WEBVTT 00:00.180 --> 00:06.900 This is the first step of the final project of the cool's, so what I have done here first is I have 00:06.900 --> 00:10.470 created a new project, a new empty project. 00:10.800 --> 00:14.360 So in this step, we're going to do something that we already did before. 00:14.550 --> 00:21.510 And actually we are going to set up the ultrasonic sensor and read the distance every 60 milliseconds 00:21.510 --> 00:23.450 and we are going to use into it. 00:23.880 --> 00:24.960 So let's get started. 00:24.960 --> 00:30.300 And I'm going to go quite quickly here because, as I said, we already did that before. 00:30.840 --> 00:36.150 So first, I am going to do some design for the things of the ultrasonic sensor. 00:36.180 --> 00:45.380 We have to echo the in, which is here on being number three, which is an interactive and define trigger 00:45.420 --> 00:45.750 pin. 00:47.060 --> 00:53.720 On PIN number four and then to be able to say, I'm going first to trigger the ultrasonic sensor and 00:53.720 --> 01:01.670 then to read the list, so to trigger the ultrasonic, since I'm going to add unsigned, long last time 01:02.510 --> 01:14.540 ultrasonic trigger that's initialized to Mitty's all the zero to the same here and unsigned long ultrasonic. 01:16.610 --> 01:23.970 Trigger delay, which is 60 milliseconds, so then in the void. 01:24.620 --> 01:26.600 Look, I am going to do. 01:28.630 --> 01:38.230 And signed long time now is released, so that time, no, we are going to use it for everything in 01:38.230 --> 01:46.370 the world and then if time now minus the last time we have triggered the ultrasonic sensor. 01:46.390 --> 01:47.940 So this is the duration. 01:48.190 --> 01:57.250 If this is greater than the delay we have said, which we do is we do last time plus equal. 01:58.390 --> 02:09.040 DeLay, and we can now so trigger the trust on each sensor, so what I'm going to do in this project 02:09.040 --> 02:10.300 is in the voice loop. 02:10.300 --> 02:14.440 I'm going to do the time functionalities and called the different actions. 02:14.650 --> 02:20.370 But every action we do, I'm going to create a function here outside of the loop. 02:20.830 --> 02:24.160 So not to trigger the ultrasonic sensor, I'm going to create. 02:25.150 --> 02:25.690 Void. 02:27.090 --> 02:38.400 Trigger Sonic Tensas, and let's so if we want to be able to use digital right on a pin, we need to 02:38.400 --> 02:39.150 set it up. 02:39.600 --> 02:41.480 So I'm going to do spin mode. 02:41.910 --> 02:51.180 So we said the two pins actually equal pin, which will be input and spin mode trigger pin. 02:52.080 --> 02:53.970 This one is output. 02:56.860 --> 03:06.760 OK, and now here I am going to do digital rights with the trigger thing, I'm going to say it to low 03:06.760 --> 03:08.670 first for two microseconds. 03:08.670 --> 03:09.460 So delay. 03:11.130 --> 03:12.270 Microseconds. 03:13.560 --> 03:17.070 Two, and then I'm going to do digital right with. 03:18.560 --> 03:29.940 Hidesign and then did a microsurgeons for 10 microseconds and finally we sit back dippin too low. 03:30.710 --> 03:36.020 OK, so I explained why we did that actually in the ultrasonic sensor section. 03:36.030 --> 03:39.960 So please go back to this section if you don't understand this code. 03:40.340 --> 03:43.910 So now I'm going to call trigger ultrasonic sensor here. 03:45.680 --> 03:52.060 And all right, that's it for the trigger, so now we are going to trigger sensor every six milliseconds 03:52.640 --> 03:58.930 and what we need to do now is to read actually that distance that we get after we trigger the sensor. 03:59.240 --> 04:03.860 But we are not going to use the pulse in function, which will block the program for too long. 04:04.040 --> 04:05.780 We are going to use an interrupt. 04:06.050 --> 04:10.490 So I'm going to create here void equal in. 04:11.630 --> 04:17.240 Interrupt, so we are going to get a value on the equipping, which is set now inputs very important. 04:18.030 --> 04:21.890 So this will be an indirect function with void and new parameter. 04:22.310 --> 04:31.780 And so so this is the interactive FOLOTYN and going to do here at attach, interact with digital, begin 04:32.060 --> 04:34.130 to interact. 04:35.070 --> 04:43.820 Equal pain and then so let's go back to a new line to make it nicer to read Equal Pean. 04:44.940 --> 04:48.220 Interact with no parent. 04:48.250 --> 04:54.600 This is just the name of the function, and then we're going to use change, OK, change because we 04:54.600 --> 04:57.390 want the arising mode and the following mode. 04:57.420 --> 05:04.320 So when it's surprising we start the timer, when it's falling, we stop the timer and we measure the 05:04.320 --> 05:04.840 duration. 05:05.460 --> 05:09.490 And in this interim function, what we are going to do is first we are going to read. 05:09.510 --> 05:10.080 So if. 05:11.610 --> 05:21.930 Digital read things the way we do that, because, well, we use the change modes, so we don't necessarily 05:21.930 --> 05:25.510 know if the signal is rising or falling here. 05:26.220 --> 05:30.140 So by reading the print again, we can know this, too. 05:30.150 --> 05:36.700 If the signal is high, it means that the signal is rising because we have a change here. 05:36.720 --> 05:39.490 And if it's heights rising, if it's low, it's falling. 05:40.320 --> 05:45.150 So if it's high, it means that the pulse has just. 05:46.520 --> 05:52.410 It and then as soon as if it's low, they'll need to precise. 05:52.440 --> 05:54.960 That means that both. 05:59.540 --> 06:05.600 So now we're trying to do is to measure to get the time here and give the time here, and then once 06:05.600 --> 06:12.020 we have the two times we can complete the duration of the polls and from that duration, measure the 06:12.020 --> 06:12.520 distance. 06:12.860 --> 06:15.620 So I'm going to create two new variables here, actually. 06:15.620 --> 06:16.070 Three. 06:17.560 --> 06:24.040 Which are so unsigned, long because in time, Megan. 06:25.770 --> 06:27.670 And let's not initialize them. 06:27.720 --> 06:36.830 We're going to initialize them and set them in the interrupt, unsigned, long spells in time and and 06:36.870 --> 06:45.680 I'm also going to do bull new distance with the label, but this one will be false by default. 06:46.350 --> 06:50.880 So we are going to measure the time between here and here. 06:50.880 --> 06:56.160 When this both stopped and when the police stopped and we get the two values, I'm going to set this 06:56.160 --> 06:56.960 flag to true. 06:57.300 --> 07:00.990 So in the loop, we can read the distance. 07:00.990 --> 07:08.100 And because we are going to modify over time, because we are going to modify those variables inside 07:08.100 --> 07:11.270 an indirect output volatile in front of them. 07:12.270 --> 07:15.420 So both in time being here will be. 07:18.660 --> 07:29.230 Microsoft use Microsoft because it's more convenient and more precise here and then pulls in and is 07:30.600 --> 07:33.150 Microsoft's will and then we need to do new. 07:34.970 --> 07:35.570 Dist.. 07:36.590 --> 07:38.300 The label is. 07:40.360 --> 07:43.210 All right, so the Internet is set up. 07:43.250 --> 07:52.870 We have everything we need and now in the loop, what I can do simply is check if you distance available. 07:53.980 --> 07:58.150 If we have a new distance, I can read the distance. 07:58.150 --> 08:06.610 And I'm also going to set the flag to folks so we don't continuously come inside this, if only when 08:06.610 --> 08:09.300 we have a valid direction. 08:09.310 --> 08:11.230 OK, from the Internet. 08:11.680 --> 08:13.950 And then so this step is almost done now. 08:13.960 --> 08:17.500 We are going to create a new function, for example, here. 08:17.950 --> 08:21.580 So double because we're going to return double get. 08:22.580 --> 08:32.960 Ultra sonic distance, for example, and here we need to just compute the duration between those two 08:33.050 --> 08:33.950 times, OK? 08:35.710 --> 08:42.910 So those two are unsigned long, so it will be long, but I'm going directly to put it as double, so 08:42.910 --> 08:46.160 they're not going to make computation which doubles it would be more convenient. 08:46.630 --> 08:55.510 So duration micros is equal to the first in time and minus two percent in time between. 08:56.980 --> 09:09.910 And then double distance is equal to I'm going to duration micros divided by 58 or zero, which is the 09:09.910 --> 09:12.230 number to convert to centimeters. 09:12.520 --> 09:17.950 So in this project, we're going to toggle between centimeters and inches and you could see and the 09:18.160 --> 09:18.700 video. 09:19.120 --> 09:24.870 But actually when we toggle between centimeters and inches, it's only for the display for the user. 09:24.940 --> 09:30.250 OK, for inside the code, I'm going to keep using centimeters, OK? 09:30.580 --> 09:35.470 Using just one unit inside the program will make the program much simpler to handle. 09:35.500 --> 09:42.820 OK, so just one unit and then when we display on the LCD, we can print as many units and just convert 09:42.820 --> 09:44.440 to as many units as we want. 09:44.470 --> 09:48.220 So here I'm sticking to some images and we get the distance. 09:48.870 --> 09:49.930 I can do retune. 09:51.300 --> 09:58.530 Distance, but I'm also going to add some filtering, OK, in case we have a sense of that gives value 09:58.530 --> 10:00.220 that can be quite erotic. 10:00.630 --> 10:01.680 So cute. 10:01.710 --> 10:09.090 I'm going to check if the distance is greater than four hundred, which should not happen, but can 10:09.090 --> 10:14.640 happen, then return the previous distance that we actually need to set. 10:15.480 --> 10:16.740 Yes, I'm going to create. 10:18.410 --> 10:18.950 Double. 10:20.830 --> 10:22.660 Previous dist.. 10:23.700 --> 10:28.620 That's initialized to 400 people just to give a number. 10:31.240 --> 10:37.060 So if the distance is greater than the maximum we reach on the previous distance, if not, we can just 10:37.060 --> 10:37.960 see previous. 10:39.090 --> 10:44.850 Distance is equal to the distance we have measured right now, and then before that, I'm going to add 10:44.850 --> 10:47.090 also a complementary filter. 10:47.430 --> 10:48.870 So let's say previous. 10:50.400 --> 10:53.520 Distance with 60 percent. 10:55.600 --> 11:04.600 And the cheering distance with 40 percent, OK, and we read at 60 minutes ago, that should update 11:04.600 --> 11:05.360 quite quickly. 11:05.710 --> 11:06.040 All right. 11:06.050 --> 11:12.310 So again, if you haven't dealt with this, please go back to the ultrasonic section and know that I 11:12.310 --> 11:12.880 have this. 11:13.280 --> 11:16.990 I'm going to be able to call it here double. 11:19.570 --> 11:28.600 Distance is get ultrasonic distance and just to make sure it's working, I'm going to initialize cellular. 11:31.770 --> 11:39.910 And he here print that print Ellen sense, so that will be the dissent in sending it to us for them. 11:40.350 --> 11:40.800 All right. 11:40.800 --> 11:43.550 And let's just take let's verify. 11:44.010 --> 11:50.670 So I'm going to name it final product, step one. 11:52.500 --> 11:59.870 So for each iteration of the project, I'm going to name step one, step two, steps three, etc, save 11:59.880 --> 12:00.120 it. 12:02.660 --> 12:06.350 OK, and now I'm going to upload the coup to the board. 12:08.330 --> 12:16.460 And it's so it's wargaming, it's opening ceremony to see if we have something and yes, so this 140 12:16.460 --> 12:17.540 is the wall behind me. 12:17.540 --> 12:19.640 I'm going to put my hand in front of the SENSEOR. 12:20.030 --> 12:24.910 And I can see, for example, here 13, 13 or 12 centimeters. 12:25.340 --> 12:28.330 So the code is working as expected. 12:28.910 --> 12:34.100 And that is the end of step one, which was something that we already did before.