WEBVTT 00:00.270 --> 00:07.560 This is now step number four of the final project in the state, we are going to unlock the applications. 00:07.560 --> 00:14.500 So far what we have done is read the distance from the ultrasonic sensor, both on the warning and the 00:14.550 --> 00:19.650 faster is the obstacle is closer and then lock the application. 00:19.650 --> 00:25.980 If the distance is lower than the certain threshold here, 10 centimeters in that case, we of the right 00:25.980 --> 00:28.710 in the default behavior and we make the IDs. 00:28.980 --> 00:35.610 So the one and the error and it is blinking and not with the things that once the application is locked, 00:36.180 --> 00:37.590 we can't do anything else. 00:37.830 --> 00:45.090 So we know what we need to do is create a mechanism to unlock the application when a user, for example, 00:45.300 --> 00:48.310 a human user, presses on a push button. 00:48.900 --> 00:52.080 So in real life, that could be that you're about to stoke somewhere. 00:52.080 --> 00:55.230 The user would make sure the robot is not stacked anymore. 00:55.470 --> 00:59.160 And we press on a button to say that now everything is OK. 00:59.160 --> 01:01.650 You can resume your normal behavior. 01:01.920 --> 01:08.010 So let's handle the push button, because this is when we press on the button that we are going to unlock 01:08.370 --> 01:09.050 the application. 01:09.060 --> 01:10.800 So I need for Dippin. 01:12.940 --> 01:21.070 The fine button in which he's been number two, and he will for the president and we are going to need 01:21.070 --> 01:26.140 to debate the button, which we're going to do in the code, and we can choose between using polling 01:26.140 --> 01:27.340 or interrupts. 01:27.790 --> 01:31.740 And actually, I'm not going to interrupt in that final project for a button. 01:32.050 --> 01:34.780 I'm going to interrupt for the address and make OK. 01:34.820 --> 01:37.970 This is already perfect for this budget, for the budget. 01:38.080 --> 01:42.880 And I'm going to use Pawling and check the burden states only when the application is blocked. 01:43.180 --> 01:49.000 So the thing is that in that case, using polling will not be a problem because we will never be stuck 01:49.180 --> 01:50.880 somewhere in the void loop. 01:51.100 --> 01:54.040 So we are not going to miss the data from the button. 01:54.340 --> 01:56.330 So I have my button pinned here. 01:56.350 --> 02:06.360 I'm going to say I have made available for ultrasonics one error and I'm going to add button here as 02:06.460 --> 02:06.910 button. 02:09.040 --> 02:13.420 And the unsigned long last time. 02:14.920 --> 02:24.250 But then changed, so this will not be used to trigger the button and do something every X amount of 02:24.250 --> 02:24.580 time. 02:24.610 --> 02:26.590 This is just for the debates. 02:26.710 --> 02:34.270 OK, we check when the last time the button has changed so we can make sure that when the button changes, 02:34.780 --> 02:41.800 we ignore the following few changes for a few milliseconds so we don't count all the physical bounces 02:42.190 --> 02:44.350 that happen on the physical button. 02:46.150 --> 02:51.670 Unsigned, long, but demands delay, which is. 02:52.710 --> 02:59.880 Let's put 50 milliseconds and bytes by the state we need to monitor the states. 03:00.260 --> 03:02.620 Actually, I'm not going to initiate it here. 03:03.720 --> 03:10.430 Now, I am going to go in the void setup and I'm going to do clean mode. 03:11.980 --> 03:19.030 Button being input and just after that, so button state. 03:20.210 --> 03:24.620 Is equal to Digital three Budden. 03:25.460 --> 03:32.570 So instead of initializing the state to an arbitrary state, let's just read the real state for the 03:32.570 --> 03:32.940 bottom. 03:33.010 --> 03:36.640 OK, and then so Lebanon is set up. 03:36.650 --> 03:40.500 We have all the variables we need in the void loop. 03:40.520 --> 03:49.010 What I'm going to do is so if is locked, we make the edit is being and I'm going to do so at the same 03:49.010 --> 03:49.370 time. 03:49.910 --> 03:53.030 I'm going to check for the push button here. 03:53.660 --> 03:59.360 So when the application is not locked, well, we don't check for the pushbutton because the pushbutton 03:59.360 --> 04:01.460 is only here to unlock the application. 04:01.460 --> 04:04.360 So no need to check for it any time. 04:04.790 --> 04:08.810 We're just going to check the state when the application is looked. 04:09.350 --> 04:12.470 So to read the state, which is digital, read for the button. 04:12.470 --> 04:15.860 But I'm also going to write the DBMS mechanism. 04:16.040 --> 04:26.810 So time now if time minus last time button changed, if this is greater than the button demands delay, 04:27.680 --> 04:30.290 then what we're going to do is do so. 04:30.560 --> 04:32.720 New button state. 04:34.410 --> 04:36.630 Is equal to digital. 04:38.380 --> 04:41.130 We with the. 04:42.870 --> 04:50.430 So if the state doesn't change, we continue to read it at full speed and now if the Golden State is 04:50.430 --> 04:50.880 different. 04:52.330 --> 04:58.870 Like the new Golden State is different from the bottom state, we have stalled what we are going to 04:58.870 --> 05:02.800 do is last time. 05:06.530 --> 05:20.600 Change is equal to time now and button that is equal to a mute button state and then do the action we 05:20.600 --> 05:20.790 want. 05:21.740 --> 05:24.460 So this again, things you don't understand this structure. 05:24.470 --> 05:27.530 Please go back to the demands section. 05:28.040 --> 05:34.490 And now we are going to unlock the application so the button we can press on the button and we can release 05:34.610 --> 05:35.020 the button. 05:35.030 --> 05:41.060 So I actually am going to check if Button State is low. 05:41.060 --> 05:46.020 So here I decide to do the action when we release the book. 05:46.730 --> 05:57.440 OK, and because I have created a lock function, I'm going to create analog function and let's so we 05:57.440 --> 06:00.110 have largely to avoid a ADNOC. 06:01.710 --> 06:09.150 And let's right the mechanism to unlock the application, so here, when I looked a first check, if 06:09.150 --> 06:10.330 it was not locked. 06:10.350 --> 06:12.110 OK, so I'm going to do the same here. 06:12.120 --> 06:18.990 I'm going to do but the opposite, actually, if it is blocked, then I can unlock it. 06:19.180 --> 06:26.700 OK, so I just had this small condition to make sure that we don't unlock the application when it's 06:26.700 --> 06:27.870 already unlocked. 06:28.320 --> 06:32.460 And then I'm going to do is locked is false. 06:32.940 --> 06:35.880 And note that I have set the flag to false. 06:36.600 --> 06:39.630 The thing is that the volume will continue to grow. 06:39.690 --> 06:40.120 OK. 06:40.410 --> 06:49.610 And now instead of going inside this, if he's locked, we are going to go with the X, so the red energy 06:49.680 --> 06:51.940 will not blink anymore. 06:52.140 --> 06:54.630 We are not going to take the button state anymore. 06:55.170 --> 07:01.470 Instead, we are going to go back to normal behavior and make the yellow and blink with the blink rate 07:01.470 --> 07:02.870 depending on the distance. 07:02.880 --> 07:05.840 And we also continue to read the distance. 07:06.570 --> 07:12.300 So now that the application is unlocked, we read the distance and again we check if the distance is 07:12.300 --> 07:15.210 lower than the long distance, then we lock the application begin. 07:15.930 --> 07:21.380 So now we would be able to lock the application and lock the application, lock the application, etc.. 07:21.960 --> 07:30.660 And one thing here is that in the end, look, what I'm going to do is also do hero. 07:31.080 --> 07:45.660 Editing state to low and digital rights are a 15 year old data states and also apply the state to the 07:46.110 --> 07:55.200 area at Dippin simply because here, if we stop targeting the right any means that maybe we are going 07:55.200 --> 08:01.410 to stop when the boiled off, but maybe we are going to stop when the ADHD bobbled on. 08:01.770 --> 08:08.220 So what may happen when you unlock the application is that the right ending will be put on and you don't 08:08.220 --> 08:08.550 want that. 08:08.550 --> 08:10.470 You want it to be pulled off. 08:10.470 --> 08:14.160 So we make sure it's of when we unlock the application. 08:15.170 --> 08:19.580 Actually, here there is a saying we to comment because we don't need that anymore. 08:21.050 --> 08:26.780 Now, if you want to test, I'm going to test with the real secret and we are going to see if it's working 08:26.780 --> 08:29.240 simply with the behavior of the it is. 08:29.540 --> 08:38.840 But what you could also do is here I'm just going to say a little print and I'm looking, for example, 08:39.260 --> 08:40.250 and do. 08:42.090 --> 08:43.050 You and. 08:45.620 --> 08:52.460 Looking OK, so you can also when you get to that function here, when you get to that function here 08:52.820 --> 08:58.100 with the cell monitor, so you make sure you don't enter this function when you don't need to. 08:58.610 --> 09:01.910 So that's an additional week to bring your program if you need to. 09:02.420 --> 09:02.830 All right. 09:03.140 --> 09:07.360 To recap quickly here and bring us to their final call. 09:07.530 --> 09:10.820 OK, so final project, step number four. 09:12.820 --> 09:14.630 Let's see if it complies, yes. 09:14.650 --> 09:18.250 So to recap quickly on the code I have, so initialize the button. 09:18.260 --> 09:25.600 Thien initialized some variable for the deboned functionality of the button and then so we keep those 09:25.600 --> 09:26.290 functions. 09:27.450 --> 09:34.860 I have created the unlooked function, which shak so if it's already locked, we unlock the application 09:35.220 --> 09:42.000 and we pull out of the editing by setting the building in the setup and in the loop, I check the button 09:42.000 --> 09:42.350 state. 09:42.360 --> 09:51.600 And basically when the button is worthy's here, let's seek release when the button is released and 09:51.600 --> 09:55.710 also when the state is locked, then we call the analog function. 09:56.070 --> 10:02.300 Now we have a mechanism to lock and unlock the application and now let's blow the code to the original. 10:04.570 --> 10:13.510 So I still have my yellow calendar, which is blinking, and if I go closer here, the lady will blink 10:13.510 --> 10:20.860 faster and here I have reached the point where so the 10 centimeters where the application will be looked, 10:21.160 --> 10:23.710 you can see now the two entities are blinking together. 10:24.010 --> 10:26.400 And now I have a way to unlock the application. 10:26.410 --> 10:32.770 I'm going to press on the button and you can see it's going back to not not if I look again. 10:35.630 --> 10:36.140 OK. 10:37.560 --> 10:43.200 And I can unlock it and is going back to normal so I can alternate between the two states. 10:44.360 --> 10:50.150 All right, so now you have already completed the main functionality of this project, which is to lock 10:50.300 --> 10:54.470 and unlock the application depending on the measured distance. 10:54.830 --> 11:00.170 Now, what we are going to do in the next few steps is to improve all the other functionality around 11:00.170 --> 11:07.270 that main functionality to make the project nicer with more information that we can get and with more 11:07.280 --> 11:08.330 interactiveness.