Ultrasonic searcher with Servo controlled by PC
Dependencies: HCSR04 Servo TextLCD mbed
main.cpp@1:3707e73808d1, 2013-11-13 (annotated)
- Committer:
- Birkan
- Date:
- Wed Nov 13 22:33:57 2013 +0000
- Revision:
- 1:3707e73808d1
- Parent:
- 0:0fd92cba86c2
Servo_Ultrasonic_LCD_PC
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Birkan | 0:0fd92cba86c2 | 1 | #include "mbed.h" |
Birkan | 0:0fd92cba86c2 | 2 | #include "Servo.h" |
Birkan | 0:0fd92cba86c2 | 3 | #include "hcsr04.h" |
Birkan | 0:0fd92cba86c2 | 4 | #include "TextLCD.h" |
Birkan | 0:0fd92cba86c2 | 5 | |
Birkan | 1:3707e73808d1 | 6 | LocalFileSystem local("local"); // text dosyası açılımı |
Birkan | 0:0fd92cba86c2 | 7 | Serial pc(USBTX, USBRX); // pc & mbed seri iletişimi |
Birkan | 0:0fd92cba86c2 | 8 | TextLCD lcd(p15, p16, p17, p18, p19, p20); // rs, e, d4-d7 LCD pin bağlantısı |
Birkan | 0:0fd92cba86c2 | 9 | Servo myservo(p21); // servo pin girişi |
Birkan | 0:0fd92cba86c2 | 10 | DigitalOut hedef_var(LED1); |
Birkan | 0:0fd92cba86c2 | 11 | DigitalOut working(LED2); |
Birkan | 0:0fd92cba86c2 | 12 | DigitalOut open(LED3); |
Birkan | 0:0fd92cba86c2 | 13 | DigitalOut close(LED4); |
Birkan | 0:0fd92cba86c2 | 14 | HCSR04 usensor(p25,p9); // ultrasonic sensor trig, echo pinleri |
Birkan | 0:0fd92cba86c2 | 15 | |
Birkan | 0:0fd92cba86c2 | 16 | int dist; // distance için 'd' |
Birkan | 0:0fd92cba86c2 | 17 | char c; // pc den alınan karakter için 'c' |
Birkan | 1:3707e73808d1 | 18 | float p,i,j,a,b; // servo için adım tanımı |
Birkan | 0:0fd92cba86c2 | 19 | |
Birkan | 0:0fd92cba86c2 | 20 | int main() |
Birkan | 0:0fd92cba86c2 | 21 | { |
Birkan | 0:0fd92cba86c2 | 22 | |
Birkan | 0:0fd92cba86c2 | 23 | working=1; // çalıştığını gösteriyor |
Birkan | 0:0fd92cba86c2 | 24 | |
Birkan | 0:0fd92cba86c2 | 25 | while(1) |
Birkan | 0:0fd92cba86c2 | 26 | { |
Birkan | 0:0fd92cba86c2 | 27 | |
Birkan | 0:0fd92cba86c2 | 28 | |
Birkan | 0:0fd92cba86c2 | 29 | for(p=0.0; p<=1.0; p += 0.05) // servo için adım |
Birkan | 0:0fd92cba86c2 | 30 | { |
Birkan | 0:0fd92cba86c2 | 31 | usensor.start(); // usensor sinyal gönderiyor |
Birkan | 0:0fd92cba86c2 | 32 | wait_ms(500); |
Birkan | 0:0fd92cba86c2 | 33 | dist=usensor.get_dist_cm(); // sinyal dönüşü mesafe hesabı |
Birkan | 0:0fd92cba86c2 | 34 | lcd.cls(); |
Birkan | 0:0fd92cba86c2 | 35 | lcd.locate(0,0); |
Birkan | 0:0fd92cba86c2 | 36 | lcd.printf("Obs Range cm:%ld",dist); // LCD ye mesafe yazdırılıyor |
Birkan | 0:0fd92cba86c2 | 37 | printf("%d\n ",dist); // |
Birkan | 0:0fd92cba86c2 | 38 | printf("%f\n ",p); // |
Birkan | 0:0fd92cba86c2 | 39 | |
Birkan | 0:0fd92cba86c2 | 40 | |
Birkan | 0:0fd92cba86c2 | 41 | if(dist<50) //30 cm den az hedef varsa doğrulamak için |
Birkan | 0:0fd92cba86c2 | 42 | { |
Birkan | 0:0fd92cba86c2 | 43 | lcd.cls(); |
Birkan | 0:0fd92cba86c2 | 44 | lcd.locate(0,0); |
Birkan | 0:0fd92cba86c2 | 45 | lcd.printf("Obs Range cm:%ld",dist); |
Birkan | 0:0fd92cba86c2 | 46 | lcd.locate(0,1); |
Birkan | 0:0fd92cba86c2 | 47 | lcd.printf("location :%f",p); |
Birkan | 1:3707e73808d1 | 48 | hedef_var=1; |
Birkan | 0:0fd92cba86c2 | 49 | } |
Birkan | 0:0fd92cba86c2 | 50 | |
Birkan | 0:0fd92cba86c2 | 51 | else if(dist>50) |
Birkan | 0:0fd92cba86c2 | 52 | { |
Birkan | 0:0fd92cba86c2 | 53 | hedef_var=0; |
Birkan | 0:0fd92cba86c2 | 54 | |
Birkan | 0:0fd92cba86c2 | 55 | } |
Birkan | 0:0fd92cba86c2 | 56 | |
Birkan | 0:0fd92cba86c2 | 57 | |
Birkan | 0:0fd92cba86c2 | 58 | myservo = p; |
Birkan | 0:0fd92cba86c2 | 59 | wait(0.2); |
Birkan | 0:0fd92cba86c2 | 60 | |
Birkan | 0:0fd92cba86c2 | 61 | |
Birkan | 0:0fd92cba86c2 | 62 | } |
Birkan | 0:0fd92cba86c2 | 63 | |
Birkan | 0:0fd92cba86c2 | 64 | // SERVO GERİ DÖNÜYOR // |
Birkan | 0:0fd92cba86c2 | 65 | |
Birkan | 0:0fd92cba86c2 | 66 | for(p=1.0; p>0.0; p -=0.05) |
Birkan | 0:0fd92cba86c2 | 67 | { |
Birkan | 0:0fd92cba86c2 | 68 | usensor.start(); |
Birkan | 0:0fd92cba86c2 | 69 | wait_ms(500); |
Birkan | 0:0fd92cba86c2 | 70 | dist=usensor.get_dist_cm(); |
Birkan | 0:0fd92cba86c2 | 71 | lcd.cls(); |
Birkan | 0:0fd92cba86c2 | 72 | lcd.locate(0,0); |
Birkan | 0:0fd92cba86c2 | 73 | lcd.printf("Obs Range cm:%ld",dist); |
Birkan | 0:0fd92cba86c2 | 74 | printf(" %d\n ",dist); // |
Birkan | 0:0fd92cba86c2 | 75 | printf("%f\n ",p); // |
Birkan | 0:0fd92cba86c2 | 76 | |
Birkan | 0:0fd92cba86c2 | 77 | if(dist<=50) |
Birkan | 0:0fd92cba86c2 | 78 | { |
Birkan | 0:0fd92cba86c2 | 79 | |
Birkan | 0:0fd92cba86c2 | 80 | |
Birkan | 0:0fd92cba86c2 | 81 | lcd.cls(); |
Birkan | 0:0fd92cba86c2 | 82 | lcd.locate(0,0); |
Birkan | 0:0fd92cba86c2 | 83 | lcd.printf("Obs Range cm:%ld",dist); |
Birkan | 0:0fd92cba86c2 | 84 | lcd.locate(0,1); |
Birkan | 0:0fd92cba86c2 | 85 | lcd.printf("location :%f",p); |
Birkan | 1:3707e73808d1 | 86 | hedef_var=1; |
Birkan | 1:3707e73808d1 | 87 | |
Birkan | 0:0fd92cba86c2 | 88 | } |
Birkan | 0:0fd92cba86c2 | 89 | else if(dist>50) |
Birkan | 0:0fd92cba86c2 | 90 | { |
Birkan | 0:0fd92cba86c2 | 91 | hedef_var=0; |
Birkan | 0:0fd92cba86c2 | 92 | } |
Birkan | 0:0fd92cba86c2 | 93 | |
Birkan | 0:0fd92cba86c2 | 94 | |
Birkan | 0:0fd92cba86c2 | 95 | myservo = p; |
Birkan | 0:0fd92cba86c2 | 96 | wait(0.2); |
Birkan | 0:0fd92cba86c2 | 97 | |
Birkan | 0:0fd92cba86c2 | 98 | |
Birkan | 0:0fd92cba86c2 | 99 | } |
Birkan | 0:0fd92cba86c2 | 100 | |
Birkan | 0:0fd92cba86c2 | 101 | } |
Birkan | 0:0fd92cba86c2 | 102 | |
Birkan | 0:0fd92cba86c2 | 103 | |
Birkan | 0:0fd92cba86c2 | 104 | |
Birkan | 0:0fd92cba86c2 | 105 | |
Birkan | 0:0fd92cba86c2 | 106 | } |
Birkan | 0:0fd92cba86c2 | 107 |