94 lines
2.1 KiB
Arduino
94 lines
2.1 KiB
Arduino
#include <Wire.h>
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#include "Config.h"
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#include "Display.h"
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#include "Gear.h"
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#include "Sonar.h"
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#include "RFID.h"
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#include "Engine.h"
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Display display;
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GearSelector gear(GEAR_X_PIN, GEAR_Y_PIN, GEAR_THRESH_LOW, GEAR_THRESH_HIGH);
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Sonar sonar(TRIG_AND_ECHO_PIN, SONAR_MAX_DIST_CM);
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RFIDReader rfid(SS_PIN, RST_PIN);
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Engine engine(THROTTLE_PIN, CLUTCH_PIN, BRAKE_PIN);
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unsigned long prevUpdate = 0;
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bool carEnabled = false;
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unsigned long prevSonarUpdate = 0;
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bool seatBelts = false;
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void setup() {
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Serial.begin(9600);
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Serial.println(F("Enter car mass in kg (e.g. 1200):"));
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while (true) {
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if (Serial.available() > 0) {
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float mass = Serial.parseFloat();
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if (mass > 0) {
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engine.setCarMass(mass);
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Serial.print(F("Car mass set to "));
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Serial.print(mass);
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Serial.println(F(" kg"));
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break;
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} else {
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Serial.println(F("Invalid value – try again:"));
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}
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}
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}
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pinMode(IN_1, OUTPUT);
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pinMode(IN_2, OUTPUT);
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pinMode(ENA_1, OUTPUT);
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pinMode(IN_3, OUTPUT);
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pinMode(IN_4, OUTPUT);
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pinMode(ENA_2, OUTPUT);
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rfid.begin();
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display.begin(LCD_COLS, LCD_ROWS);
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engine.begin();
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}
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void loop() {
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bool check = rfid.check();
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bool matches = rfid.matches(AUTH_UID, AUTH_UID_SIZE);
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bool rfidOk = check && matches;
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if (rfid.check() && rfid.matches(AUTH_UID, AUTH_UID_SIZE)) {
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carEnabled = !carEnabled;
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if (carEnabled)
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Serial.println("Uruchamiam auto");
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else
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Serial.println("Gaszę auto");
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display.startOrEnd(carEnabled);
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};
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if (carEnabled) {
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if (gear.update())
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display.updateGear(gear.getGearChar());
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unsigned long now = millis();
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float dt = (now - prevUpdate) / 1000.0f;
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if (dt >= 0.02f) {
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prevUpdate = now;
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engine.update(dt, gear.getGear());
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display.updateRPM(engine.getRPM());
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display.updateSpeed(engine.getSpeedKmh());
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}
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if (millis() - prevSonarUpdate >= 100) {
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prevSonarUpdate = millis();
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long dist = sonar.measure();
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if (!seatBelts) {
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if (dist < 200) seatBelts = true;
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}
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else {
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if (dist >= 200) seatBelts = true;
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}
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}
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}
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}
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