I Adam
header file
Dependencies: N5110 PowerControl SRF02 beep mbed
Diff: ultrasonic.cpp
- Revision:
- 3:bbfabbbc4291
- Parent:
- 2:184524f95eb1
--- a/ultrasonic.cpp Thu May 07 16:43:32 2015 +0000
+++ b/ultrasonic.cpp Mon May 11 18:47:19 2015 +0000
@@ -1,75 +1,155 @@
-#include "mbed.h"
-#include "N5110.h"
-#include "beep.h"
-#include "SRF02.h"
-#include "timeMgr.h"
-#include "datafile.h"
+/**
+@file main.h
+@brief @library for interfacing with SRF02 ultrasonic sensor in I2C
+@see http://www.robot-electronics.co.uk/htm/srf02tech.htm
+@Brief Nokia library provide by Dr. Craig Evans
+@Brief Beep library provided by
+@programmer Ibrahim H Adam
+*/
-
+/**
+@brief Header files included in the project
+*/
+#include "mbed.h" //mbed standared header fle
+#include "PowerControl/PowerControl.h" //power saving functions
+#include "PowerControl/EthernetPowerControl.h" //power saving functions
+#include "N5110.h" //Nokia screen library
+#include "beep.h" //beep
+#include "SRF02.h" //ultrasonic range finder
+#include "timeMgr.h" //time functions
+/**
+@brief pin connections to Nokia Screen
// VCC,SCE,RST,D/C,MOSI,SCLK,LED
+*/
N5110 lcd(p7,p8,p9,p10,p11,p13,p26);
+/**
// Can also power (VCC) directly from VOUT (3.3 V) -
// Can give better performance due to current limitation from GPIO pin
+@brief pin connection to range finder
// SDA, SCL
-SRF02 sensor(p28,p27);
+*/
+SRF02 sensor(p28,p27); //
+Beep beep1(p21); //PWM pin
+AnalogIn potIn (p20);
-Beep beep1(p21);
-AnalogIn potIn (p20);
+//LEDs to indicate program execution stage
DigitalOut Led1 (p24);
DigitalOut Led2 (p14);
DigitalOut Led3 (p25);
DigitalOut Led4 (p23);
-//=========================
+/**
+@brief buffer arraey of character data type for bufferD
+@brief buffer arraey of character data type for bufferE
+@brief buffer arraey of character data type for bufferF
+
+*/
+char bufferD[14];
+char bufferE[14];
+char bufferF[14];
+
+/*
+@brief Type local file system created for file
+@brief function created to take two arguments
+@param data 2
+@param data1
+
+*/
+LocalFileSystem local("local"); //create local file system
+void writeDataToFile(char* (data2), float data);
+
+/**
+@briefInterript buttons created to set flags
+
+*/
InterruptIn button1 (p17);
InterruptIn button2 (p29);
InterruptIn button3 (p30);
-//===============================
-int button1Flag = 0;
-int button2Flag = 0;
-int button3Flag = 0;
-int msgFlag = 1;
+
+int position = 0; //position for select statement
+int positionB; //first position sampled in distance measurement
+int positionA; //second position sampled in distance measurement
+int movedDist; //gap moved
+void nextPosition(); //
+void calculateDist(); //distance calculculation
+int nextPosFlag = 0; //flag to capture while loop attention
+void nextPos(); //
+void getPointA();
+void getPointB();
+
+void introMessage(); //into message
+void errorHandler(); //not included
+void menu(); //menu selection function
+void demo(); //demo code supplied with library
+void cursorSelect(int, int, int, int); //cursor funnction accepting 4 integer agruments
+void beeper(float, float); //beeper function accepting two float arguments
+void menuLevel(float); //menu level function accepting a float variable
+void startMessage(); //start message function
+void displayClock(); //clock function
-//function declarations
-//=========================
-void introMessage();
-void errorHandler();
-void menu();
-void demo();
-void cursorSelect(int, int, int, int);
-void beeper(float, float);
-void menuLevel(float);
-void startMessage();
-void displayClock();
-//====================================
-void distMeasure();
-void saveData();
-void adjustBrightness(float);
-void sysClock();
-void startClockMsg();
-void clearRow();
-void snapShot();
-//------------------------
+void distMeasure(); //distance measurement function
+void saveData(); //not used
+void adjustBrightness(float); //LCD brightness
+void sysClock(); //system clock - require setting with refference to EPOCH time
+void startClockMsg(); //clock message warning clock need setting
+void clearRow(); //clear pixels in selected rw
+void proxCheck(); //proximity check function
+void dataCapture(); //distance point stamping
+void clearRow2(); //clear pixels in selected row
+
+/*
+@brief functions of interrupt service routine
+@brief user to set flags to 1
+*/
+
void button1Pressed();
void button2Pressed();
void button3Pressed();
+/**
+@brief initially setting flags to 0
+@brief to be reverted to 1 from within ISR functions
+*/
+
+int button1Flag = 0;
+int button2Flag = 0;
+int button3Flag = 0;
+int msgFlag = 1; //introduction message flag
+
+/**
+@brief menu level set to 0
+@brief brighness flag set to 0
+@brief distance flag set to 0
+@brief clock flag set to 0
+setting flags to 0 will cause while loop to ignore underlying programs
+*/
int menuLevelFlag = 0;
int brightFlag = 0;
int distFlag = 0;
int clockFlag = 0;
-
+int dataFlag = 0;
-Ticker distTimer;
-int dstFlg = 0;
+//more flags
+int getPointAFlag = 0;
+int getPointBFlag = 0;
+
+Ticker distTimer; //ticker time object created
+int dstFlg = 0; //distance flag initialised to 0
+
+//distance check function to sef diatance flag
void distChk()
{
dstFlg = 1;
}
-
+/**
+@briefclkTimer object of ticker timer
+@briefclosk flag set to 0
+@briefcalls fiunction clock check
+@briefsets clock flag to 0
+*/
Ticker clkTimer;
int clkFlg = 0;
void clkChk()
@@ -77,76 +157,113 @@
clkFlg = 1;
}
+/**
+@briefvarying buzzer sound with reference to distance
+
+*/
void buzzerRange();
-int distance;
-//--------------------
-
-int speedTime;
-int soundDist;
-int soundSpeed;
-int Mspeed;
-
-//--------------------
-
+int distance; //distance variable, global declaration
int main()
-{
+{
+ PHY_PowerDown(); //ethernet powerdown
// first need to initialise display
lcd.init();
-
- // beeper(1000, 0.5);
-
+
serial.attach(&serialISR); // attach serial ISR
- timer2.attach(&timer2Expired,1.0);
+ timer2.attach(&timer2Expired,1.0); //timer 2 triggered every 2 2seconds
set_time(1424535031); // initialise time to 1st January 1970
//1424535031
introMessage();
-
+ startClockMsg();
+ /**
+ @brief buttons 1 triggers on rising edge
+ @brief button 3 triggers on thre rising edge
+ */
button1.rise(&button1Pressed);
button3.rise(&button3Pressed);
-//-----------------------------------------------------
+
-//-----------------------------------------------------
- distTimer.attach(&distChk, 1.0); //call ISR every 5 sec
- clkTimer.attach(&clkChk, 1.0); //call ISR every 5 sec
while(1)
- {
- if (msgFlag)
+ {
+
+ if (msgFlag) //if message flag is set to 1
{
- startMessage();
+ startMessage(); //while loop will allow start message to tum
}
-
- if (button1Flag)
+
+ if (button1Flag) // check if button flag is set
+ //the renus the following codes
{
- msgFlag=0;
- menu();
- menuLevelFlag = 1;
+ msgFlag=0; //setmsgFlag to 0
+ menu(); //call menu function
+ menuLevelFlag = 1; //set menuLevelFunction to 1
}
-
+ /**
+ @brief if menu level flag is set
+ @briefset button 1 flag to 0
+ @brief call menu level function,
+ @brief menu level function to be controlled by potentiometer
+ */
if (menuLevelFlag)
{
button1Flag =0;
menuLevel(potIn);
}
-
+ /**
+ @brief if distance flag is set
+ @brief set menu level flag to 0
+ @brief call diatance measure function,
+ @brief button 1 rising edge sets distance flag to 0
+ */
if (distFlag)
{
menuLevelFlag = 0;
- if (dstFlg)
+ distMeasure();
+
+ if(button1)
+ {
+ distFlag = 0;
+ }
+ }
+
+ /**
+ @brief if data flag is set
+ @brief set menu level flag to 0
+ @brief call data capture function,
+ @brief button 1 rising edge sets distance flag to 0
+ */
+ if (dataFlag)
+ {
+ menuLevelFlag = 0;
+ dataCapture();
+
+ if(button1)
{
- dstFlg = 0;
- distMeasure();
-
- if(button1)
- {
- distFlag = 0;
- }
+ dataFlag = 0;
}
- }
-
+ }
+ /**
+ @brief if next position flag is set
+ @brief if rising edge of button 3 is encountered
+ @brief call next position function,
+
+ */
+ if (nextPosFlag)
+ {
+ if (button3)
+ nextPos();
+ }
+
+ /**
+ @brief if brigtness flag is set
+ @brief set menu level flag to 0
+ @brief call adjust brightness function to be controlled by potentiometer,
+ @brief button 1 rising edge sets brightness flag to flag to 0
+ */
if (brightFlag)
{
menuLevelFlag = 0;
@@ -155,29 +272,71 @@
{
brightFlag = 0;
}
-
}
+ /**
+ @brief if clock flag is set
+ @brief set menu level flag to 0
+ @brief call displayclock function,
+ @brief button 1 rising edge sets distance flag to 0
+ @brief and set timer2Flag to 0
+ */
if (clockFlag)
{
menuLevelFlag = 0;
- if (clkFlg)
+ displayClock();
+ if (button1)
{
- clkFlg = 0;
- displayClock();
- if (button1)
- {
- clockFlag = 0;
- }
+ clockFlag = 0;
+ timer2Flag = 0;
}
}
-
- sleep();
+ /**
+ @brief if timer2 flag is set
+ @brief set timer2 flag to 0
+ @brief call getCurrentTime function,
+ @brief button 1 rising edge sets distance flag to 0
+ */
+ if (timer2Flag)
+ {
+ timer2Flag = 0;
+ getCurrentTime();
+ }
+ /**
+ @brief if setTime flag is set
+ @brief call chkUpdateTime function,
+ @brief button 1 rising edge sets distance flag to 0
+ */
+ if (setTimeFlag)
+ {
+ chkUpdateTime();
+ }
+ // function goes to sleep when no activity
+ sleep();
}
}
+/**
+@brief introductory message
+
+*/
+
void introMessage()
{
- //introducto text a
+ /**
+ @brief LED flash sequence
+ @brief all LEDs ON
+ */
+ Led1 = 1;
+ Led2 = 1;
+ Led3 = 1;
+ Led4 = 1;
+ /**
+ @brief introductory text a
+ @brief name of project
+ @brief wait for 1.3 secs
+ @brief clear screen
+ */
+
lcd.drawLine(4, 0, 79, 0, 1);
lcd.printString("Ultrasonic",13,1);
lcd.printString("Distance",18,2);
@@ -187,7 +346,13 @@
wait(1.3);
lcd.clear();
- //introductory text b
+ /**
+ @brief introductory text b
+ @brief university name
+ @brief wait for 1.3 secs
+ @brief clear screen
+ */
+
lcd.drawLine(4, 0, 79, 0, 1);
lcd.printString("University",13,1);
lcd.printString("Of",35,2);
@@ -197,7 +362,13 @@
wait(1.3);
lcd.clear();
- //introductory text c
+ /**
+ @brief introductory text c
+ @brief programmert's name
+ @brief wait for 1.3 secs
+ @brief clear screen
+ */
+
lcd.drawLine(4, 0, 79, 0, 1);
lcd.printString("Ibrahim Adam",5,1);
lcd.printString("200789110",10,2);
@@ -207,7 +378,13 @@
wait(1.3);
lcd.clear();
- //introductory text c
+ /**
+ @brief introductory text d
+ @brief module title
+ @brief wait for 1.3 secs
+ @brief clear screen
+ */
+
lcd.drawLine(4, 0, 79, 0, 1);
lcd.printString("Elec 2645",15,1);
lcd.printString("Embedded SYS",8,2);
@@ -218,10 +395,14 @@
wait(1.3);
lcd.clear();
-
- startClockMsg();
}
+/**
+ @brief not included at present moment
+ @brief a future posibilityt
+
+ */
+
void errorHandler()
{
//end text
@@ -233,43 +414,84 @@
lcd.clear();
}
+/**
+ @brief adjust brightness function
+ @brief takes float argument
+ @brief checks the range
+ @brief clear screen
+ @brief set corresponding brightness
+ @brief display brightness level on screen
+ */
+
void adjustBrightness(float x)
-{
- if ((x >= 0) && (x < 0.2)) {
-
+{
+ if ((x >= 0) && (x < 0.2))
+ {
+ lcd.clear();
lcd.setBrightness(0);
lcd.printString("Light 0%",13,1);
}
- if ((x >= 0.2) && (x < 0.4)) {
-
+ if ((x >= 0.2) && (x < 0.4))
+ {
+ lcd.clear();
lcd.setBrightness(0.25);
lcd.printString("Light 25%",13,1);
}
- if ((x >= 0.4) && (x < 0.6)) {
-
+ if ((x >= 0.4) && (x < 0.6))
+ {
+ lcd.clear();
lcd.setBrightness(0.5);
lcd.printString("Light 50%",13,1);
}
- if ((x >= 0.6) && (x < 0.8)) {
-
+ if ((x >= 0.6) && (x < 0.8))
+ {
+ lcd.clear();
lcd.setBrightness(0.75);
lcd.printString("Light 75%",13,1);
-
}
- if (x >= 0.8) {
-
+ if (x >= 0.8)
+ {
+ lcd.clear();
lcd.setBrightness(1);
lcd.printString("Light 100%",13,1);
}
- lcd.clear();
-
+
}
+/**
+ @brief data capture function
+ @brief display title
+ @brief call distance measure function
+ @brief set next positioFlag to 1
+
+
+ */
+void dataCapture()
+{
+
+ lcd.printString("Store Dist",9,0);
+
+ distMeasure();
+ nextPosFlag = 1;
+}
+
+/**
+ @brief set LED sequence
+ @brief clear screen
+ @brief display main menu title
+ @brief draw line at specitied location
+ @brief print further information on subsquent lines
+ @brief display brightness level on screen
+ */
void menu()
{
+ Led1 = 1;
+ Led2 = 0;
+ Led3 = 0;
+ Led4 = 0;
lcd.clear();
lcd.printString("-MAIN MENU-",9,0);
lcd.drawLine(4, 7, 79, 7, 1);
@@ -278,7 +500,13 @@
lcd.printString("brightness",15,3);
lcd.printString("SYS Clock",15,4);
}
-
+/**
+ @brief cursor select definition function
+ @brief vertical start point, dommension
+ @brief horizontal start point, dimmension
+ @brief in all specified point coordinates turn off pixel
+
+ */
void cursorSelect(int xDimm, int xLimm, int yDimm, int yLimm)
{
int i,j;
@@ -303,6 +531,8 @@
lcd.refresh();
}
+
+/**
void demo()
{
// these are default settings so not strictly needed
@@ -387,8 +617,17 @@
lcd.clear();
}
-//Interrupt service routines
-//===========================
+*/
+
+/**
+@brief Interrupt service routines
+@brief button 1
+@brief button 1 flag st to 1 to get while loop attention
+@brief button 2
+@brief button 2 flag st to 2 to get while loop attention
+@brief button 3
+@brief button 3 flag st to 3 to get while loop attention
+*/
void button1Pressed()
{
button1Flag = 1;
@@ -401,30 +640,52 @@
{
button3Flag = 1;
}
-
-//beep sound based on beeper frequency and beeper time
-//entered respectively
+/**
+@brief beep sound based on beeper frequency and beeper time
+@brief entered respectively
+*/
void beeper(float beeperFreq, float beeperTime)
{
beep1.beep(beeperFreq,beeperTime);
}
+/**
+@brief menu level function, takes float argument
+@brief argument checked against range 0 -1
+@brief corresponding cursor position established
+@brief if rising edge of button 2 encountered
+@brief clear screen
+@brief set distance flag to 1
+@brief set bright flag to 0
+@brief set clock flag to 0
+@brief set data flag to 0
+*/
void menuLevel(float lvl)
{
if ((lvl >= 0) && (lvl < 0.25))
{
cursorSelect(1, 6, 9, 14);
if (button2)
- {
+ {
+ lcd.clear();
distFlag = 1;
brightFlag = 0;
clockFlag = 0;
- }
-
+ dataFlag = 0;
+
+ }
}
if ((lvl >= 0.25) && (lvl < 0.5))
{
cursorSelect(1, 6, 17, 22);
+ if (button2)
+ {
+ lcd.clear();
+ dataFlag = 1;
+ brightFlag = 0;
+ distFlag =0;
+ clockFlag = 0;
+ }
}
if ((lvl >= 0.5) && (lvl < 0.75))
@@ -432,11 +693,12 @@
cursorSelect(1, 6, 25, 30);
if (button2)
{
+ lcd.clear();
brightFlag = 1;
distFlag =0;
clockFlag = 0;
+ dataFlag = 0;
}
-
}
if ((lvl >= 0.75) && (lvl <= 1))
{
@@ -446,62 +708,46 @@
clockFlag = 1;
distFlag = 0;
brightFlag = 0;
+ dataFlag = 0;
}
}
-
-
}
+/**
+@brief function wo return distance
+@brief distance based on speeed of sound and time travelled to and from
+
+*/
void distMeasure()
{
- lcd.clear();
+ /**
+ @brief print title Measure
+ @brief return sensor distance in cms
+ @brief do proximity check
+
+ */
lcd.printString("Measure",15,0);
-
-
- // read sensor distance in cm and print over serial port
- char buffer[14]; // each character is 6 pixels wide, screen is 84 pixels (84/6 = 14)
- // so can display a string of a maximum 14 characters in length
- // or create formatted strings - ensure they aren't more than 14 characters long
-
-
distance = sensor.getDistanceCm();
- soundDist = distance * 2;
-
- soundSpeed = 34029;
- speedTime = soundDist/soundSpeed;
- Mspeed = distance/speedTime;
-
- //====================================================================================
- /*
- float Avg;
- float k;
- float array[10];
- for (int a = 0;a<10;a++)
- {
- array[a] = ;
- k = k + array[a];
- }
- Avg = k/10;
-
- */
- //====================================================================================
-
- int length = sprintf(buffer,"Dist = %2d cm",distance); // print formatted data to buffer
- // it is important the format specifier ensures the length will fit in the buffer
-
+ proxCheck();
-
- if (length <= 14) { // if string will fit on display
- lcd.printString(buffer,0,1); // display on screen
- }
-
+ /**
+ @brief read sensor distance in cm and print over serial port
+ @brief each character is 6 pixels wide, screen is 84 pixels (84/6 = 14)
+ @brief so can display a string of a maximum 14 characters in length
+ @brief or create formatted strings - ensure they aren't more than 14 characters long
+ */
+ char buffer[14];
+ /**
+ @brief print formatted data to buffer
+ @brief it is important the format specifier ensures the length will fit in the buffer
+ */
+ int length = sprintf(buffer,"Dist = %2d cm",distance);
-
- serial.printf("Distance = %d cm\n",distance);
- serial.printf("\n\n\r %s, %0.2f \n",buffer, length);
-
-
-
+ if (length <= 14)
+ { // if string will fit on display
+ lcd.printString(buffer,0,1); // display on screen
+ }
+
}
void saveData()
@@ -512,105 +758,272 @@
{
lcd.printString("System test",30,0);
}
+/**
+@brief start message function
+@brief LED session sequence
+@brief display subsequent messages
+
+*/
void startMessage()
{
+ Led1 = 1;
+ Led2 = 1;
+ Led3 = 1;
+ Led4 = 0;
lcd.printString("Press",25,2);
lcd.printString("Start Button",8,3);
//displayClock();
}
+/**
+@brief displayClock function
+@brief clear screen
+@brief print title
+
+@brief check if timer2Flag is on
+@brief if yes, get current time
+@brief if setTimeflag
+@brief check upate time
+@brief print contents of buffer to screen
+*/
void displayClock()
{
- //timer2.attach(&timer2Expired,1.0);
- //serial.attach(&serialISR); // attach serial ISR
+
lcd.clear();
lcd.printString("-SYS CLOCK-",9,0);
- if (timer2Flag) {
+ if (timer2Flag)
+ {
getCurrentTime();
}
- if (setTimeFlag) {
+ if (setTimeFlag)
+ {
chkUpdateTime();
}
lcd.printString(buffer2,4,2); // display on screen
}
+/*buzzer function
+@brief
+
+*/
void buzzerRange()
{
-
{
beeper(400,distance);
}
}
-
+/**
+@brief start clock message function
+@brief LED session sequence
+@brief if no time displayed
+@brief display clock
+@brief print title on screen
+@brief clear and print in succession
+*/
void startClockMsg()
{
+ Led1 = 1;
+ Led2 = 1;
+ Led3 = 0;
+ Led4 = 0;
if(time(NULL)) {
displayClock();
lcd.printString("Set Clock",15,0);
- wait(0.1);
+ wait(0.3);
clearRow();
- wait(0.1);
+ wait(0.3);
lcd.printString("Set Clock",15,0);
- wait(0.1);
+ wait(0.3);
clearRow();
- wait(0.1);
+ wait(0.3);
lcd.printString("Set Clock",15,0);
- wait(0.1);
+ wait(0.3);
clearRow();
wait(0.3);
lcd.printString("Set Clock",15,0);
- wait(0.1);
- clearRow();
- wait(0.1);
- lcd.printString("Set Clock",15,0);
- wait(1);
- lcd.clear();
- } else {
+ wait(1.3);
+
+ }
+ else
+ {
+ //diplay clock
displayClock();
lcd.printString("Clock Set",15,0);
- wait(1.3);
+ wait(1.3);
}
+ lcd.clear();
}
+//clear selected row
void clearRow()
{
- int i,j;
- //clear selecton column
- for(j = 0; j < 7; j++)
-
+ for (int j = 0; j <8; j++)
{
+ for(int i = 0; i < 84; i++)
+ {
+ lcd.clearPixel(i,j);
+ }
+ }
+}
- for (i = 0; i < 83; i++)
- {
- lcd.clearPixel(i,j);
- }
- }
- lcd.refresh();
- wait(0.2);
-}
+/**
+@brief check range of distance
+@brief assign a particular buzzing frequency
-void snapShot()
+*/
+void proxCheck()
{
- Timer A;
- A.start();
- if (A.read_ms()==3000)
+ if ((distance>=20) && (distance <50))
{
- beeper(1000, 0.1);
- beeper(1000, 0.1);
- beeper(1000, 0.1);
- beeper(1000, 0.5);
-
- if (button3)
- {
- beeper(1000,0.5);
-
- }
+ beeper(1000, 0.2);
+
+ }
+
+ if ((distance >= 10) && (distance < 20))
+ {
+ beeper(3000, 0.2);
+
}
+
+ if (distance < 10)
+ {
+ beeper(4000, 0.2);
+ }
}
+/**
+@brief next position function
+@brief if position is greater than3 default to 0
+@brief switch statement uses position value
+@brief getPointA - first sampled distance
+@brief getPointB - second sampled distance
+@brief calculate dist subtract to get difference
+*/
+void nextPos()
+{
+
+ if (position > 3)
+ {
+ position = 0;
+ }
+ switch (position)
+ {
+ case 0:
+ //lcd.clear();
+ //lcd.printString("Point A",9,1);
+ getPointA();
+ //wait(1);
+ break;
+
+ case 1:
+ //lcd.clear();
+ //lcd.printString("Point B",9,1);
+ getPointB();
+ //wait(1);
+ break;
+
+ case 2:
+ //lcd.clear();
+ lcd.printString("Dist ",9,1);
+ calculateDist();
+ //wait(1);
+ break;
+ case 3:
+
+ //
+ // writeDataToFile(bufferE, positionA);
+ //writeDataToFile(bufferF, positionB);
+
+ //lcd.printString(bufferC,0,2);
+
+ positionA = 0;
+ positionB = 0;
+ lcd.clear();
+ break;
+ }
+ //clearRow2();
+ position = position + 1;
+
+}
+/**
+@brief point A is assigned value from distance returned value
+*/
+void getPointA()
+{
+ //positionA = 0;
+ positionA = distance;
+
+
+ int lengthE = sprintf(bufferE,"Org = %2d cm",positionA);
+ if (lengthE <= 14)
+ {
+ lcd.printString(bufferE,0,2);
+ }
+}
+/**
+@brief point B is assigned value from distance returned value
+*/
+void getPointB()
+{
+ // positionB = 0;
+ positionB = distance;
+
+
+ int lengthF = sprintf(bufferF,"Dest = %2d cm",positionB);
+ if (lengthF <= 14)
+ {
+ lcd.printString(bufferF,0,3);
+ }
+}
+/**
+@brief calculate seperation distance
+*/
+void calculateDist()
+{
+ movedDist = positionB - positionA;
+
+ int lengthD = sprintf(bufferD,"Dist = %2d cm",movedDist);
+ if (lengthD <= 14)
+ {
+ lcd.printString(bufferD,0,4);
+ //writeDataToFile(bufferD, movedDist);
+ }
+}
+//clears specific row
+void clearRow2()
+{
+ for(int ir = 0; ir < 84; ir ++)
+ {
+ for(int jr = 8; jr < 16; jr ++)
+ {
+ lcd.clear();
+ }
+ }
+}
+/**
+@brief writing to flash memory
+@brief opening file, type FILE ,
+@brief print string to file
+@brief close file
+*/
+void writeDataToFile(char* (data2), float data)
+{
+ //leds = 15; //turn on leds for feedback
+ FILE *fp = fopen("/local/log.csv", "a"); //open 'log.csv' for apending
+
+ //if the file doesnt exist it is created, if it exists, data is apended to the end
+ fprintf(fp, "%s, %0.2f C\n", data2, data); //print string to file
+
+ fclose(fp); //close file
+
+ // leds = 0; //turn off leds to signify file access has finished
+
+}
+
+