Ultra

diff --git a/prototypes/servo/rotation_func/rotation_func.ino b/prototypes/servo/rotation_func/rotation_func.ino
index ac463ea979d0071cde7aed1a80680d0de0c65a2f..5a660c35542d29b3a6381e3ff226db6770641983 100644 (file)
--- a/prototypes/servo/rotation_func/rotation_func.ino
+++ b/prototypes/servo/rotation_func/rotation_func.ino
@@ -29,12 +29,16 @@ int pos = 0;    // variable to store the servo position
 const byte servo =9 ;
 const byte middle = 90; // Centratura servo
 const int spausa = 30; // Pausa movimenti servo
+const byte left = 170;
+const byte right = 10;
  
 void setup() 
 { 
   myservo.attach(servo);  // attaches the servo on pin 9 to the servo object 
-    myservo.write(middle);              // tell servo to go to position in variable 'pos' 
-    delay(2000);
+
+  // Centratura iniziale
+  myservo.write(middle);              // tell servo to go to position in variable 'pos' 
+  delay(2000);
 } 
  
  
@@ -48,24 +52,24 @@ void loop()
     delay(1000);     
 
 // Turn SX
-    turnSX();
-    delay(1000);     
-
-    turnMiddle();
-    delay(1000);     
+      turnSX();
+      delay(1000);     
+  
+      turnMiddle();
+      delay(1000);     
 } 
 
 // Functions
 
 void turnDX() {
     // TurnDX
-    myservo.write(170);
+    myservo.write(right);
     delay(spausa);     
 }
 
 void turnSX() {
     // TurnSX
-    myservo.write(10);
+    myservo.write(left);
     delay(spausa);     
 }
 

diff --git a/prototypes/ultra/check_func/check_func.ino b/prototypes/ultra/check_func/check_func.ino
new file mode 100644 (file)
index 0000000..40481b1
--- /dev/null
+++ b/prototypes/ultra/check_func/check_func.ino
@@ -0,0 +1,58 @@
+/* Ultrasonic rilevatore distanza
+
+Rilevatore distanza minore di 5cm.
+funzione
+
+HC-SR04 Ping distance sensor
+VCC to arduino 5v - GND to arduino GND
+
+ */
+# define DEBUG
+
+// Ultrasuoni
+const byte trig = 11;
+const byte echo = 12;
+const byte led = 13;
+long duration, distance;
+boolean allarm = 0;
+
+void setup() {
+    pinMode(trig, OUTPUT);
+    pinMode(echo, INPUT);
+    pinMode(led, OUTPUT);
+
+
+    //Debug
+    Serial.begin (9600);
+}
+
+void loop() {
+if (check()) {
+    digitalWrite(led,HIGH);
+} else {
+    digitalWrite(led,LOW);
+}
+
+#ifdef DEBUG
+Serial.begin(9600);
+#endif
+
+}
+
+boolean check() {
+    digitalWrite(trig, LOW);  // Prepare for ping
+    delayMicroseconds(2); //
+    digitalWrite(trig, HIGH); // Send a ping
+    delayMicroseconds(10); //
+    digitalWrite(trig, LOW); // Set down ping
+    duration = pulseIn(echo, HIGH);
+    distance = (duration/2) / 29.1; // Speed is ~300m/s,
+    // so it takes ~29.1 milliseconds for a cm.
+    // Distance is half of (out + back)
+    if (distance < 5) {  // This is where the LED On/Off happens
+        return 1;
+    }
+    else {
+        return 0;
+    }
+}

diff --git a/prototypes/ultra/ultrasonic_distance_simple/ultrasonic_distance_simple.ino b/prototypes/ultra/ultrasonic_distance_simple/ultrasonic_distance_simple.ino
new file mode 100644 (file)
index 0000000..dc0e8ad
--- /dev/null
+++ b/prototypes/ultra/ultrasonic_distance_simple/ultrasonic_distance_simple.ino
@@ -0,0 +1,46 @@
+/* Ultrasonic rilevatore distanza
+
+Rilevatore distanza minore di 5cm.
+
+HC-SR04 Ping distance sensor
+VCC to arduino 5v - GND to arduino GND
+
+
+ */
+
+// Ultrasuoni
+const byte trig = 11;
+const byte echo = 12;
+const byte led = 13;
+long duration, distance;
+
+void setup() {
+    pinMode(trig, OUTPUT);
+    pinMode(echo, INPUT);
+    pinMode(led, OUTPUT);
+
+
+    //Debug
+    Serial.begin (9600);
+}
+
+void loop() {
+    digitalWrite(trig, LOW);  // Prepare for ping
+    delayMicroseconds(2); //
+    digitalWrite(trig, HIGH); // Send a ping
+    delayMicroseconds(10); //
+    digitalWrite(trig, LOW); // Set down ping
+    duration = pulseIn(echo, HIGH);
+    distance = (duration/2) / 29.1; // Speed is ~300m/s,
+    // so it takes ~29.1 milliseconds for a cm.
+    // Distance is half of (out + back)
+    if (distance < 5) {  // This is where the LED On/Off happens
+        digitalWrite(led,HIGH); // When the Red condition is met, the Green LED should turn off
+    }
+    else {
+        digitalWrite(led,LOW);
+    }
+    delay(200);
+    Serial.println(distance);
+}
+