CollisionAvoidance - mbed/ARM 活用事例第5章赤外線距離センサを使う

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Tadao Iida / Mbed 2 deprecated CollisionAvoidance

mbed/ARM 活用事例第5章赤外線距離センサを使う

main.cpp@0:b5ce43c9e6b0, 2011-10-04 (annotated)

Committer:: sunifu
Date:: Tue Oct 04 13:23:35 2011 +0000
Revision:: 0:b5ce43c9e6b0

Who changed what in which revision?

User	Revision	Line number	New contents of line
sunifu	0:b5ce43c9e6b0	1	#include "mbed.h"
sunifu	0:b5ce43c9e6b0	2	#include "TextLCD.h"
sunifu	0:b5ce43c9e6b0	3
sunifu	0:b5ce43c9e6b0	4
sunifu	0:b5ce43c9e6b0	5	TextLCD lcd(p24, p26, p27, p28, p29, p30);
sunifu	0:b5ce43c9e6b0	6	/*
sunifu	0:b5ce43c9e6b0	7	AnalogIn in(p20);
sunifu	0:b5ce43c9e6b0	8	PwmOut out(p21);
sunifu	0:b5ce43c9e6b0	9	DigitalOut myled(LED1);
sunifu	0:b5ce43c9e6b0	10
sunifu	0:b5ce43c9e6b0	11	Ticker input;
sunifu	0:b5ce43c9e6b0	12	Ticker output;
sunifu	0:b5ce43c9e6b0	13	double flash;
sunifu	0:b5ce43c9e6b0	14	float data,now,old=0.0;
sunifu	0:b5ce43c9e6b0	15
sunifu	0:b5ce43c9e6b0	16	void run(){
sunifu	0:b5ce43c9e6b0	17	old = now;
sunifu	0:b5ce43c9e6b0	18	now = in;
sunifu	0:b5ce43c9e6b0	19	data = ( now + old ) / 2.0;
sunifu	0:b5ce43c9e6b0	20	}
sunifu	0:b5ce43c9e6b0	21
sunifu	0:b5ce43c9e6b0	22	void update(){
sunifu	0:b5ce43c9e6b0	23	float range;
sunifu	0:b5ce43c9e6b0	24	lcd.locate(0,0);
sunifu	0:b5ce43c9e6b0	25	if ( data < 0.208 ){ // x <= 40cm
sunifu	0:b5ce43c9e6b0	26	flash = 0.0 ;
sunifu	0:b5ce43c9e6b0	27	lcd.printf(" Safty ");
sunifu	0:b5ce43c9e6b0	28	}else if ( data < 0.272){ // 30cm <= x < 40cm
sunifu	0:b5ce43c9e6b0	29	flash = 0.8 ;
sunifu	0:b5ce43c9e6b0	30	lcd.printf("Caution! ");
sunifu	0:b5ce43c9e6b0	31	}else if ( data < 0.389){ // 20cm <= x 30cm
sunifu	0:b5ce43c9e6b0	32	flash = 0.4 ;
sunifu	0:b5ce43c9e6b0	33	lcd.printf("Caution! ");
sunifu	0:b5ce43c9e6b0	34	}else if ( data < 0.724){ // 10cm <= x < 20cm
sunifu	0:b5ce43c9e6b0	35	flash = 0.1 ;
sunifu	0:b5ce43c9e6b0	36	lcd.printf(" Danger! ");
sunifu	0:b5ce43c9e6b0	37	}else{ // x < 10cm
sunifu	0:b5ce43c9e6b0	38	flash = 0.05 ;
sunifu	0:b5ce43c9e6b0	39	lcd.printf(" Danger! ");
sunifu	0:b5ce43c9e6b0	40	}
sunifu	0:b5ce43c9e6b0	41
sunifu	0:b5ce43c9e6b0	42
sunifu	0:b5ce43c9e6b0	43	range = 25.33 * pow((data*3.3),-1.21);
sunifu	0:b5ce43c9e6b0	44
sunifu	0:b5ce43c9e6b0	45	lcd.locate(0,1);
sunifu	0:b5ce43c9e6b0	46	if ( data > 0.12)
sunifu	0:b5ce43c9e6b0	47	lcd.printf("RANGE %5.2f[cm]",range);
sunifu	0:b5ce43c9e6b0	48	else
sunifu	0:b5ce43c9e6b0	49	lcd.printf("RANGE OVER ");
sunifu	0:b5ce43c9e6b0	50	}
sunifu	0:b5ce43c9e6b0	51
sunifu	0:b5ce43c9e6b0	52	int main() {
sunifu	0:b5ce43c9e6b0	53
sunifu	0:b5ce43c9e6b0	54	input.attach(&run,0.2);
sunifu	0:b5ce43c9e6b0	55	output.attach(&update,0.5);
sunifu	0:b5ce43c9e6b0	56	out.period(0.001);
sunifu	0:b5ce43c9e6b0	57	while(1){
sunifu	0:b5ce43c9e6b0	58	out.write(0.0);
sunifu	0:b5ce43c9e6b0	59	if ( flash != 0.0 ){
sunifu	0:b5ce43c9e6b0	60	myled = !myled ;
sunifu	0:b5ce43c9e6b0	61	wait(flash) ;
sunifu	0:b5ce43c9e6b0	62	out.write(0.5);
sunifu	0:b5ce43c9e6b0	63	wait(flash);
sunifu	0:b5ce43c9e6b0	64	}else{
sunifu	0:b5ce43c9e6b0	65	myled = 0;
sunifu	0:b5ce43c9e6b0	66	out.write(0.0);
sunifu	0:b5ce43c9e6b0	67	}
sunifu	0:b5ce43c9e6b0	68	}
sunifu	0:b5ce43c9e6b0	69	}
sunifu	0:b5ce43c9e6b0	70
sunifu	0:b5ce43c9e6b0	71
sunifu	0:b5ce43c9e6b0	72	*/
sunifu	0:b5ce43c9e6b0	73
sunifu	0:b5ce43c9e6b0	74
sunifu	0:b5ce43c9e6b0	75
sunifu	0:b5ce43c9e6b0	76
sunifu	0:b5ce43c9e6b0	77	AnalogOut out(p18);
sunifu	0:b5ce43c9e6b0	78	AnalogIn in(p20);
sunifu	0:b5ce43c9e6b0	79	Ticker input;
sunifu	0:b5ce43c9e6b0	80	Ticker output;
sunifu	0:b5ce43c9e6b0	81	int freq;
sunifu	0:b5ce43c9e6b0	82	double t = 0.0 ;
sunifu	0:b5ce43c9e6b0	83	float d11 = 0.0, d12 =0.0 ;
sunifu	0:b5ce43c9e6b0	84	float data;
sunifu	0:b5ce43c9e6b0	85
sunifu	0:b5ce43c9e6b0	86	void run(){
sunifu	0:b5ce43c9e6b0	87	data = in;
sunifu	0:b5ce43c9e6b0	88	}
sunifu	0:b5ce43c9e6b0	89
sunifu	0:b5ce43c9e6b0	90	void wave(){
sunifu	0:b5ce43c9e6b0	91	if ( data < 0.1212){
sunifu	0:b5ce43c9e6b0	92	freq = 0;
sunifu	0:b5ce43c9e6b0	93	}else if ( data < 0.181){
sunifu	0:b5ce43c9e6b0	94	freq = 2093;
sunifu	0:b5ce43c9e6b0	95	}else if ( data < 0.242){
sunifu	0:b5ce43c9e6b0	96	freq = 1976;
sunifu	0:b5ce43c9e6b0	97	}else if ( data < 0.333){
sunifu	0:b5ce43c9e6b0	98	freq = 1760;
sunifu	0:b5ce43c9e6b0	99	}else if ( data < 0.394){
sunifu	0:b5ce43c9e6b0	100	freq = 1568;
sunifu	0:b5ce43c9e6b0	101	}else if ( data < 0.485){
sunifu	0:b5ce43c9e6b0	102	freq = 1397;
sunifu	0:b5ce43c9e6b0	103	}else if ( data < 0.697 ){
sunifu	0:b5ce43c9e6b0	104	freq = 1319;
sunifu	0:b5ce43c9e6b0	105	}else if ( data < 0.85){
sunifu	0:b5ce43c9e6b0	106	freq = 1175;
sunifu	0:b5ce43c9e6b0	107	}else{
sunifu	0:b5ce43c9e6b0	108	freq = 1046;
sunifu	0:b5ce43c9e6b0	109	}
sunifu	0:b5ce43c9e6b0	110	float a;
sunifu	0:b5ce43c9e6b0	111
sunifu	0:b5ce43c9e6b0	112	if ( freq != 0 ){
sunifu	0:b5ce43c9e6b0	113	a =0.5sin(2.0 3.1415 * freq * t )+0.5;
sunifu	0:b5ce43c9e6b0	114	out = a;
sunifu	0:b5ce43c9e6b0	115	}
sunifu	0:b5ce43c9e6b0	116	if ( t > 1.0 ) t = 0.0 ;
sunifu	0:b5ce43c9e6b0	117	t=t+0.00005;
sunifu	0:b5ce43c9e6b0	118	}
sunifu	0:b5ce43c9e6b0	119
sunifu	0:b5ce43c9e6b0	120	int main() {
sunifu	0:b5ce43c9e6b0	121
sunifu	0:b5ce43c9e6b0	122	input.attach(&run,0.5);
sunifu	0:b5ce43c9e6b0	123	output.attach_us(&wave,50);
sunifu	0:b5ce43c9e6b0	124
sunifu	0:b5ce43c9e6b0	125	while(1){
sunifu	0:b5ce43c9e6b0	126
sunifu	0:b5ce43c9e6b0	127	lcd.locate(0,0);
sunifu	0:b5ce43c9e6b0	128	lcd.printf("%5.3f %4d",data,freq);
sunifu	0:b5ce43c9e6b0	129	if ( 0.12 <= data){
sunifu	0:b5ce43c9e6b0	130	float range = 25.33 * pow((data*3.3),-1.21);
sunifu	0:b5ce43c9e6b0	131	lcd.locate(0,1);
sunifu	0:b5ce43c9e6b0	132	lcd.printf("RANGE %5.2f[cm]",range);
sunifu	0:b5ce43c9e6b0	133	}else{
sunifu	0:b5ce43c9e6b0	134	lcd.locate(0,1);
sunifu	0:b5ce43c9e6b0	135	lcd.printf("RANGE -----[cm]");
sunifu	0:b5ce43c9e6b0	136	}
sunifu	0:b5ce43c9e6b0	137	lcd.locate(12,0);
sunifu	0:b5ce43c9e6b0	138	lcd.putc('[');
sunifu	0:b5ce43c9e6b0	139	if ( freq == 0){
sunifu	0:b5ce43c9e6b0	140	lcd.putc('-');
sunifu	0:b5ce43c9e6b0	141	lcd.putc('-');
sunifu	0:b5ce43c9e6b0	142	}else if ( freq == 2093){
sunifu	0:b5ce43c9e6b0	143	lcd.putc(0xC4);
sunifu	0:b5ce43c9e6b0	144	lcd.putc(0xDE);
sunifu	0:b5ce43c9e6b0	145	}else if (freq == 1976){
sunifu	0:b5ce43c9e6b0	146	lcd.putc(0xBC);
sunifu	0:b5ce43c9e6b0	147	lcd.putc(0xFE);
sunifu	0:b5ce43c9e6b0	148	}else if ( freq == 1760){
sunifu	0:b5ce43c9e6b0	149	lcd.putc(0xD7);
sunifu	0:b5ce43c9e6b0	150	lcd.putc(0xFE);
sunifu	0:b5ce43c9e6b0	151	}else if ( freq == 1568){
sunifu	0:b5ce43c9e6b0	152	lcd.putc(0xBF);
sunifu	0:b5ce43c9e6b0	153	lcd.putc(0xFE);
sunifu	0:b5ce43c9e6b0	154	}else if ( freq == 1397){
sunifu	0:b5ce43c9e6b0	155	lcd.putc(0xCC);
sunifu	0:b5ce43c9e6b0	156	lcd.putc(0xA7);
sunifu	0:b5ce43c9e6b0	157	}else if ( freq == 1319 ){
sunifu	0:b5ce43c9e6b0	158	lcd.putc(0xD0);
sunifu	0:b5ce43c9e6b0	159	lcd.putc(0xFE);
sunifu	0:b5ce43c9e6b0	160	}else if ( freq == 1175){
sunifu	0:b5ce43c9e6b0	161	lcd.putc(0xDA);
sunifu	0:b5ce43c9e6b0	162	lcd.putc(0xFE);
sunifu	0:b5ce43c9e6b0	163	}else{
sunifu	0:b5ce43c9e6b0	164	lcd.putc(0xC4);
sunifu	0:b5ce43c9e6b0	165	lcd.putc(0xDE);
sunifu	0:b5ce43c9e6b0	166	}
sunifu	0:b5ce43c9e6b0	167	lcd.putc(']');
sunifu	0:b5ce43c9e6b0	168	}
sunifu	0:b5ce43c9e6b0	169	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	04 Oct 2011
Imports:	6
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@0:b5ce43c9e6b0, 2011-10-04 (annotated)

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