Meet Juno – The Desk Companion Bot!

#include "cy_pdl.h"
#include "cybsp.h"

// Define the servo control pins
#define SERVO_1_PIN P2_0
#define SERVO_2_PIN P2_1
#define SERVO_3_PIN P2_2
#define SERVO_4_PIN P2_3

// Define the touch sensor pin
#define TOUCH_SENSOR_PIN P0_0

// Define ultrasonic sensor pins
#define TRIG_PIN P0_1
#define ECHO_PIN P0_2

// Function prototypes
void init_peripherals(void);
void move_servos(uint8_t position);
float measure_distance(void);

int main(void)
{
    // Initialize the device and board peripherals
    cybsp_init();
    __enable_irq(); // Enable global interrupts

    // Initialize peripherals
    init_peripherals();

    while (1)
    {
        // Check touch sensor state
        if (cyhal_gpio_read(TOUCH_SENSOR_PIN) == 1) // Assuming active high
        {
            move_servos(90); // Move servos to 90 degrees on touch
        }
        else
        {
            move_servos(0); // Move servos to 0 degrees
        }

        // Measure distance using ultrasonic sensor
        float distance = measure_distance();
        // You can use the distance value for further actions (like obstacle avoidance)
        
        Cy_SysLib_Delay(100); // Delay to avoid rapid toggling
    }
}

void init_peripherals(void)
{
    // Initialize servo pins as outputs
    cyhal_gpio_init(SERVO_1_PIN, CYHAL_GPIO_DIR_OUTPUT, CYHAL_GPIO_DRIVE_STRONG, 0);
    cyhal_gpio_init(SERVO_2_PIN, CYHAL_GPIO_DIR_OUTPUT, CYHAL_GPIO_DRIVE_STRONG, 0);
    cyhal_gpio_init(SERVO_3_PIN, CYHAL_GPIO_DIR_OUTPUT, CYHAL_GPIO_DRIVE_STRONG, 0);
    cyhal_gpio_init(SERVO_4_PIN, CYHAL_GPIO_DIR_OUTPUT, CYHAL_GPIO_DRIVE_STRONG, 0);
    
    // Initialize touch sensor pin as input
    cyhal_gpio_init(TOUCH_SENSOR_PIN, CYHAL_GPIO_DIR_INPUT, CYHAL_GPIO_DRIVE_PULLUP, 0);

    // Initialize ultrasonic sensor pins
    cyhal_gpio_init(TRIG_PIN, CYHAL_GPIO_DIR_OUTPUT, CYHAL_GPIO_DRIVE_STRONG, 0);
    cyhal_gpio_init(ECHO_PIN, CYHAL_GPIO_DIR_INPUT, CYHAL_GPIO_DRIVE_NONE, 0);
}

void move_servos(uint8_t position)
{
    // Assume position is in degrees and map it to PWM for servos
    uint32_t pulse_width = 500 + (position * 10); // Adjust mapping as needed

    // Control each servo
    cyhal_pwm_set_duty_cycle(SERVO_1_PIN, pulse_width, 20); // Assuming 20 ms period
    cyhal_pwm_set_duty_cycle(SERVO_2_PIN, pulse_width, 20);
    cyhal_pwm_set_duty_cycle(SERVO_3_PIN, pulse_width, 20);
    cyhal_pwm_set_duty_cycle(SERVO_4_PIN, pulse_width, 20);
}

float measure_distance(void)
{
    // Send a 10us pulse to the ultrasonic trigger pin
    cyhal_gpio_write(TRIG_PIN, 1);
    Cy_SysLib_DelayUs(10);
    cyhal_gpio_write(TRIG_PIN, 0);

    // Measure pulse width on echo pin
    uint32_t start_time = Cy_SysTick_GetValue();
    while (cyhal_gpio_read(ECHO_PIN) == 0); // Wait for echo to start
    uint32_t pulse_start = Cy_SysTick_GetValue();
    while (cyhal_gpio_read(ECHO_PIN) == 1); // Wait for echo to end
    uint32_t pulse_end = Cy_SysTick_GetValue();

    // Calculate pulse duration
    uint32_t pulse_duration = pulse_end - pulse_start;
    // Calculate distance (speed of sound = 343 m/s)
    return (pulse_duration * 0.0343) / 2; // Convert to cm
}