Michael Goyeneche / Mbed 2 deprecated Ultrasonic

Radar detector de obstáculos con sensor ultrasonido y motor paso a paso

Dependencies:   mbed mbed-STM32F103C8T6 USBDevice_STM32F103 TextLCD HCSR04

main.cpp@0:29c68dc30a1e, 2021-11-18 (annotated)

Committer:
michjpr
Date:
Thu Nov 18 03:25:19 2021 +0000
Revision:
0:29c68dc30a1e
Redar deteccion de obstaculos con ultrasonido y motor paso a paso

Who changed what in which revision?

UserRevisionLine numberNew contents of line
michjpr 0:29c68dc30a1e 1 #include "stm32f103c8t6.h"
michjpr 0:29c68dc30a1e 2 #include "USBSerial.h"
michjpr 0:29c68dc30a1e 3 #include "mbed.h"
michjpr 0:29c68dc30a1e 4 //#include "HCSR04.h"
michjpr 0:29c68dc30a1e 5 #include "hcsr04.h"
michjpr 0:29c68dc30a1e 6 #include "TextLCD.h"
michjpr 0:29c68dc30a1e 7 Serial pc(USBTX,USBRX);
michjpr 0:29c68dc30a1e 8 HCSR04 ultra(PA_0,PA_1);
michjpr 0:29c68dc30a1e 9 //BusOut motor(PA_4,PA_5,PA_6,PA_7);
michjpr 0:29c68dc30a1e 10 DigitalOut a(PA_4);
michjpr 0:29c68dc30a1e 11 DigitalOut a_(PA_5);
michjpr 0:29c68dc30a1e 12 DigitalOut b(PA_6);
michjpr 0:29c68dc30a1e 13 DigitalOut b_(PA_7);
michjpr 0:29c68dc30a1e 14 int Velocidad = 10000;
michjpr 0:29c68dc30a1e 15 I2C i2c_lcd(PB_9,PB_8); // SDA, SCL
michjpr 0:29c68dc30a1e 16 TextLCD_I2C lcd(&i2c_lcd,0x4E, TextLCD::LCD16x2, TextLCD::HD44780);
michjpr 0:29c68dc30a1e 17 unsigned int dist;
michjpr 0:29c68dc30a1e 18 float range=0;
michjpr 0:29c68dc30a1e 19 int centimetros=0;
michjpr 0:29c68dc30a1e 20 int distancias[2][24];
michjpr 0:29c68dc30a1e 21 int menord=10000;
michjpr 0:29c68dc30a1e 22 int menora=180;
michjpr 0:29c68dc30a1e 23 int tiempo=10000;
michjpr 0:29c68dc30a1e 24 BusOut Anodos(PA_8, PA_9, PA_10, PA_11, PA_12, PA_15, PB_3);
michjpr 0:29c68dc30a1e 25 BusOut Catodos(PB_4,PB_5);
michjpr 0:29c68dc30a1e 26 Ticker ticker1;
michjpr 0:29c68dc30a1e 27 int numeroSeg[10]={0b0111111, 0b0000110, 0b1011011, 0b1001111, 0b1100110, 0b1101101, 0b1111101, 0b0000111, 0b1111111, 0b1101111};
michjpr 0:29c68dc30a1e 28 int numeroCat[2]={0b01, 0b10};
michjpr 0:29c68dc30a1e 29 int menorvec[2];
michjpr 0:29c68dc30a1e 30 int contadorsegmentos=0;
michjpr 0:29c68dc30a1e 31 int i=0;
michjpr 0:29c68dc30a1e 32 void rotate(){
michjpr 0:29c68dc30a1e 33 if(i>3){
michjpr 0:29c68dc30a1e 34 i=0; }
michjpr 0:29c68dc30a1e 35 else if(i<0){
michjpr 0:29c68dc30a1e 36 i=3; }
michjpr 0:29c68dc30a1e 37 if(i==0){
michjpr 0:29c68dc30a1e 38 a=1;
michjpr 0:29c68dc30a1e 39 a_=0;
michjpr 0:29c68dc30a1e 40 b=0;
michjpr 0:29c68dc30a1e 41 b_=1; }
michjpr 0:29c68dc30a1e 42 else if(i==1){
michjpr 0:29c68dc30a1e 43 a=1;
michjpr 0:29c68dc30a1e 44 a_=0;
michjpr 0:29c68dc30a1e 45 b=1;
michjpr 0:29c68dc30a1e 46 b_=0; }
michjpr 0:29c68dc30a1e 47 else if(i==2){
michjpr 0:29c68dc30a1e 48 a=0;
michjpr 0:29c68dc30a1e 49 a_=1;
michjpr 0:29c68dc30a1e 50 b=1;
michjpr 0:29c68dc30a1e 51 b_=0; }
michjpr 0:29c68dc30a1e 52 else if(i==3){
michjpr 0:29c68dc30a1e 53 a=0;
michjpr 0:29c68dc30a1e 54 a_=1;
michjpr 0:29c68dc30a1e 55 b=0;
michjpr 0:29c68dc30a1e 56 b_=1; }
michjpr 0:29c68dc30a1e 57 wait(0.01);
michjpr 0:29c68dc30a1e 58 }
michjpr 0:29c68dc30a1e 59 void cw(uint16_t step){
michjpr 0:29c68dc30a1e 60 for(int count=0;count<step;count++){
michjpr 0:29c68dc30a1e 61 i++;
michjpr 0:29c68dc30a1e 62 rotate();
michjpr 0:29c68dc30a1e 63 }
michjpr 0:29c68dc30a1e 64 }
michjpr 0:29c68dc30a1e 65
michjpr 0:29c68dc30a1e 66 void Radar(){
michjpr 0:29c68dc30a1e 67 lcd.setBacklight(TextLCD::LightOff);//LightOff, LightOn
michjpr 0:29c68dc30a1e 68 lcd.setCursor(TextLCD::CurOff_BlkOff);//CurOff_BlkOff, CurOn_BlkOff, CurOff_BlkOn, CurOn_BlkOn
michjpr 0:29c68dc30a1e 69 confSysClock();
michjpr 0:29c68dc30a1e 70 USBSerial usbSerial(0x1f00, 0x2012, 0x0001, false);
michjpr 0:29c68dc30a1e 71 for(int i=0;i<24;i++){
michjpr 0:29c68dc30a1e 72 ultra.start();
michjpr 0:29c68dc30a1e 73 wait_ms(500);
michjpr 0:29c68dc30a1e 74 dist=ultra.get_dist_cm();
michjpr 0:29c68dc30a1e 75 cw(170);//170
michjpr 0:29c68dc30a1e 76 lcd.cls ();
michjpr 0:29c68dc30a1e 77 lcd.locate(0,0);
michjpr 0:29c68dc30a1e 78 lcd.printf("Fuck you men");
michjpr 0:29c68dc30a1e 79 lcd.locate(0,1);
michjpr 0:29c68dc30a1e 80 lcd.printf("Gonorrea");
michjpr 0:29c68dc30a1e 81 distancias[1][i]=i*(360/24);
michjpr 0:29c68dc30a1e 82 distancias[0][i]=dist;
michjpr 0:29c68dc30a1e 83 }
michjpr 0:29c68dc30a1e 84 for(int i=0;i<24;i++){
michjpr 0:29c68dc30a1e 85 if(distancias[0][i]<menord){
michjpr 0:29c68dc30a1e 86 menord=distancias[0][i];
michjpr 0:29c68dc30a1e 87 menora=distancias[1][i];
michjpr 0:29c68dc30a1e 88 }
michjpr 0:29c68dc30a1e 89 usbSerial.printf(" [%icm ,", distancias[0][i]);
michjpr 0:29c68dc30a1e 90 usbSerial.printf(" %i]", distancias[1][i]);
michjpr 0:29c68dc30a1e 91 }
michjpr 0:29c68dc30a1e 92 usbSerial.printf(" menor distancia %icm,\r\n", menord);
michjpr 0:29c68dc30a1e 93 usbSerial.printf(" angulo %i.\r\n", menora);
michjpr 0:29c68dc30a1e 94 lcd.cls ();
michjpr 0:29c68dc30a1e 95 lcd.locate(0,0);
michjpr 0:29c68dc30a1e 96 lcd.printf("menor distancia cm:%ld",menord );
michjpr 0:29c68dc30a1e 97 wait(5);
michjpr 0:29c68dc30a1e 98 menorvec[0]=menord/100;
michjpr 0:29c68dc30a1e 99 menorvec[1]=(menord%100)/10;
michjpr 0:29c68dc30a1e 100 // menorvec[2]=menord%10;
michjpr 0:29c68dc30a1e 101 }
michjpr 0:29c68dc30a1e 102 void segmentos(){
michjpr 0:29c68dc30a1e 103
michjpr 0:29c68dc30a1e 104 Catodos=numeroCat[contadorsegmentos];
michjpr 0:29c68dc30a1e 105 Anodos=numeroSeg[menorvec[contadorsegmentos]];
michjpr 0:29c68dc30a1e 106 contadorsegmentos+=1;
michjpr 0:29c68dc30a1e 107 if (contadorsegmentos>2){
michjpr 0:29c68dc30a1e 108 contadorsegmentos=0;
michjpr 0:29c68dc30a1e 109 }
michjpr 0:29c68dc30a1e 110 }
michjpr 0:29c68dc30a1e 111 int main()
michjpr 0:29c68dc30a1e 112 {
michjpr 0:29c68dc30a1e 113 ticker1.attach(&segmentos, 0.002);
michjpr 0:29c68dc30a1e 114 Catodos=0b00;
michjpr 0:29c68dc30a1e 115
michjpr 0:29c68dc30a1e 116 confSysClock();
michjpr 0:29c68dc30a1e 117 USBSerial usbSerial(0x1f00, 0x2012, 0x0001, false);
michjpr 0:29c68dc30a1e 118
michjpr 0:29c68dc30a1e 119 while(1) {
michjpr 0:29c68dc30a1e 120 Radar();
michjpr 0:29c68dc30a1e 121 }
michjpr 0:29c68dc30a1e 122 }