1 | #include "rca.h"
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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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6 | //#define LCD_ULTRASONIC_SERVO /* define RCA_NUM_TASK as 1 */
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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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93 | void setup()
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94 | {
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95 | Serial.begin(115200);
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96 | }
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97 | void loop()
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98 | {
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99 | long RangeInCentimeters;
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100 | RangeInCentimeters = ultrasonic.MeasureInCentimeters(); // two measurements should keep an interval
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101 | Serial.print(RangeInCentimeters);//0~400cm
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102 | Serial.println(" cm");
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103 | delay(250);
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104 | }
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105 |
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106 | #endif /* ULTRASONIC */
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107 |
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108 | #ifdef LCD_ULTRASONIC
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109 |
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110 | #include <Wire.h>
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111 | #include <SeeedGrayOLED.h>
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112 | #include <avr/pgmspace.h>
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113 | #include "Ultrasonic.h"
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114 |
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115 | Ultrasonic ultrasonic(3);
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116 |
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117 | void setup()
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118 | {
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119 | Wire.begin();
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120 | SeeedGrayOled.init(); //initialize SEEED OLED display
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121 | SeeedGrayOled.clearDisplay(); //Clear Display.
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122 | SeeedGrayOled.setNormalDisplay(); //Set Normal Display Mode
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123 | SeeedGrayOled.setVerticalMode(); // Set to vertical mode for displaying text
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124 | }
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125 |
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126 | void loop()
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127 | {
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128 | long RangeInCentimeters;
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129 |
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130 | SeeedGrayOled.setTextXY(0,0); //set Cursor to ith line, 0th column
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131 | SeeedGrayOled.setGrayLevel(15); //Set Grayscale level. Any number between 0 - 15.
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132 | RangeInCentimeters = ultrasonic.MeasureInCentimeters(); // two measurements should keep an interval
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133 | SeeedGrayOled.putNumber(RangeInCentimeters);//0~400cm
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134 | SeeedGrayOled.putString(" cm ");
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135 | delay(250);
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136 | }
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137 | #endif /* LCD_ULTRASONIC */
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138 |
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139 | #ifdef LCD_ULTRASONIC_SERVO
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140 |
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141 | #include <Wire.h>
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142 | #include <SeeedGrayOLED.h>
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143 | #include <avr/pgmspace.h>
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144 | #include "Ultrasonic.h"
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145 |
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146 | Ultrasonic ultrasonic(3);
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147 |
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148 | void setup()
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149 | {
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150 | Wire.begin();
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151 | SeeedGrayOled.init(); //initialize SEEED OLED display
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152 | SeeedGrayOled.clearDisplay(); //Clear Display.
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153 | SeeedGrayOled.setNormalDisplay(); //Set Normal Display Mode
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154 | SeeedGrayOled.setVerticalMode(); // Set to vertical mode for displaying text
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155 | }
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156 |
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157 | void loop()
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158 | {
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159 | long RangeInCentimeters;
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160 |
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161 | SeeedGrayOled.setTextXY(0,0); //set Cursor to ith line, 0th column
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162 | SeeedGrayOled.setGrayLevel(15); //Set Grayscale level. Any number between 0 - 15.
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163 | RangeInCentimeters = ultrasonic.MeasureInCentimeters(); // two measurements should keep an interval
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164 | SeeedGrayOled.putNumber(RangeInCentimeters);//0~400cm
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165 | SeeedGrayOled.putString(" cm ");
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166 | delay(250);
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167 | }
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168 |
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169 | /* Sweep
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170 | by BARRAGAN <http://barraganstudio.com>
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171 | This example code is in the public domain.
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172 |
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173 | modified 8 Nov 2013
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174 | by Scott Fitzgerald
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175 | http://arduino.cc/en/Tutorial/Sweep
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176 | */
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177 |
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178 | #include <Servo.h>
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179 |
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180 | Servo myservo; // create servo object to control a servo
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181 | // twelve servo objects can be created on most boards
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182 |
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183 | int pos = 0; // variable to store the servo position
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184 |
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185 | void task1_setup()
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186 | {
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187 | myservo.attach(2); // attaches the servo on pin 9 to the servo object
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188 | }
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189 |
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190 | void task1_loop()
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191 | {
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192 | for(pos = 0; pos <= 180; pos += 1) // goes from 0 degrees to 180 degrees
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193 | { // in steps of 1 degree
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194 | myservo.write(pos); // tell servo to go to position in variable 'pos'
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195 | delay(15); // waits 15ms for the servo to reach the position
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196 | }
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197 | for(pos = 180; pos>=0; pos-=1) // goes from 180 degrees to 0 degrees
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198 | {
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199 | myservo.write(pos); // tell servo to go to position in variable 'pos'
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200 | delay(15); // waits 15ms for the servo to reach the position
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201 | }
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202 | }
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203 |
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204 | #endif /* LCD_ULTRASONIC */
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