main.cpp

00001 #include "mbed.h"
00002 #include "TextLCD.h"
00003 #include "Keypad.h"
00004 #include "ultrasonic.h"
00005 
00006 TextLCD my_lcd(PTE20, PTE21, PTE22, PTE23, PTE29, PTE30, TextLCD::LCD16x2);
00007 Keypad kpad(PTA12, PTD4, PTA2, PTA1, PTC9, PTC8, PTA5, PTA4);
00008  
00009  void dist(int distance){
00010 }
00011  
00012 ultrasonic mu(PTA13, PTD5, .1, 1, &dist);    //Set the trigger pin to PTA13 and the echo pin to PTD5
00013                                         //have updates every .1 seconds and a timeout after 1
00014                                         //second, and call dist when the distance changes
00015 float dispDist;
00016 float prevDist;
00017 float interDist;
00018 float input;
00019 
00020 PwmOut ledRed(LED_RED);
00021 PwmOut ledGreen(LED_GREEN);
00022 PwmOut ledBlue(LED_BLUE);
00023 
00024 int main()
00025 {
00026     my_lcd.printf("Input distance (cm) then press #:");
00027     wait(2);
00028     my_lcd.cls();
00029     char key;
00030     int released = 1;
00031     char inputArray[16];
00032     int i = 0 ;
00033     while(i<16){
00034         key = kpad.ReadKey();                   //read the current key pressed
00035 
00036         if(key == '\0')
00037             released = 1;                       //set the flag when all keys are released
00038            
00039         if((key != '\0') && (released == 1)) {  //if a key is pressed AND previous key was released
00040             
00041             if (key == '#'){
00042                 my_lcd.printf("=");
00043                 break;
00044             }
00045             else{
00046                 my_lcd.printf("%c", key);
00047             }
00048             
00049             inputArray[i] = key; 
00050             i++;         
00051             released = 0;                       //clear the flag to indicate that key is still pressed
00052         }
00053     }
00054     sscanf(inputArray, "%f", &input);
00055     my_lcd.locate(0, 1);
00056     my_lcd.printf("Input: %.1f", input);
00057     wait(1);
00058     my_lcd.cls();
00059     
00060     mu.startUpdates();//start mesuring the distance
00061     while(1)
00062     {        
00063         dispDist = mu.getCurrentDistance();
00064         dispDist = dispDist / 10;
00065         interDist = ((2 * input) / 3 - input / 3) / 5;
00066         if (dispDist > input){
00067             PwmOut extRedLed(PTD2);
00068             PwmOut extGreenLed(PTD0);
00069             extRedLed = 0;
00070             extGreenLed = 0;
00071             wait(0.01);
00072         }
00073         
00074         else if ((dispDist < input && dispDist > 2 * input / 3)){
00075             PwmOut extRedLed(PTD2);
00076             PwmOut extGreenLed(PTD0);;
00077             extRedLed = 0;
00078             extGreenLed = 1;
00079             wait(0.01);
00080         }
00081         
00082         else if (dispDist >= input / 3 & dispDist <= (input / 3) + interDist){
00083             //Do something
00084             PwmOut extRedLed(PTD2);
00085             PwmOut extGreenLed(PTD0);
00086             extRedLed = 0.95;
00087             extGreenLed = 0;
00088             wait(0.01);
00089         }
00090         else if (dispDist >= (input / 3) + interDist &  dispDist <=  (input / 3) + 2 * interDist){
00091             //Do something
00092             PwmOut extRedLed(PTD2);
00093             PwmOut extGreenLed(PTD0);
00094             extRedLed = 0.75;
00095             extGreenLed = 0;
00096             wait(0.01);
00097         }
00098         else if (dispDist >= (input / 3) + 2 * interDist &  dispDist <=  (input / 3) + 3 * interDist){
00099             //Do something
00100             PwmOut extRedLed(PTD2);
00101             PwmOut extGreenLed(PTD0);
00102             extRedLed = 0.55;
00103             extGreenLed = 0;
00104             wait(0.01);
00105         }
00106         else if (dispDist >= (input / 3) + 3 * interDist &  dispDist <=  (input / 3) + 4 * interDist){
00107             //Do something
00108             PwmOut extRedLed(PTD2);
00109             PwmOut extGreenLed(PTD0);
00110             extRedLed = 0.35;
00111             extGreenLed = 0;
00112             wait(0.01);
00113         }
00114         else if (dispDist >= (input / 3) + 4 * interDist &  dispDist <=  (input / 3) + 5 * interDist){
00115             //Do something
00116             PwmOut extRedLed(PTD2);
00117             PwmOut extGreenLed(PTD0);
00118             extRedLed = 0.15;
00119             extGreenLed = 0;
00120             wait(0.01);
00121         }
00122         else if (dispDist < (input / 3)){
00123                 PwmOut extRedLed(PTD2);
00124                 PwmOut extGreenLed(PTD0);
00125                 extRedLed = 0.95;
00126                 extGreenLed = 0;
00127                 wait(0.01);
00128             }
00129         
00130         if (prevDist > dispDist){
00131             ledRed = 0;
00132             ledGreen = 0;
00133             ledBlue = 1;
00134             wait(0.01);
00135         }
00136         
00137         else if (prevDist < dispDist){
00138             ledRed = 1;
00139             ledGreen = 1;
00140             ledBlue = 0;            
00141             wait(0.01);
00142         }
00143         
00144         else{
00145             ledRed.pulsewidth(1);
00146             ledGreen.pulsewidth(1);
00147             ledBlue.pulsewidth(1); 
00148             wait(0.01);
00149         }
00150         
00151         prevDist = dispDist;
00152         my_lcd.printf("%.1f", dispDist); 
00153         my_lcd.locate(6, 0);
00154         my_lcd.printf("cm");
00155         wait(0.5);
00156         my_lcd.cls();
00157         wait(0.01);
00158     }
00159 }