Руслан Бредун / Mbed 2 deprecated STM32-MC_node

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Dependencies:   mbed Watchdog stm32-sensor-base2

main.cpp@5:97117a837d2c, 2020-07-21 (annotated)

Committer:
nestedslk
Date:
Tue Jul 21 12:18:14 2020 +0000
Revision:
5:97117a837d2c
Parent:
4:f6e22dd39313
Child:
6:a760ce6defbe
ultrasonics working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ommpy 0:d383e2dee0f7 1 #include <global.h>
ommpy 0:d383e2dee0f7 2
nestedslk 3:96fcb3b041eb 3 Serial pc(UART1_TX, UART1_RX);
nestedslk 5:97117a837d2c 4 //Serial pc(USBTX, USBRX);
nestedslk 4:f6e22dd39313 5 Timer timer;
ommpy 0:d383e2dee0f7 6
nestedslk 4:f6e22dd39313 7 int main()
nestedslk 4:f6e22dd39313 8 {
nestedslk 4:f6e22dd39313 9 //
nestedslk 4:f6e22dd39313 10 DigitalOut led(DEBUG_LED);
nestedslk 4:f6e22dd39313 11 DigitalOut led2(DE_TXD_1, 1); // activate transmitting rs485-1
nestedslk 4:f6e22dd39313 12 // led = false;
nestedslk 4:f6e22dd39313 13 // while (true) {
nestedslk 4:f6e22dd39313 14 // led = !led;
nestedslk 4:f6e22dd39313 15 // wait_ms(BLINKING_RATE);
nestedslk 4:f6e22dd39313 16 // pc.printf("Distance:");
nestedslk 4:f6e22dd39313 17 // }
nestedslk 4:f6e22dd39313 18 //
ommpy 0:d383e2dee0f7 19
ommpy 0:d383e2dee0f7 20 #if TEST_ULTRASONIC
nestedslk 4:f6e22dd39313 21 int time_to_check_us = 1000;
ommpy 0:d383e2dee0f7 22 JSN_SR04 sensor1(TIM1_CH2, TRIG_PA8_OUT);
nestedslk 4:f6e22dd39313 23 // JSN_SR04 sensor1(TIM1_CH2, TRIG_PB14_OUT); //no triger signal
nestedslk 4:f6e22dd39313 24 // JSN_SR04 sensor1(TIM1_CH2, TRIG_PB15_OUT);
nestedslk 4:f6e22dd39313 25 sensor1.setRanges(30, 200);
nestedslk 4:f6e22dd39313 26 // sensor2.setRanges(30, 200);
nestedslk 4:f6e22dd39313 27 // sensor3.setRanges(30, 200);
nestedslk 4:f6e22dd39313 28 // pc.printf("Min. range = %g cm\n\r",sensor1.getMinRange());
ommpy 0:d383e2dee0f7 29 while(true) {
nestedslk 4:f6e22dd39313 30 timer.reset();
nestedslk 4:f6e22dd39313 31 timer.start();
nestedslk 4:f6e22dd39313 32 sensor1.startMeasurement();
nestedslk 5:97117a837d2c 33 //while (sensor1.isNewDataReady() == false && timer.read_ms() < time_to_check_us) {
nestedslk 5:97117a837d2c 34 //pc.printf("Distance1: %5.1f mm -- Distance2: %5.1f mm -- -- Distance3: %5.1f mm \r\n", sensor1.getDistance_cm()), sensor2.getDistance_cm(), sensor3.getDistance_cm());
nestedslk 4:f6e22dd39313 35 pc.printf("Distance1: %5.1f mm \r\n", sensor1.getDistance_cm());
nestedslk 4:f6e22dd39313 36
nestedslk 4:f6e22dd39313 37 timer.stop();
nestedslk 5:97117a837d2c 38 wait_ms(10);
nestedslk 4:f6e22dd39313 39
nestedslk 4:f6e22dd39313 40 }
nestedslk 4:f6e22dd39313 41
ommpy 0:d383e2dee0f7 42 #endif
ommpy 0:d383e2dee0f7 43
ommpy 0:d383e2dee0f7 44 #if TEST_ENCODERS
nestedslk 4:f6e22dd39313 45 int min1_value = 2000;
nestedslk 4:f6e22dd39313 46 int max1_value = 0;
nestedslk 4:f6e22dd39313 47 AS5045 encoder_1(SP1_NSS1);
nestedslk 4:f6e22dd39313 48 AS5045 encoder_2(SP1_NSS2);
nestedslk 4:f6e22dd39313 49 while(1) {
nestedslk 4:f6e22dd39313 50 led = !led;
nestedslk 5:97117a837d2c 51 double encoder_1_Value = encoder_1.getPosition();
nestedslk 4:f6e22dd39313 52 wait_ms(30);
nestedslk 5:97117a837d2c 53 double encoder_2_Value = encoder_2.getPosition();
nestedslk 4:f6e22dd39313 54 wait_ms(30);
nestedslk 4:f6e22dd39313 55 //encoder_1_Value =
nestedslk 4:f6e22dd39313 56 //if( encoder_1_Value.IsValid() && encoder_2_Value.IsValid() )
nestedslk 5:97117a837d2c 57
nestedslk 5:97117a837d2c 58 pc.printf("Sensor Values = %f --- %f \n\r",encoder_1_Value, encoder_2_Value ); //
nestedslk 4:f6e22dd39313 59 //else
nestedslk 4:f6e22dd39313 60 //pc.printf("Invalid data read");
ommpy 0:d383e2dee0f7 61
nestedslk 4:f6e22dd39313 62 //wait_ms(50);
nestedslk 4:f6e22dd39313 63 }
nestedslk 4:f6e22dd39313 64
nestedslk 4:f6e22dd39313 65 #endif
ommpy 0:d383e2dee0f7 66
ommpy 0:d383e2dee0f7 67 # if TEST_IR
nestedslk 5:97117a837d2c 68 PwmIn a(PB_4);
nestedslk 4:f6e22dd39313 69 //E18_D80NK infared1 (IR1_PB12_OUT);
nestedslk 4:f6e22dd39313 70 // E18_D80NK infared2 (IR2_PB13_OUT);
nestedslk 5:97117a837d2c 71 while (true) {
nestedslk 5:97117a837d2c 72 // pc.printf ("Is there any obstacle: %d ---- %d ", infared1.checkObstacle(),infared2.checkObstacle() );
nestedslk 5:97117a837d2c 73
nestedslk 5:97117a837d2c 74 pc.printf ("\n\r");
nestedslk 5:97117a837d2c 75 }
ommpy 0:d383e2dee0f7 76
nestedslk 4:f6e22dd39313 77
ommpy 0:d383e2dee0f7 78 #endif
ommpy 0:d383e2dee0f7 79
ommpy 0:d383e2dee0f7 80 }
ommpy 0:d383e2dee0f7 81