[260] | 1 | #include "r2ca.h"
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[226] | 2 |
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| 3 | #define SERVO
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| 4 | //#define ULTRASONIC
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| 5 | //#define LCD_ULTRASONIC
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[260] | 6 | //#define LCD_ULTRASONIC_SERVO /* define R2CA_NUM_TASK as 1 */
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[226] | 7 |
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| 8 | #ifdef SERVO
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| 9 |
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| 10 | /* Sweep
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| 11 | by BARRAGAN <http://barraganstudio.com>
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| 12 | This example code is in the public domain.
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| 13 |
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| 14 | modified 8 Nov 2013
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| 15 | by Scott Fitzgerald
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| 16 | http://arduino.cc/en/Tutorial/Sweep
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| 17 | */
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| 18 |
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| 19 | #include <Servo.h>
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| 20 |
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| 21 | Servo myservo; // create servo object to control a servo
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| 22 | // twelve servo objects can be created on most boards
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| 23 |
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| 24 | int pos = 0; // variable to store the servo position
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| 25 |
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| 26 | void setup()
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| 27 | {
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| 28 | myservo.attach(2); // attaches the servo on pin 9 to the servo object
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| 29 | }
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| 30 |
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| 31 | void loop()
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| 32 | {
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| 33 | for(pos = 0; pos <= 180; pos += 1) // goes from 0 degrees to 180 degrees
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| 34 | { // in steps of 1 degree
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| 35 | myservo.write(pos); // tell servo to go to position in variable 'pos'
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| 36 | delay(15); // waits 15ms for the servo to reach the position
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| 37 | }
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| 38 | for(pos = 180; pos>=0; pos-=1) // goes from 180 degrees to 0 degrees
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| 39 | {
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| 40 | myservo.write(pos); // tell servo to go to position in variable 'pos'
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| 41 | delay(15); // waits 15ms for the servo to reach the position
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| 42 | }
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| 43 | }
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| 44 |
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| 45 | #endif /* SERVO */
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| 46 |
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| 47 | #ifdef ULTRASONIC
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| 48 |
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| 49 | /*
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| 50 | * UltrasonicDisplayOnTerm.ino
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| 51 | * Example sketch for ultrasonic ranger
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| 52 | *
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| 53 | * Copyright (c) 2012 seeed technology inc.
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| 54 | * Website : www.seeed.cc
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| 55 | * Author : LG, FrankieChu
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| 56 | * Create Time: Jan 17,2013
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| 57 | * Change Log :
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| 58 | *
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| 59 | * The MIT License (MIT)
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| 60 | *
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| 61 | * Permission is hereby granted, free of charge, to any person obtaining a copy
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| 62 | * of this software and associated documentation files (the "Software"), to deal
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| 63 | * in the Software without restriction, including without limitation the rights
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| 64 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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| 65 | * copies of the Software, and to permit persons to whom the Software is
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| 66 | * furnished to do so, subject to the following conditions:
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| 67 | *
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| 68 | * The above copyright notice and this permission notice shall be included in
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| 69 | * all copies or substantial portions of the Software.
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| 70 | *
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| 71 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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| 72 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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| 73 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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| 74 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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| 75 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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| 76 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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| 77 | * THE SOFTWARE.
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| 78 | */
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| 79 |
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| 80 |
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| 81 | /***************************************************************************/
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| 82 | // Function: Measure the distance to obstacles in front and print the distance
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| 83 | // value to the serial terminal.The measured distance is from
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| 84 | // the range 0 to 400cm(157 inches).
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| 85 | // Hardware: Grove - Ultrasonic Ranger
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| 86 | // Arduino IDE: Arduino-1.0
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| 87 | /*****************************************************************************/
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| 88 |
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| 89 | #include "Ultrasonic.h"
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| 90 |
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| 91 | Ultrasonic ultrasonic(3);
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| 92 |
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[260] | 93 | extern void task1_setup();
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| 94 |
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[226] | 95 | void setup()
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| 96 | {
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| 97 | Serial.begin(115200);
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| 98 | }
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| 99 | void loop()
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| 100 | {
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| 101 | long RangeInCentimeters;
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| 102 | RangeInCentimeters = ultrasonic.MeasureInCentimeters(); // two measurements should keep an interval
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| 103 | Serial.print(RangeInCentimeters);//0~400cm
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| 104 | Serial.println(" cm");
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| 105 | delay(250);
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[260] | 106 |
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| 107 | task1_setup();
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[226] | 108 | }
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| 109 |
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| 110 | #endif /* ULTRASONIC */
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| 111 |
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| 112 | #ifdef LCD_ULTRASONIC
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| 113 |
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| 114 | #include <Wire.h>
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| 115 | #include <SeeedGrayOLED.h>
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| 116 | #include <avr/pgmspace.h>
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| 117 | #include "Ultrasonic.h"
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| 118 |
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| 119 | Ultrasonic ultrasonic(3);
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| 120 |
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| 121 | void setup()
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| 122 | {
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| 123 | Wire.begin();
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| 124 | SeeedGrayOled.init(); //initialize SEEED OLED display
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| 125 | SeeedGrayOled.clearDisplay(); //Clear Display.
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| 126 | SeeedGrayOled.setNormalDisplay(); //Set Normal Display Mode
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| 127 | SeeedGrayOled.setVerticalMode(); // Set to vertical mode for displaying text
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| 128 | }
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| 129 |
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| 130 | void loop()
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| 131 | {
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| 132 | long RangeInCentimeters;
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| 133 |
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| 134 | SeeedGrayOled.setTextXY(0,0); //set Cursor to ith line, 0th column
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| 135 | SeeedGrayOled.setGrayLevel(15); //Set Grayscale level. Any number between 0 - 15.
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| 136 | RangeInCentimeters = ultrasonic.MeasureInCentimeters(); // two measurements should keep an interval
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| 137 | SeeedGrayOled.putNumber(RangeInCentimeters);//0~400cm
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| 138 | SeeedGrayOled.putString(" cm ");
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| 139 | delay(250);
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| 140 | }
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| 141 | #endif /* LCD_ULTRASONIC */
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| 142 |
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| 143 | #ifdef LCD_ULTRASONIC_SERVO
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| 144 |
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| 145 | #include <Wire.h>
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| 146 | #include <SeeedGrayOLED.h>
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| 147 | #include <avr/pgmspace.h>
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| 148 | #include "Ultrasonic.h"
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| 149 |
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| 150 | Ultrasonic ultrasonic(3);
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| 151 |
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| 152 | void setup()
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| 153 | {
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| 154 | Wire.begin();
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| 155 | SeeedGrayOled.init(); //initialize SEEED OLED display
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| 156 | SeeedGrayOled.clearDisplay(); //Clear Display.
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| 157 | SeeedGrayOled.setNormalDisplay(); //Set Normal Display Mode
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| 158 | SeeedGrayOled.setVerticalMode(); // Set to vertical mode for displaying text
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| 159 | }
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| 160 |
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| 161 | void loop()
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| 162 | {
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| 163 | long RangeInCentimeters;
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| 164 |
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| 165 | SeeedGrayOled.setTextXY(0,0); //set Cursor to ith line, 0th column
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| 166 | SeeedGrayOled.setGrayLevel(15); //Set Grayscale level. Any number between 0 - 15.
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| 167 | RangeInCentimeters = ultrasonic.MeasureInCentimeters(); // two measurements should keep an interval
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| 168 | SeeedGrayOled.putNumber(RangeInCentimeters);//0~400cm
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| 169 | SeeedGrayOled.putString(" cm ");
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| 170 | delay(250);
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| 171 | }
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| 172 |
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| 173 | /* Sweep
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| 174 | by BARRAGAN <http://barraganstudio.com>
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| 175 | This example code is in the public domain.
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| 176 |
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| 177 | modified 8 Nov 2013
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| 178 | by Scott Fitzgerald
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| 179 | http://arduino.cc/en/Tutorial/Sweep
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| 180 | */
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| 181 |
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| 182 | #include <Servo.h>
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| 183 |
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| 184 | Servo myservo; // create servo object to control a servo
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| 185 | // twelve servo objects can be created on most boards
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| 186 |
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| 187 | int pos = 0; // variable to store the servo position
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| 188 |
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| 189 | void task1_setup()
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| 190 | {
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| 191 | myservo.attach(2); // attaches the servo on pin 9 to the servo object
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| 192 | }
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| 193 |
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[260] | 194 | void loop1()
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[226] | 195 | {
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| 196 | for(pos = 0; pos <= 180; pos += 1) // goes from 0 degrees to 180 degrees
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| 197 | { // in steps of 1 degree
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| 198 | myservo.write(pos); // tell servo to go to position in variable 'pos'
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| 199 | delay(15); // waits 15ms for the servo to reach the position
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| 200 | }
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| 201 | for(pos = 180; pos>=0; pos-=1) // goes from 180 degrees to 0 degrees
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| 202 | {
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| 203 | myservo.write(pos); // tell servo to go to position in variable 'pos'
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| 204 | delay(15); // waits 15ms for the servo to reach the position
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| 205 | }
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| 206 | }
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| 207 |
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| 208 | #endif /* LCD_ULTRASONIC */
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