Diff: main.cpp

Revision:

0:ff32f0b3cfa5

--- /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
+            }
+        }
+    }
+}
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