hisyam fs
tes ir atas semua
Dependencies: mbed ADS1115 StepperMotor SRF05 TPA81new
Diff: main.cpp
- Revision:
- 14:207770fefedf
- Parent:
- 13:0c5942931cad
- Child:
- 15:da7a15289893
--- a/main.cpp Fri Jan 04 11:58:19 2019 +0000
+++ b/main.cpp Thu Jan 17 13:23:10 2019 +0000
@@ -4,103 +4,161 @@
#include "Uvtron.h"
#include "TPA81new.h"
#include "SRF05.h"
+#include "SharpIR.h"
#define WAIT_TIME 0.02
Serial pc(USBTX, USBRX);
-AnalogIn IR(PA_0);
-// stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir);
-stepper s(PC_6, PC_8, PA_12, PC_7, PA_11, PB_12);
+
+// Kaki
+AX12 servo1(PC_10, PC_11, PA_13, 1, 1000000); // tx, rx, tx_enable, servo ID, baud rate
+
+// Kepala
+// Infrared
+SharpIR irb1(PA_0);
+SharpIR irb2(PA_1);
+SharpIR irb3(PA_4);
+SharpIR irb4(PB_0);
+SharpIR ira1(PC_5);
+SharpIR ira2(PA_5);
+SharpIR ira3(PC_2);
+SharpIR ira4(PC_3);
+SharpIR ira5(PB_1);
+SharpIR ira6(PC_4);
+SharpIR ira7(PA_6);
+SharpIR ira8(PA_7);
+// Kompas
+// MPU9255 mpu(PB_4, PA_8)
+// Line
+AnalogIn line(PC_1);
+// Sound activation
+DigitalIn sound(PA_3);
+
+// Topi
+// TPA
+TPA81 tpa1(PB_9, PB_8, 0xDC); // sda, scl, id
+TPA81 tpa2(PB_3, PB_10, 0xDE);
+// Ultrasonik
+SRF05 us1(PB_7, PB_15); // trigger, echo
+SRF05 us2(PC_15, PC_14); // trigger echo
+// Uvtron
Uvtron uv(PC_12);
-AX12 servo1(PC_10, PC_11, PA_13, 1, 1000000); // tx, rx, tx_enable, servo ID, baud rate
-TPA81 tpay(PB_9,PB_8, 0xDE);
-SRF05 srf(PA_15, PA_14); // trigger, echo
DigitalOut led(LED1);
+// stepper
+stepper s(PC_6, PC_8, PA_12, PC_7, PA_11, PB_12); // _en, ms1, ms2, ms3, _step, dir
+// relay
+DigitalOut relay(PB_2);
int main()
{
-// s.enable();
+ pc.printf("Memulai test\n");
+ pc.printf("3\n");
+ wait(1);
+ pc.printf("2\n");
+ wait(1);
+ pc.printf("1\n");
+ wait(1);
while (1)
{
-// Ultrasonik
- pc.printf("Distance = %.1f\n", srf.read());
-
-// TPA
- pc.printf("%d", tpay.getTemp(0));
- int i;
- pc.printf("\nTPA Y \n");
- tpay.Read();
- for (i=2; i<=9; i++) {
- pc.printf("%d ",tpay.getTemp(i));
+ // Servo
+// pc.printf("Test Servo : 240\n");
+// int degrees1 = 240;
+// float speed1 = 1.0f;
+// servo1.MultSetGoal(degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1);
+// degrees1 = 150;
+// pc.printf("150/n");
+// servo1.MultSetGoal(degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1,
+// degrees1, speed1);
+
+ // Infrared Bawah
+ //float b1 = irb1.read();
+// float b2 = irb2.read();
+// float b3 = irb3.read();
+// float b4 = irb4.read();
+// pc.printf("IR bawah\n");
+// pc.printf(" %.f \n", b1);
+// pc.printf("%.f %.f\n", b2, b4);
+// pc.printf(" %.f \n", b3);
+
+ // Line
+ pc.printf("Line : %.f\n", line.read());
+
+ // Infrared Atas
+ //float a1 = ira1.read();
+// float a2 = ira2.read();
+// float a3 = ira3.read();
+// float a4 = ira4.read();
+// float a5 = ira5.read();
+// float a6 = ira6.read();
+// float a7 = ira7.read();
+// float a8 = ira8.read();
+// pc.printf("IR atas\n");
+// pc.printf(" %.f %.f\n", a2, a1);
+// pc.printf("%.f %.f\n", a3, a8);
+// pc.printf("%.f %.f\n", a4, a7);
+// pc.printf(" %.f %.f\n", a5, a6);
+//
+ // Sound activation
+
+ // Stepper
+ //pc.printf("Stepper 1 putaran\n");
+// for(int i=0; i<200; i++)
+// {
+// s.step(1, 1, 50);
+// }
+
+ // TPA
+ tpa1.Read();
+ tpa2.Read();
+ pc.printf("TPA 1\tTPA 2\n");
+ for (int i = 0; i < 8; i++)
+ {
+ pc.printf("%d\t%d\n", tpa1.Data[i], tpa2.Data[i]);
}
-// Stepper
- pc.printf("\n stepper \n");
- s.step(1, 1, 1/WAIT_TIME);
-
- // Servo
- float degrees2 = 150;
- float speed1 = 1.0;
- servo1.MultSetGoal(
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1
- );
-
- pc.printf("Servo 150\n");
- wait(1);
-
- degrees2 = 240;
-
- servo1.MultSetGoal(
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1,
- degrees2, speed1
- );
-
- pc.printf("Servo 240\n");
- wait(1);
-
- // Uvtron
- uv.Read();
- int read = uv.Flag;
- if (read) pc.printf("FIRE DETECTED\n");
- else pc.printf("NOT DETECTED\n");
-
- // IR
- float meas = IR.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
- meas = meas * 3300; // Change the value to be in the 0 to 3300 range
- float ir_dist = (330377) * (pow(meas , (-1.349f)));
- printf("IR : %.4f\n", ir_dist);
- }
+ // Uvtron
+ uv.Read();
+ int read = uv.Flag;
+ pc.printf("UVTron = %d\n", read);
+ // Ultrasonik
+ pc.printf("Ultrasonik 1 : %.f Ultrasonik 2 : %.f \n", us1.read(), us2.read());
+ // Relay
+ pc.printf("relay\n");
+ relay = 1;
+ wait(1);
+ relay = 0;
+ }
}
\ No newline at end of file