Radarsystem för IR (3 / 3 steg)

Steg 3: Source Code

#define GLCD_WIDTH 128

#define GLCD_E PIN_E0 / / aktivera
#define GLCD_DI PIN_B5

#define GLCD_CS1 PIN_A1 / / Chip val 1
#define GLCD_CS2 PIN_B0

#define SERVO PIN_A3

#include < HDM64GS12.c >
#include < graphics.c >
#include < math.h >

char meddelande [] = "EndtaS RaDaR";
flyta theta = 0, ytheta;

void main () {

INT1 enbas;
int mesafe;
int car1, sayac, a;
Int16 servopos;

setup_adc_ports(RA0_ANALOG);
setup_adc(ADC_CLOCK_INTERNAL);
set_adc_channel(0);
enbas:
glcd_init(on);

glcd_fillScreen(off);

glcd_text57 (30, 0, meddelande, 1, 1);

glcd_circle (29, 37, 26, 0, 1);
glcd_pixel (29, 37, ON);
theta = 7.85;
servopos = 550;
printf("Scan_START\r\n");
While(true) {

Mesafe = read_adc();
printf ("th: %f -> %u \r\n\n",theta, mesafe);

ytheta = theta;
sayac = 1;
om (enbas == TRUE) {
sayac = 50;
}
för (en = 0; en < sayac; a ++) {
output_high(servo);
delay_us(servopos);
output_low(servo);
delay_us (20000 - servopos);
}
om (enbas == TRUE) {
glcd_circle (29, 37, 25, 1, 0);
glcd_pixel (29, 37, ON);
printf("Scan_START\r\n");
delay_ms(300);
}

om (ytheta > = 4,51) {
ytheta-=. 02;
servopos += 12.
enbas = FALSE;
}
annat {
glcd_circle (29, 37, 25, 1, 0);
ytheta = 7.85;
servopos = 550;
glcd_pixel (29, 37, ON);
enbas = sant;
printf("Scan_COMPLETE\r\n");
}

glcd_pixel (28+(int)(car1*sin(-theta)+.5), 38-(int)(car1*cos(theta)+.5), OFF);

glcd_pixel (28+(int)(car1*sin(-theta-1)+.5), 38-(int)(car1*cos(theta-1)+.5), OFF);

theta = ytheta;

car1 = mesafe / 8;
glcd_pixel (28+(int)(car1*sin(-theta)+.5), 38-(int)(car1*cos(theta)+.5), ON);
delay_ms(10);
}
}