README y archivo .ino

MiniSumo/MiniSumo.ino

@@ -0,0 +1,207 @@
+#include <Arduino_FreeRTOS.h>
+#include <semphr.h>  // add the FreeRTOS functions for Semaphores (or Flags).
+
+const int Trigger = 5;   //Pin digital 2 para el Trigger del sensor
+const int Echo = 6;   //Pin digital 3 para el Echo del sensor
+
+
+#define LedEvasion 2
+#define LedEvasionLat 3
+#define LedUltra 4
+
+
+SemaphoreHandle_t xSerialSemaphore;
+
+void EncontrarEnemigo( void *pvParameters );
+void SensorTras( void *pvParameters );
+void SensoresLateral( void *pvParameters );
+
+void setup() {
+
+  pinMode(LedEvasion,OUTPUT);
+  pinMode(LedEvasionLat,OUTPUT);
+  pinMode(LedUltra,OUTPUT);
+
+  pinMode(Trigger, OUTPUT); //pin como salida
+  pinMode(Echo, INPUT);  //pin como entrada
+  digitalWrite(Trigger, LOW);//Inicializamos el pin con 0
+
+   
+
+  // initialize serial communication at 9600 bits per second:
+  Serial.begin(9600);
+  
+  while (!Serial) {
+    ; // wait for serial port to connect. Needed for native USB, on LEONARDO, MICRO, YUN, and other 32u4 based boards.
+  }
+
+  
+  if ( xSerialSemaphore == NULL )  // Check to confirm that the Serial Semaphore has not already been created.
+  {
+    xSerialSemaphore = xSemaphoreCreateMutex();  // Create a mutex semaphore we will use to manage the Serial Port
+    if ( ( xSerialSemaphore ) != NULL )
+      xSemaphoreGive( ( xSerialSemaphore ) );  // Make the Serial Port available for use, by "Giving" the Semaphore.
+  }
+
+  // Now set up two Tasks to run independently.
+  xTaskCreate(
+    EncontrarEnemigo
+    ,  "DigitalRead"  // A name just for humans
+    ,  128  // This stack size can be checked & adjusted by reading the Stack Highwater
+    ,  NULL //Parameters for the task
+    ,  2  // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
+    ,  NULL ); //Task Handle
+
+  xTaskCreate(
+    SensorTras
+    ,  "AnalogRead" // A name just for humans
+    ,  128  // Stack size
+    ,  NULL //Parameters for the task
+    ,  0  // Priority
+    ,  NULL ); //Task Handle
+
+    xTaskCreate(
+    SensoresLateral
+    ,  "AnalogRead" // A name just for humans
+    ,  128  // Stack size
+    ,  NULL //Parameters for the task
+    ,  1  // Priority
+    ,  NULL ); //Task Handle
+
+}
+
+void loop()
+{
+  // Empty. Things are done in Tasks.
+}
+
+/*--------------------------------------------------*/
+/*---------------------- Tasks ---------------------*/
+/*--------------------------------------------------*/
+
+void EncontrarEnemigo( void *pvParameters __attribute__((unused)) )  // This is a Task.
+{
+  /*
+    DigitalReadSerial
+    Reads a digital input on pin 2, prints the result to the serial monitor
+
+    This example code is in the public domain.
+  */
+
+  
+
+  for (;;) // A Task shall never return or exit.
+  {
+    
+
+    long t; //timepo que demora en llegar el eco
+    long d; //distancia en centimetros
+  
+    digitalWrite(Trigger, HIGH);
+    delayMicroseconds(10);          //Enviamos un pulso de 10us
+    digitalWrite(Trigger, LOW);
+    
+    t = pulseIn(Echo, HIGH); //obtenemos el ancho del pulso
+    d = t/59;             //escalamos el tiempo a una distancia en cm
+    
+    if ( xSemaphoreTake( xSerialSemaphore, ( TickType_t ) 5 ) == pdTRUE )
+    {
+      
+      Serial.println(d);
+
+      xSemaphoreGive( xSerialSemaphore ); // Now free or "Give" the Serial Port for others.
+    }
+
+    vTaskDelay(1);  // one tick delay (15ms) in between reads for stability
+  }
+}
+
+void SensorTras( void *pvParameters __attribute__((unused)) )  // This is a Task.
+{
+
+  for (;;)
+  {
+    // read the input on analog pin 0:
+    int sensorValue = analogRead(A0);
+    String linea="";
+    if(sensorValue>512)
+    {
+      linea="Linea detectada";
+
+      //evadir
+      digitalWrite(LedEvasion,HIGH);
+      vTaskDelay(50);
+      
+    }
+    else
+    {
+      linea="Linea no detectada";
+      digitalWrite(LedEvasion,LOW);
+    }
+
+    // See if we can obtain or "Take" the Serial Semaphore.
+    // If the semaphore is not available, wait 5 ticks of the Scheduler to see if it becomes free.
+    if ( xSemaphoreTake( xSerialSemaphore, ( TickType_t ) 5 ) == pdTRUE )
+    {
+      Serial.println(linea);
+
+      xSemaphoreGive( xSerialSemaphore ); // Now free or "Give" the Serial Port for others.
+    }
+
+    vTaskDelay(1);  // one tick delay (15ms) in between reads for stability
+  }
+}
+
+void SensoresLateral( void *pvParameters __attribute__((unused)) )  // This is a Task.
+{
+
+  for (;;)
+  {
+    // read the input on analog pin 0:
+    int sensorValueIzq = analogRead(A1);
+    int sensorValueDer = analogRead(A2);
+    String lineaIzq="";
+    String lineaDer="";
+    if(sensorValueIzq>512)
+    {
+      lineaIzq="Linea Izquierda detectada";
+
+      //evadir
+      digitalWrite(LedEvasion,HIGH);
+      vTaskDelay(50);
+      
+    }
+    else
+    {
+      lineaIzq="Linea Izquierda no detectada";
+      digitalWrite(LedEvasion,LOW);
+    }
+
+    if(sensorValueDer>512)
+    {
+      lineaDer="Linea Derecha detectada";
+
+      //evadir
+      digitalWrite(LedEvasion,HIGH);
+      vTaskDelay(50);
+      
+    }
+    else
+    {
+      lineaDer="Linea Derecha no detectada";
+      digitalWrite(LedEvasion,LOW);
+    }
+
+    // See if we can obtain or "Take" the Serial Semaphore.
+    // If the semaphore is not available, wait 5 ticks of the Scheduler to see if it becomes free.
+    if ( xSemaphoreTake( xSerialSemaphore, ( TickType_t ) 5 ) == pdTRUE )
+    {
+      Serial.println(lineaIzq);
+      Serial.println(lineaDer);
+
+      xSemaphoreGive( xSerialSemaphore ); // Now free or "Give" the Serial Port for others.
+    }
+
+    vTaskDelay(1);  // one tick delay (15ms) in between reads for stability
+  }
+}