Diff: main.cpp

Revision:

0:8dccbeedd000

Child:

1:269a3d942995

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 18 15:41:43 2012 +0000
@@ -0,0 +1,70 @@
+#include "mbed.h"
+#include "NokiaLCD.h"
+#include "RangeFinder.h"
+
+NokiaLCD lcd(p5, p7, p8, p11, NokiaLCD::LCD6610); // mosi, sclk, cs, rst, type
+RangeFinder rf(p21, 10, 5800.0, 100000);
+Serial xbee(p9, p10);
+#define PI 3.141592653589793
+
+
+int main() {
+    char a = 0;
+    float d; //0~0.5
+    
+    long double x = 0;
+    long double y = 0;
+    long double circle_deg;
+    long double circle_rad;
+    lcd.background(0x000000);
+    lcd.cls();
+    /*
+    lcd.locate(0,0);
+    lcd.printf("Xbee RX OUT");
+    lcd.locate(0,2);
+    lcd.printf(">");
+    */
+    while(true){
+        /*
+        if(xbee.readable()){
+            a = xbee.getc(); //XBee read
+            lcd.printf("%c", a);
+        }
+        */
+        d = rf.read_m();
+        if (d == -1.0)  {
+            //pc.printf("Timeout Error.\n");   
+        } else if (d > 5.0) {  
+            // Seeed's sensor has a maximum range of 4m, it returns
+            // something like 7m if the ultrasound pulse isn't reflected. 
+            //pc.printf("No object within detection range.\n");
+        } else  {
+            /*
+            pc.printf("Distance = %f cm.\n", d*100);
+            xbee.printf("%f\n", d*100);
+            lcd.locate(0,0);
+            lcd.printf("Xbee RX OUT");
+            lcd.locate(0,5);
+            lcd.printf("%f cm", d*100);
+            wait(0.5);
+            */
+            for(circle_deg=0; circle_deg <= d*720; circle_deg++) {
+                circle_rad = circle_deg * PI / 180;
+                x = 65 + cos(circle_rad)*60;
+                y = 65 - sin(circle_rad)*60;
+                lcd.pixel(x, y, 0x00FFFF);
+            }
+            for(circle_deg=0; circle_deg <= d*720; circle_deg++) {
+                circle_rad = circle_deg * PI / 180;
+                x = 65 + cos(circle_rad)*55;
+                y = 65 - sin(circle_rad)*55;
+                lcd.pixel(x, y, 0x00FFFF);
+            }
+            lcd.locate(2, 7);
+            lcd.printf("%f m", d);
+            wait(0.5);
+            lcd.cls();
+            
+        }
+    }
+}