Revision 0:92bf762d49fa, committed 2020-12-20

Comitter:

aitor98

Date:

Sun Dec 20 22:27:31 2020 +0000

Commit message:

Cambiosss

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Adafruit_GFX.lib	Sun Dec 20 22:27:31 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/nkhorman/code/Adafruit_GFX/#7fb1d4d3525d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BluetoothSerial.lib	Sun Dec 20 22:27:31 2020 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/yihui/code/BluetoothSerial/#f56002898ee8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SeeedShieldBot.lib	Sun Dec 20 22:27:31 2020 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/teams/components/code/SeeedShieldBot/#9fd1722259a1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hcsr04.cpp	Sun Dec 20 22:27:31 2020 +0000
@@ -0,0 +1,98 @@
+/* Copyright (c) 2013 Prabhu Desai
+ * pdtechworld@gmail.com
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+#include "hcsr04.h"
+
+
+HCSR04::HCSR04(PinName TrigPin,PinName EchoPin):
+    trigger(TrigPin), echo(EchoPin)
+{
+    pulsetime.stop();
+    pulsetime.reset();
+    echo.rise(this,&HCSR04::isr_rise);
+    echo.fall(this,&HCSR04::isr_fall);
+    trigger=0;
+}
+
+HCSR04::~HCSR04()
+{
+}
+
+void HCSR04::isr_rise(void)
+{
+    pulsetime.start();
+}
+void HCSR04::start(void)
+{
+    trigger=1;
+    wait_us(10);
+    trigger=0;
+}
+
+void HCSR04::isr_fall(void)
+{
+    pulsetime.stop();
+    pulsedur = pulsetime.read_us();
+    distance= (pulsedur*343)/20000;
+    pulsetime.reset();
+}
+
+void HCSR04::rise (void (*fptr)(void))
+{
+    echo.rise(fptr);
+}
+void HCSR04::fall (void (*fptr)(void))
+{
+    echo.fall(fptr);
+}
+
+unsigned int HCSR04::get_dist_cm()
+{
+    return distance;
+}
+unsigned int HCSR04::get_pulse_us()
+{
+    return pulsedur;
+}
+
+
+
+/*******************************************************
+   Here is a sample code usage
+********************************************************* 
+#include "hcsr04.h"
+HCSR04  usensor(p25,p6);
+int main()
+{
+    unsigned char count=0;
+    while(1) {
+        usensor.start();
+        wait_ms(500); 
+        dist=usensor.get_dist_cm();
+        lcd.cls();
+        lcd.locate(0,0);
+        lcd.printf("cm:%ld",dist );
+ 
+        count++;
+        lcd.locate(0,1);
+        lcd.printf("Distance =%d",count);
+        
+    }
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hcsr04.h	Sun Dec 20 22:27:31 2020 +0000
@@ -0,0 +1,68 @@
+/* Copyright (c) 2013 Prabhu Desai
+ * pdtechworld@gmail.com
+ *
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * For more details on the sensor :
+ * http://www.elecfreaks.com/store/hcsr04-ultrasonic-sensor-distance-measuring-module-p-91.html?zenid=pgm8pgnvaodbe36dibq5s1soi3
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef MBED_HCSR04_H
+#define MBED_HCSR04_H
+
+#include "mbed.h"
+
+/** HCSR04 Class(es)
+ */
+
+class HCSR04
+{
+public:
+    /** Create a HCSR04 object connected to the specified pin
+    * @param pin i/o pin to connect to
+    */
+    HCSR04(PinName TrigPin,PinName EchoPin);
+    ~HCSR04();
+
+    /** Return the distance from obstacle in cm
+    * @param distance in cms and returns -1, in case of failure
+    */
+    unsigned int get_dist_cm(void);
+    /** Return the pulse duration equal to sonic waves travelling to obstacle and back to receiver.
+    * @param pulse duration in microseconds.
+    */
+    unsigned int get_pulse_us(void);
+    /** Generates the trigger pulse of 10us on the trigger PIN.
+    */
+    void start(void );
+    void isr_rise(void);
+    void isr_fall(void);
+    void fall (void (*fptr)(void));
+    void rise (void (*fptr)(void));
+
+
+
+private:
+
+    Timer pulsetime;
+    DigitalOut  trigger;
+    InterruptIn echo;
+    unsigned int pulsedur;
+    unsigned int distance;
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Dec 20 22:27:31 2020 +0000
@@ -0,0 +1,234 @@
+#include "mbed.h"
+#include "hcsr04.h"
+#include "Adafruit_SSD1306.h"
+/*#include "estadomovder.h"
+#include "estadoinicio.h"
+#include "estadocalentar.h"
+#include "estadomovizq1.h"
+#include "estadocentro.h"
+#include "estadomovizq2.h"
+#include "estadosoplado.h"*/
+
+
+class I2CPreInit : public I2C
+{
+public:
+    I2CPreInit(PinName sda, PinName scl) : I2C(sda, scl)
+    {
+        frequency(100000);
+        start();
+    };
+};
+
+I2CPreInit gI2C(PB_9,PB_8);
+
+Serial pc(USBTX, USBRX); // tx, rx
+Serial bt(A5, A4); // tx, rx
+Adafruit_SSD1306_I2c gOled(gI2C,NC,0x78,64,128);
+Ticker repeticion;
+
+DigitalOut led(LED1);
+DigitalOut step(D13);
+DigitalOut dir(D12);
+DigitalOut enable(D11);
+DigitalOut dirAMotor(D4);
+PwmOut     dirBMotor(A3);
+InterruptIn encoderA(A2);
+DigitalOut rele(D3);
+HCSR04  usensor(D7,D8);
+DigitalIn final1(D9);
+InterruptIn final2(D10);
+AnalogIn Vout(A0);
+AnalogIn Aout(A1);
+
+enum estados {inicio,movder,calentar,movizq1,centro,movizq2,soplado};
+estados estado;
+
+
+void medir_corriente()
+{
+
+    float corriente=((Aout.read()*5)-2.5)/0.185;
+
+    pc.printf("Intensidad medida = %.4f A \n", corriente);
+    bt.printf("Intensidad medida = %.4f A \n", corriente);
+
+}
+
+int dato=0;
+
+void estadoinicio()
+{
+    {
+        if(bt.readable()) { //Mira si hay algun dato pendiente en el bt
+            dato=bt.getc();  //Lee un caracter del bt
+
+        }
+        if (dato=='1') {            //Si el dato es un 1 comienza el proceso
+
+            estado = movder;
+
+
+        } else {      //Si el dato es cualquier otra cosa no empieza a hacer nada
+
+            pc.printf("Reposo\n");
+        }
+    }
+}
+
+
+void estadomovderecha()
+{
+    if(final1==0) {
+        enable=1; //activar el motor
+        dir=1; //direccion hacia la derecha
+        //step=1; // avanzar
+        step=1;
+        wait_us(100);
+        step=0;
+        wait_us(900);
+        pc.printf("Estado: Moviendo derecha\n");
+        gOled.printf("Transportando\n");
+    } else {
+        enable=0;
+        estado=calentar;
+        gOled.clearDisplay();
+    }
+}
+
+void estadocalentar()
+{
+    float tension=Vout.read()*3.3;
+    //pc.printf("Valor voltios %.4f leido flat\n",tension);
+
+    float resistencia= ((3.3*100000.0)/tension)-100000.0;
+
+    float temp= 3950.0/(log(resistencia/100000.0)+(3950.0/298.0));
+    gOled.printf("Calentando a: %.4f\n",temp);
+
+    if (temp<35.0) {
+        //rele.write(1);
+        rele=1;
+        pc.printf("Estado: Rele activado\n");
+
+    } else {
+        rele=0;
+        estado=movizq1;
+        //gOled.clearDisplay();
+    }
+}
+
+void estadomovizq1()
+{
+    unsigned int dist;
+    usensor.start();
+    dist=usensor.get_dist_cm();
+
+    if(dist>20) {
+        enable=1; //activar el motor
+        dir=0; //direccion hacia la derecha
+        step=1; // avanzar
+        wait_us(100);
+        step=0;
+        wait_us(900);
+        pc.printf("Estado: Moviendo izquierda1\n");
+        gOled.printf("Transportando\n");
+    } else {
+        enable=0;
+        estado=centro;
+        gOled.clearDisplay();
+    }
+}
+
+
+void estadocentro()
+{
+    {
+        if(bt.readable()) { //Mira si hay algun dato pendiente en el bt
+            dato=bt.getc();  //Lee un caracter del bt
+
+        }
+        if (dato=='2') {            //Si el dato es un 1 comienza el proceso
+
+            estado = movder;
+            gOled.printf("Pieza incorrecta\n");
+
+        } else if(dato=='3') {      //Si el dato es una b enciende el led
+
+            estado = movizq2;
+            gOled.printf("Pieza correcta\n");
+        }
+    }
+}
+
+void estadomovizq2()
+{
+    if(final2==0) {
+        enable=1; //activar el motor
+        dir=1; //direccion hacia la derecha
+        step=1; // avanzar
+        wait_us(100);
+        step=0;
+        wait_us(900);
+        pc.printf("Estado: Moviendo izquierda2\n");
+        gOled.printf("Transportando\n");
+    } else {
+        enable=0;
+        estado=soplado;
+        gOled.clearDisplay();
+    }
+}
+
+void estadosoplado()
+{
+
+    dirAMotor=0;
+    pc.printf("Soplando pieza");
+    gOled.printf("Soplando");
+    wait(5);
+    estado=inicio;
+
+}
+
+
+
+int main()
+{
+    pc.baud(115200);
+    estado = inicio;
+    gOled.begin();
+    gOled.clearDisplay();
+
+    repeticion.attach(&medir_corriente, 5.0); //Medir la intensidad cada tres segundos
+
+
+    while(1) {
+        switch (estado) {
+            case inicio:
+                estadoinicio();
+                break;
+            case movder:
+                estadomovderecha();
+                break;
+            case calentar:
+                estadocalentar();
+                break;
+            case movizq1:
+                estadomovizq1();
+                break;
+            case centro:
+                estadocentro();
+                break;
+            case movizq2:
+                estadomovizq2();
+                break;
+            case soplado:
+                estadosoplado();
+                break;
+            default:
+                break;
+
+        }
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Dec 20 22:27:31 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file