Revision 0:b99573af2591, committed 2017-04-30

Comitter:

vceyssens3

Date:

Sun Apr 30 23:49:22 2017 +0000

Commit message:

main code;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HC_SR04_Ultrasonic_Library.lib	Sun Apr 30 23:49:22 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Apr 30 23:49:22 2017 +0000
@@ -0,0 +1,143 @@
+#include "mbed.h"
+#include "ultrasonic.h"
+
+Serial pc(USBTX, USBRX);
+DigitalOut start(p30,1);
+DigitalOut right(p29,1);
+DigitalOut left(p28,1);
+DigitalOut up(p27,1);
+DigitalOut down(p26,1);
+DigitalOut on_switch(p25,0);
+DigitalOut myled(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+InterruptIn car_start(p23);
+
+
+//int volatile start_var = 0;
+//int volatile counter = 1;
+//int volatile drive_var = 0;
+//int volatile movement = 0;
+int volatile right_var = 0;
+int volatile left_var = 0;
+
+void drive_func(); 
+
+void dist(int distance) //necessary for the sonar to work. I dont know why.
+{
+    
+}
+
+ultrasonic front(p6, p7, .1, 1, &dist);    //Set the trigger pin to D8 and the echo pin to D9
+ultrasonic rightc(p8,p9,.1,1, &dist); 
+ultrasonic leftc(p21,p22,.1,1, &dist);                                    //have updates every .1 seconds and a timeout after 1
+ultrasonic back(p13,p14,0.1,1, &dist);  
+
+void starting_commands(){ // toggles the button to start the cop car
+    start = 0;
+    wait(0.1);
+    start = 1;
+    wait(0.1);
+    }
+
+
+void start_func() // sequence that gets the cop car into no noise run mode
+{
+    on_switch =1;
+    starting_commands();
+    starting_commands();
+    starting_commands();
+    starting_commands();
+    starting_commands();
+}
+
+void drive_func() // pulses the drive pin; the pulsing is so that the car doesnt go too fast
+{
+    front.checkDistance();     
+    while(front.getCurrentDistance() > 300){
+        front.checkDistance();
+        up = 0;
+        wait(0.1);
+        up = 1;
+        wait(0.1);
+        }
+}
+
+void stop_func() // stops the car and checks right and left sonars for obstructions
+{
+    up = 1;
+    down = 0;
+    wait(0.1);
+    down = 1;
+    front.checkDistance();     
+    rightc.checkDistance();
+    leftc.checkDistance();
+    back.checkDistance();
+    if (rightc.getCurrentDistance()<300) right_var = 1;
+    if (leftc.getCurrentDistance()<300) left_var = 1;
+}
+        
+void turn_func() // turns the car until the front sonar is unobstructed
+{
+    int turn_var = 0;
+    while(turn_var == 0){
+        if (right_var == 0){
+            down = 0;
+            wait(0.1);
+            down = 1;
+            right=up=0;
+            wait(0.1);
+            right=up=1;
+            if(front.getCurrentDistance()>300) turn_var = 1;
+        }
+        else if (left_var == 0){
+            down = 0;
+            wait(0.1);
+            down = 1;
+            left=up=0;
+            wait(0.1);
+            left=up=1;
+            if(front.getCurrentDistance()>300) turn_var = 1;
+        }
+        else {
+            down = 0;
+            wait(0.2);
+            down = 1;
+            if (rightc.getCurrentDistance()>300) right_var = 0;
+            if (leftc.getCurrentDistance()>300) left_var = 0;
+        }
+    }
+    left_var = right_var = 0;
+}
+
+int main() {
+    wait(3);
+    
+    front.startUpdates();
+    rightc.startUpdates();
+    leftc.startUpdates();
+    back.startUpdates();
+    start_func();
+    //int front_var = 0;
+//    int rear_var = 0;
+//    int right_var = 0;
+//    int left_var = 0;
+//    
+    
+    while(1) {
+        front.checkDistance();     //call checkDistance() as much as possible, as this is where
+        rightc.checkDistance();
+        leftc.checkDistance();
+        back.checkDistance();
+        pc.printf("Front Distance %d mm\r\n", front.getCurrentDistance());
+        pc.printf("Right Distance %d mm\r\n", rightc.getCurrentDistance());
+        pc.printf("Left Distance %d mm\r\n", leftc.getCurrentDistance());
+        pc.printf("Back Distance %d mm\r\n", back.getCurrentDistance());
+        
+        drive_func();
+        stop_func();
+        turn_func();
+       
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Apr 30 23:49:22 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed/builds/97feb9bacc10
\ No newline at end of file