Diff: main.cpp

Revision:

0:47ec319db65c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Nov 15 18:26:05 2019 +0000
@@ -0,0 +1,57 @@
+#define LENOFBOT 2.5
+#define LENOFSENSOR 0.394
+HCSR04 mySensor(p26,p13);
+Serial pc(USBTX, USBRX);
+PwmOut trigger(p24);
+PwmOut trigger_b(p23);
+InterruptIn echoStart(p13,PullDown);
+InterruptIn echoStop(p14,PullDown);
+Timer timer;
+Timer timer_b;
+volatile float front_reading;
+volatile float back_sensor;
+void start(void){
+    timer.start();
+    }
+void stop (void){
+    timer.stop();
+    front_reading = (float)timer.read()*13504;
+    timer.reset();
+    }
+void start_back(void){
+    timer_b.start();
+    
+    }
+void stop_back (void){
+    timer_b.stop();
+    back_sensor = (float)timer_b.read()*13480;
+    timer_b.reset();
+    }
+int main() {
+    echoStart.rise(&start);
+    echoStart.fall(&stop);
+    echoStop.rise(&start_back);
+    echoStop.fall(&stop_back);
+    trigger.period(0.06);
+    int pi[]= {3,1,4,2};
+    int currentdigit =0;
+    int front_distance;
+    int back_distance;
+    while(1) {
+        trigger.pulsewidth_us(10);
+        front_distance = (3*pi[currentdigit])+9;
+        back_distance= 27-front_distance;
+        
+        if((front_reading/2)+LENOFBOT+LENOFSENSOR>front_distance){
+        pc.printf("moving back distance read: %.3f digit: %d\n\r",(front_reading/2)+LENOFBOT+LENOFSENSOR,pi[1]);
+        if(((back_sensor/2)+LENOFBOT+LENOFSENSOR <= back_distance-0.1||(back_sensor/2)+LENOFBOT+LENOFSENSOR <= back_distance+0.1))
+            int r =1;
+            //currentdigit++;
+        }else if((front_reading/2)+LENOFBOT+LENOFSENSOR<=front_distance){
+            pc.printf("moving forward distance read: %.3f should be %d\n\r",(front_reading/2)+LENOFBOT+LENOFSENSOR, pi[0]);
+        if((back_sensor/2)+LENOFBOT+LENOFSENSOR <= back_distance-0.1||(back_sensor/2)+LENOFBOT+LENOFSENSOR <= back_distance+0.1)
+            int i=1;
+            //currentdigit++;
+        }
+    }
+}
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