Robot Amaldi Rev 4.0 Messaggio don't touch me

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Comitter:
pinofal
Date:
Mon Mar 11 21:42:01 2019 +0000
Parent:
17:5f43dd94fc17
Commit message:
Robot Amaldi Rev 4.0

Changed in this revision

RobotFinale3-4.cpp Show diff for this revision Revisions of this file
RobotFinale4.cpp Show annotated file Show diff for this revision Revisions of this file
SampledSoundDontTouch.h Show annotated file Show diff for this revision Revisions of this file
SampledSoundWelcomeDizione_Old.h Show diff for this revision Revisions of this file
diff -r 5f43dd94fc17 -r f1faab783b47 RobotFinale3-4.cpp
--- a/RobotFinale3-4.cpp	Mon Mar 11 01:09:34 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1184 +0,0 @@
-//++++++++++++++++++++ ATTENZIONE ++++++++++++++++++++++++++++++++++++++++++++++++
-// rivedere tutte le giunzioni. su alcune ci sono fili di rame che fuoriescono.
-// rivedere i cavi nei connettori. In alcuni sono moto tesi
-// inserire una ventola per raffreddare transistor e resistenza
-//++++++++++++++++++++ ATTENZIONE ++++++++++++++++++++++++++++++++++++++++++++++++
-
-// mbed specific header files.
-#include "mbed.h"
-
-// include suono del motore
-#include "SampledSoundGurgle.h" // rumore del motore da fermo durante gli spsotamenti
-#include "SampledSoundWelcomeDizione.h" // messaggio di benvenuto
-#include "SampledSoundFarewellDizione.h" // messaggio di Arrivederci
-#include "SampledSoundMotosega.h" // rumore durante lo spostamento con Cesoia
-
-//#include "SampledSoundMotosega.h"
-//#include "SampledSoundTrattore.h"
- 
-
-// TimeOut in [microsec] per verificare la presenza del sensore prossimità. Se il sensore non è presente il timer supera TIMEOUTPROXSENSOR
-#define TIMEOUTPROXSENSOR 1000 //tempo in [microsec]
-
-// numero di campioni che compongono un periodo della sinusoide in Output sull'ADC
-#define CLACSONSAMPLENUM   45 // consigliabile avere  multipli di 45
-
-// numero di campioni acquisiti su cui effettuare la media di luminosità
-#define NUMLIGHTSAMPLE 100
-
-// Parametri di soglia per la luce. Accendi/spegni Luci se la luminosità scende/sale sotto/sopra  SOGLIALUCIMAX e SOGLIALUCIMIN
-#define SOGLIALUCIMAX (1.85)
-#define SOGLIALUCIMIN (1.45)
-
-// parametri dell'onda coseno da generare
-#define PI        (3.141592653589793238462)
-#define AMPLITUDE 32767 //(1.0)    // x * 3.3V
-#define PHASE     (PI/2) // 2*pi è un periodo
-#define OFFSET    32767 //(0x7FFF)
-
-// variabile che modula l'amplificazione dei segnali audio. 1= non cambia niente. 0=amplificazione 0;
-#define SOUNDGAIN (1.0)
-
-// ticker per la generazione dell'onda con DAC
-Ticker SampleOutTicker;            
-
-
-// Timer per il calcolo dei tempi del sensore di prossimità
-Timer TimerProxSensor;
-
-// distanza in cm dell'ostacolo
-double fDistance;
-
-
-// tempo inizio intermedio e fine del timer che misura la distanza con il sensore ultrasuoni
-int nTimerStart, nTimerCurrent, nTimerStop, nTimerTillNow;
-
-// Buffer contenente la sinusoide da porre in output come Clacson.
-unsigned short usaClacson[CLACSONSAMPLENUM];
-
-// prototipo di funzione che genera i campioni della sinusoide da utilizzare per la generazione tramite DAC
-void CalculateSinewave(void);
- 
-
-// Periodo di generazione campioni in output DeltaT = T/NumSample
-double fDeltaTClacsonSound;
-double fDeltaTEngineSound;
-
-// amplificazione per i suoni da generare con l'ADC
-double fAmpEngineSound; // rumore di Engine 
-double fAmpClacsonSound; // rumore di Clacson
-double fAmpShearSound; // rumore di Shear
-
-// frequenza segnale audio da generare per clacson e motore
-double fFreqClacsonSound;
-double fFreqEngineSound;
-
-// periodo della sinusoide audio da generare come suono del clacson
-double fPeriodClacsonSOund;
-
-// numero di campioni di clacson già inviati in output sul DAC
-int nClacsonSampleCount;
-// indice dell'array di generazione campioni clacson 
-int nClacsonSampleIndex;
-
-// indice dell'Array di generazione suoni del motore
-volatile int nEngineSampleIndex;
-
-// Flag che decide se generare oppure no il suono del motore. '1'=non generare il suono del motore, '0'=genera il suono del motore
-int bEngineSoundStop;
-
-
-
-// valore medio della Luminosità su NUMACQUISIZIONI acquisizioni
-double fAvgLight;
-
-// valore numerico, di tensione e di luce letto dall'ADC
-volatile unsigned short usReadADC;
-volatile float fReadVoltage;
-
-// valore di luminosità letto dall'ADC
-volatile float fLight;
-
-// posizione del Cofano '0' = chiuso, '1'=aperto. Inizialmente DEVE essere chiuso (cioè '0')
-int nPosizioneCofano=0;
-
-
-// indice per il conteggio dei campioni di luce acquisiti dal fotoresistore
-int nLightSampleIndex;
-   
-// timer per il calcolo della velocità
-Timer TimerHall;
-    
-// variabile che conta il numero di fronti si salita del segnale encoder del motore di movimento robot
-volatile int nCountRiseEdge; 
-   
-// variabile che ricorda lo stato di StandBy: '0' = Operativo,  '1'=StandBy
-int nStandBy;
-
-// variabile che permette di modificare il Gain di tutti i suoni
-float fSoundGain=SOUNDGAIN; // inizialmente fissato da un define
- 
-// sensore di prossimità. '1' = Sensore Presente, '0' = Sesnore Assente
-int nProximitySensorPresent; 
-    
-// pin di pilotaggio Motore DC
-DigitalOut OutMotorA (PB_0);
-DigitalOut OutMotorB (PC_1);
-
-// Output Digitali usati per i LED
-DigitalOut LedWAD (PC_2);
-DigitalOut LedWAS (PC_3);
-DigitalOut LedWPD (PH_0);
-DigitalOut LedWPS (PA_0) ;
-DigitalOut LedYAD (PC_9); 
-DigitalOut LedYAS (PC_8);
-DigitalOut LedRPD (PA_13);
-DigitalOut LedRPS (PA_14) ; 
-DigitalOut LedYRAll (PC_7); // COn questo pin si pilotano contemporaneamente i Led: YLD1, YLD2, YLD3, YLD4, YLS1, YLS2, YLS3, YLS4, RPD1, RPS1
-
-
-// Input/Output Digitali usati per interfaccia RPI
-DigitalIn InShearRPI (PB_11, PullDown); // arriva un segnale alto su questo input quando Raspberry Invia un comando di apertura/chiusura cesoie. Collegato a Raspberry GPIO17
-DigitalIn InLightSwitchRPI (PB_9, PullDown); // accende e spegne le Luci rosse e gialle. Collegato al Raspberry GPIO20
-DigitalIn InMotorSwitchRPI (PB_8, PullDown); // accende e spegne il motore del Cofano. Collegato al Raspberry GPIO16
-DigitalIn InFutureUse0RPI (PB_7); // usi futuri 0 di comunicazione. Collegato al Raspberry GPIO13
-DigitalIn InFutureUse2RPI (PC_15); // usi futuri 1 di comunicazione. Collegato al Raspberry GPIO25
-//DigitalIn InFutureUse1PI (PC_15); // usi futuri 2 di comunicazione. Collegato al Raspberry GPIO12
-DigitalIn InStandByRPI (PB_2,PullDown); // StandBy ON/OFF. '1' = robot in StandBy; '0' = robot operativo. Collegato al Raspberry GPIO12
-
-// Input e Output per i sensori e attuatori
-AnalogOut OutWave(PA_4); // pin A2 di output per la forma d'onda analogica dedicata al suono
-AnalogIn InWaveLight(PA_1); // pin A1 di input per la forma d'onda analogica dedicata alla luminosità
-DigitalInOut InOutProxSensor (PC_0, PIN_OUTPUT, PullDown, 0); // Pin di tipo In-Out per la gestione del segnale Sig del Sensore di prossimità a ultrasuoni
-
-InterruptIn InEncoderA(PA_9); // Primo Pin di input dall'encoder ottico collegato al motore per misurare lo spostamento
-//InterruptIn InEncoderB(PC_7); // Secondo Pin di input dall'encoder ottico collegato al motore. predisposizione per usi futuri
-
-// Input/Output utilizzati da funzioni default su scheda NUCLEO
-DigitalOut led2(LED2);// LED verde sulla scheda. Associato a PA_5
-Serial pc(SERIAL_TX, SERIAL_RX); // seriale di comunicazione con il PC. Associati a PA_11 e PA_12
-DigitalIn myButton(USER_BUTTON); // pulsante Blu sulla scheda. Associato a PC_13
-
-// input di diagnostica
-DigitalIn InDiag1(PA_15,PullUp); // Di Default è a Vcc. Può essere collegato a GND con un ponticello su CN7 pin17-pin19 
-//DigitalIn InDiag2(PB_11,PullUp); // Di Default è a Vcc. Può essere collegato a GND con un ponticello su CN10 pin18-pin20 
-
-
-//****************************
-// Create the sinewave buffer
-//****************************
-void CalculateSinewave(int nOffset, int nAmplitude, double fPhase)
-{
-    // variabile contenente l'angolo in radianti
-    double fRads;
-    // indici per i cicli
-    int nIndex;
-    // passo in frequenza fissato dal numero di campioni in cui voglio dividere un periodo di sinusoide: DeltaF = 360°/NUMSAMPLE
-    double fDeltaF;
-    // angolo per il quale bisogna calcolare il valore di sinusoide: fAngle = nIndex*DeltaF
-    double fAngle;
-    
-    fDeltaF = 360.0/CLACSONSAMPLENUM;
-    for (nIndex = 0; nIndex < CLACSONSAMPLENUM; nIndex++) 
-    {
-        fAngle = nIndex*fDeltaF; // angolo per il quale bisogna calcolare il campione di sinusoide
-        fRads = (PI * fAngle)/180.0; // Convert degree in radian
-        //usaSine[nIndex] = AMPLITUDE * cos(fRads + PHASE) + OFFSET;
-        usaClacson[nIndex] = fSoundGain * nAmplitude * cos(fRads + fPhase) + nOffset;
-    }
-}
-
-/********************************************************/
-/* Funzione avviata all'inizio come saluto e Benvenuto  */
-/********************************************************/
-void WelcomeMessage()
-{
-    // indice per i cicli interni alla funzione
-    int nIndex;
-    
-    // indice per l'array di welcome message
-    int nWelcomeMsgIndex;
-    // parametri per generare il messaggio di welcome
-    double fAmpWelcomeSound;
-    double fFreqWelcomeSound;
-    double fDeltaTWelcomeSound;
-    
-    //++++++++++++ INIZIO Accendi le Luci in sequenza +++++++++++++++++
-    // accendi tutte le luci
-    LedWAD = 1;
-    wait_ms(100);
-    LedWAS = 1;
-    wait_ms(100);
-    LedWPD = 1;
-    wait_ms(100);
-    LedWPS = 1;
-    wait_ms(100);
-    LedYAD = 1; 
-    wait_ms(100);
-    LedYAS = 1;
-    wait_ms(100);
-    LedRPD = 1;
-    wait_ms(100);
-    LedRPS = 1;
-    //++++++++++++ FINE Accendi le Luci in sequenza +++++++++++++++++
-     
-    //++++++++++++ INIZIO generazione messaggio di benvenuto +++++++++++++++++ 
-    fAmpWelcomeSound = 1.0;  // fissa l'amplificazione per il messaggio di welcome. Valori da 0[min] a 1[max] 
-    fFreqWelcomeSound=nSamplePerSecWelcome/nUnderSampleFactorWelcome;// campioni per secondo del welcome message da generare = nSamplePerSec/nUnderSampleFactor
-    fDeltaTWelcomeSound = (1.0/fFreqWelcomeSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
-   
-    
-    for(nWelcomeMsgIndex=0; nWelcomeMsgIndex < nSampleNumWelcome; nWelcomeMsgIndex++)
-    {
-        // mette in output un campione della forma d'onda del welcome message  moltiplicato per l'amplificazione fAmp
-        OutWave.write_u16(naInputSoundWaveWelcome[nWelcomeMsgIndex]*fAmpWelcomeSound*fSoundGain);
-        
-        // tra un campione e l'altro attendi un periodo pari al periodo di campionamento
-        //wait(fDeltaTWelcomeSound);
-        wait_us(37);
-    }
-    //++++++++++++ FINE generazione messaggio di benvenuto +++++++++++++++++
-    
-    //++++++++++++ INIZIO Spegni le Luci in sequenza +++++++++++++++++
-    // spegni le Luci in sequenza
-    for(nIndex=0; nIndex<3; nIndex++)
-    {
-        wait_ms(50); 
-        LedWAD = 1;
-        wait_ms(50); 
-        LedWAD = 0;
-    }
-    for(nIndex=0; nIndex<3; nIndex++)
-    {
-        wait_ms(50); 
-        LedWAS = 1;
-        wait_ms(50); 
-        LedWAS = 0;
-    }
-    for(nIndex=0; nIndex<3; nIndex++)
-    {
-        wait_ms(50); 
-        LedWPD = 1;
-        wait_ms(50); 
-        LedWPD = 0;
-    }
-    for(nIndex=0; nIndex<3; nIndex++)
-    {
-        wait_ms(50); 
-        LedWPS = 1;
-        wait_ms(50); 
-        LedWPS = 0;
-    }
-    for(nIndex=0; nIndex<3; nIndex++)
-    {
-        wait_ms(50); 
-        LedYAD = 1;
-        wait_ms(50); 
-        LedYAD =0;
-    }
-    for(nIndex=0; nIndex<3; nIndex++)
-    {
-        wait_ms(50); 
-        LedYAS = 1;
-        wait_ms(50); 
-        LedYAS = 0;
-    }
-    for(nIndex=0; nIndex<3; nIndex++)
-    {
-        wait_ms(50); 
-        LedRPD = 1;
-        wait_ms(50); 
-        LedRPD = 0;
-    }
-    for(nIndex=0; nIndex<3; nIndex++)
-    {
-        wait_ms(50); 
-        LedRPS = 1;
-        wait_ms(50); 
-        LedRPS = 0;
-    }
-    for(nIndex=0; nIndex<3; nIndex++)
-    {
-        wait_ms(50); 
-        LedYRAll = 1;
-        wait_ms(50); 
-        LedYRAll = 0;
-    }
-    //++++++++++++ FINE Spegni le Luci in sequenza +++++++++++++++++
-            
-}
-
-/***************************************************************************/
-/* Genera Messaggio di Arrivederci e spegni i LED quando passa in SyandBy */
-/***************************************************************************/
-void FarewellMessage()
-{
-    // indice per l'array di Farewell message
-    int nFarewellMsgIndex;
-    // parametri per generare il messaggio di Farewell
-    double fAmpFarewellSound;
-    double fFreqFarewellSound;
-    double fDeltaTFarewellSound;
-    
-    
-     
-    //++++++++++++ INIZIO generazione messaggio di Arrivederci +++++++++++++++++ 
-    fAmpFarewellSound = 1.0;  // fissa l'amplificazione per il messaggio di Farewell. Valori da 0[min] a 1[max] 
-    fFreqFarewellSound=nSamplePerSecFarewell/nUnderSampleFactorFarewell;// campioni per secondo del Farewell message da generare = nSamplePerSec/nUnderSampleFactor
-    fDeltaTFarewellSound = (1.0/fFreqFarewellSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
-   
-    
-    for(nFarewellMsgIndex=0; nFarewellMsgIndex < nSampleNumFarewell; nFarewellMsgIndex++)
-    {
-        // mette in output un campione della forma d'onda del Farewell message  moltiplicato per l'amplificazione fAmp
-        OutWave.write_u16(naInputSoundWaveFarewell[nFarewellMsgIndex]*fAmpFarewellSound*fSoundGain);
-        
-        // tra un campione e l'altro attendi un periodo pari al periodo di campionamento
-        //wait(fDeltaTFarewellSound);
-        wait_us(57);
-    }
-    //++++++++++++ FINE generazione messaggio di Arrivederci +++++++++++++++++
-    
-    //++++++++++++ INIZIO Spegni tutti i LED in sequenza +++++++++++++++++
-    // spegni tutti i LED
-    LedWAD = 0;
-    wait_ms(100);
-    LedWAS = 0;
-    wait_ms(100);
-    LedWPD = 0;
-    wait_ms(100);
-    LedWPS = 0;
-    wait_ms(100);
-    LedYAD = 0; 
-    wait_ms(100);
-    LedYAS = 0;
-    wait_ms(100);
-    LedRPD = 0;
-    wait_ms(100);
-    LedRPS = 0;
-    wait_ms(100);
-    LedYRAll = 0;
-    //++++++++++++ FINE Spegni tutti i LED in sequenza +++++++++++++++++
-            
-}
-/***********************************************************************/
-/* Genera il suono di una motosega.                                    */ 
-/* Attivo quando arriva il comando di spostamento Cesoie da Raspberry  */
-/***********************************************************************/
-void ShearSoundGeneration()
-{
-    // indice per l'array di suono Shear  
-    int nShearSoundIndex;
-    // parametri per generare il messaggio di shear
-    double fAmpShearSound;
-    double fFreqShearSound;
-    double fDeltaTShearSound;
-    
-    //++++++++++++ INIZIO generazione suono di motosega +++++++++++++++++ 
-    fAmpShearSound = 1.0;  // fissa l'amplificazione per il suono di Shear. Valori da 0[min] a 1[max] 
-    fFreqShearSound=nSamplePerSecShear/nUnderSampleFactorShear;// campioni per secondo del Shear da generare = nSamplePerSec/nUnderSampleFactor
-    fDeltaTShearSound = (1.0/fFreqShearSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
-   
-    
-    for(nShearSoundIndex=0; nShearSoundIndex < nSampleNumShear; nShearSoundIndex++)
-    {
-        // mette in output un campione della forma d'onda del suono di Shear,  moltiplicato per l'amplificazione fAmp
-        OutWave.write_u16(naInputSoundWaveShear[nShearSoundIndex]*fAmpShearSound*fSoundGain);
-        
-        // tra un campione e l'altro attendi un periodo pari al periodo di campionamento
-        wait(fDeltaTShearSound);
-    }
-    //++++++++++++ FINE generazione suono di motosega +++++++++++++++++
-    
-    
-    
-}
-/***********************************************************************/
-/* generazione suoni con i sample da file di campioni in SoundSample.h */
-/***********************************************************************/
-void SampleOut() 
-{
-    // interrompi il suono del motore per generare altri suoni. '1' = interrompi i suoni
-    if(bEngineSoundStop == 0)
-    {
-        // mette in output un campione della forma d'onda del rumore motore moltiplicato per l'amplificazione fAmp
-        OutWave.write_u16(naInputSoundWave[nEngineSampleIndex]*fAmpEngineSound*fSoundGain);
-        // incrementa l'indice del campione in output, nSampleNum è il numero dei campioni nle file Sound.h
-        nEngineSampleIndex++;
-        if(nEngineSampleIndex >= nSampleNum)
-            nEngineSampleIndex=0;
-    }        
-}
-
-
- /**************************************************************************************/
-/* Routine di gestione Interrupt associata al fronte di salita del segnale di encoder */
-/**************************************************************************************/
-void riseEncoderIRQ()
-{
-    nCountRiseEdge++;
-}       
-     
-/********/
-/* Main */
-/********/
-int main()
-{
-    // configura velocità della comunicazione seriale su USB-VirtualCom e invia messaggio di benvenuto
-    pc.baud(921600); //921600 bps
-    
-    // definisci il mode del segnale digitale di EncoderA
-    InEncoderA.mode(PullUp);
-    
-    // Associa routine di Interrup all'evento fronte di salita del segnale di encoder
-    InEncoderA.rise(&riseEncoderIRQ);
-
-    // abilita interrupt sul segnale di encoder per contare il numero di impulsi e quindi verificare se il robot si muove     
-    InEncoderA.enable_irq();
-    
-    // definisci il mode del segnale di InStandBy da RPI ('0' = operativo; '1' = StandBy)
-    InStandByRPI.mode(PullDown);
-    InShearRPI.mode(PullDown); // arriva un segnale alto su questo input quando Raspberry Invia un comando di apertura/chiusura cesoie. Collegato a Raspberry GPIO17
-    InLightSwitchRPI.mode(PullDown); // arriva un segnale alto su questo input quando Raspberry Invia un comando che accende e spegne le Luci rosse e gialle. Collegato al Raspberry GPIO20
-    InMotorSwitchRPI.mode(PullDown); // arriva un segnale alto su questo input quando Raspberry Invia un comando che accende e spegne il motore del Cofano. Collegato al Raspberry GPIO16
-     
-    
-     
-    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    //+++++++++++++++++++++++++++++++++++++ INIZIO CICLO OPERATIVO ++++++++++++++++++++++++++++++++++
-    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    
-   
-    //+++++++++++ inizializza Gain dei suoni +++++++++++++
-    fSoundGain = SOUNDGAIN; // inizialmente fissato a SOUNDGAIN che può essere fissato a 0 per modalità di debug
-    
-    //+++++++++++++ INIZIO Genera Sinusoide ++++++++++++++++++
-    fFreqClacsonSound = 550.0; // frequenza in Hz del tono del Clacson da generare
-    fAmpClacsonSound = 1.0; // coefficiente per il quale viene moltiplicato l'ampiezza massima del tono da generare
-    fDeltaTClacsonSound = 1.0/(fFreqClacsonSound*CLACSONSAMPLENUM); // intervallo di tempo tra un campione e l'altro, per generare la frequenza desiderata
-    CalculateSinewave(AMPLITUDE, (AMPLITUDE*fAmpClacsonSound*fSoundGain), (PI/2.0)); // generazione della sinusoide con valori nominali
-    //+++++++++++++ FINE Genera Sinusoide +++++++++++++++++++++
-    
-    // avvia routine di saluto di benvenuto
-    bEngineSoundStop = 1; // per generare il messaggio di benvenuto il suono del motore è spento
-    WelcomeMessage();    
-    bEngineSoundStop = 0; // riattiva il suono del motore
-          
-    //+++++++ INIZIO avvio rumore del motore a frequenza da fermo +++++++++
-    fAmpEngineSound = 1.0;  // fissa l'amplificazione per il rumore motore. Valori da 0[min] a 1[max] 
-    fFreqEngineSound=nSamplePerSec/nUnderSampleFactor;// campioni per secondo del rumore motore da generare = nSamplePerSec/nUnderSampleFactor
-    fDeltaTEngineSound = (1.0/fFreqEngineSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
-    nEngineSampleIndex =0; // Avvia indice di generazione suono motore
-    SampleOutTicker.attach(&SampleOut,fDeltaTEngineSound); // avvia generazione
-    //+++++++ FINE avvio rumore del motore a frequenza da fermo +++++++++
-   
-    //inizializza variabili
-    nEngineSampleIndex =0; // avvia l'indice di generazione suoni
-    nCountRiseEdge=0; // azzera il  contatore dei fronti di salita del segnale di encoder. Saranno contati nella IRQ legata a InEncoderA
-    bEngineSoundStop =0; // inizialmente il suono del motore è generato
-    nPosizioneCofano=0; // inizializza la posizione del cofano chiuso
-    nStandBy=0; // iniazializza la modalità StandBy/Operation del robot. nStandBy=0 : modalità Operation
-    
-    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    //+++++++++++++++++++++++++++++++++++++ INIZIO CICLO TEST ++++++++++++++++++++++++++++++++++
-    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    // Fissa come Output il pin InOutProxSensor
-    while(true)
-    {
-        if(InStandByRPI == 0)
-        {
-            // abilita interrupt sul segnale di encoder per contare il numero di impulsi e quindi verificare se il robot si muove     
-            InEncoderA.enable_irq();
-            
-            // se appena uscito dalla modalità di StandBy, è ancora nStandBy = 1, emetti messaggio di benvenuto
-            if(nStandBy == 1)
-            {
-                
-                // blocca il suono del motore per emettere messaggio di benvenuto
-                bEngineSoundStop=1;
-                
-                // se modalità StandBy = OFF, riattiva audio;
-                fSoundGain = SOUNDGAIN;
-                
-                
-                //Genera messaggio di benvenuto
-                WelcomeMessage();
-                               
-                // rispristina il suono del motore
-                bEngineSoundStop=0;
-            }
-            
-            // imposta  lo stato di StandBy OFF
-            nStandBy = 0;
-            //++++++++++ INIZIO calcola spostamento con encoder sul motore +++++++++++++++++
-            // abilita interrupt sul segnale di encoder per contare il numero di impulsi e quindi verificare se il robot si muove     
-            //InEncoderA.enable_irq();
-                
-            // conta il numero di impulsi del segnale di encoder che si verificano in un timer pari a 500ms
-            TimerHall.start();
-            nTimerStart=TimerHall.read_ms();
-                  
-            // per 100ms verifica se ci sono impulsi sull'encoder. Gli impulsi vengono contati lungo tutto il ciclo ma se il ciclo è attraversato troppo rapidamente rischio di non contaniente e aggiungo questo ritarda.     
-            while( (nTimerCurrent-nTimerStart) < 50) // attende il passare di 100ms
-            {
-                nTimerCurrent=TimerHall.read_ms();
-                // pc.printf("CounterTimer= %d\r\n", (nTimerCurrent-nTimerStart));   
-            }
-            TimerHall.stop();
-            //InEncoderA.disable_irq();
-            //++++++++++ FINE calcola spostamento con encoder sul motore +++++++++++++++++      
-                  
-            //++++++++++ INIZIO genera diverso suono con motore fermo e in movimento +++++++++++++++++
-            // se nella IRQ sono stati contati fronti di salita del dell'encoder, il robot si sta muovendo         
-            if(nCountRiseEdge != 0)
-            //if(InDiag1==1)
-            {
-                // sono stati contati impulsi di encoder, il robot si sta muovendo            
-                fDeltaTEngineSound = (0.5/fFreqEngineSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
-                SampleOutTicker.attach(&SampleOut,fDeltaTEngineSound); // avvia generazione
-                //pc.printf("\r\nIn Movimento \r\n"); //Diagnostica
-            }
-            else
-            {
-                // se non ci sono stati impulsi di encoder, il robot è fermo, genera rumore del motore fermo
-                fDeltaTEngineSound = (1.0/fFreqEngineSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
-                SampleOutTicker.attach(&SampleOut,fDeltaTEngineSound); // avvia generazione
-                //pc.printf("\r\nFermo \r\n"); //Diagnostica
-            }   
-            // riazzera il contatore di impulsi di encoder. Questo contatore viene incrementato nella rouine di interrupt
-            nCountRiseEdge=0;
-            //++++++++++ FINE genera diverso suono con motore fermo e in movimento +++++++++++++++++
-            
-            //++++++++++++ INIZIO Misura della Luminosità e accensione LED Bianchi ++++++++++++++
-            // inizializza il valore medio della Luminosità 
-            fAvgLight=0.0;
-            for(nLightSampleIndex=0; nLightSampleIndex < NUMLIGHTSAMPLE; nLightSampleIndex++)
-            {
-               // acquisisce dato da ADC
-               usReadADC = InWaveLight.read_u16();
-               fReadVoltage=(usReadADC*3.3)/65535.0; // converte in Volt il valore numerico letto dall'ADC
-               //fReadVoltage=InWave.read(); // acquisisce il valore dall'ADC come valore di tensione in volt
-               fLight= fReadVoltage; //ATTENZIONE Visualizza il valore grezzo letto dall'ADC
-               fAvgLight+=fLight;
-            }   
-            // calcola valore medio su NUMSAMPLE acquisizioni 
-            fAvgLight/= NUMLIGHTSAMPLE;
-            
-            // Accendi/Spegni i LED Bianchi se il valore medio della luminosità è sotto/sopra soglia
-            if(fAvgLight < SOGLIALUCIMIN)
-            {
-               // Accendi LED Bianchi
-               //led2 = 1;
-               LedWAD = 1;
-               LedWAS = 1;
-               LedWPD = 1;
-               LedWPS = 1;
-            }
-            else
-            {
-                if(fAvgLight > SOGLIALUCIMAX)
-                {
-                   // Spegni LED Bianchi
-                   //led2 = 0;
-                   LedWAD = 0;
-                   LedWAS = 0;
-                   LedWPD = 0;
-                   LedWPS = 0;
-                }
-            }
-            
-            // invia il dato al PC
-            //pc.printf("\n\r--- Digital= %d [Volt]; Brightness= %.2f ---\n\r", usReadADC, fAvgLight);
-            //++++++++++++ FINE Misura della Luminosità e accensione LED ++++++++++++++
-            
-            //++++++++++++++ INIZIO Acquisisci distanza ostacoli +++++++++
-            //inizializza misura di distanza
-            fDistance=0.0;
-            // Fissa come Output il pin InOutProxSensor
-            InOutProxSensor.output();
-            // Poni 'L' sul Pin e mantienilo per qualche microsecondo
-            InOutProxSensor.write(0);
-            wait_us(5);
-            // Poni 'H' sul Pin e mantienilo per qualche microsecondo
-            InOutProxSensor.write(1);
-            wait_us(10);
-            // Poni 'L' sul Pin e mantienilo per qualche microsecondo
-            InOutProxSensor.write(0);
-            // Attendi assestamento e Fissa come Input il pin InOutProxSensor
-            wait_us(5);
-            InOutProxSensor.input();
-            InOutProxSensor.mode(PullDown); // se non è presente il sensore, il pin rimane a '0'
-           
-            // attende la risposta del sensore di prossimità per un tempo fissato da TIMEOUTPROXSENSOR. Dopo tale tempo dichiara inesistente il sensore
-            TimerProxSensor.start();
-            nTimerStart = TimerProxSensor.read_us();
-            nTimerTillNow=(TimerProxSensor.read_us()-nTimerStart);
-            while((InOutProxSensor ==0) && (nTimerTillNow< TIMEOUTPROXSENSOR))
-            {
-                nTimerCurrent = TimerProxSensor.read_us();
-                nTimerTillNow=nTimerCurrent-nTimerStart;
-                led2=1; // se rimane nel while il LED rimane acceso
-                //pc.printf("sono qui 2 \r\n"); // Diagnotica
-            }
-            TimerProxSensor.stop(); // spegne il timer che serve per misurare il timeout quando assente il sensore di prossimità
-            //pc.printf("\r\nUscita dal while, nTimerTillNow = %d\r\n", nTimerTillNow); // Diagnostica
-            // se nTimerTillNow è inferiore al TIMEOUT, il sensore è presente e quindi misura la distanza dell'ostacolo
-            if(nTimerTillNow < TIMEOUTPROXSENSOR)
-            {
-                // riattiva il timer per misurare la distanza dell'ostacolo
-                TimerProxSensor.start();
-                nTimerStart = TimerProxSensor.read_us();
-                while(InOutProxSensor == 1)
-                {
-                    led2=1; // se rimane nel while il LED rimane acceso
-                }
-                TimerProxSensor.stop();
-                nTimerStop = TimerProxSensor.read_us();
-               
-                //pc.printf("\r\nSensore Presente, nTimerTillNow = %d\r\n", nTimerTillNow); // Diagnostica
-            
-                // velocità del suono = 343 [m/s] = 0.0343 [cm/us] = 1/29.1 [cm/us]
-                // tempo di andata e ritorno del segnale [us] = (TimerStop-TimerStart)[us]; per misurare la distanza bisogna dividere per due questo valore
-                // distanza dell'ostacolo [cm] = (TimerStop-TimerStart)/2 [us] * 1/29.1[cm/us]
-                fDistance = (nTimerStop-nTimerStart)/58.2;
-                // invia il dato al PC
-                //pc.printf("distanza dell'ostacolo = %f0.2\r\n", fDistance); // Diagnostica
-            }    
-            
-            //++++++++++++++ FINE Acquisisci distanza ostacoli +++++++++        
-            //++++++++++++++ INIZIO Suona Clacson +++++++++
-            //escludi le misure oltre il max
-            if(myButton == 0) fDistance = 20; //RIPRISTINA TOGLIENDO QUESTA RIGA
-            if((fDistance <= 50.0) && (fDistance >= 3)) 
-            //if(InDiag1 == 1)
-            {
-              // SUONA IL CLACSON se l'ostacolo si trova ad una distanza inferiore ad una soglia minima
-              if(fDistance < 22)
-              {
-                    // blocca altri suoni quando genera suono del clacson
-                    bEngineSoundStop=1;
-                    // INIZIO generazione tono  
-                    nClacsonSampleIndex=0;
-                    // Genera il suono del clacson
-                    for(nClacsonSampleCount=0; nClacsonSampleCount<7000; nClacsonSampleCount++)
-                    {
-                        OutWave.write_u16(usaClacson[nClacsonSampleIndex]); //max 32767
-                        //OutWave.write_u16(32767); //uscita analogica per scopi diagnostici
-                        
-                        wait(fDeltaTClacsonSound);
-                        
-                        // genera ciclicamente
-                        nClacsonSampleIndex++;
-                        if(nClacsonSampleIndex >= CLACSONSAMPLENUM)
-                        {
-                           nClacsonSampleIndex=0;
-                        }   
-                        // a metà genera un wait per doppio clacson
-                        if(nClacsonSampleCount == 2000)
-                        {
-                           wait_ms(100);
-                        }
-                    
-                    } 
-                    //assicurati di inviare 0 come ultimo campione per spegnere l'amplificatore e non dissipare inutilmente corrente
-                    OutWave.write_u16(0);
-                    
-                    // sblocca altri suoni dopo aver generato suono del clacson
-                    bEngineSoundStop=0;
-                    
-                } // if(fDistance < soglia) suona clacson
-                
-            } // if( (fDistance < Max) && (fDistance > Min)) 
-            //++++++++++++++ FINE Suona Clacson +++++++++ 
-            //++++++++++++++  INIZIO pilotaggio motore cofano +++++++++++++++++++
-            if((InMotorSwitchRPI==1) && (nPosizioneCofano ==0))    
-            //if((myButton==1) && (nPosizioneCofano ==0))    
-            {    
-               //Ferma motore
-                OutMotorA=0;
-                OutMotorB=0;
-                //pc.printf("Stop motore; OutA OutB = 00\r\n");
-                wait_ms(10);
-                
-                //Ferma motore
-                OutMotorA=0;
-                OutMotorB=1;
-                //pc.printf("Stop motore; OutA OutB = 01\r\n");
-                wait_ms(10);
-                
-                // Ruota Right
-                OutMotorA=1;
-                OutMotorB=1;
-                //pc.printf("Ruota Right; OutA OutB = 11\r\n");
-                wait_ms(710);
-                
-                // Ferma Motore
-                OutMotorA=0;
-                OutMotorB=1;
-                //pc.printf("Stop Motore; OutA OutB = 01\r\n");
-                wait_ms(10);
-                
-                //Ferma motore
-                OutMotorA=0;
-                OutMotorB=0;
-                //pc.printf("Stop motore; OutA OutB = 00\r\n");
-                wait_ms(10);
-                // cambia posizione del cofano. E' Stato Aperto
-                nPosizioneCofano = 1;
-            }       
-            // se arriva comando di chiusura cofano & il cofano è aperto, muovi motore
-            //if((myButton==0) && (nPosizioneCofano == 1))
-            if((InMotorSwitchRPI==0) && (nPosizioneCofano ==1))   
-            {
-                //pc.printf("\r\nCofano aperto & comando di chiusura\r\n");
-                                     
-                //Ferma motore
-                OutMotorA=0;
-                OutMotorB=0;
-                //pc.printf("Stop motore; OutA OutB = 00\r\n");
-                wait_ms(10);
-                            
-                // Ruota Left
-                OutMotorA=1;
-                OutMotorB=0;
-                //pc.printf("Ruota Left; OutA OutB = 10\r\n");
-                wait_ms(730);
-                
-                //Ferma motore
-                OutMotorA=0;
-                OutMotorB=0;
-                //pc.printf("Stop motore; OutA OutB = 00\r\n");
-                wait_ms(10);
-                
-                // cambia posizione del cofano. E' Stato Chiuso
-                nPosizioneCofano = 0;
-            }   
-            //++++++++++++++ FINE Pilotaggio Motore +++++++++++++
-            
-            
-            
-            //++++++++++++++ INIZIO Accensione LED da comando Raspberry +++++++
-            if(InLightSwitchRPI ==1)
-            {
-                // accendi i LED di abbellimento
-                //led2=1;
-                LedYAD = 1; 
-                LedYAS = 1;
-                LedRPD = 1;
-                LedRPS = 1;
-                LedYRAll = 1;
-            } 
-            else
-            {
-                
-                // spegni i LED di abbellimento
-                //led2=0;
-                LedYAD = 0; 
-                LedYAS = 0;
-                LedRPD = 0;
-                LedRPS = 0;
-                LedYRAll = 0;
-                 
-            }
-            //++++++++++++++ FINE Accensione LED da comando Raspberry +++++++
-            
-            //++++++++++++++ INIZIO Genera Suono MOTOSEGA quando arriva comando di movimento Cesoie da Raspberry +++++++++
-            if(InShearRPI == 1)
-            {
-                // funzione di generazione suono motosega
-                bEngineSoundStop=1; // disattiva suono del motore
-                ShearSoundGeneration();
-                bEngineSoundStop=0; // riattiva suono del motore
-            }
-            //++++++++++++++ FINE Genera Suono MOTOSEGA quando arriva comando di movimento Cesoie da Raspberry +++++++++
-        }// if(InStandByRPI == 0)
-        else
-        {
-            
-            // ricevuto da RPI, il comando di StandBy = ON
-            // ricevuto il comando di StandBy (InStandBy == 1)
-            
-            // la prima volta che entra in questo else, la variabile di stato nStandBy è '0'. Solo la prima volta Genera il messaggio di arrivederci
-            if(nStandBy == 0)
-            {
-                // blocca il suono del motore per emettere messaggio di arrivederci
-                bEngineSoundStop=1;
-                
-                //Genera messaggio di arrivederci
-                FarewellMessage();
-                               
-                // rispristina il suono del motore
-                bEngineSoundStop=0;
-                
-                // cambia lo stato dello StandBy
-                nStandBy = 1;
-            }
-            
-            // se modalità StandBy = ON, disattiva audio;
-            fSoundGain = 0.0;
-        } // fine if(nStandByRPI == 1)
-        
-    } // fine ciclo while(true)
-    
-    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    //+++++++++++++++++++++++++++++++++++++ FINE CICLO TEST ++++++++++++++++++++++++++++++++++
-    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    
-    
-    
-    
-    
-    
-    
-    while(true)
-    {
-        if(InStandByRPI == 0)
-        {
-            // abilita interrupt sul segnale di encoder per contare il numero di impulsi e quindi verificare se il robot si muove     
-            InEncoderA.enable_irq();
-            
-            // se appena uscito dalla modalità di StandBy, è ancora nStandBy = 1, emetti messaggio di benvenuto
-            if(nStandBy == 1)
-            {
-                
-                // blocca il suono del motore per emettere messaggio di benvenuto
-                bEngineSoundStop=1;
-                
-                // se modalità StandBy = OFF, riattiva audio;
-                fSoundGain = SOUNDGAIN;
-                
-                
-                //Genera messaggio di benvenuto
-                WelcomeMessage();
-                               
-                // rispristina il suono del motore
-                bEngineSoundStop=0;
-            }
-            
-            // imposta  lo stato di StandBy OFF
-            nStandBy = 0;
-            //++++++++++ INIZIO calcola spostamento con encoder sul motore +++++++++++++++++
-            // abilita l'interrupt su fronte di salita del segnale di encoder
-            nCountRiseEdge=0;
-            InEncoderA.enable_irq();
-            
-            // conta il numero di impulsi del segnale di encoder che si verificano in un timer pari a 500ms
-            TimerHall.start();
-            nTimerStart=TimerHall.read_ms();
-                  
-            // per 200ms verifica se ci sono impulsi sull'encoder     
-            while( (nTimerCurrent-nTimerStart) < 200) // attende il passare di 200ms
-            {
-                nTimerCurrent=TimerHall.read_ms();
-                // pc.printf("CounterTimer= %d\r\n", (nTimerCurrent-nTimerStart));   
-            }
-            TimerHall.stop();
-            InEncoderA.disable_irq();
-            //++++++++++ FINE calcola spostamento con encoder sul motore +++++++++++++++++      
-                  
-            //++++++++++ INIZIO genera diverso suono con motore fermo e in movimento +++++++++++++++++
-            // se nella IRQ sono stati contati fronti di salita del dell'encoder, il robot si sta muovendo         
-            if(nCountRiseEdge != 0)
-            //if(InDiag1==1)
-            {
-               // sono stati contati impulsi di encoder, il robot si sta muovendo            
-               fDeltaTEngineSound = (0.5/fFreqEngineSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
-               SampleOutTicker.attach(&SampleOut,fDeltaTEngineSound); // avvia generazione
-            }
-            else
-            {
-                // se ci sono stati impulsi di encoder, il robot è fermo, genera rumore del motore fermo
-               fDeltaTEngineSound = (1.0/fFreqEngineSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
-               SampleOutTicker.attach(&SampleOut,fDeltaTEngineSound); // avvia generazione
-             
-            }   
-            // riazzera il contatore di impulsi di encoder. Questo contatore viene incrementato nella rouine di interrupt
-            nCountRiseEdge=0;
-            // disabilita interrupt sul segnale di encoder. In questo modo non occupiamo inutilmente la CPU
-            InEncoderA.disable_irq(); // L'interrupt sarà di nuovo abilitato quando si ricomincia il while (true)
-            //++++++++++ FINE genera diverso suono con motore fermo e in movimento +++++++++++++++++
-            
-            //++++++++++++ INIZIO Misura della Luminosità e accensione LED Bianchi ++++++++++++++
-            // inizializza il valore medio della Luminosità 
-            fAvgLight=0.0;
-            for(nLightSampleIndex=0; nLightSampleIndex < NUMLIGHTSAMPLE; nLightSampleIndex++)
-            {
-               // acquisisce dato da ADC
-               usReadADC = InWaveLight.read_u16();
-               fReadVoltage=(usReadADC*3.3)/65535.0; // converte in Volt il valore numerico letto dall'ADC
-               //fReadVoltage=InWave.read(); // acquisisce il valore dall'ADC come valore di tensione in volt
-               fLight= fReadVoltage; //ATTENZIONE Visualizza il valore grezzo letto dall'ADC
-               fAvgLight+=fLight;
-            }   
-            // calcola valore medio su NUMSAMPLE acquisizioni 
-            fAvgLight/= NUMLIGHTSAMPLE;
-            
-            // Accendi/Spegni i LED Bianchi se il valore medio della luminosità è sotto/sopra soglia
-            if(fAvgLight < SOGLIALUCIMIN)
-            {
-               // Accendi LED Bianchi
-               //led2 = 1;
-               LedWAD = 1;
-               LedWAS = 1;
-               LedWPD = 1;
-               LedWPS = 1;
-            }
-            else
-            {
-                if(fAvgLight > SOGLIALUCIMAX)
-                {
-                   // Spegni LED Bianchi
-                   //led2 = 0;
-                   LedWAD = 0;
-                   LedWAS = 0;
-                   LedWPD = 0;
-                   LedWPS = 0;
-                }
-            }
-            
-            // invia il dato al PC
-            //pc.printf("\n\r--- Digital= %d [Volt]; Brightness= %.2f ---\n\r", usReadADC, fAvgLight);
-            //++++++++++++ FINE Misura della Luminosità e accensione LED ++++++++++++++
-           
-            //++++++++++++++ INIZIO Acquisisci distanza ostacoli +++++++++
-            //inizializza misura di distanza
-            fDistance=0.0;
-            // Fissa come Output il pin InOutProxSensor
-            InOutProxSensor.output();
-            // Poni 'L' sul Pin e mantienilo per qualche microsecondo
-            InOutProxSensor.write(0);
-            wait_us(5);
-            // Poni 'H' sul Pin e mantienilo per qualche microsecondo
-            InOutProxSensor.write(1);
-            wait_us(10);
-            // Poni 'L' sul Pin e mantienilo per qualche microsecondo
-            InOutProxSensor.write(0);
-            // Attendi assestamento e Fissa come Input il pin InOutProxSensor
-            wait_us(5);
-            InOutProxSensor.input();
-            InOutProxSensor.mode(PullDown); // se non è presente il sensore, il pin rimane a '0'
-            
-            // attende la risposta del sensore di prossimità per un tempo fissato da TIMEOUTPROXSENSOR. Dopo tale tempo dichiara inesistente il sensore
-            TimerProxSensor.start();
-            nTimerStart = TimerProxSensor.read_us();
-            nTimerTillNow=(TimerProxSensor.read_us()-nTimerStart);
-            while((InOutProxSensor ==0) && (nTimerTillNow< TIMEOUTPROXSENSOR))
-            {
-                nTimerCurrent = TimerProxSensor.read_us();
-                nTimerTillNow=nTimerCurrent-nTimerStart;
-                led2=1; // se rimane nel while il LED rimane acceso
-                pc.printf("sono qui 2 \r\n");
-            }
-            TimerProxSensor.stop(); // spegne il timer che serve per misurare il timeout quando assente il sensore di prossimità
-            pc.printf("\r\nUscita dal while, nTimerTillNow = %d\r\n", nTimerTillNow);
-            // se nTimerTillNow è inferiore al TIMEOUT, il sensore è presente e quindi misura la distanza dell'ostacolo
-            if(nTimerTillNow < TIMEOUTPROXSENSOR)
-            {
-                // riattiva il timer per misurare la distanza dell'ostacolo
-                TimerProxSensor.start();
-                nTimerStart = TimerProxSensor.read_us();
-                while(InOutProxSensor == 1)
-                {
-                    led2=1; // se rimane nel while il LED rimane acceso
-                }
-                TimerProxSensor.stop();
-                nTimerStop = TimerProxSensor.read_us();
-               
-                pc.printf("\r\nSensore Presente, nTimerTillNow = %d\r\n", nTimerTillNow);
-            
-                // velocità del suono = 343 [m/s] = 0.0343 [cm/us] = 1/29.1 [cm/us]
-                // tempo di andata e ritorno del segnale [us] = (TimerStop-TimerStart)[us]; per misurare la distanza bisogna dividere per due questo valore
-                // distanza dell'ostacolo [cm] = (TimerStop-TimerStart)/2 [us] * 1/29.1[cm/us]
-                fDistance = (nTimerStop-nTimerStart)/58.2;
-                // invia il dato al PC
-                pc.printf("distanza dell'ostacolo = %f0.2\r\n", fDistance);
-            }    
-            else
-            {
-               // quando esce dai while bloccanti, il LED si spegne
-               led2=0;
-               pc.printf("\r\nTimeOut\r\n");
-            }
-            //++++++++++++++ FINE Acquisisci distanza ostacoli +++++++++ 
-           //++++++++++++++ INIZIO Suona Clacson +++++++++
-            //escludi le misure oltre il max
-            if((fDistance <= 50.0) && (fDistance >= 3)) 
-            //if(InDiag1 == 1)
-            {
-              // SUONA IL CLACSON se l'ostacolo si trova ad una distanza inferiore ad una soglia minima
-              if(fDistance < 22)
-              {
-                    // blocca altri suoni quando genera suono del clacson
-                    bEngineSoundStop=1;
-                    // INIZIO generazione tono  
-                    nClacsonSampleIndex=0;
-                    // Genera il suono del clacson
-                    for(nClacsonSampleCount=0; nClacsonSampleCount<7000; nClacsonSampleCount++)
-                    {
-                       OutWave.write_u16(usaClacson[nClacsonSampleIndex]); //max 32767
-                       //OutWave.write_u16(32767); //uscita analogica per scopi diagnostici
-                       wait(fDeltaTClacsonSound);
-                       // genera ciclicamente
-                       nClacsonSampleIndex++;
-                       if(nClacsonSampleIndex >= CLACSONSAMPLENUM)
-                       {
-                           nClacsonSampleIndex=0;
-                       }   
-                       // a metà genera un wait per doppio clacson
-                       if(nClacsonSampleCount == 2000)
-                       {
-                           wait_ms(100);
-                       }
-                    
-                    } 
-                    //assicurati di inviare 0 come ultimo campione per spegnere l'amplificatore e non dissipare inutilmente corrente
-                    OutWave.write_u16(0);
-                    
-                    // sblocca altri suoni dopo aver generato suono del clacson
-                    bEngineSoundStop=0;
-                    
-                } // if(fDistance < soglia) suona clacson
-                
-            } // if( (fDistance < Max) && (fDistance > Min)) 
-            //++++++++++++++ FINE Suona Clacson +++++++++ 
-            
-            
-            
-            //++++++++++++++  INIZIO pilotaggio motore cofano +++++++++++++++++++
-            if((InMotorSwitchRPI==1) && (nPosizioneCofano ==0))    
-            //if((myButton==1) && (nPosizioneCofano ==0))    
-            {    
-               //Ferma motore
-                OutMotorA=0;
-                OutMotorB=0;
-                //pc.printf("Stop motore; OutA OutB = 00\r\n");
-                wait_ms(10);
-                
-                //Ferma motore
-                OutMotorA=0;
-                OutMotorB=1;
-                //pc.printf("Stop motore; OutA OutB = 01\r\n");
-                wait_ms(10);
-                
-                // Ruota Right
-                OutMotorA=1;
-                OutMotorB=1;
-                //pc.printf("Ruota Right; OutA OutB = 11\r\n");
-                wait_ms(710);
-                
-                // Ferma Motore
-                OutMotorA=0;
-                OutMotorB=1;
-                //pc.printf("Stop Motore; OutA OutB = 01\r\n");
-                wait_ms(10);
-                
-                //Ferma motore
-                OutMotorA=0;
-                OutMotorB=0;
-                //pc.printf("Stop motore; OutA OutB = 00\r\n");
-                wait_ms(10);
-                // cambia posizione del cofano. E' Stato Aperto
-                nPosizioneCofano = 1;
-            }       
-            // se arriva comando di chiusura cofano & il cofano è aperto, muovi motore
-            //if((myButton==0) && (nPosizioneCofano == 1))
-            if((InMotorSwitchRPI==0) && (nPosizioneCofano ==1))   
-            {
-                //pc.printf("\r\nCofano aperto & comando di chiusura\r\n");
-                                     
-                //Ferma motore
-                OutMotorA=0;
-                OutMotorB=0;
-                //pc.printf("Stop motore; OutA OutB = 00\r\n");
-                wait_ms(10);
-                            
-                // Ruota Left
-                OutMotorA=1;
-                OutMotorB=0;
-                //pc.printf("Ruota Left; OutA OutB = 10\r\n");
-                wait_ms(730);
-                
-                //Ferma motore
-                OutMotorA=0;
-                OutMotorB=0;
-                //pc.printf("Stop motore; OutA OutB = 00\r\n");
-                wait_ms(10);
-                
-                // cambia posizione del cofano. E' Stato Chiuso
-                nPosizioneCofano = 0;
-            }   
-            //++++++++++++++ FINE Pilotaggio Motore +++++++++++++
-            
-            
-            
-            //++++++++++++++ INIZIO Accensione LED da comando Raspberry +++++++
-            if(InLightSwitchRPI ==1)
-            {
-                // accendi i LED di abbellimento
-                //led2=1;
-                LedYAD = 1; 
-                LedYAS = 1;
-                LedRPD = 1;
-                LedRPS = 1;
-                LedYRAll = 1;
-            } 
-            else
-            {
-                
-                // spegni i LED di abbellimento
-                //led2=0;
-                LedYAD = 0; 
-                LedYAS = 0;
-                LedRPD = 0;
-                LedRPS = 0;
-                LedYRAll = 0;
-                 
-            }
-            //++++++++++++++ FINE Accensione LED da comando Raspberry +++++++
-            
-            //++++++++++++++ INIZIO Genera Suono MOTOSEGA quando arriva comando di movimento Cesoie da Raspberry +++++++++
-            if(InShearRPI == 1)
-            {
-                // funzione di generazione suono motosega
-                bEngineSoundStop=1; // disattiva suono del motore
-                ShearSoundGeneration();
-                bEngineSoundStop=0; // riattiva suono del motore
-            }
-            //++++++++++++++ FINE Genera Suono MOTOSEGA quando arriva comando di movimento Cesoie da Raspberry +++++++++
-        }// if(InStandByRPI == 0)
-        else
-        {
-            
-            // ricevuto da RPI, il comando di StandBy = ON
-            // ricevuto il comando di StandBy (InStandBy == 1)
-            
-            // la prima volta che entra in questo else, la variabile di stato nStandBy è '0'. Solo la prima volta Genera il messaggio di arrivederci
-            if(nStandBy == 0)
-            {
-                // blocca il suono del motore per emettere messaggio di arrivederci
-                bEngineSoundStop=1;
-                
-                //Genera messaggio di arrivederci
-                FarewellMessage();
-                               
-                // rispristina il suono del motore
-                bEngineSoundStop=0;
-                
-                // cambia lo stato dello StandBy
-                nStandBy = 1;
-            }
-            
-            // se modalità StandBy = ON, disattiva audio;
-            fSoundGain = 0.0;
-            
-            
-           
-        }
-    } //while(true)
-    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    //+++++++++++++++++++++++++++++++  FINE CICLO OPERATIVO +++++++++++++++++++++++++++++++++++++++++++++
-    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-        
-    
-}
-
diff -r 5f43dd94fc17 -r f1faab783b47 RobotFinale4.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RobotFinale4.cpp	Mon Mar 11 21:42:01 2019 +0000
@@ -0,0 +1,1267 @@
+//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Revisione del 16/03/2019
+//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+// mbed specific header files.
+#include "mbed.h"
+
+// include suono del motore
+#include "SampledSoundGurgle.h" // rumore del motore da fermo durante gli spsotamenti
+#include "SampledSoundWelcomeDizione.h" // messaggio di benvenuto
+#include "SampledSoundFarewellDizione.h" // messaggio di Arrivederci
+#include "SampledSoundMotosega.h" // rumore durante lo spostamento con Cesoia
+#include "SampledSoundDontTouch.h" // Messaggio di Don't Touch Me
+
+//#include "SampledSoundMotosega.h"
+//#include "SampledSoundTrattore.h"
+ 
+
+// TimeOut in [microsec] per verificare la presenza del sensore prossimità. Se il sensore non è presente il timer supera TIMEOUTPROXSENSOR
+#define TIMEOUTPROXSENSOR 1000 //tempo in [microsec]
+
+// numero di campioni che compongono un periodo della sinusoide in Output sull'ADC
+#define CLACSONSAMPLENUM   45 // consigliabile avere  multipli di 45
+
+// numero di campioni acquisiti su cui effettuare la media di luminosità
+#define NUMLIGHTSAMPLE 100
+
+// Parametri di soglia per la luce. Accendi/spegni Luci se la luminosità scende/sale sotto/sopra  SOGLIALUCIMAX e SOGLIALUCIMIN
+#define SOGLIALUCIMAX (1.85)
+#define SOGLIALUCIMIN (1.45)
+
+// parametri dell'onda coseno da generare
+#define PI        (3.141592653589793238462)
+#define AMPLITUDE 32767 //(1.0)    // x * 3.3V
+#define PHASE     (PI/2) // 2*pi è un periodo
+#define OFFSET    32767 //(0x7FFF)
+
+// variabile che modula l'amplificazione dei segnali audio. 1= non cambia niente. 0=amplificazione 0;
+#define SOUNDGAIN (1.0)
+
+// ticker per la generazione dell'onda con DAC
+Ticker SampleOutTicker;            
+
+
+// Timer per il calcolo dei tempi del sensore di prossimità
+Timer TimerProxSensor;
+
+// distanza in cm dell'ostacolo
+double fDistance;
+
+
+// tempo inizio intermedio e fine del timer che misura la distanza con il sensore ultrasuoni
+int nTimerStart, nTimerCurrent, nTimerStop, nTimerTillNow;
+
+// Buffer contenente la sinusoide da porre in output come Clacson.
+unsigned short usaClacson[CLACSONSAMPLENUM];
+
+// prototipo di funzione che genera i campioni della sinusoide da utilizzare per la generazione tramite DAC
+void CalculateSinewave(void);
+ 
+
+// Periodo di generazione campioni in output DeltaT = T/NumSample
+double fDeltaTClacsonSound;
+double fDeltaTEngineSound;
+
+// amplificazione per i suoni da generare con l'ADC
+double fAmpEngineSound; // rumore di Engine 
+double fAmpClacsonSound; // rumore di Clacson
+double fAmpShearSound; // rumore di Shear
+
+// frequenza segnale audio da generare per clacson e motore
+double fFreqClacsonSound;
+double fFreqEngineSound;
+
+// periodo della sinusoide audio da generare come suono del clacson
+double fPeriodClacsonSOund;
+
+// numero di campioni di clacson già inviati in output sul DAC
+int nClacsonSampleCount;
+// indice dell'array di generazione campioni clacson 
+int nClacsonSampleIndex;
+
+// indice dell'Array di generazione suoni del motore
+volatile int nEngineSampleIndex;
+
+// Flag che decide se generare oppure no il suono del motore. '1'=non generare il suono del motore, '0'=genera il suono del motore
+int bEngineSoundStop;
+
+
+
+// valore medio della Luminosità su NUMACQUISIZIONI acquisizioni
+double fAvgLight;
+
+// valore numerico, di tensione e di luce letto dall'ADC
+volatile unsigned short usReadADC;
+volatile float fReadVoltage;
+
+// valore di luminosità letto dall'ADC
+volatile float fLight;
+
+// posizione del Cofano '0' = chiuso, '1'=aperto. Inizialmente DEVE essere chiuso (cioè '0')
+int nPosizioneCofano=0;
+
+
+// indice per il conteggio dei campioni di luce acquisiti dal fotoresistore
+int nLightSampleIndex;
+   
+// timer per il calcolo della velocità
+Timer TimerHall;
+    
+// variabile che conta il numero di fronti si salita del segnale encoder del motore di movimento robot
+volatile int nCountRiseEdge; 
+   
+// variabile che ricorda lo stato di StandBy: '0' = Operativo,  '1'=StandBy
+int nStandBy;
+
+// variabile che permette di modificare il Gain di tutti i suoni
+float fSoundGain=SOUNDGAIN; // inizialmente fissato da un define
+ 
+// sensore di prossimità. '1' = Sensore Presente, '0' = Sesnore Assente
+int nProximitySensorPresent; 
+    
+// pin di pilotaggio Motore DC
+DigitalOut OutMotorA (PB_0);
+DigitalOut OutMotorB (PC_1);
+
+// Output Digitali usati per i LED
+DigitalOut LedWAD (PC_2);
+DigitalOut LedWAS (PC_3);
+DigitalOut LedWPD (PH_0);
+DigitalOut LedWPS (PA_0) ;
+DigitalOut LedYAD (PC_9); 
+DigitalOut LedYAS (PC_8);
+DigitalOut LedRPD (PA_13);
+DigitalOut LedRPS (PA_14) ; 
+DigitalOut LedYRAll (PC_7); // COn questo pin si pilotano contemporaneamente i Led: YLD1, YLD2, YLD3, YLD4, YLS1, YLS2, YLS3, YLS4, RPD1, RPS1
+
+
+// Input/Output Digitali usati per interfaccia RPI
+DigitalIn InShearRPI (PB_11, PullDown); // arriva un segnale alto su questo input quando Raspberry Invia un comando di apertura/chiusura cesoie. Collegato a Raspberry GPIO17
+DigitalIn InLightSwitchRPI (PB_9, PullDown); // accende e spegne le Luci rosse e gialle. Collegato al Raspberry GPIO20
+DigitalIn InMotorSwitchRPI (PB_8, PullDown); // accende e spegne il motore del Cofano. Collegato al Raspberry GPIO16
+//DigitalIn InFutureUse0RPI (PB_7); // usi futuri 0 di comunicazione. Collegato al Raspberry GPIO13
+DigitalIn InDontTouchRPI (PB_7, PullDown); // usi futuri 0 di comunicazione. Collegato al Raspberry GPIO13
+
+DigitalIn InFutureUse2RPI (PC_15); // usi futuri 1 di comunicazione. Collegato al Raspberry GPIO25
+//DigitalIn InFutureUse1PI (PC_15); // usi futuri 2 di comunicazione. Collegato al Raspberry GPIO12
+DigitalIn InStandByRPI (PB_2,PullDown); // StandBy ON/OFF. '1' = robot in StandBy; '0' = robot operativo. Collegato al Raspberry GPIO12
+
+// Input e Output per i sensori e attuatori
+AnalogOut OutWave(PA_4); // pin A2 di output per la forma d'onda analogica dedicata al suono
+AnalogIn InWaveLight(PA_1); // pin A1 di input per la forma d'onda analogica dedicata alla luminosità
+DigitalInOut InOutProxSensor (PC_0, PIN_OUTPUT, PullDown, 0); // Pin di tipo In-Out per la gestione del segnale Sig del Sensore di prossimità a ultrasuoni
+
+InterruptIn InEncoderA(PA_9); // Primo Pin di input dall'encoder ottico collegato al motore per misurare lo spostamento
+//InterruptIn InEncoderB(PC_7); // Secondo Pin di input dall'encoder ottico collegato al motore. predisposizione per usi futuri
+
+// Input/Output utilizzati da funzioni default su scheda NUCLEO
+DigitalOut led2(LED2);// LED verde sulla scheda. Associato a PA_5
+Serial pc(SERIAL_TX, SERIAL_RX); // seriale di comunicazione con il PC. Associati a PA_11 e PA_12
+DigitalIn myButton(USER_BUTTON); // pulsante Blu sulla scheda. Associato a PC_13
+
+// input di diagnostica
+DigitalIn InDiag1(PA_15,PullUp); // Di Default è a Vcc. Può essere collegato a GND con un ponticello su CN7 pin17-pin19 
+//DigitalIn InDiag2(PB_11,PullUp); // Di Default è a Vcc. Può essere collegato a GND con un ponticello su CN10 pin18-pin20 
+
+
+//****************************
+// Create the sinewave buffer
+//****************************
+void CalculateSinewave(int nOffset, int nAmplitude, double fPhase)
+{
+    // variabile contenente l'angolo in radianti
+    double fRads;
+    // indici per i cicli
+    int nIndex;
+    // passo in frequenza fissato dal numero di campioni in cui voglio dividere un periodo di sinusoide: DeltaF = 360°/NUMSAMPLE
+    double fDeltaF;
+    // angolo per il quale bisogna calcolare il valore di sinusoide: fAngle = nIndex*DeltaF
+    double fAngle;
+    
+    fDeltaF = 360.0/CLACSONSAMPLENUM;
+    for (nIndex = 0; nIndex < CLACSONSAMPLENUM; nIndex++) 
+    {
+        fAngle = nIndex*fDeltaF; // angolo per il quale bisogna calcolare il campione di sinusoide
+        fRads = (PI * fAngle)/180.0; // Convert degree in radian
+        //usaSine[nIndex] = AMPLITUDE * cos(fRads + PHASE) + OFFSET;
+        usaClacson[nIndex] = fSoundGain * nAmplitude * cos(fRads + fPhase) + nOffset;
+    }
+}
+
+/********************************************************/
+/* Funzione avviata all'inizio come saluto e Benvenuto  */
+/********************************************************/
+void WelcomeMessage()
+{
+    // indice per i cicli interni alla funzione
+    int nIndex;
+    
+    // indice per l'array di welcome message
+    int nWelcomeMsgIndex;
+    // parametri per generare il messaggio di welcome
+    double fAmpWelcomeSound;
+    double fFreqWelcomeSound;
+    double fDeltaTWelcomeSound;
+    
+    //++++++++++++ INIZIO Accendi le Luci in sequenza +++++++++++++++++
+    // accendi tutte le luci
+    LedWAD = 1;
+    wait_ms(100);
+    LedWAS = 1;
+    wait_ms(100);
+    LedWPD = 1;
+    wait_ms(100);
+    LedWPS = 1;
+    wait_ms(100);
+    LedYAD = 1; 
+    wait_ms(100);
+    LedYAS = 1;
+    wait_ms(100);
+    LedRPD = 1;
+    wait_ms(100);
+    LedRPS = 1;
+    //++++++++++++ FINE Accendi le Luci in sequenza +++++++++++++++++
+     
+    //++++++++++++ INIZIO generazione messaggio di benvenuto +++++++++++++++++ 
+    fAmpWelcomeSound = 1.0;  // fissa l'amplificazione per il messaggio di welcome. Valori da 0[min] a 1[max] 
+    fFreqWelcomeSound=nSamplePerSecWelcome/nUnderSampleFactorWelcome;// campioni per secondo del welcome message da generare = nSamplePerSec/nUnderSampleFactor
+    fDeltaTWelcomeSound = (1.0/fFreqWelcomeSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
+   
+    
+    for(nWelcomeMsgIndex=0; nWelcomeMsgIndex < nSampleNumWelcome; nWelcomeMsgIndex++)
+    {
+        // mette in output un campione della forma d'onda del welcome message  moltiplicato per l'amplificazione fAmp
+        OutWave.write_u16(naInputSoundWaveWelcome[nWelcomeMsgIndex]*fAmpWelcomeSound*fSoundGain);
+        
+        // tra un campione e l'altro attendi un periodo pari al periodo di campionamento
+        //wait(fDeltaTWelcomeSound);
+        wait_us(37);
+    }
+    //++++++++++++ FINE generazione messaggio di benvenuto +++++++++++++++++
+    
+    //++++++++++++ INIZIO Spegni le Luci in sequenza +++++++++++++++++
+    // spegni le Luci in sequenza
+    for(nIndex=0; nIndex<3; nIndex++)
+    {
+        wait_ms(50); 
+        LedWAD = 1;
+        wait_ms(50); 
+        LedWAD = 0;
+    }
+    for(nIndex=0; nIndex<3; nIndex++)
+    {
+        wait_ms(50); 
+        LedWAS = 1;
+        wait_ms(50); 
+        LedWAS = 0;
+    }
+    for(nIndex=0; nIndex<3; nIndex++)
+    {
+        wait_ms(50); 
+        LedWPD = 1;
+        wait_ms(50); 
+        LedWPD = 0;
+    }
+    for(nIndex=0; nIndex<3; nIndex++)
+    {
+        wait_ms(50); 
+        LedWPS = 1;
+        wait_ms(50); 
+        LedWPS = 0;
+    }
+    for(nIndex=0; nIndex<3; nIndex++)
+    {
+        wait_ms(50); 
+        LedYAD = 1;
+        wait_ms(50); 
+        LedYAD =0;
+    }
+    for(nIndex=0; nIndex<3; nIndex++)
+    {
+        wait_ms(50); 
+        LedYAS = 1;
+        wait_ms(50); 
+        LedYAS = 0;
+    }
+    for(nIndex=0; nIndex<3; nIndex++)
+    {
+        wait_ms(50); 
+        LedRPD = 1;
+        wait_ms(50); 
+        LedRPD = 0;
+    }
+    for(nIndex=0; nIndex<3; nIndex++)
+    {
+        wait_ms(50); 
+        LedRPS = 1;
+        wait_ms(50); 
+        LedRPS = 0;
+    }
+    for(nIndex=0; nIndex<3; nIndex++)
+    {
+        wait_ms(50); 
+        LedYRAll = 1;
+        wait_ms(50); 
+        LedYRAll = 0;
+    }
+    //++++++++++++ FINE Spegni le Luci in sequenza +++++++++++++++++
+            
+}
+
+/***************************************************************************/
+/* Genera Messaggio di Arrivederci e spegni i LED quando passa in SyandBy */
+/***************************************************************************/
+void FarewellMessage()
+{
+    // indice per l'array di Farewell message
+    int nFarewellMsgIndex;
+    // parametri per generare il messaggio di Farewell
+    double fAmpFarewellSound;
+    double fFreqFarewellSound;
+    double fDeltaTFarewellSound;
+    
+    
+     
+    //++++++++++++ INIZIO generazione messaggio di Arrivederci +++++++++++++++++ 
+    fAmpFarewellSound = 1.0;  // fissa l'amplificazione per il messaggio di Farewell. Valori da 0[min] a 1[max] 
+    fFreqFarewellSound=nSamplePerSecFarewell/nUnderSampleFactorFarewell;// campioni per secondo del Farewell message da generare = nSamplePerSec/nUnderSampleFactor
+    fDeltaTFarewellSound = (1.0/fFreqFarewellSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
+   
+    
+    for(nFarewellMsgIndex=0; nFarewellMsgIndex < nSampleNumFarewell; nFarewellMsgIndex++)
+    {
+        // mette in output un campione della forma d'onda del Farewell message  moltiplicato per l'amplificazione fAmp
+        OutWave.write_u16(naInputSoundWaveFarewell[nFarewellMsgIndex]*fAmpFarewellSound*fSoundGain);
+        
+        // tra un campione e l'altro attendi un periodo pari al periodo di campionamento
+        //wait(fDeltaTFarewellSound);
+        wait_us(57);
+    }
+    //++++++++++++ FINE generazione messaggio di Arrivederci +++++++++++++++++
+    
+    //++++++++++++ INIZIO Spegni tutti i LED in sequenza +++++++++++++++++
+    // spegni tutti i LED
+    LedWAD = 0;
+    wait_ms(100);
+    LedWAS = 0;
+    wait_ms(100);
+    LedWPD = 0;
+    wait_ms(100);
+    LedWPS = 0;
+    wait_ms(100);
+    LedYAD = 0; 
+    wait_ms(100);
+    LedYAS = 0;
+    wait_ms(100);
+    LedRPD = 0;
+    wait_ms(100);
+    LedRPS = 0;
+    wait_ms(100);
+    LedYRAll = 0;
+    //++++++++++++ FINE Spegni tutti i LED in sequenza +++++++++++++++++
+            
+}
+
+/**************************************/
+/* Genera Messaggio di Don't Touch Me */
+/**************************************/
+void DontTouchMessage()
+{
+    // indice per l'array di DontTouch message
+    int nDontTouchMsgIndex;
+    // parametri per generare il messaggio di DontTouch
+    double fAmpDontTouchSound;
+    double fFreqDontTouchSound;
+    double fDeltaTDontTouchSound;
+    
+    
+     
+    //++++++++++++ INIZIO generazione messaggio di Don't Touch +++++++++++++++++ 
+    fAmpDontTouchSound = 1.0;  // fissa l'amplificazione per il messaggio di DontTouch. Valori da 0[min] a 1[max] 
+    fFreqDontTouchSound=nSamplePerSecDontTouch/nUnderSampleFactorDontTouch;// campioni per secondo del DontTouch message da generare = nSamplePerSec/nUnderSampleFactor
+    fDeltaTDontTouchSound = (1.0/fFreqDontTouchSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
+   
+    
+    for(nDontTouchMsgIndex=0; nDontTouchMsgIndex < nSampleNumDontTouch; nDontTouchMsgIndex++)
+    {
+        // mette in output un campione della forma d'onda del DontTouch message  moltiplicato per l'amplificazione fAmp
+        OutWave.write_u16(naInputSoundWaveDontTouch[nDontTouchMsgIndex]*fAmpDontTouchSound*fSoundGain);
+        
+        // tra un campione e l'altro attendi un periodo pari al periodo di campionamento
+        //wait(fDeltaTDontTouchSound);
+        wait_us(57);
+    }
+    //++++++++++++ FINE generazione messaggio di Don't Touch +++++++++++++++++
+    
+    //++++++++++++ INIZIO ACCENDI tutti i LED in sequenza e spegnili subito dopo +++++++++++++++++
+    // spegni tutti i LED
+    LedWAD = 1;
+    wait_ms(50);
+    LedWAS = 1;
+    wait_ms(50);
+    LedWPD = 1;
+    wait_ms(50);
+    LedWPS = 1;
+    wait_ms(50);
+    LedYAD = 1; 
+    wait_ms(50);
+    LedYAS = 1;
+    wait_ms(50);
+    LedRPD = 1;
+    wait_ms(50);
+    LedRPS = 1;
+    wait_ms(50);
+    LedYRAll = 1;
+    wait(1);
+    LedWAD = 0;
+    LedWAS = 0;
+    LedWPD = 0;
+    LedWPS = 0;
+    LedYAD = 0; 
+    LedYAS = 0;
+    LedRPD = 0;
+    LedRPS = 0;
+    LedYRAll = 0;
+    //++++++++++++ FINE ACCENDI tutti i LED in sequenza e spegnili subito dopo +++++++++++++++++
+           
+}
+
+
+
+/***********************************************************************/
+/* Genera il suono di una motosega.                                    */ 
+/* Attivo quando arriva il comando di spostamento Cesoie da Raspberry  */
+/***********************************************************************/
+void ShearSoundGeneration()
+{
+    // indice per l'array di suono Shear  
+    int nShearSoundIndex;
+    // parametri per generare il messaggio di shear
+    double fAmpShearSound;
+    double fFreqShearSound;
+    double fDeltaTShearSound;
+    
+    //++++++++++++ INIZIO generazione suono di motosega +++++++++++++++++ 
+    fAmpShearSound = 1.0;  // fissa l'amplificazione per il suono di Shear. Valori da 0[min] a 1[max] 
+    fFreqShearSound=nSamplePerSecShear/nUnderSampleFactorShear;// campioni per secondo del Shear da generare = nSamplePerSec/nUnderSampleFactor
+    fDeltaTShearSound = (1.0/fFreqShearSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
+   
+    
+    for(nShearSoundIndex=0; nShearSoundIndex < nSampleNumShear; nShearSoundIndex++)
+    {
+        // mette in output un campione della forma d'onda del suono di Shear,  moltiplicato per l'amplificazione fAmp
+        OutWave.write_u16(naInputSoundWaveShear[nShearSoundIndex]*fAmpShearSound*fSoundGain);
+        
+        // tra un campione e l'altro attendi un periodo pari al periodo di campionamento
+        wait(fDeltaTShearSound);
+    }
+    //++++++++++++ FINE generazione suono di motosega +++++++++++++++++
+    
+    
+    
+}
+/***********************************************************************/
+/* generazione suoni con i sample da file di campioni in SoundSample.h */
+/***********************************************************************/
+void SampleOut() 
+{
+    // interrompi il suono del motore per generare altri suoni. '1' = interrompi i suoni
+    if(bEngineSoundStop == 0)
+    {
+        // mette in output un campione della forma d'onda del rumore motore moltiplicato per l'amplificazione fAmp
+        OutWave.write_u16(naInputSoundWave[nEngineSampleIndex]*fAmpEngineSound*fSoundGain);
+        // incrementa l'indice del campione in output, nSampleNum è il numero dei campioni nle file Sound.h
+        nEngineSampleIndex++;
+        if(nEngineSampleIndex >= nSampleNum)
+            nEngineSampleIndex=0;
+    }        
+}
+
+
+ /**************************************************************************************/
+/* Routine di gestione Interrupt associata al fronte di salita del segnale di encoder */
+/**************************************************************************************/
+void riseEncoderIRQ()
+{
+    nCountRiseEdge++;
+}       
+     
+/********/
+/* Main */
+/********/
+int main()
+{
+    // configura velocità della comunicazione seriale su USB-VirtualCom e invia messaggio di benvenuto
+    pc.baud(921600); //921600 bps
+    
+    // definisci il mode del segnale digitale di EncoderA
+    InEncoderA.mode(PullUp);
+    
+    // Associa routine di Interrup all'evento fronte di salita del segnale di encoder
+    InEncoderA.rise(&riseEncoderIRQ);
+
+    // abilita interrupt sul segnale di encoder per contare il numero di impulsi e quindi verificare se il robot si muove     
+    InEncoderA.enable_irq();
+    
+    // definisci il mode del segnale di InStandBy da RPI ('0' = operativo; '1' = StandBy)
+    InStandByRPI.mode(PullDown);
+    InShearRPI.mode(PullDown); // arriva un segnale alto su questo input quando Raspberry Invia un comando di apertura/chiusura cesoie. Collegato a Raspberry GPIO17
+    InLightSwitchRPI.mode(PullDown); // arriva un segnale alto su questo input quando Raspberry Invia un comando che accende e spegne le Luci rosse e gialle. Collegato al Raspberry GPIO20
+    InMotorSwitchRPI.mode(PullDown); // arriva un segnale alto su questo input quando Raspberry Invia un comando che accende e spegne il motore del Cofano. Collegato al Raspberry GPIO16
+    InDontTouchRPI.mode(PullDown); // arriva un segnale alto su questo input quando Raspberry Invia un comando per generare messaggio Audio "don't Touch me" GPIO13
+      
+    
+     
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    //+++++++++++++++++++++++++++++++++++++ INIZIO CICLO OPERATIVO ++++++++++++++++++++++++++++++++++
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    
+   
+    //+++++++++++ inizializza Gain dei suoni +++++++++++++
+    fSoundGain = SOUNDGAIN; // inizialmente fissato a SOUNDGAIN che può essere fissato a 0 per modalità di debug
+    
+    //+++++++++++++ INIZIO Genera Sinusoide ++++++++++++++++++
+    fFreqClacsonSound = 550.0; // frequenza in Hz del tono del Clacson da generare
+    fAmpClacsonSound = 1.0; // coefficiente per il quale viene moltiplicato l'ampiezza massima del tono da generare
+    fDeltaTClacsonSound = 1.0/(fFreqClacsonSound*CLACSONSAMPLENUM); // intervallo di tempo tra un campione e l'altro, per generare la frequenza desiderata
+    CalculateSinewave(AMPLITUDE, (AMPLITUDE*fAmpClacsonSound*fSoundGain), (PI/2.0)); // generazione della sinusoide con valori nominali
+    //+++++++++++++ FINE Genera Sinusoide +++++++++++++++++++++
+    
+    // avvia routine di saluto di benvenuto
+    bEngineSoundStop = 1; // per generare il messaggio di benvenuto il suono del motore è spento
+    WelcomeMessage();    
+    bEngineSoundStop = 0; // riattiva il suono del motore
+          
+    //+++++++ INIZIO avvio rumore del motore a frequenza da fermo +++++++++
+    fAmpEngineSound = 1.0;  // fissa l'amplificazione per il rumore motore. Valori da 0[min] a 1[max] 
+    fFreqEngineSound=nSamplePerSec/nUnderSampleFactor;// campioni per secondo del rumore motore da generare = nSamplePerSec/nUnderSampleFactor
+    fDeltaTEngineSound = (1.0/fFreqEngineSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
+    nEngineSampleIndex =0; // Avvia indice di generazione suono motore
+    SampleOutTicker.attach(&SampleOut,fDeltaTEngineSound); // avvia generazione
+    //+++++++ FINE avvio rumore del motore a frequenza da fermo +++++++++
+   
+    //inizializza variabili
+    nEngineSampleIndex =0; // avvia l'indice di generazione suoni
+    nCountRiseEdge=0; // azzera il  contatore dei fronti di salita del segnale di encoder. Saranno contati nella IRQ legata a InEncoderA
+    bEngineSoundStop =0; // inizialmente il suono del motore è generato
+    nPosizioneCofano=0; // inizializza la posizione del cofano chiuso
+    nStandBy=0; // iniazializza la modalità StandBy/Operation del robot. nStandBy=0 : modalità Operation
+    
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    //+++++++++++++++++++++++++++++++++++++ INIZIO CICLO OPERATIVO +++++++++++++++++++++++++++++
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    // Fissa come Output il pin InOutProxSensor
+    while(true)
+    {
+        if(InStandByRPI == 0)
+        {
+            // abilita interrupt sul segnale di encoder per contare il numero di impulsi e quindi verificare se il robot si muove     
+            InEncoderA.enable_irq();
+            
+            // se appena uscito dalla modalità di StandBy, è ancora nStandBy = 1, emetti messaggio di benvenuto
+            if(nStandBy == 1)
+            {
+                
+                // blocca il suono del motore per emettere messaggio di benvenuto
+                bEngineSoundStop=1;
+                
+                // se modalità StandBy = OFF, riattiva audio;
+                fSoundGain = SOUNDGAIN;
+                
+                
+                //Genera messaggio di benvenuto
+                WelcomeMessage();
+                               
+                // rispristina il suono del motore
+                bEngineSoundStop=0;
+            }
+            
+            // imposta  lo stato di StandBy OFF
+            nStandBy = 0;
+            //++++++++++ INIZIO calcola spostamento con encoder sul motore +++++++++++++++++
+            // abilita interrupt sul segnale di encoder per contare il numero di impulsi e quindi verificare se il robot si muove     
+            //InEncoderA.enable_irq();
+                
+            // conta il numero di impulsi del segnale di encoder che si verificano in un timer pari a 500ms
+            TimerHall.start();
+            nTimerStart=TimerHall.read_ms();
+                  
+            // per 100ms verifica se ci sono impulsi sull'encoder. Gli impulsi vengono contati lungo tutto il ciclo ma se il ciclo è attraversato troppo rapidamente rischio di non contaniente e aggiungo questo ritarda.     
+            while( (nTimerCurrent-nTimerStart) < 50) // attende il passare di 100ms
+            {
+                nTimerCurrent=TimerHall.read_ms();
+                // pc.printf("CounterTimer= %d\r\n", (nTimerCurrent-nTimerStart));   
+            }
+            TimerHall.stop();
+            //InEncoderA.disable_irq();
+            //++++++++++ FINE calcola spostamento con encoder sul motore +++++++++++++++++      
+                  
+            //++++++++++ INIZIO genera diverso suono con motore fermo e in movimento +++++++++++++++++
+            // se nella IRQ sono stati contati fronti di salita del dell'encoder, il robot si sta muovendo         
+            if(nCountRiseEdge != 0)
+            //if(InDiag1==1)
+            {
+                // sono stati contati impulsi di encoder, il robot si sta muovendo            
+                fDeltaTEngineSound = (0.5/fFreqEngineSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
+                SampleOutTicker.attach(&SampleOut,fDeltaTEngineSound); // avvia generazione
+                //pc.printf("\r\nIn Movimento \r\n"); //Diagnostica
+            }
+            else
+            {
+                // se non ci sono stati impulsi di encoder, il robot è fermo, genera rumore del motore fermo
+                fDeltaTEngineSound = (1.0/fFreqEngineSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
+                SampleOutTicker.attach(&SampleOut,fDeltaTEngineSound); // avvia generazione
+                //pc.printf("\r\nFermo \r\n"); //Diagnostica
+            }   
+            // riazzera il contatore di impulsi di encoder. Questo contatore viene incrementato nella rouine di interrupt
+            nCountRiseEdge=0;
+            //++++++++++ FINE genera diverso suono con motore fermo e in movimento +++++++++++++++++
+            
+            //++++++++++++ INIZIO Misura della Luminosità e accensione LED Bianchi ++++++++++++++
+            // inizializza il valore medio della Luminosità 
+            fAvgLight=0.0;
+            for(nLightSampleIndex=0; nLightSampleIndex < NUMLIGHTSAMPLE; nLightSampleIndex++)
+            {
+               // acquisisce dato da ADC
+               usReadADC = InWaveLight.read_u16();
+               fReadVoltage=(usReadADC*3.3)/65535.0; // converte in Volt il valore numerico letto dall'ADC
+               //fReadVoltage=InWave.read(); // acquisisce il valore dall'ADC come valore di tensione in volt
+               fLight= fReadVoltage; //ATTENZIONE Visualizza il valore grezzo letto dall'ADC
+               fAvgLight+=fLight;
+            }   
+            // calcola valore medio su NUMSAMPLE acquisizioni 
+            fAvgLight/= NUMLIGHTSAMPLE;
+            
+            // Accendi/Spegni i LED Bianchi se il valore medio della luminosità è sotto/sopra soglia
+            if(fAvgLight < SOGLIALUCIMIN)
+            {
+               // Accendi LED Bianchi
+               //led2 = 1;
+               LedWAD = 1;
+               LedWAS = 1;
+               LedWPD = 1;
+               LedWPS = 1;
+            }
+            else
+            {
+                if(fAvgLight > SOGLIALUCIMAX)
+                {
+                   // Spegni LED Bianchi
+                   //led2 = 0;
+                   LedWAD = 0;
+                   LedWAS = 0;
+                   LedWPD = 0;
+                   LedWPS = 0;
+                }
+            }
+            
+            // invia il dato al PC
+            //pc.printf("\n\r--- Digital= %d [Volt]; Brightness= %.2f ---\n\r", usReadADC, fAvgLight);
+            //++++++++++++ FINE Misura della Luminosità e accensione LED ++++++++++++++
+            
+            //++++++++++++++ INIZIO Acquisisci distanza ostacoli +++++++++
+            //inizializza misura di distanza
+            fDistance=0.0;
+            // Fissa come Output il pin InOutProxSensor
+            InOutProxSensor.output();
+            // Poni 'L' sul Pin e mantienilo per qualche microsecondo
+            InOutProxSensor.write(0);
+            wait_us(5);
+            // Poni 'H' sul Pin e mantienilo per qualche microsecondo
+            InOutProxSensor.write(1);
+            wait_us(10);
+            // Poni 'L' sul Pin e mantienilo per qualche microsecondo
+            InOutProxSensor.write(0);
+            // Attendi assestamento e Fissa come Input il pin InOutProxSensor
+            wait_us(5);
+            InOutProxSensor.input();
+            InOutProxSensor.mode(PullDown); // se non è presente il sensore, il pin rimane a '0'
+           
+            // attende la risposta del sensore di prossimità per un tempo fissato da TIMEOUTPROXSENSOR. Dopo tale tempo dichiara inesistente il sensore
+            TimerProxSensor.start();
+            nTimerStart = TimerProxSensor.read_us();
+            nTimerTillNow=(TimerProxSensor.read_us()-nTimerStart);
+            while((InOutProxSensor ==0) && (nTimerTillNow< TIMEOUTPROXSENSOR))
+            {
+                nTimerCurrent = TimerProxSensor.read_us();
+                nTimerTillNow=nTimerCurrent-nTimerStart;
+                led2=1; // se rimane nel while il LED rimane acceso
+                //pc.printf("sono qui 2 \r\n"); // Diagnotica
+            }
+            TimerProxSensor.stop(); // spegne il timer che serve per misurare il timeout quando assente il sensore di prossimità
+            //pc.printf("\r\nUscita dal while, nTimerTillNow = %d\r\n", nTimerTillNow); // Diagnostica
+            // se nTimerTillNow è inferiore al TIMEOUT, il sensore è presente e quindi misura la distanza dell'ostacolo
+            if(nTimerTillNow < TIMEOUTPROXSENSOR)
+            {
+                // riattiva il timer per misurare la distanza dell'ostacolo
+                TimerProxSensor.start();
+                nTimerStart = TimerProxSensor.read_us();
+                while(InOutProxSensor == 1)
+                {
+                    led2=1; // se rimane nel while il LED rimane acceso
+                }
+                TimerProxSensor.stop();
+                nTimerStop = TimerProxSensor.read_us();
+               
+                //pc.printf("\r\nSensore Presente, nTimerTillNow = %d\r\n", nTimerTillNow); // Diagnostica
+            
+                // velocità del suono = 343 [m/s] = 0.0343 [cm/us] = 1/29.1 [cm/us]
+                // tempo di andata e ritorno del segnale [us] = (TimerStop-TimerStart)[us]; per misurare la distanza bisogna dividere per due questo valore
+                // distanza dell'ostacolo [cm] = (TimerStop-TimerStart)/2 [us] * 1/29.1[cm/us]
+                fDistance = (nTimerStop-nTimerStart)/58.2;
+                // invia il dato al PC
+                //pc.printf("distanza dell'ostacolo = %f0.2\r\n", fDistance); // Diagnostica
+            }    
+            
+            //++++++++++++++ FINE Acquisisci distanza ostacoli +++++++++        
+            //++++++++++++++ INIZIO Suona Clacson +++++++++
+            //escludi le misure oltre il max
+            //if(myButton == 0) fDistance = 20; //Diagnostica
+            if((fDistance <= 50.0) && (fDistance >= 3)) 
+            //if(InDiag1 == 1)
+            {
+              // SUONA IL CLACSON se l'ostacolo si trova ad una distanza inferiore ad una soglia minima
+              if(fDistance < 22)
+              {
+                    // blocca altri suoni quando genera suono del clacson
+                    bEngineSoundStop=1;
+                    // INIZIO generazione tono  
+                    nClacsonSampleIndex=0;
+                    // Genera il suono del clacson
+                    for(nClacsonSampleCount=0; nClacsonSampleCount<7000; nClacsonSampleCount++)
+                    {
+                        OutWave.write_u16(usaClacson[nClacsonSampleIndex]); //max 32767
+                        //OutWave.write_u16(32767); //uscita analogica per scopi diagnostici
+                        
+                        wait(fDeltaTClacsonSound);
+                        
+                        // genera ciclicamente
+                        nClacsonSampleIndex++;
+                        if(nClacsonSampleIndex >= CLACSONSAMPLENUM)
+                        {
+                           nClacsonSampleIndex=0;
+                        }   
+                        // a metà genera un wait per doppio clacson
+                        if(nClacsonSampleCount == 2000)
+                        {
+                           wait_ms(100);
+                        }
+                    
+                    } 
+                    //assicurati di inviare 0 come ultimo campione per spegnere l'amplificatore e non dissipare inutilmente corrente
+                    OutWave.write_u16(0);
+                    
+                    // sblocca altri suoni dopo aver generato suono del clacson
+                    bEngineSoundStop=0;
+                    
+                } // if(fDistance < soglia) suona clacson
+                
+            } // if( (fDistance < Max) && (fDistance > Min)) 
+            //++++++++++++++ FINE Suona Clacson +++++++++ 
+            
+            //++++++++++++++  INIZIO pilotaggio motore cofano +++++++++++++++++++
+            if((InMotorSwitchRPI==1) && (nPosizioneCofano ==0))    
+            //if((myButton==1) && (nPosizioneCofano ==0))    
+            {    
+               //Ferma motore
+                OutMotorA=0;
+                OutMotorB=0;
+                //pc.printf("Stop motore; OutA OutB = 00\r\n");
+                wait_ms(10);
+                
+                //Ferma motore
+                OutMotorA=0;
+                OutMotorB=1;
+                //pc.printf("Stop motore; OutA OutB = 01\r\n");
+                wait_ms(10);
+                
+                // Ruota Right
+                OutMotorA=1;
+                OutMotorB=1;
+                //pc.printf("Ruota Right; OutA OutB = 11\r\n");
+                wait_ms(710);
+                
+                // Ferma Motore
+                OutMotorA=0;
+                OutMotorB=1;
+                //pc.printf("Stop Motore; OutA OutB = 01\r\n");
+                wait_ms(10);
+                
+                //Ferma motore
+                OutMotorA=0;
+                OutMotorB=0;
+                //pc.printf("Stop motore; OutA OutB = 00\r\n");
+                wait_ms(10);
+                // cambia posizione del cofano. E' Stato Aperto
+                nPosizioneCofano = 1;
+            }       
+            // se arriva comando di chiusura cofano & il cofano è aperto, muovi motore
+            //if((myButton==0) && (nPosizioneCofano == 1))
+            if((InMotorSwitchRPI==0) && (nPosizioneCofano ==1))   
+            {
+                //pc.printf("\r\nCofano aperto & comando di chiusura\r\n");
+                                     
+                //Ferma motore
+                OutMotorA=0;
+                OutMotorB=0;
+                //pc.printf("Stop motore; OutA OutB = 00\r\n");
+                wait_ms(10);
+                            
+                // Ruota Left
+                OutMotorA=1;
+                OutMotorB=0;
+                //pc.printf("Ruota Left; OutA OutB = 10\r\n");
+                wait_ms(730);
+                
+                //Ferma motore
+                OutMotorA=0;
+                OutMotorB=0;
+                //pc.printf("Stop motore; OutA OutB = 00\r\n");
+                wait_ms(10);
+                
+                // cambia posizione del cofano. E' Stato Chiuso
+                nPosizioneCofano = 0;
+            }   
+            //++++++++++++++ FINE Pilotaggio Motore Cofano +++++++++++++
+            
+            //++++++++++++++ INIZIO Accensione LED da comando Raspberry +++++++
+            if(InLightSwitchRPI ==1)
+            {
+                // accendi i LED di abbellimento
+                //led2=1;
+                LedYAD = 1; 
+                LedYAS = 1;
+                LedRPD = 1;
+                LedRPS = 1;
+                LedYRAll = 1;
+            } 
+            else
+            {
+                
+                // spegni i LED di abbellimento
+                //led2=0;
+                LedYAD = 0; 
+                LedYAS = 0;
+                LedRPD = 0;
+                LedRPS = 0;
+                LedYRAll = 0;
+                 
+            }
+            //++++++++++++++ FINE Accensione LED da comando Raspberry +++++++
+            
+            //++++++++++++++ INIZIO Genera Suono MOTOSEGA quando arriva comando di movimento Cesoie da Raspberry +++++++++
+            if(InShearRPI == 1)
+            {
+                // funzione di generazione suono motosega
+                bEngineSoundStop=1; // disattiva suono del motore
+                ShearSoundGeneration();
+                bEngineSoundStop=0; // riattiva suono del motore
+            }
+            //++++++++++++++ FINE Genera Suono MOTOSEGA quando arriva comando di movimento Cesoie da Raspberry +++++++++
+            //++++++++++++++ INIZIO Genera Messaggio Audio "Don't Touch Me" quando arriva il comando da Raspberry +++++++++
+            if ((InDontTouchRPI == 1) || (myButton == 0)) // myButton premuto per scopi Diagnostici
+            {
+                // funzione di generazione suono motosega
+                bEngineSoundStop=1; // disattiva suono del motore
+                DontTouchMessage();
+                bEngineSoundStop=0; // riattiva suono del motore
+            }
+            //++++++++++++++ Fine Genera Messaggio Audio "Don't Touch Me" quando arriva il comando da Raspberry +++++++++
+            
+                   
+        }// if(InStandByRPI == 0)
+        else
+        {
+            
+            // ricevuto da RPI, il comando di StandBy = ON
+            // ricevuto il comando di StandBy (InStandBy == 1)
+            
+            // la prima volta che entra in questo else, la variabile di stato nStandBy è '0'. Solo la prima volta Genera il messaggio di arrivederci
+            if(nStandBy == 0)
+            {
+                // blocca il suono del motore per emettere messaggio di arrivederci
+                bEngineSoundStop=1;
+                
+                //Genera messaggio di arrivederci
+                FarewellMessage();
+                               
+                // rispristina il suono del motore
+                bEngineSoundStop=0;
+                
+                // cambia lo stato dello StandBy
+                nStandBy = 1;
+            }
+            
+            // se modalità StandBy = ON, disattiva audio;
+            fSoundGain = 0.0;
+        } // fine if(nStandByRPI == 1)
+        
+    } // fine ciclo while(true)
+    
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    //+++++++++++++++++++++++++++++++++++++ FINE CICLO OPERATIVO++++++++++++++++++++++++++++++++
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    
+    
+    
+    
+    
+    
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    //+++++++++++++++++++++++++++++++++++++ INIZIO CICLO TEST ++++++++++++++++++++++++++++++++
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    /*
+    while(true)
+    {
+        if(InStandByRPI == 0)
+        {
+            // abilita interrupt sul segnale di encoder per contare il numero di impulsi e quindi verificare se il robot si muove     
+            InEncoderA.enable_irq();
+            
+            // se appena uscito dalla modalità di StandBy, è ancora nStandBy = 1, emetti messaggio di benvenuto
+            if(nStandBy == 1)
+            {
+                
+                // blocca il suono del motore per emettere messaggio di benvenuto
+                bEngineSoundStop=1;
+                
+                // se modalità StandBy = OFF, riattiva audio;
+                fSoundGain = SOUNDGAIN;
+                
+                
+                //Genera messaggio di benvenuto
+                WelcomeMessage();
+                               
+                // rispristina il suono del motore
+                bEngineSoundStop=0;
+            }
+            
+            // imposta  lo stato di StandBy OFF
+            nStandBy = 0;
+            //++++++++++ INIZIO calcola spostamento con encoder sul motore +++++++++++++++++
+            // abilita l'interrupt su fronte di salita del segnale di encoder
+            nCountRiseEdge=0;
+            InEncoderA.enable_irq();
+            
+            // conta il numero di impulsi del segnale di encoder che si verificano in un timer pari a 500ms
+            TimerHall.start();
+            nTimerStart=TimerHall.read_ms();
+                  
+            // per 200ms verifica se ci sono impulsi sull'encoder     
+            while( (nTimerCurrent-nTimerStart) < 200) // attende il passare di 200ms
+            {
+                nTimerCurrent=TimerHall.read_ms();
+                // pc.printf("CounterTimer= %d\r\n", (nTimerCurrent-nTimerStart));   
+            }
+            TimerHall.stop();
+            InEncoderA.disable_irq();
+            //++++++++++ FINE calcola spostamento con encoder sul motore +++++++++++++++++      
+                  
+            //++++++++++ INIZIO genera diverso suono con motore fermo e in movimento +++++++++++++++++
+            // se nella IRQ sono stati contati fronti di salita del dell'encoder, il robot si sta muovendo         
+            if(nCountRiseEdge != 0)
+            //if(InDiag1==1)
+            {
+               // sono stati contati impulsi di encoder, il robot si sta muovendo            
+               fDeltaTEngineSound = (0.5/fFreqEngineSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
+               SampleOutTicker.attach(&SampleOut,fDeltaTEngineSound); // avvia generazione
+            }
+            else
+            {
+                // se ci sono stati impulsi di encoder, il robot è fermo, genera rumore del motore fermo
+               fDeltaTEngineSound = (1.0/fFreqEngineSound);  // fFreq dipende dal periodo di campionamento e dal fattore di sottocampionamento
+               SampleOutTicker.attach(&SampleOut,fDeltaTEngineSound); // avvia generazione
+             
+            }   
+            // riazzera il contatore di impulsi di encoder. Questo contatore viene incrementato nella rouine di interrupt
+            nCountRiseEdge=0;
+            // disabilita interrupt sul segnale di encoder. In questo modo non occupiamo inutilmente la CPU
+            InEncoderA.disable_irq(); // L'interrupt sarà di nuovo abilitato quando si ricomincia il while (true)
+            //++++++++++ FINE genera diverso suono con motore fermo e in movimento +++++++++++++++++
+            
+            //++++++++++++ INIZIO Misura della Luminosità e accensione LED Bianchi ++++++++++++++
+            // inizializza il valore medio della Luminosità 
+            fAvgLight=0.0;
+            for(nLightSampleIndex=0; nLightSampleIndex < NUMLIGHTSAMPLE; nLightSampleIndex++)
+            {
+               // acquisisce dato da ADC
+               usReadADC = InWaveLight.read_u16();
+               fReadVoltage=(usReadADC*3.3)/65535.0; // converte in Volt il valore numerico letto dall'ADC
+               //fReadVoltage=InWave.read(); // acquisisce il valore dall'ADC come valore di tensione in volt
+               fLight= fReadVoltage; //ATTENZIONE Visualizza il valore grezzo letto dall'ADC
+               fAvgLight+=fLight;
+            }   
+            // calcola valore medio su NUMSAMPLE acquisizioni 
+            fAvgLight/= NUMLIGHTSAMPLE;
+            
+            // Accendi/Spegni i LED Bianchi se il valore medio della luminosità è sotto/sopra soglia
+            if(fAvgLight < SOGLIALUCIMIN)
+            {
+               // Accendi LED Bianchi
+               //led2 = 1;
+               LedWAD = 1;
+               LedWAS = 1;
+               LedWPD = 1;
+               LedWPS = 1;
+            }
+            else
+            {
+                if(fAvgLight > SOGLIALUCIMAX)
+                {
+                   // Spegni LED Bianchi
+                   //led2 = 0;
+                   LedWAD = 0;
+                   LedWAS = 0;
+                   LedWPD = 0;
+                   LedWPS = 0;
+                }
+            }
+            
+            // invia il dato al PC
+            //pc.printf("\n\r--- Digital= %d [Volt]; Brightness= %.2f ---\n\r", usReadADC, fAvgLight);
+            //++++++++++++ FINE Misura della Luminosità e accensione LED ++++++++++++++
+           
+            //++++++++++++++ INIZIO Acquisisci distanza ostacoli +++++++++
+            //inizializza misura di distanza
+            fDistance=0.0;
+            // Fissa come Output il pin InOutProxSensor
+            InOutProxSensor.output();
+            // Poni 'L' sul Pin e mantienilo per qualche microsecondo
+            InOutProxSensor.write(0);
+            wait_us(5);
+            // Poni 'H' sul Pin e mantienilo per qualche microsecondo
+            InOutProxSensor.write(1);
+            wait_us(10);
+            // Poni 'L' sul Pin e mantienilo per qualche microsecondo
+            InOutProxSensor.write(0);
+            // Attendi assestamento e Fissa come Input il pin InOutProxSensor
+            wait_us(5);
+            InOutProxSensor.input();
+            InOutProxSensor.mode(PullDown); // se non è presente il sensore, il pin rimane a '0'
+            
+            // attende la risposta del sensore di prossimità per un tempo fissato da TIMEOUTPROXSENSOR. Dopo tale tempo dichiara inesistente il sensore
+            TimerProxSensor.start();
+            nTimerStart = TimerProxSensor.read_us();
+            nTimerTillNow=(TimerProxSensor.read_us()-nTimerStart);
+            while((InOutProxSensor ==0) && (nTimerTillNow< TIMEOUTPROXSENSOR))
+            {
+                nTimerCurrent = TimerProxSensor.read_us();
+                nTimerTillNow=nTimerCurrent-nTimerStart;
+                led2=1; // se rimane nel while il LED rimane acceso
+                pc.printf("sono qui 2 \r\n");
+            }
+            TimerProxSensor.stop(); // spegne il timer che serve per misurare il timeout quando assente il sensore di prossimità
+            pc.printf("\r\nUscita dal while, nTimerTillNow = %d\r\n", nTimerTillNow);
+            // se nTimerTillNow è inferiore al TIMEOUT, il sensore è presente e quindi misura la distanza dell'ostacolo
+            if(nTimerTillNow < TIMEOUTPROXSENSOR)
+            {
+                // riattiva il timer per misurare la distanza dell'ostacolo
+                TimerProxSensor.start();
+                nTimerStart = TimerProxSensor.read_us();
+                while(InOutProxSensor == 1)
+                {
+                    led2=1; // se rimane nel while il LED rimane acceso
+                }
+                TimerProxSensor.stop();
+                nTimerStop = TimerProxSensor.read_us();
+               
+                pc.printf("\r\nSensore Presente, nTimerTillNow = %d\r\n", nTimerTillNow);
+            
+                // velocità del suono = 343 [m/s] = 0.0343 [cm/us] = 1/29.1 [cm/us]
+                // tempo di andata e ritorno del segnale [us] = (TimerStop-TimerStart)[us]; per misurare la distanza bisogna dividere per due questo valore
+                // distanza dell'ostacolo [cm] = (TimerStop-TimerStart)/2 [us] * 1/29.1[cm/us]
+                fDistance = (nTimerStop-nTimerStart)/58.2;
+                // invia il dato al PC
+                pc.printf("distanza dell'ostacolo = %f0.2\r\n", fDistance);
+            }    
+            else
+            {
+               // quando esce dai while bloccanti, il LED si spegne
+               led2=0;
+               pc.printf("\r\nTimeOut\r\n");
+            }
+            //++++++++++++++ FINE Acquisisci distanza ostacoli +++++++++ 
+           //++++++++++++++ INIZIO Suona Clacson +++++++++
+            //escludi le misure oltre il max
+            if((fDistance <= 50.0) && (fDistance >= 3)) 
+            //if(InDiag1 == 1)
+            {
+              // SUONA IL CLACSON se l'ostacolo si trova ad una distanza inferiore ad una soglia minima
+              if(fDistance < 22)
+              {
+                    // blocca altri suoni quando genera suono del clacson
+                    bEngineSoundStop=1;
+                    // INIZIO generazione tono  
+                    nClacsonSampleIndex=0;
+                    // Genera il suono del clacson
+                    for(nClacsonSampleCount=0; nClacsonSampleCount<7000; nClacsonSampleCount++)
+                    {
+                       OutWave.write_u16(usaClacson[nClacsonSampleIndex]); //max 32767
+                       //OutWave.write_u16(32767); //uscita analogica per scopi diagnostici
+                       wait(fDeltaTClacsonSound);
+                       // genera ciclicamente
+                       nClacsonSampleIndex++;
+                       if(nClacsonSampleIndex >= CLACSONSAMPLENUM)
+                       {
+                           nClacsonSampleIndex=0;
+                       }   
+                       // a metà genera un wait per doppio clacson
+                       if(nClacsonSampleCount == 2000)
+                       {
+                           wait_ms(100);
+                       }
+                    
+                    } 
+                    //assicurati di inviare 0 come ultimo campione per spegnere l'amplificatore e non dissipare inutilmente corrente
+                    OutWave.write_u16(0);
+                    
+                    // sblocca altri suoni dopo aver generato suono del clacson
+                    bEngineSoundStop=0;
+                    
+                } // if(fDistance < soglia) suona clacson
+                
+            } // if( (fDistance < Max) && (fDistance > Min)) 
+            //++++++++++++++ FINE Suona Clacson +++++++++ 
+            
+            
+            
+            //++++++++++++++  INIZIO pilotaggio motore cofano +++++++++++++++++++
+            if((InMotorSwitchRPI==1) && (nPosizioneCofano ==0))    
+            //if((myButton==1) && (nPosizioneCofano ==0))    
+            {    
+               //Ferma motore
+                OutMotorA=0;
+                OutMotorB=0;
+                //pc.printf("Stop motore; OutA OutB = 00\r\n");
+                wait_ms(10);
+                
+                //Ferma motore
+                OutMotorA=0;
+                OutMotorB=1;
+                //pc.printf("Stop motore; OutA OutB = 01\r\n");
+                wait_ms(10);
+                
+                // Ruota Right
+                OutMotorA=1;
+                OutMotorB=1;
+                //pc.printf("Ruota Right; OutA OutB = 11\r\n");
+                wait_ms(710);
+                
+                // Ferma Motore
+                OutMotorA=0;
+                OutMotorB=1;
+                //pc.printf("Stop Motore; OutA OutB = 01\r\n");
+                wait_ms(10);
+                
+                //Ferma motore
+                OutMotorA=0;
+                OutMotorB=0;
+                //pc.printf("Stop motore; OutA OutB = 00\r\n");
+                wait_ms(10);
+                // cambia posizione del cofano. E' Stato Aperto
+                nPosizioneCofano = 1;
+            }       
+            // se arriva comando di chiusura cofano & il cofano è aperto, muovi motore
+            //if((myButton==0) && (nPosizioneCofano == 1))
+            if((InMotorSwitchRPI==0) && (nPosizioneCofano ==1))   
+            {
+                //pc.printf("\r\nCofano aperto & comando di chiusura\r\n");
+                                     
+                //Ferma motore
+                OutMotorA=0;
+                OutMotorB=0;
+                //pc.printf("Stop motore; OutA OutB = 00\r\n");
+                wait_ms(10);
+                            
+                // Ruota Left
+                OutMotorA=1;
+                OutMotorB=0;
+                //pc.printf("Ruota Left; OutA OutB = 10\r\n");
+                wait_ms(730);
+                
+                //Ferma motore
+                OutMotorA=0;
+                OutMotorB=0;
+                //pc.printf("Stop motore; OutA OutB = 00\r\n");
+                wait_ms(10);
+                
+                // cambia posizione del cofano. E' Stato Chiuso
+                nPosizioneCofano = 0;
+            }   
+            //++++++++++++++ FINE Pilotaggio Motore +++++++++++++
+            
+            
+            
+            //++++++++++++++ INIZIO Accensione LED da comando Raspberry +++++++
+            if(InLightSwitchRPI ==1)
+            {
+                // accendi i LED di abbellimento
+                //led2=1;
+                LedYAD = 1; 
+                LedYAS = 1;
+                LedRPD = 1;
+                LedRPS = 1;
+                LedYRAll = 1;
+            } 
+            else
+            {
+                
+                // spegni i LED di abbellimento
+                //led2=0;
+                LedYAD = 0; 
+                LedYAS = 0;
+                LedRPD = 0;
+                LedRPS = 0;
+                LedYRAll = 0;
+                 
+            }
+            //++++++++++++++ FINE Accensione LED da comando Raspberry +++++++
+            
+            //++++++++++++++ INIZIO Genera Suono MOTOSEGA quando arriva comando di movimento Cesoie da Raspberry +++++++++
+            if(InShearRPI == 1)
+            {
+                // funzione di generazione suono motosega
+                bEngineSoundStop=1; // disattiva suono del motore
+                ShearSoundGeneration();
+                bEngineSoundStop=0; // riattiva suono del motore
+            }
+            //++++++++++++++ FINE Genera Suono MOTOSEGA quando arriva comando di movimento Cesoie da Raspberry +++++++++
+        }// if(InStandByRPI == 0)
+        else
+        {
+            
+            // ricevuto da RPI, il comando di StandBy = ON
+            // ricevuto il comando di StandBy (InStandBy == 1)
+            
+            // la prima volta che entra in questo else, la variabile di stato nStandBy è '0'. Solo la prima volta Genera il messaggio di arrivederci
+            if(nStandBy == 0)
+            {
+                // blocca il suono del motore per emettere messaggio di arrivederci
+                bEngineSoundStop=1;
+                
+                //Genera messaggio di arrivederci
+                FarewellMessage();
+                               
+                // rispristina il suono del motore
+                bEngineSoundStop=0;
+                
+                // cambia lo stato dello StandBy
+                nStandBy = 1;
+            }
+            
+            // se modalità StandBy = ON, disattiva audio;
+            fSoundGain = 0.0;
+            
+            
+           
+        }
+    } //while(true)
+    */
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    //+++++++++++++++++++++++++++++++++++++ FINE CICLO TEST ++++++++++++++++++++++++++++++++
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+        
+    
+}
+
diff -r 5f43dd94fc17 -r f1faab783b47 SampledSoundDontTouch.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SampledSoundDontTouch.h	Mon Mar 11 21:42:01 2019 +0000
@@ -0,0 +1,15409 @@
+//Forma d'onda campionata
+int nSampleNumDontTouch = 15403;
+int nSamplePerSecDontTouch = 44100;
+int nUnderSampleFactorDontTouch = 3;
+const int naInputSoundWaveDontTouch[15403]= {
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+
diff -r 5f43dd94fc17 -r f1faab783b47 SampledSoundWelcomeDizione_Old.h
--- a/SampledSoundWelcomeDizione_Old.h	Mon Mar 11 01:09:34 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,52491 +0,0 @@
-//Forma d'onda campionata
-int nSampleNumWelcome = 52485;
-int nSamplePerSecWelcome = 44100;
-int nUnderSampleFactorWelcome = 3;
-const int naInputSoundWaveWelcome[52485]= {
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