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全周(180度)展望完全監視システム - パノプティコンアイ
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| #include <Servo.h> | |
| #define ACTION_DELAY 700 | |
| #define ANGLE_UNIT 15 | |
| #define TEST_COUNT (180/ANGLE_UNIT+1) | |
| #define DIST_ERROR 20 | |
| #define PIN_BEEP 12 | |
| #define PIN_LED 2 | |
| #define PIN_BUTTON_INIT 3 | |
| #define PIN_SERVO 9 | |
| #define PIN_USONIC_TRIG 10 | |
| #define PIN_USONIC_VALU 11 | |
| double dists[TEST_COUNT]; | |
| Servo servo; | |
| void look_at(int angle) { servo.write(angle); } | |
| void reset() { | |
| for (size_t i = 0; i < TEST_COUNT; ++i) dists[i] = 0; | |
| } | |
| void setup() { | |
| Serial.begin(115200); | |
| Serial.println("helloworld"); | |
| pinMode(PIN_BEEP, OUTPUT); | |
| pinMode(PIN_BUTTON_INIT, INPUT_PULLUP); | |
| pinMode(PIN_LED, OUTPUT); | |
| pinMode(PIN_USONIC_TRIG, OUTPUT); | |
| pinMode(PIN_USONIC_VALU, INPUT); | |
| servo.attach(PIN_SERVO); | |
| reset(); | |
| Serial.println("setup done"); | |
| } | |
| void warn() { | |
| Serial.println("I SEE YOU"); | |
| digitalWrite(PIN_LED, 1); | |
| for (int i = 0; i < 200; ++i) { | |
| digitalWrite(PIN_BEEP, HIGH); | |
| delay(2); | |
| digitalWrite(PIN_BEEP, LOW); | |
| delay(2); | |
| } | |
| while (LOW != digitalRead(PIN_BUTTON_INIT)); | |
| digitalWrite(PIN_LED, 0); | |
| reset(); | |
| } | |
| void loop() { | |
| for (int i = 0; i < TEST_COUNT*2; ++i) { | |
| const int a = abs(i*ANGLE_UNIT-180); | |
| look_at(a); | |
| Serial.println(a); | |
| delay(ACTION_DELAY); | |
| digitalWrite(PIN_USONIC_TRIG, HIGH); | |
| delayMicroseconds(10); | |
| digitalWrite(PIN_USONIC_TRIG, LOW); | |
| const double dist = 0.017*pulseIn(PIN_USONIC_VALU, HIGH); | |
| const int idx = abs(i-TEST_COUNT+1); | |
| Serial.print("dist "); | |
| Serial.print(dists[idx]); | |
| Serial.print(" -> "); | |
| Serial.println(dist); | |
| if (dists[idx] < dist) { | |
| dists[idx] = dist; | |
| } else if (dists[idx] > dist+DIST_ERROR) { | |
| warn(); | |
| } | |
| } | |
| } |
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