Sam Stansfield
s2 project 1st try
Dependencies: TB6612 HCSR04 UoY-serial
Revision 5:57196959be02, committed 2022-05-08
- Comitter:
- sas638
- Date:
- Sun May 08 20:12:11 2022 +0000
- Parent:
- 4:137b119e5198
- Commit message:
- s2 original ;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HCSR04.lib Sun May 08 20:12:11 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/sas638/code/HCSR04/#b30b99a74f6e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TB6612.lib Sun May 08 20:12:11 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/sas638/code/TB6612/#5366a68576f2
--- a/hcsr04.lib Tue May 11 18:35:32 2021 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -hcsr04#671706cc085e
--- a/main.cpp Tue May 11 18:35:32 2021 +0000
+++ b/main.cpp Sun May 08 20:12:11 2022 +0000
@@ -1,80 +1,71 @@
#include "mbed.h"
-#include "hcsr04.h"
+#include "HCSR04.h"
+#include "tb6612.h"
+//Library for controlling ultrasonic module HCSR04
+//Ported by hiawoood from arduino library orgininally created by ITead studio.
+HCSR04 sensorF(D7,D2); //Create sensor object of type HCSR04 (class borrowed HCSR04.cpp), with pins D2 and D3 assigned to trig and echo respectively
+HCSR04 sensorL(D12,D13);
+//HCSR04 sensorR(D9,D10);
+TB6612 motorL(D9,D10,D11);
+TB6612 motorR(D3,D4,D5);
+Thread turnL;
+Thread turnR;
+Thread turnN;
-HCSR04 hcsr04(D2,D3); //Create hcsr04 object of type HCSR04 (class made in hcsr04.cpp), with pins D2 and D3 assigned to trig and echo respectively
-DigitalOut beep(D4); //using code made for motor modified to be just a pwm object, create beep of this type and assign D4 to it, this can then be used to control beep speed
-DigitalIn gButton(BUTTON1);
+void turnLFN() {
+ motorL.setSpeed(-1);
+ motorR.setSpeed(1);
+ thread_sleep_for(1500);
+ }
+
+void turnRFN() {
+ motorR.setSpeed(-1);
+ motorL.setSpeed(1);
+ thread_sleep_for(1500);
+ }
+void turnNFN() {
+ motorL.setSpeed(1);
+ motorR.setSpeed(1);
+ }
+
+//long distanceL = sensorL.distance(CM);
+int turn = 5000;
int main()
{
+ long distanceF;
+ long distanceL;
+
while(true) {
+ distanceF = sensorF.distance(CM);
+ distanceL = sensorL.distance(CM);
- if (gButton == 0) {
- hcsr04.distance();
- while (gButton == 1) {
+ if (distanceL<10 && distanceF>10) {
+ /*motorL.setSpeed(0.50);
+ motorR.setSpeed(0.50);
+ printf ("forward \r\n");*/
+ turnN.start(turnNFN);
+ }
- if (hcsr04.distance() <= 15) { //retrive the distance value and compare against a condition, depending on condition it meets print a message and set the beep speed
- printf("Uncomfortably Close \r\n");
- beep = true;
- thread_sleep_for(100);
- } else {
- if (hcsr04.distance() <= 30) {
- printf("Very Close \r\n");
- beep = true ;
- thread_sleep_for(100);
- beep = false;
- thread_sleep_for(100);
- } else {
- if (hcsr04.distance() <= 60) {
- printf("Close \r\n");
- beep = true;
- thread_sleep_for(100);
- beep = false;
- thread_sleep_for(200);
- } else {
- if (hcsr04.distance() <= 100) {
- printf("Safe \r\n");
- beep = true;
- thread_sleep_for(100);
- beep = false;
- thread_sleep_for(400);
- } else {
- if (hcsr04.distance() <= 200) {
- printf("Far \r\n");
- beep = true;
- thread_sleep_for(100);
- beep = false;
- thread_sleep_for(700);
- } else {
- if (hcsr04.distance() <= 300) {
- printf("Very Far \r\n");
- beep = true;
- thread_sleep_for(100);
- beep = false;
- thread_sleep_for(1200);
- } else {
- if (hcsr04.distance() <= 400) {
- printf("Distant \r\n");
- beep = false;
- } else {
- if (hcsr04.distance() > 400) {
- printf("Out of Range \r\n");
- beep = false;
- }
- }
- }
- }
- }
- }
- }
- }
- }
- } else {
- beep = false;
+ if (distanceL>=10) {
+ /*motorL.setSpeed(-0.50);
+ motorR.setSpeed(0.50);
+ printf ("turn left \r\n");
+ thread_sleep_for(turn);
+
+ motorL.setSpeed(0.50);
+ motorR.setSpeed(0.50);
+ thread_sleep_for(300);*/
+ turnL.start(turnLFN);
}
- //thread_sleep_for(500); //put the thread to sleep for 500ms so the distance isn't read uncontrollably fast.
+
+ if (distanceL<10 && distanceF<10) {
+ /*motorL.setSpeed(0.50);
+ motorR.setSpeed(-0.50);
+ printf("turn right \r\n");
+ thread_sleep_for(turn);*/
+ turnR.start(turnRFN);
+ }
}
-}
-
-//AAAAAAAAAAAAAAAAAa
+}
\ No newline at end of file