4180 Final Project Cat Laser
Program and supporting libraries for cat laser tower bluetooth functionality and auto modes.
Dependencies: mbed sMotor HC_SR04_Ultrasonic_Library
Revision 0:ff32f0b3cfa5, committed 2021-04-30
- Comitter:
- bseleb3
- Date:
- Fri Apr 30 05:00:22 2021 +0000
- Commit message:
- revision_01 of cat laser toy program
Changed in this revision
diff -r 000000000000 -r ff32f0b3cfa5 HC_SR04_Ultrasonic_Library.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HC_SR04_Ultrasonic_Library.lib Fri Apr 30 05:00:22 2021 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3
diff -r 000000000000 -r ff32f0b3cfa5 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Apr 30 05:00:22 2021 +0000
@@ -0,0 +1,182 @@
+#include "mbed.h"
+#include "sMotor.h"
+#include "ultrasonic.h"
+
+Serial pc(USBTX, USBRX);
+Serial Blue(p28,p27);
+sMotor motor(p9, p10, p11, p12); // creates new stepper motor: IN1, IN2, IN3, IN4
+DigitalOut laser(p20);
+Timer t;
+
+int step_speed = 1100; // set default motor speed
+volatile int dir = 0; //0 is CW, 1 is CCW
+
+volatile int C = 30;
+volatile int numstep; // defines basic turn distance -- 256 steps == 360 degrees
+volatile bool stationary = 1;
+volatile bool regular = 0;
+volatile bool isrand = 0;
+volatile bool manual = 0;
+volatile bool sonic = 0;
+volatile bool trigger = 0;
+volatile int bnum = 0;
+volatile int bhit;
+volatile int power = 1;
+//state used to remember previous characters read in a button message
+enum statetype {start = 0, got_exclm, got_B, got_num, got_hit};
+statetype state = start;
+
+//Interrupt routine to determine distance
+void dist(int distance) {
+ //put code here to execute when the distance has changed
+ printf("Distance %d mm\r\n", distance);
+ if (distance < 500) {
+ trigger = 1;
+ printf("where the kitty cat?\r\n");
+ }
+
+}
+//Define ultrasonic sensor
+ultrasonic mu(p6, p7, .5, 1, &dist);
+
+//Interrupt routine to parse message with one new character per serial RX interrupt
+void parse_message() {
+ switch (state) {
+ case start:
+ if (Blue.getc()=='!') state = got_exclm;
+ else state = start;
+ break;
+ case got_exclm:
+ if (Blue.getc() == 'B') state = got_B;
+ else state = start;
+ break;
+ case got_B:
+ bnum = Blue.getc();
+ state = got_num;
+ break;
+ case got_num:
+ bhit = Blue.getc();
+ state = got_hit;
+ break;
+ case got_hit:
+ if (Blue.getc() == char(~('!' + ' B' + bnum + bhit))) {
+ switch (bnum) {
+ case '1': //number button 1
+ regular = isrand = manual = sonic = 0;
+ stationary = 1;
+ printf("! B %d %d: Button 1 hit!\r\n", bnum, bhit);
+ break;
+ case '2': //number button 2
+ stationary = manual = isrand = sonic = 0;
+ regular = 1;
+ numstep = C;
+ printf("! B %d %d: Button 2 hit!\r\n", bnum, bhit);
+ break;
+ case '3': //number button 3
+ stationary = regular = manual = sonic = 0;
+ isrand = 1;
+ printf("! B %d %d: Button 3 hit!\r\n", bnum, bhit);
+ break;
+ case '4': //number button 4
+ regular = isrand = manual = stationary = 0;
+ sonic = 1;
+ printf("! B %d %d: Button 4 hit! Going ultrasonic.\r\n", bnum, bhit);
+ break;
+ case '5': //up arrow
+ power = 1;
+ printf("! B %d %d: Up arrow hit!\r\n", bnum, bhit);
+ break;
+ case '6': //down arrow
+ power = 0;
+ printf("! B %d %d: Down arrow hit!\r\n", bnum, bhit);
+ break;
+ case '7':
+ stationary = regular = isrand = sonic = 0;
+ manual = 1;
+ dir = 0;
+ printf("! B %d %d: Left arrow hit!\r\n", bnum, bhit);
+ break;
+ case '8':
+ stationary = regular = isrand = sonic = 0;
+ manual = 1;
+ dir = 1;
+ printf("! B %d %d: Right arrow hit!\r\n", bnum, bhit);
+ break;
+ }
+ }
+ default:
+ Blue.getc();
+ state = start;
+ }
+}
+
+int main() {
+
+ // Screen Menu
+ printf("Default Speed: %d\n\r", step_speed);
+ printf("Use Adafruit Bluefruit buttons to select mode\n\r");
+
+ // attach interrupt function for each new Bluetooth serial character
+ Blue.attach(&parse_message,Serial::RxIrq);
+
+ int temp1 = 0;
+ int temp2 = 0;
+
+ while (1) {
+ laser = power;
+
+ //IF STATIONARY, DONT DO ANYTHING, OTHERWISE:
+ if (stationary != 1) {
+
+ //IF REGULAR, TURN BACK AND FORTH WITH C
+ if (regular == 1) {
+ dir = 1 - dir;
+ motor.step(numstep, dir, step_speed);
+ }
+ //IF RANDOM, TURN RANDOMLY BASED ON C
+ else if (isrand == 1) {
+ temp2 = rand() % C+1;
+ numstep = temp2 - temp1;
+ if (numstep < 0) {
+ dir = 0;
+ } else if (numstep > 0) {
+ dir = 1;
+ }
+ temp1 = temp2;
+ numstep = abs(numstep);
+ motor.step(numstep, dir, step_speed);
+ }
+ //IF MANUAL, USE DIRECTION TO TURN
+ else if (manual == 1) {
+ dir = dir;
+ numstep = C;
+ motor.step(numstep, dir, step_speed);
+ manual = 0;
+ stationary = 1;
+ }
+ //GOING ULTRASONIC
+ else if (sonic == 1) {
+ laser = 0;
+ mu.startUpdates();//start measuring the distance
+ while (sonic) {
+ mu.checkDistance();
+ if (trigger) {
+ t.start();
+ while (t.read() < 60.0 && sonic == 1) {
+ laser = 1;
+ printf("%f seconds\n", t.read());
+ numstep = rand() % C+1;
+ dir = !dir;
+ motor.step(numstep, dir, step_speed);
+ }
+ laser = 0;
+ trigger = 0;
+ t.stop();
+ t.reset();
+ }
+ }
+ mu.pauseUpdates();//stop measureing the distance
+ }
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r ff32f0b3cfa5 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Apr 30 05:00:22 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
diff -r 000000000000 -r ff32f0b3cfa5 sMotor.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sMotor.lib Fri Apr 30 05:00:22 2021 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/XtaticO/code/sMotor/#4b3b9e047ce3