Revision 0:d31aa980a1f9, committed 2019-05-06

Comitter:

victorhlvsilva

Date:

Mon May 06 20:27:21 2019 +0000

Commit message:

Acionamento retrovisor;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DebouncedIn.cpp	Mon May 06 20:27:21 2019 +0000
@@ -0,0 +1,91 @@
+#include "DebouncedIn.h"
+#include "mbed.h"
+
+/*
+ * Constructor
+ */
+DebouncedIn::DebouncedIn(PinName in) 
+    : _in(in) {    
+        
+    // reset all the flags and counters    
+    _samples = 0;
+    _output = 0;
+    _output_last = 0;
+    _rising_flag = 0;
+    _falling_flag = 0;
+    _state_counter = 0;
+    
+    // Attach ticker
+    _ticker.attach(this, &DebouncedIn::_sample, 0.005);     
+}
+  
+void DebouncedIn::_sample() {
+
+    // take a sample
+    _samples = _samples >> 1; // shift left
+      
+    if (_in) {
+        _samples |= 0x80;
+    }  
+      
+    // examine the sample window, look for steady state
+    if (_samples == 0x00) {
+        _output = 0;
+    } 
+    else if (_samples == 0xFF) {
+        _output = 1;
+    }
+
+
+    // Rising edge detection
+    if ((_output == 1) && (_output_last == 0)) {
+        _rising_flag++;
+        _state_counter = 0;
+    }
+
+    // Falling edge detection
+    else if ((_output == 0) && (_output_last == 1)) {
+        _falling_flag++;
+        _state_counter = 0;
+    }
+    
+    // steady state
+    else {
+        _state_counter++;
+    }
+    
+   // update the output
+    _output_last = _output;
+    
+}
+
+
+
+// return number of rising edges
+int DebouncedIn::rising(void) {
+    int return_value = _rising_flag; 
+    _rising_flag = 0;
+    return(return_value);
+}
+
+// return number of falling edges
+int DebouncedIn::falling(void) {
+    int return_value = _falling_flag; 
+    _falling_flag = 0;
+    return(return_value);
+}
+
+// return number of ticsk we've bene steady for
+int DebouncedIn::steady(void) {
+return(_state_counter);
+}
+
+// return the debounced status
+int DebouncedIn::read(void) {
+    return(_output);
+}
+
+// shorthand for read()
+DebouncedIn::operator int() {
+    return read();
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DebouncedIn.h	Mon May 06 20:27:21 2019 +0000
@@ -0,0 +1,31 @@
+#include "mbed.h"
+
+    class DebouncedIn {
+        public:      
+             DebouncedIn(PinName in);
+
+             int read (void);
+             operator int();
+              
+             int rising(void);
+             int falling(void);
+             int steady(void);
+              
+        private :    
+               // objects
+               DigitalIn _in;    
+               Ticker _ticker;
+
+               // function to take a sample, and update flags
+               void _sample(void);
+
+               // counters and flags
+               int _samples;
+               int _output;
+               int _output_last;
+               int _rising_flag;
+               int _falling_flag;
+               int _state_counter;
+
+    };
+    
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 06 20:27:21 2019 +0000
@@ -0,0 +1,85 @@
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX);
+
+AnalogIn Joy_X(A3);
+AnalogIn Joy_Y(A5);
+DigitalIn Joy_B(PC_13);
+
+DigitalOut saida_IN1a(D5);
+DigitalOut saida_IN1b(A0);
+DigitalOut saida_IN2a(D4);
+DigitalOut saida_IN2b(A1);
+DigitalOut saida_ENa(D2);
+DigitalOut saida_ENb(A4);
+
+float JX;
+float JY;
+bool JB;
+bool JBb = 0;
+
+
+int main() {
+    
+    saida_ENa = 0;
+    saida_ENb = 0;
+    
+    while(1){
+        
+        JX = Joy_X;
+        JY = Joy_Y;
+        JB = Joy_B;
+        
+        if (JB == 0){
+            saida_ENb = 1;
+            saida_ENa = 0;
+            saida_IN1b = 0;
+            saida_IN2b = 1;
+            wait_ms(500);
+            saida_IN2b = 0;
+            
+            while(JB == 0){
+                }
+                
+            saida_IN1b = 1;
+            saida_IN2b = 0;
+            wait_ms(500);
+            saida_IN1b = 0;
+             }
+        
+        if (JX >= 0.6f || JX <= 0.4f ){
+            saida_ENa = 1;
+            saida_ENb = 0;
+            
+            if (JX >= 0.6f){
+                saida_IN1a = 0;
+                saida_IN2a = 1;
+                }
+            
+            else if (JX <= 0.4f){
+                saida_IN1a = 1;
+                saida_IN2a = 0;
+                }
+            }
+            
+        else if (JY >= 0.6f || JY <= 0.4f ){
+            saida_ENb = 1;
+            saida_ENa = 0;
+            
+            if (JY >= 0.6f){
+                saida_IN1b = 0;
+                saida_IN2b = 1;
+                }
+                
+            else if (JY <= 0.4f){
+                saida_IN1b = 1;
+                saida_IN2b = 0;
+                }    
+            }
+            
+        else{
+            saida_ENa = 0;
+            saida_ENb = 0;
+            }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon May 06 20:27:21 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file