c_cpp Robolution基本代码片段

Posted 2021-05-14

#include <Wire.h>
 
 
void setup()
{
  Wire.begin();
 
  Serial.begin(9600);
  while (!Serial);             // Leonardo: wait for serial monitor
  Serial.println("\nI2C Scanner");
}
 
 
void loop()
{
  byte error, address;
  int nDevices;
 
  Serial.println("Scanning...");
 
  nDevices = 0;
  for(address = 1; address < 127; address++ )
  {
    // The i2c_scanner uses the return value of
    // the Write.endTransmisstion to see if
    // a device did acknowledge to the address.
    Wire.beginTransmission(address);
    error = Wire.endTransmission();
 
    if (error == 0)
    {
      Serial.print("I2C device found at address 0x");
      if (address<16)
        Serial.print("0");
      Serial.print(address,HEX);
      Serial.println("  !");
 
      nDevices++;
    }
    else if (error==4)
    {
      Serial.print("Unknown error at address 0x");
      if (address<16)
        Serial.print("0");
      Serial.println(address,HEX);
    }    
  }
  if (nDevices == 0)
    Serial.println("No I2C devices found\n");
  else
    Serial.println("done\n");
 
  delay(5000);           // wait 5 seconds for next scan
}

#include "Adafruit_VL53L0X.h"

Adafruit_VL53L0X lox = Adafruit_VL53L0X();


void setup() {
  // Robojax.com I2C address update 20181206
  lox.begin(0x31);// put any address between 0x29 to 0x7F 
}

void loop(){
  
}

#include "Adafruit_VL53L0X.h"

Adafruit_VL53L0X lox = Adafruit_VL53L0X();

void setup() {
  Serial.begin(9600);

  // wait until serial port opens for native USB devices
  while (! Serial) {
    delay(1);
  }
  
  Serial.println("Adafruit VL53L0X test");
  if (!lox.begin()) {
    Serial.println(F("Failed to boot VL53L0X"));
    while(1);
  }
  // power 
  Serial.println(F("VL53L0X API Simple Ranging example\n\n")); 
}


void loop() {
  VL53L0X_RangingMeasurementData_t measure;
    
  Serial.print("Reading a measurement... ");
  lox.rangingTest(&measure, false); // pass in 'true' to get debug data printout!

  if (measure.RangeStatus != 4) {  // phase failures have incorrect data
    Serial.print("Distance (mm): "); Serial.println(measure.RangeMilliMeter);
  } else {
    Serial.println(" out of range ");
  }
    
  delay(100);
}

#include <Wire.h>
#include <VL53L0X.h>

VL53L0X sensor;
VL53L0X sensor2;


void setup()
{

  pinMode(10, OUTPUT);
  pinMode(11, OUTPUT);

  digitalWrite(10, LOW);
  digitalWrite(11, LOW);


  delay(500);
  Wire.begin();


  Serial.begin (9600);

  //SENSOR
  pinMode(10, INPUT);
  delay(150);
  Serial.println("00");
  sensor.init(true);
  Serial.println("01");
  delay(100);
  sensor.setAddress((uint8_t)22);
  Serial.println("02");

  //SENSOR 2
  pinMode(11, INPUT);
  delay(150);
  sensor2.init(true);
  Serial.println("03");
  delay(100);
  sensor2.setAddress((uint8_t)25);
  Serial.println("04");

  

  Serial.println("");
  Serial.println("addresses set");
  Serial.println("");
  Serial.println("");



  sensor.setTimeout(500);
  sensor2.setTimeout(500);


}

void loop()
{
  Serial.println("__________________________________________________________________");
  Serial.println("");
  Serial.println("=================================");
  Serial.println ("I2C scanner. Scanning ...");
  byte count = 0;


  //for (byte i = 1; i < 120; i++)
  for (byte i = 1; i < 120; i++)
  {

    Wire.beginTransmission (i);
    if (Wire.endTransmission () == 0)
    {
      Serial.print ("Found address: ");
      Serial.print (i, DEC);
      Serial.print (" (0x");
      Serial.print (i, HEX);
      Serial.println (")");
      count++;
      delay (1);  // maybe unneeded?
    } // end of good response
  } // end of for loop
  Serial.println ("Done.");
  Serial.print ("Found ");
  Serial.print (count, DEC);
  Serial.println (" device(s).");
  Serial.println("=================================");


  //CHECK DISTANCES
  long DISTANCE_FWD = (sensor.readRangeSingleMillimeters());
  long DISTANCE_FLT = (sensor2.readRangeSingleMillimeters());

  //FWD OR SENSOR
  if (sensor.timeoutOccurred())
  {
    Serial.println("_________________________________");
    Serial.print("Distance FWD (READING): ");
    Serial.println(" TIMEOUT");
    Serial.println("_________________________________");
    Serial.println("");
  }
  else
  {
    Serial.println("_________________________________");
    Serial.print("Distance FWD   (feet): ");
    Serial.println(DISTANCE_FWD/12);
    Serial.print("Distance FWD (inches): ");
    Serial.println(DISTANCE_FWD);
    Serial.println("_________________________________");
    Serial.println("");
  }

  //FLT OR SENSOR2
  if (sensor2.timeoutOccurred())
  {
    Serial.println("_________________________________");
    Serial.print("Distance FLT (READING): ");
    Serial.println(" TIMEOUT");
    Serial.println("_________________________________");
    Serial.println("");
  }
  else
  {
    Serial.println("_________________________________");
    Serial.print("Distance FLT   (feet): ");
    Serial.println(DISTANCE_FLT/12);
    Serial.print("Distance FLT (inches): ");
    Serial.println(DISTANCE_FLT);
    Serial.println("_________________________________");
    Serial.println("");
  }
  

 


  
  Serial.println("__________________________________________________________________");
  Serial.println();
  Serial.println();
  Serial.println();
  Serial.println();


  
  delay(2000);//can change to a lower time like 100
}

#include <Wire.h>
#include <VL53L0X.h>

//#define XSHUT_pin6 not required for address change
#define XSHUT_pin5 9
#define XSHUT_pin4 8
#define XSHUT_pin3 7
#define XSHUT_pin2 6
#define XSHUT_pin1 5

//ADDRESS_DEFAULT 0b0101001 or 41
//#define Sensor1_newAddress 41 not required address change
#define Sensor2_newAddress 42
#define Sensor3_newAddress 43
#define Sensor4_newAddress 44
#define Sensor5_newAddress 45
#define Sensor6_newAddress 46

VL53L0X Sensor1;
VL53L0X Sensor2;
VL53L0X Sensor3;
VL53L0X Sensor4;
VL53L0X Sensor5;
VL53L0X Sensor6;

void setup()
{ /*WARNING*/
  //Shutdown pins of VL53L0X ACTIVE-LOW-ONLY NO TOLERANT TO 5V will fry them
  pinMode(XSHUT_pin1, OUTPUT);
  pinMode(XSHUT_pin2, OUTPUT);
  pinMode(XSHUT_pin3, OUTPUT);
  pinMode(XSHUT_pin4, OUTPUT);
  pinMode(XSHUT_pin5, OUTPUT);
  
  Serial.begin(9600);
  
  Wire.begin();
  //Change address of sensor and power up next one
  Sensor6.setAddress(Sensor6_newAddress);
  pinMode(XSHUT_pin5, INPUT);
  delay(10); //For power-up procedure t-boot max 1.2ms "Datasheet: 2.9 Power sequence"
  Sensor5.setAddress(Sensor5_newAddress);
  pinMode(XSHUT_pin4, INPUT);
  delay(10);
  Sensor4.setAddress(Sensor4_newAddress);
  pinMode(XSHUT_pin3, INPUT);
  delay(10);
  Sensor3.setAddress(Sensor3_newAddress);
  pinMode(XSHUT_pin2, INPUT);
  delay(10);
  Sensor2.setAddress(Sensor2_newAddress);
  pinMode(XSHUT_pin1, INPUT);
  delay(10);
  
  Sensor1.init();
  Sensor2.init();
  Sensor3.init();
  Sensor4.init();
  Sensor5.init();
  Sensor6.init();
  
  Sensor1.setTimeout(500);
  Sensor2.setTimeout(500);
  Sensor3.setTimeout(500);
  Sensor4.setTimeout(500);
  Sensor5.setTimeout(500);
  Sensor6.setTimeout(500);

  // Start continuous back-to-back mode (take readings as
  // fast as possible).  To use continuous timed mode
  // instead, provide a desired inter-measurement period in
  // ms (e.g. sensor.startContinuous(100)).
  Sensor1.startContinuous();
  Sensor2.startContinuous();
  Sensor3.startContinuous();
  Sensor4.startContinuous();
  Sensor5.startContinuous();
  Sensor6.startContinuous();

}

void loop()
{
  Serial.print(Sensor1.readRangeContinuousMillimeters());
  Serial.print(',');
  Serial.print(Sensor2.readRangeContinuousMillimeters());
  Serial.print(',');
  //Serial.print(Sensor3.readRangeContinuousMillimeters());
  //Serial.print(','); Did not work for me result was 65535
  Serial.print(Sensor4.readRangeContinuousMillimeters());
  Serial.print(',');
  Serial.print(Sensor5.readRangeContinuousMillimeters());
  Serial.print(',');
  Serial.print(Sensor6.readRangeContinuousMillimeters());
  Serial.println();
}