Revision 1:7fbedf384fe9, committed 2020-04-10

Comitter:

pimani

Date:

Fri Apr 10 15:34:46 2020 +0000

Parent:

0:9cbddcc86466

Commit message:

Transmitter codes

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HC_SR04_Ultrasonic_Library.lib	Fri Apr 10 15:34:46 2020 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RGB-fun.lib	Fri Apr 10 15:34:46 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/sillevl/code/RGB-fun/#d10cfeb2f18e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hcsr04.cpp	Fri Apr 10 15:34:46 2020 +0000
@@ -0,0 +1,98 @@
+/* Copyright (c) 2013 Prabhu Desai
+ * pdtechworld@gmail.com
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+#include "hcsr04.h"
+
+
+HCSR04::HCSR04(PinName TrigPin,PinName EchoPin):
+    trigger(TrigPin), echo(EchoPin)
+{
+    pulsetime.stop();
+    pulsetime.reset();
+    echo.rise(this,&HCSR04::isr_rise);
+    echo.fall(this,&HCSR04::isr_fall);
+    trigger=0;
+}
+
+HCSR04::~HCSR04()
+{
+}
+
+void HCSR04::isr_rise(void)
+{
+    pulsetime.start();
+}
+void HCSR04::start(void)
+{
+    trigger=1;
+    wait_us(10);
+    trigger=0;
+}
+
+void HCSR04::isr_fall(void)
+{
+    pulsetime.stop();
+    pulsedur = pulsetime.read_us();
+    distance= (pulsedur*343)/20000;
+    pulsetime.reset();
+}
+
+void HCSR04::rise (void (*fptr)(void))
+{
+    echo.rise(fptr);
+}
+void HCSR04::fall (void (*fptr)(void))
+{
+    echo.fall(fptr);
+}
+
+unsigned int HCSR04::get_dist_cm()
+{
+    return distance;
+}
+unsigned int HCSR04::get_pulse_us()
+{
+    return pulsedur;
+}
+
+
+
+/*******************************************************
+   Here is a sample code usage
+********************************************************* 
+#include "hcsr04.h"
+HCSR04  usensor(p25,p6);
+int main()
+{
+    unsigned char count=0;
+    while(1) {
+        usensor.start();
+        wait_ms(500); 
+        dist=usensor.get_dist_cm();
+        lcd.cls();
+        lcd.locate(0,0);
+        lcd.printf("cm:%ld",dist );
+ 
+        count++;
+        lcd.locate(0,1);
+        lcd.printf("Distance =%d",count);
+        
+    }
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hcsr04.h	Fri Apr 10 15:34:46 2020 +0000
@@ -0,0 +1,68 @@
+/* Copyright (c) 2013 Prabhu Desai
+ * pdtechworld@gmail.com
+ *
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * For more details on the sensor :
+ * http://www.elecfreaks.com/store/hcsr04-ultrasonic-sensor-distance-measuring-module-p-91.html?zenid=pgm8pgnvaodbe36dibq5s1soi3
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef MBED_HCSR04_H
+#define MBED_HCSR04_H
+
+#include "mbed.h"
+
+/** HCSR04 Class(es)
+ */
+
+class HCSR04
+{
+public:
+    /** Create a HCSR04 object connected to the specified pin
+    * @param pin i/o pin to connect to
+    */
+    HCSR04(PinName TrigPin,PinName EchoPin);
+    ~HCSR04();
+
+    /** Return the distance from obstacle in cm
+    * @param distance in cms and returns -1, in case of failure
+    */
+    unsigned int get_dist_cm(void);
+    /** Return the pulse duration equal to sonic waves travelling to obstacle and back to receiver.
+    * @param pulse duration in microseconds.
+    */
+    unsigned int get_pulse_us(void);
+    /** Generates the trigger pulse of 10us on the trigger PIN.
+    */
+    void start(void );
+    void isr_rise(void);
+    void isr_fall(void);
+    void fall (void (*fptr)(void));
+    void rise (void (*fptr)(void));
+
+
+
+private:
+
+    Timer pulsetime;
+    DigitalOut  trigger;
+    InterruptIn echo;
+    unsigned int pulsedur;
+    unsigned int distance;
+};
+
+#endif
\ No newline at end of file

--- a/main.cpp	Fri Aug 31 14:46:32 2012 +0000
+++ b/main.cpp	Fri Apr 10 15:34:46 2020 +0000
@@ -1,5 +1,20 @@
 #include "mbed.h"
 #include "xbee.h"
+#include "ultrasonic.h"
+#include "hcsr04.h"
+
+//sonars
+HCSR04  front1(p13,p12);
+HCSR04  front2(p14,p12);
+HCSR04  back1(p15,p12);
+HCSR04  back2(p16,p12);
+
+//IR sensors
+InterruptIn PIR_Left(p17);
+InterruptIn PIR_Right(p18);
+
+//SHOWING SENDING STATUS
+BusOUT sending(LED1,LED2,LED3,LED4);
 
 xbee xbee1(p9,p10,p11); //Initalise xbee_lib
 Serial pc(USBTX, USBRX); //Initalise PC serial comms