Difference between revisions of "Shared:Group 4"

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[[File:Boyuan Danny -07.jpg]]
 
[[File:Boyuan Danny -07.jpg]]
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=='''Code Sample'''|"distance recognizer"==
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#include <Servo.h>
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Servo myservo1;
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Servo myservo2;
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Servo myservo3;
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Servo myservo4;
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Servo myservo5;
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Servo myservo6;
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Servo myservo7;
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// twelve servo objects can be created on most boards
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#define trigPin 10
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#define echoPin 11
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#define PREVIOUS_VALS 25
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int potpin = 0;  // analog pin used to connect the potentiometer
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float val;    // variable to read the value from the analog pin
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float historyVals[PREVIOUS_VALS];
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#define timeScale 6
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float averageVals[7 * timeScale];
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void setup() {
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  pinMode(trigPin, OUTPUT);
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  pinMode(echoPin, INPUT);
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  Serial.begin (9600);
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  myservo1.attach(3);
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  myservo2.attach(4);
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  myservo3.attach(5);
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  myservo4.attach(6);
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  myservo5.attach(7);
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  myservo6.attach(8);
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  myservo7.attach(9);
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  float initialVal = 90;
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  for (int i = 0; i < PREVIOUS_VALS; i++) {
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    historyVals[i] = initialVal;
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  }
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}
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void loop() {
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  float duration, distance;
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  distance = 9999999;
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  digitalWrite(trigPin, LOW);
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  delayMicroseconds(2);
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  digitalWrite(trigPin, HIGH);
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  delayMicroseconds(10);
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  digitalWrite(trigPin, LOW);
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  duration = pulseIn(echoPin, HIGH);
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  distance = (duration / 2) * 0.0344;
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  Serial.println(distance);
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  delay(30);
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  if (distance > 100 || duration > 500000) {
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    distance = 50;
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  }
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  val = mapfloat(distance, 1, 50, 50, 180);  // scale it to use it with the servo (value between 0 and 180)
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  //Serial.println(val);
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  //Serial.println(val, 10);
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  addValToHistory(val);
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  float currentAverage = averageVal();
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  addAverageToHistory(currentAverage);
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  writeServos();
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  delay(10);
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}
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float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) {
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  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
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}
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float averageVal() {
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  float total = 0;
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  for (int i = 0; i < PREVIOUS_VALS; i++) {
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    total = total + historyVals[i];
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  }
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  float average = total / PREVIOUS_VALS;
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  return average;
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}
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void addValToHistory(float v) {
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  for (int i = 0; i < PREVIOUS_VALS - 1; i++) {
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    historyVals[i] =  historyVals[i + 1];
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  }
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  historyVals[PREVIOUS_VALS - 1] = v;
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}
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void addAverageToHistory(float av) {
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  for (int i = 0; i < 7 * timeScale - 1; i++) {
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    averageVals[i] =  averageVals[i + 1];
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  }
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  averageVals[7 * timeScale - 1] = av;
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}
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void writeServos() {
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  int i = 7 * timeScale - 1;
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  myservo1.write(averageVals[i]);
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  i = i - timeScale;
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  myservo2.write(averageVals[i]);
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  i = i - timeScale;
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  myservo3.write(averageVals[i]);
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  i = i - timeScale;
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  myservo4.write(averageVals[i]);
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  i = i - timeScale;
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  myservo5.write(averageVals[i]);
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  i = i - timeScale;
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  myservo6.write(averageVals[i]);
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  i = i - timeScale;
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  myservo7.write(averageVals[i]);
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}

Revision as of 23:40, 20 April 2017

Flower_blooming_process_in_reaction_to_people_interaction , by Danny, Boyuan

Boyuan Danny-01.jpg

Boyuan Danny-01-01.jpg

Boyuan Danny -03.jpg

Boyuan Danny -04.jpg

Boyuan Danny -05.jpg

Boyuan Danny -06.jpg

Boyuan Danny -07.jpg

Code Sample|"distance recognizer"

  1. include <Servo.h>

Servo myservo1; Servo myservo2; Servo myservo3; Servo myservo4; Servo myservo5; Servo myservo6; Servo myservo7; // twelve servo objects can be created on most boards

  1. define trigPin 10
  2. define echoPin 11
  3. define PREVIOUS_VALS 25

int potpin = 0; // analog pin used to connect the potentiometer float val; // variable to read the value from the analog pin


float historyVals[PREVIOUS_VALS];

  1. define timeScale 6

float averageVals[7 * timeScale];

void setup() { 

 pinMode(trigPin, OUTPUT);
 pinMode(echoPin, INPUT);
 Serial.begin (9600);
 myservo1.attach(3);
 myservo2.attach(4);
 myservo3.attach(5);
 myservo4.attach(6);
 myservo5.attach(7);
 myservo6.attach(8);
 myservo7.attach(9);
 float initialVal = 90;
 for (int i = 0; i < PREVIOUS_VALS; i++) {
   historyVals[i] = initialVal;
 }

}

void loop() { 

 float duration, distance;



 distance = 9999999;

 digitalWrite(trigPin, LOW);
 delayMicroseconds(2);

 digitalWrite(trigPin, HIGH);
 delayMicroseconds(10);
 digitalWrite(trigPin, LOW);

 duration = pulseIn(echoPin, HIGH);
 distance = (duration / 2) * 0.0344;

 Serial.println(distance);
 delay(30);



 if (distance > 100 || duration > 500000) {
   distance = 50;
 }

 val = mapfloat(distance, 1, 50, 50, 180);   // scale it to use it with the servo (value between 0 and 180)
 //Serial.println(val);
 //Serial.println(val, 10);

 addValToHistory(val);

 float currentAverage = averageVal();

 addAverageToHistory(currentAverage);

 writeServos();



 delay(10);

}


float mapfloat(float x, float in_min, float in_max, float out_min, float out_max) { 

 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;

}


float averageVal() { 

 float total = 0;
 for (int i = 0; i < PREVIOUS_VALS; i++) {
   total = total + historyVals[i];
 }
 float average = total / PREVIOUS_VALS;
 return average;

}

void addValToHistory(float v) { 

 for (int i = 0; i < PREVIOUS_VALS - 1; i++) {
   historyVals[i] =  historyVals[i + 1];
 }
 historyVals[PREVIOUS_VALS - 1] = v;

}

void addAverageToHistory(float av) { 

 for (int i = 0; i < 7 * timeScale - 1; i++) {
   averageVals[i] =  averageVals[i + 1];
 }
 averageVals[7 * timeScale - 1] = av;

}


void writeServos() { 

 int i = 7 * timeScale - 1;
 
 myservo1.write(averageVals[i]);
 i = i - timeScale;
 myservo2.write(averageVals[i]);
 i = i - timeScale;
 myservo3.write(averageVals[i]);
 i = i - timeScale;
 myservo4.write(averageVals[i]);
 i = i - timeScale;
 myservo5.write(averageVals[i]);
 i = i - timeScale;
 myservo6.write(averageVals[i]);
 i = i - timeScale;
 myservo7.write(averageVals[i]);

}

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