Savannah Hearn
This version has sonar added to the rest of the code, but the sonar is not currently working. I suspect that the interrupts from the bluetooth are interfering with the sonar working
Dependencies: mbed sMotor HC_SR04_Ultrasonic_Library
Revision 3:510441742cf6, committed 2021-04-22
- Comitter:
- shearn
- Date:
- Thu Apr 22 22:32:18 2021 +0000
- Parent:
- 2:710e07252f28
- Commit message:
- Just sonar
Changed in this revision
| HC_SR04_Ultrasonic_Library.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 710e07252f28 -r 510441742cf6 HC_SR04_Ultrasonic_Library.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HC_SR04_Ultrasonic_Library.lib Thu Apr 22 22:32:18 2021 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3
diff -r 710e07252f28 -r 510441742cf6 main.cpp
--- a/main.cpp Fri Apr 16 21:55:26 2021 +0000
+++ b/main.cpp Thu Apr 22 22:32:18 2021 +0000
@@ -1,10 +1,14 @@
#include "mbed.h"
#include "sMotor.h"
+#include "ultrasonic.h"
+
+float CAT_COOLDOWN = 4.0; // Number of seconds of inactivity before power saving mode
Serial pc(USBTX, USBRX);
Serial Blue(p28,p27);
sMotor motor(p9, p10, p11, p12); // creates new stepper motor: IN1, IN2, IN3, IN4
DigitalOut laser(p20);
+DigitalOut led2(LED2);
int step_speed = 1100; // set default motor speed
volatile int dir = 0; //0 is CW, 1 is CCW
@@ -14,14 +18,21 @@
volatile bool stationary = 1;
volatile bool isrand = 0;
volatile bool manual = 0;
+volatile bool power;
+volatile bool powerSave; // If 1, the laser is turned off until detected motion
volatile int bnum = 0;
volatile int bhit;
-volatile int power = 1;
+volatile int catMoves = 0;
+Ticker catTicker;
//state used to remember previous characters read in a button message
-enum statetype {start = 0, got_exclm, got_B, got_num, got_hit};
+enum statetype {start = 0, got_exclm, got_S, got_B, got_num, got_hit};
statetype state = start;
+// State used to keep track of cat activity
+int c_inactive = 0; int c_some = 1; int c_uptime = 2; int c_active = 3;
+volatile int catState = c_active;
//Interrupt routine to parse message with one new character per serial RX interrupt
void parse_message() {
+ led2 = !led2;
switch (state) {
case start:
if (Blue.getc()=='!') state = got_exclm;
@@ -40,7 +51,7 @@
state = got_hit;
break;
case got_hit:
- if (Blue.getc() == char(~('!' + ' B' + bnum + bhit))) {
+ if (Blue.getc() == char(~('!' + 'B' + bnum + bhit))) {
switch (bnum) {
case '1': //number button 1
isrand = 0;
@@ -49,7 +60,7 @@
break;
case '2': //number button 2
stationary = 0;
- manual = 0;
+ manual = 0;
isrand = 0;
numstep = C;
break;
@@ -61,6 +72,14 @@
case '4': //number button 4
power = !power;
break;
+ case '5': //button 5 up arrow
+ powerSave = 1;
+ printf("powerSave mode is %d\r\n", powerSave);
+ break;
+ case '6': //button 6 down arrow
+ powerSave = 0;
+ printf("powerSave mode is %d\r\n", powerSave);
+ break;
case '7':
stationary = 0;
isrand = 0;
@@ -77,51 +96,90 @@
break;
}
}
+ state = start;
+ break;
default:
Blue.getc();
state = start;
}
}
+
+// Interrupt that takes effect when motion is detected
+float feet = 0;
+void mDetect(int distance)
+{
+ float oldFeet = feet;
+ feet = distance / 305.0;
+ if (abs(oldFeet - feet) >= .2) { // The difference is greater than a margin of error
+ if (catState < c_uptime) catState++;
+ if (catState == c_active) catMoves++; // The initial motion sensed does not count
+ printf("\tMotion detected at %.3f!\n\r", feet);
+ }
+}
+
+/* Set the trigger pin to D8 and the echo pin to D9.
+ Updates every .1 seconds, timeout after 1
+ second, function when the distance changes */
+ultrasonic mu(p6, p7, .1, 1, &mDetect);
+
+void activityBeep() {
+ if (catMoves < 2) {
+ catState = c_inactive;
+ printf("Cat is inactive.\n\r");
+ } else printf("\t\tCat moved %d times since timer began.\n\r", catMoves);
+ catMoves = 0;
+}
int main() {
//Credits
- printf("Cat Tower - Test Program\r\n");
+ printf("\nCat Tower - Test Program\r\n");
printf("\n\r");
// Screen Menu
printf("Default Speed: %d\n\r",step_speed);
- printf("Use Adafruit Bluefruit buttons to select mode");
+ printf("Use Adafruit Bluefruit buttons to select mode\n\r");
// attach interrupt function for each new Bluetooth serial character
Blue.attach(&parse_message,Serial::RxIrq);
+
+ powerSave = 0;
int temp1 = 0;
int temp2 = 0;
while (1) {
- laser = power;
- if (stationary != 1) {
-
- if (isrand == 1) {
- temp2 = rand() % C+1;
- numstep = temp2 - temp1;
- if (numstep < 0) {
- dir = 0;
- } else if (numstep > 0) {
- dir = 1;
+ mu.checkDistance();
+ if (catState == c_uptime) {
+ printf("Beginning inactivity timer\n\r");
+ // Activate countdown on cat activity
+ catTicker.attach(&activityBeep, CAT_COOLDOWN); // function and interval in seconds
+ catState = c_active;
+ }
+ if (powerSave == 0 || catState == c_active) { // If it is not in power save mode or the cat is active
+ laser = power;
+ if (stationary != 1) {
+
+ if (isrand == 1) {
+ temp2 = rand() % C+1;
+ numstep = temp2 - temp1;
+ if (numstep < 0) {
+ dir = 0;
+ } else if (numstep > 0) {
+ dir = 1;
+ }
+ temp1 = temp2;
+ numstep = abs(numstep);
+ }
+
+ if (manual == 1) {
+ dir = dir;
+ } else {
+ dir = 1 - dir;
}
- temp1 = temp2;
- numstep = abs(numstep);
- }
-
- if (manual == 1) {
- dir = dir;
- } else {
- dir = 1 - dir;
+
+ motor.step(numstep, dir, step_speed); // number of steps, direction, speed
}
-
- motor.step(numstep, dir, step_speed); // number of steps, direction, speed
- }
+ } else laser = 0;
}
}
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