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ArduinoCube/ArduinoCube.ino

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+/*
+  APDS-9960 - Proximity Sensor
+
+  This example reads proximity data from the on-board APDS-9960 sensor of the
+  Nano 33 BLE Sense and prints the proximity value to the Serial Monitor
+  every 100 ms.
+
+  The circuit:
+  - Arduino Nano 33 BLE Sense
+
+  This example code is in the public domain.
+*/
+
+#include <Arduino_APDS9960.h>
+#include <ArduinoBLE.h>
+
+#define R 2
+#define O 3
+#define V 4
+
+#define STATUS_SAFE 0
+#define STATUS_CLOSE 1
+#define STATUS_DANGER 2
+
+#define DISTANCE_DANGER 40
+#define DISTANCE_SAFE 120 
+
+int status = STATUS_SAFE;
+
+int ledState = LOW;
+
+unsigned long previousMillis = 0;
+
+const long intervalLong = 750;
+const long intervalMedLo = 250;
+const long intervalMed = 150;
+const long intervalMedSho = 80;
+const long intervalShort = 20;
+
+const int trigger = 12;
+const int echo = 11;
+
+long duration = 0;
+int distance = 0;
+
+BLEService ledService("180A");
+BLEByteCharacteristic switchCharacteristic("2A57", BLERead | BLEWrite);
+
+void setup() {
+  Serial.begin(9600);
+  while (!Serial)
+    ;
+
+  if (!APDS.begin()) {
+    Serial.println("Error initializing APDS-9960 sensor!");
+    while (1);
+  }
+  if (!BLE.begin()) {
+    Serial.println("starting Bluetooth® Low Energy failed!");
+    while (1);
+  }
+
+  BLE.setLocalName("Nano 33 BLE Sense");
+  BLE.setAdvertisedService(ledService);
+  ledService.addCharacteristic(switchCharacteristic);
+  BLE.addService(ledService);
+  switchCharacteristic.writeValue(0);
+  BLE.advertise();
+
+  pinMode(trigger, OUTPUT);
+  pinMode(echo, INPUT);
+  //LEDs
+  pinMode(R, OUTPUT);
+  pinMode(O, OUTPUT);
+  pinMode(V, OUTPUT);
+  analogWrite(R, 0);
+  analogWrite(O, 0);
+  analogWrite(V, 0);
+}
+
+
+/**
+ * Update the status of processor according to the
+ * read distance.
+ *
+ * @arg distance : read distance from the sensor.
+*/
+void update_status(int distance)
+{
+  if (distance <= DISTANCE_DANGER && status != STATUS_DANGER)
+  {
+      status = STATUS_DANGER;
+      Serial.print("DANGER ! Obstacle found at distance ");
+      Serial.print(distance);
+      Serial.println("cm");
+
+      analogWrite(R, 255);
+      analogWrite(O, 0);
+      analogWrite(V, 0);
+  }
+  else if (distance > DISTANCE_DANGER &&
+      distance <= DISTANCE_SAFE && status != STATUS_CLOSE)
+  {
+      status = STATUS_CLOSE;
+      Serial.print("WARNING ! Obstacle closing on at distance ");
+      Serial.print(distance);
+      Serial.println("cm");
+
+      analogWrite(R, 0);
+      analogWrite(O, 255);
+      analogWrite(V, 0);
+  }
+  else if (distance > DISTANCE_SAFE && status != STATUS_SAFE)
+  {
+      status = STATUS_SAFE;
+      Serial.println("All is good :)");
+
+      analogWrite(R, 0);
+      analogWrite(O, 0);
+      analogWrite(V, 255);
+  }
+}
+
+/**
+ * Reads the data from the sensor and calculates the distance.
+ * 
+ * @return calculated distance.
+*/
+int read_sensor()
+{
+  int dist;
+  long dur;
+
+  digitalWrite(trigger, LOW);
+  delayMicroseconds(2);
+  digitalWrite(trigger, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(trigger, LOW);
+  duration = pulseIn(echo, HIGH);
+  distance = duration * 0.034 / 2;
+
+  return (dist);
+}
+
+void loop() {
+  BLEDevice central = BLE.central();
+  unsigned long currentMillis = millis();
+  digitalWrite(trigger, LOW);
+  delayMicroseconds(2);
+  digitalWrite(trigger, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(trigger, LOW);
+  duration = pulseIn(echo, HIGH);
+  distance = duration * 0.034 / 2;
+  update_status(distance);
+
+  // wait a bit before reading again
+  delay(350);
+}