) {
00086 //                    pc.putc(pc.getc() + 1);}
00087 //            }
00088           
00089            if((abs(acc.getX(faX)) > 1.5 || abs(acc.getZ(faZ)) > 1.3 || abs(acc.getY(faY)) > 0.1) || (distance1<30 && distance2<30)) 
00090            {
00091             
00092             //Red = 0;
00093 //            Blue = 1;
00094 //            Green = 1;
00095             
00096            // pc.printf("Going too fast!\n\r"); //while(1) {
00097            // pc.putc(pc.getc() + 1);}
00098             
00099             buzzer=buzz_on;
00100             wait(0.5);
00101             buzzer=buzz_off;
00102             wait(0.5);
00103             
00104             for(led_speed=0; led_speed<=10; led_speed++){
00105                 bar.setLevel(led_speed);
00106                 wait(0.001);
00107                 }
00108 
00109             } 
00110             
00111             
00112             else{
00113                 
00114                 //Red = 1;
00115 //                Green = 0;
00116 //                Blue = 1;
00117                      
00118                    // pc.printf("You are safe!\n\r"); while(1) {
00119 //                    pc.putc(pc.getc() + 1);}
00120                     
00121                 for(led_speed=0; led_speed<=10; led_speed++){
00122                     bar.setLevel(led_speed);
00123                     wait(0.2);
00124                     }
00125                            
00126                 };
00127             wait(1.0f);
00128         }
00129     }