1#define trigPin1 2
2#define echoPin1 3
3#define trigPin2 4
4#define echoPin2 5
5
6
7int Led3=10;
8int Led1=11;
9int Led2=12;
10int sensor1=0;
11int sensor2=0;
12float duration1,distance1, distance2, duration2;
13volatile int FSM1_estado=0;
14int contagem=0;
15unsigned long tempo =0;
16unsigned long r,s,x;
17
18
19
20void setup() {
21Serial.begin (9600);
22pinMode(trigPin1, OUTPUT);
23pinMode(echoPin1, INPUT);
24pinMode(Led1, OUTPUT);
25pinMode(trigPin2, OUTPUT);
26pinMode(echoPin2, INPUT);
27pinMode(Led2, OUTPUT);
28pinMode(Led3, OUTPUT);
29}
30
31
32void loop() {
33
34 digitalWrite(trigPin1, LOW);
35 delayMicroseconds(2);
36 digitalWrite(trigPin1, HIGH);
37 delayMicroseconds(5);
38 digitalWrite(trigPin1, LOW);
39
40 duration1=pulseIn (echoPin1, HIGH);
41 distance1= (duration1/2)*0.0345;
42
43 digitalWrite(Led1, LOW);
44 digitalWrite(Led2, LOW);
45 digitalWrite(Led3, LOW);
46 if(distance1 >=5 && distance1 <=15){
47 sensor1=1;
48
49 if (sensor1==1){
50
51 FSM1();
52 }
53 }
54 else{sensor1=0;}
55
56}
57
58
59
60
61void FSM1(){
62int contador;
63int s=1000;
64
65
66switch(FSM1_estado){
67
68 case 0:
69 digitalWrite(Led1, LOW);
70 digitalWrite(Led2, LOW);
71 digitalWrite(Led3, LOW);
72
73 FSM1_estado=1;
74 break;
75
76
77
78
79 case 1:
80 r=millis();
81 digitalWrite(Led1, HIGH);
82 digitalWrite(Led2, LOW);
83 digitalWrite(Led3, LOW);
84 FSM1_estado=2;
85 break;
86
87
88 case 2:
89
90 delay(60);
91 digitalWrite(trigPin2, HIGH);
92 delayMicroseconds(500);
93 digitalWrite(trigPin2, LOW);
94 duration2=pulseIn (echoPin2, HIGH);
95 distance2= (duration2/2)*0.0344;
96 x=millis ()-r;
97
98 if ((distance2>=5 && distance2 <15)&&(x<s)){
99
100 FSM1_estado=3;
101 }
102 else{FSM1_estado=4;}
103 break;
104
105
106 case 3:
107 digitalWrite(Led1, HIGH);
108 digitalWrite(Led2, HIGH);
109 digitalWrite(Led3, LOW);
110 Serial.println();
111 Serial.print("-------------------------------------------");
112 Serial.println();
113 Serial.print("-----------SEQUENCIA CORRETA-------------- ");
114 Serial.println();
115 Serial.print("-------------------------------------------");
116 Serial.println();
117 contagem++;
118 Serial.println(contagem);
119 FSM1_estado=0;
120 break;
121
122
123 case 4:
124 digitalWrite(Led1, LOW);
125 digitalWrite(Led2, LOW);
126 digitalWrite(Led3, HIGH);
127 Serial.println();
128 Serial.print("-------------------------------------------");
129 Serial.println();
130 Serial.print("-----------INCORRETA ALRME -------------- ");
131 Serial.println();
132 Serial.print("-------------------------------------------");
133 Serial.println();
134 delay (200);
135 FSM1_estado=0;
136 break;
137
138
139
140}
141
142}
143
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