Slave_Main_Collision.cpp

00001 #include "mbed.h"
00002 #include "HCSR04.h"
00003 #define PIN_TRIGGER    D0
00004 #define PIN_ECHO       D1
00005 
00006 Timeout response;
00007 
00008 DigitalOut green(LED_GREEN);
00009 DigitalOut red(LED_RED);
00010 DigitalIn  sw2(SW2);
00011 DigitalIn  motion(D7);
00012 Serial pc(USBTX, USBRX );
00013 
00014 Serial blue(PTC15, PTC14); //tx, rx
00015 
00016 
00017 int main()
00018 {
00019     HCSR04 rangeFinder( PIN_TRIGGER, PIN_ECHO );
00020     char send = 'Z';
00021     int rangeFeet;
00022     float range; 
00023     
00024     pc.baud(9600);
00025     blue.baud(9600);
00026     
00027     printf("Slave connecting to the master\n");
00028     
00029     //--------------------------------------------------------------------------
00030   
00031     while (true) {
00032                 rangeFinder.startMeas();
00033                 wait(0.5f);
00034                 if ( rangeFinder.getMeas(range) == RANGE_MEAS_VALID )
00035                 {
00036                      
00037                    // printf("pre mod range = %f \n\r", range);
00038                     range = (range * 100); 
00039                    // printf("post mod range = %f \n\r", range);
00040                     rangeFeet = range; 
00041                    // printf("rangeFeet = %i \n\r", rangeFeet);
00042                 }   
00043          
00044       
00045     //--------------------------------------------------------------------------
00046       
00047       
00048         if(blue.readable())//Determine if there is a character available to read. 
00049         {
00050             if(rangeFeet > 2900)
00051             {
00052             rangeFeet = 0;     
00053             }
00054             char word = (rangeFeet) + '0';
00055             //printf("\n word = %c \n\r", word);
00056             blue.putc(word);
00057         }
00058         
00059         
00060     //--------------------------------------------------------------------------
00061         wait(0.5f); // wait a small period of time        
00062         green = !green; // toggle a led
00063         
00064     }
00065 }