Revision 0:e26f2e97182d, committed 2022-05-08

Comitter:

sas638

Date:

Sun May 08 20:14:38 2022 +0000

Commit message:

ok;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.gitignore	Sun May 08 20:14:38 2022 +0000
@@ -0,0 +1,4 @@
+.build
+.mbed
+projectfiles
+*.py*

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612.lib	Sun May 08 20:14:38 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/sas638/code/TB6612/#f51c00c6d476

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X.lib	Sun May 08 20:14:38 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/joelvonrotz/code/VL53L0X/#ccc67c76fecb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun May 08 20:14:38 2022 +0000
@@ -0,0 +1,72 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2019 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "mbed.h"
+#include "platform/mbed_thread.h"
+#include "tb6612.h"
+#include "VL53L0X.h"
+
+I2C         i2c(D14,D15);
+VL53L0X     vl_sensors[3] = {(&i2c),(&i2c),(&i2c)}
+BusOut      vl_shutdown(D0,D1,D3);
+Serial      usb(USBTX. USBRX, 115200);
+TB6612      motorL(D2,D4,D5);
+TB6612      motorR(D9,D10,D11);
+
+float DR; //distance measured if need to turn 45º right - manual measured value
+float DL; //distance measured if need to turn 45º left - manual measured value 
+float D; // distance measured to go straight - given value
+float TM; //Time needed to turn 45º in either direction
+float DI; // distance measured
+float R; //Ratio between D1 and D
+float T; //Calculated turn time for current offset
+float Dlefts; //left sensor reading
+float Drights; //right sensor reading
+float Dfronts; // front sensor reading
+
+int main()
+{
+    usb.printf("Multiple VL53L0X\n\r");
+
+    uint8_t expander_shutdown_mask = 1;
+    for(uint8_t i = 0; i < 3; i++) {
+        vl_shutdown = expander_shutdown_mask;
+        expander_shutdown_mask = (expander_shutdown_mask << 1) + 1;
+        vl_sensors[i].init();
+        vl_sensors[i].setDeviceAddress(0x40 + i);
+        vl_sensors[i].setModeContinuous();
+        vl_sensors[i].startContinuous();
+    }
+    uint16_t results[3];
+
+    while(1) {
+        for(uint8_t i = 0; i < 3; i++) {
+            results[i] = vl_sensors[i].getRangeMillimeters();
+        }
+        Dfronts = results[0];
+        Dlefts = results[1];
+        Drigts = results [2];
+        
+        DI = Dfronts;
+        
+        if(DI>D) {
+            R = DR/DI;
+            T = TM/R;
+            motorR.setSpeed(-1);
+            motorL.setSpeed(1);
+            usb.printf("right turn\n\r");
+            wait(T);
+        }
+        if (DI<D) {
+            R = DL/DI;
+            T = TM/R;
+            motorR.setSpeed(1);
+            motorL.setSpeed(-1);
+            usb.printf("left turn\n\r");
+            wait(T);
+        }
+    }
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Sun May 08 20:14:38 2022 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#cf4f12a123c05fcae83fc56d76442015cb8a39e9

Binary file resources/official_armmbed_example_badge.png has changed