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

--- /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

--- 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;
     }
 }
\ No newline at end of file