GarandPLG
c053a296a5
Implemented Sonar constructor to use a single shared pin, added mode flag and helper method for single‑pin measurements. Updated measure() to select the appropriate implementation and added timeout to pulseIn. Integrated periodic sonar updates in the main loop, tracking last update time and toggling a seatBelts flag based on distance thresholds.
72 lines
1.7 KiB
Arduino
72 lines
1.7 KiB
Arduino
#include <Wire.h>
|
|
|
|
#include "Config.h"
|
|
#include "Display.h"
|
|
#include "Gear.h"
|
|
#include "Sonar.h"
|
|
#include "RFID.h"
|
|
#include "Engine.h"
|
|
|
|
Display display;
|
|
GearSelector gear(GEAR_X_PIN, GEAR_Y_PIN, GEAR_THRESH_LOW, GEAR_THRESH_HIGH);
|
|
Sonar sonar(TRIG_AND_ECHO_PIN, SONAR_MAX_DIST_CM);
|
|
RFIDReader rfid(SS_PIN, RST_PIN);
|
|
Engine engine(THROTTLE_PIN, CLUTCH_PIN, BRAKE_PIN);
|
|
|
|
unsigned long prevUpdate = 0;
|
|
bool carEnabled = false;
|
|
unsigned long prevSonarUpdate = 0;
|
|
bool seatBelts = false;
|
|
|
|
void setup() {
|
|
Serial.begin(9600);
|
|
|
|
pinMode(IN_1, OUTPUT);
|
|
pinMode(IN_2, OUTPUT);
|
|
pinMode(ENA_1, OUTPUT);
|
|
pinMode(IN_3, OUTPUT);
|
|
pinMode(IN_4, OUTPUT);
|
|
pinMode(ENA_2, OUTPUT);
|
|
|
|
rfid.begin();
|
|
display.begin(LCD_COLS, LCD_ROWS);
|
|
engine.begin();
|
|
}
|
|
|
|
void loop() {
|
|
bool check = rfid.check();
|
|
bool matches = rfid.matches(AUTH_UID, AUTH_UID_SIZE);
|
|
|
|
bool rfidOk = check && matches;
|
|
|
|
if (rfid.check() && rfid.matches(AUTH_UID, AUTH_UID_SIZE)) {
|
|
carEnabled = !carEnabled;
|
|
Serial.print("Auto działa: ");
|
|
Serial.println(carEnabled);
|
|
display.startOrEnd(carEnabled);
|
|
};
|
|
|
|
if (carEnabled) {
|
|
if (gear.update())
|
|
display.updateGear(gear.getGearChar());
|
|
|
|
unsigned long now = millis();
|
|
float dt = (now - prevUpdate) / 1000.0f;
|
|
if (dt >= 0.02f) {
|
|
prevUpdate = now;
|
|
engine.update(dt, gear.getGear());
|
|
display.updateRPM(engine.getRPM());
|
|
display.updateSpeed(engine.getSpeedKmh());
|
|
}
|
|
|
|
if (millis() - prevSonarUpdate >= 100) {
|
|
prevSonarUpdate = millis();
|
|
long dist = sonar.measure();
|
|
if (!seatBelts)
|
|
if (dist < 200)
|
|
seatBelts = true;
|
|
else if (dist >= 200) seatBelts = true;
|
|
}
|
|
}
|
|
}
|