SLRC-2019 / Mbed 2 deprecated speed_robot

code for the speed robot

Dependencies:   MPU6050-DMP mbed PololuQTRSensors vl53l0x

tof.h@8:d7941bcd9981, 2019-10-01 (annotated)

Committer:
deepanaishtaweera174
Date:
Tue Oct 01 12:33:33 2019 +0000
Revision:
8:d7941bcd9981
Parent:
6:a635edf31d8b 
hey

Who changed what in which revision?

UserRevisionLine numberNew contents of line
deepanaishtaweera174 1:b188e27eb7da 1 void InitTOFSensors()
deepanaishtaweera174 1:b188e27eb7da 2 {
deepanaishtaweera174 3:9b2f15b0d47b 3 DigitalOut xshut1(XSHUT_pin1);
deepanaishtaweera174 3:9b2f15b0d47b 4 DigitalOut xshut2(XSHUT_pin2);
deepanaishtaweera174 6:a635edf31d8b 5 xshut1 = 0;
deepanaishtaweera174 6:a635edf31d8b 6 xshut2 = 0;
deepanaishtaweera174 6:a635edf31d8b 7
deepanaishtaweera174 3:9b2f15b0d47b 8 Sensor3.setAddress(Sensor3_newAddress);
deepanaishtaweera174 6:a635edf31d8b 9 printf("sensor3: %d\n",Sensor3.getAddress());
deepanaishtaweera174 6:a635edf31d8b 10 xshut2 = 1;
deepanaishtaweera174 6:a635edf31d8b 11 wait_ms(10);
deepanaishtaweera174 4:538efc40388e 12
deepanaishtaweera174 6:a635edf31d8b 13 Sensor2.setAddress(Sensor2_newAddress);
deepanaishtaweera174 6:a635edf31d8b 14 printf("sensor2: %d sensor3: %d\n",Sensor2.getAddress(),Sensor3.getAddress());
deepanaishtaweera174 6:a635edf31d8b 15 xshut1 = 1;
deepanaishtaweera174 6:a635edf31d8b 16 wait_ms(10);
deepanaishtaweera174 6:a635edf31d8b 17
deepanaishtaweera174 6:a635edf31d8b 18 printf("sensor1: %d sensor2: %d sensor3: %d\n",Sensor1.getAddress(),Sensor2.getAddress(),Sensor3.getAddress());
deepanaishtaweera174 6:a635edf31d8b 19
deepanaishtaweera174 6:a635edf31d8b 20 Sensor1.init();
deepanaishtaweera174 6:a635edf31d8b 21 Sensor2.init();
deepanaishtaweera174 6:a635edf31d8b 22 Sensor3.init();
deepanaishtaweera174 3:9b2f15b0d47b 23
deepanaishtaweera174 3:9b2f15b0d47b 24 Sensor1.setSignalRateLimit(SignalRateLimit);
deepanaishtaweera174 3:9b2f15b0d47b 25 Sensor2.setSignalRateLimit(SignalRateLimit);
deepanaishtaweera174 3:9b2f15b0d47b 26 Sensor3.setSignalRateLimit(SignalRateLimit);
deepanaishtaweera174 3:9b2f15b0d47b 27
deepanaishtaweera174 3:9b2f15b0d47b 28 Sensor1.setMeasurementTimingBudget(MeasurementBudget);
deepanaishtaweera174 3:9b2f15b0d47b 29 Sensor2.setMeasurementTimingBudget(MeasurementBudget);
deepanaishtaweera174 3:9b2f15b0d47b 30 Sensor3.setMeasurementTimingBudget(MeasurementBudget);
deepanaishtaweera174 3:9b2f15b0d47b 31
deepanaishtaweera174 3:9b2f15b0d47b 32 Sensor1.setTimeout(Timeout);
deepanaishtaweera174 3:9b2f15b0d47b 33 Sensor2.setTimeout(Timeout);
deepanaishtaweera174 3:9b2f15b0d47b 34 Sensor3.setTimeout(Timeout);
deepanaishtaweera174 3:9b2f15b0d47b 35
deepanaishtaweera174 3:9b2f15b0d47b 36 Sensor1.startContinuous();
deepanaishtaweera174 3:9b2f15b0d47b 37 Sensor2.startContinuous();
deepanaishtaweera174 3:9b2f15b0d47b 38 Sensor3.startContinuous();
deepanaishtaweera174 1:b188e27eb7da 39 }
deepanaishtaweera174 1:b188e27eb7da 40
deepanaishtaweera174 3:9b2f15b0d47b 41 void PrintTOFDistances()
deepanaishtaweera174 1:b188e27eb7da 42 {
deepanaishtaweera174 3:9b2f15b0d47b 43 front_Distance = Sensor1.readRangeContinuousMillimeters();
deepanaishtaweera174 3:9b2f15b0d47b 44 float front_DistanceCM = (float)( front_Distance / 10.0);
deepanaishtaweera174 3:9b2f15b0d47b 45
deepanaishtaweera174 3:9b2f15b0d47b 46 left_Distance = Sensor2.readRangeContinuousMillimeters() ;
deepanaishtaweera174 3:9b2f15b0d47b 47 float left_DistanceCM = (float)(left_Distance / 10.0);
deepanaishtaweera174 3:9b2f15b0d47b 48
deepanaishtaweera174 3:9b2f15b0d47b 49 right_Distance = Sensor3.readRangeContinuousMillimeters();
deepanaishtaweera174 3:9b2f15b0d47b 50 float right_DistanceCM = (float)(right_Distance / 10.0);
deepanaishtaweera174 3:9b2f15b0d47b 51
deepanaishtaweera174 3:9b2f15b0d47b 52 printf("F: %.2f L: %.2f R: %.2f",front_DistanceCM,left_DistanceCM,right_DistanceCM);
deepanaishtaweera174 3:9b2f15b0d47b 53 }