tim010 tim010 / Mbed 2 deprecated IR-Radar

ETF-PAI- Kunić Edis, Nuhodžić Muris

Dependencies:   mbed sMotor

main.cpp@1:888aeafa6c13, 2014-06-09 (annotated)

Committer:
tim010
Date:
Mon Jun 09 16:07:44 2014 +0000
Revision:
1:888aeafa6c13
Parent:
0:c72c81cd99ba 
Kuni? Edis, Nuhod?i? Muris

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tim010 0:c72c81cd99ba 1 #include "mbed.h"
tim010 0:c72c81cd99ba 2 #include "sMotor.h"
tim010 0:c72c81cd99ba 3
tim010 0:c72c81cd99ba 4 AnalogIn IR(dp4);
tim010 0:c72c81cd99ba 5 Serial pc(USBTX, USBRX);
tim010 0:c72c81cd99ba 6 sMotor motor(dp9, dp10, dp11, dp13); // creates new stepper motor: IN1, IN2, IN3, IN4
tim010 0:c72c81cd99ba 7
tim010 0:c72c81cd99ba 8 int step_speed = 1200 ; // set default motor speed
tim010 0:c72c81cd99ba 9 int numstep = 512/36; // defines full turn of 360 degree
tim010 1:888aeafa6c13 10 int direction = 1; //0 for right, 1 for left
tim010 0:c72c81cd99ba 11 /* distanca { 10 , 15 , 20 , 25 , 30 , 35 , 40 , 45 , 50 , 55 , 60 , 65 , 70 , 75 , 80 , 85 , 90 }
tim010 0:c72c81cd99ba 12 naponi { 0.89 , 0.87 , 0.81 , 0.71 , 0.62 , 0.54 , 0.47 , 0.43 , 0.39 , 0.34 , 0.32 , 0.29 , 0.28 , 0.25 , 0.24 , 0.23 , 0.21 } */
tim010 0:c72c81cd99ba 13
tim010 0:c72c81cd99ba 14 int provjeri(float n){
tim010 1:888aeafa6c13 15 if(n<0.21)return 80;
tim010 0:c72c81cd99ba 16 if(n>0.89)return 1;
tim010 0:c72c81cd99ba 17 if(n<=0.89 && n>0.87) return 10;
tim010 0:c72c81cd99ba 18 if(n<=0.87 && n>0.81) return 15;
tim010 0:c72c81cd99ba 19 if(n<=0.81 && n>0.71) return 20;
tim010 0:c72c81cd99ba 20 if(n<=0.71 && n>0.62) return 25;
tim010 0:c72c81cd99ba 21 if(n<=0.62 && n>0.54) return 30;
tim010 0:c72c81cd99ba 22 if(n<=0.54 && n>0.47) return 35;
tim010 0:c72c81cd99ba 23 if(n<=0.47 && n>0.43) return 40;
tim010 0:c72c81cd99ba 24 if(n<=0.43 && n>0.39) return 45;
tim010 0:c72c81cd99ba 25 if(n<=0.39 && n>0.34) return 50;
tim010 0:c72c81cd99ba 26 if(n<=0.34 && n>0.32) return 55;
tim010 0:c72c81cd99ba 27 if(n<=0.32 && n>0.29) return 60;
tim010 0:c72c81cd99ba 28 if(n<=0.29 && n>0.28) return 65;
tim010 0:c72c81cd99ba 29 if(n<=0.28 && n>0.25) return 70;
tim010 0:c72c81cd99ba 30 if(n<=0.25 && n>0.24) return 75;
tim010 0:c72c81cd99ba 31 if(n<=0.24 && n>0.23) return 80;
tim010 1:888aeafa6c13 32 if(n<=0.23 && n>0.21) return 80;
tim010 0:c72c81cd99ba 33 }
tim010 0:c72c81cd99ba 34 int main() {
tim010 0:c72c81cd99ba 35 float a;
tim010 0:c72c81cd99ba 36 int brojac=0;
tim010 0:c72c81cd99ba 37 while(1)
tim010 0:c72c81cd99ba 38 {
tim010 0:c72c81cd99ba 39 motor.step(numstep, direction, step_speed);
tim010 0:c72c81cd99ba 40 a = IR;
tim010 0:c72c81cd99ba 41 brojac++;
tim010 0:c72c81cd99ba 42 if(brojac==36){brojac=0;direction=1-direction;}
tim010 0:c72c81cd99ba 43 int b=provjeri(a);
tim010 0:c72c81cd99ba 44 pc.printf("%d\n", b );
tim010 0:c72c81cd99ba 45 wait(1);
tim010 0:c72c81cd99ba 46 }
tim010 0:c72c81cd99ba 47 }