Sam Stansfield
/
ProjectLasthope1
ok
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
diff -r 000000000000 -r e26f2e97182d .gitignore --- /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*
diff -r 000000000000 -r e26f2e97182d TB6612.lib --- /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
diff -r 000000000000 -r e26f2e97182d VL53L0X.lib --- /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
diff -r 000000000000 -r e26f2e97182d main.cpp --- /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); + } + } + +}
diff -r 000000000000 -r e26f2e97182d mbed-os.lib --- /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
diff -r 000000000000 -r e26f2e97182d resources/official_armmbed_example_badge.png Binary file resources/official_armmbed_example_badge.png has changed