main.cpp

00001 #include "mbed.h"
00002 #include "sMotor.h"
00003 #include "ultrasonic.h"
00004  
00005 Serial pc(USBTX, USBRX);
00006 Serial Blue(p28,p27);
00007 sMotor motor(p9, p10, p11, p12); // creates new stepper motor: IN1, IN2, IN3, IN4
00008 DigitalOut laser(p20); 
00009 Timer t; 
00010 
00011 int step_speed = 1100; // set default motor speed
00012 volatile int dir = 0; //0 is CW, 1 is CCW
00013  
00014 volatile int C = 30;
00015 volatile int numstep; // defines basic turn distance -- 256 steps == 360 degrees
00016 volatile bool stationary = 1; 
00017 volatile bool regular = 0; 
00018 volatile bool isrand = 0; 
00019 volatile bool manual = 0;
00020 volatile bool sonic = 0; 
00021 volatile bool trigger = 0; 
00022 volatile int  bnum = 0;
00023 volatile int  bhit;
00024 volatile int power = 1; 
00025 //state used to remember previous characters read in a button message
00026 enum statetype {start = 0, got_exclm, got_B, got_num, got_hit};
00027 statetype state = start;
00028 
00029 //Interrupt routine to determine distance
00030 void dist(int distance) {
00031     //put code here to execute when the distance has changed
00032     printf("Distance %d mm\r\n", distance);
00033     if (distance < 500) {
00034         trigger = 1; 
00035         printf("where the kitty cat?\r\n");
00036     }
00037 
00038 }
00039 //Define ultrasonic sensor
00040 ultrasonic mu(p6, p7, .5, 1, &dist);
00041 
00042 //Interrupt routine to parse message with one new character per serial RX interrupt
00043 void parse_message() {
00044     switch (state) {
00045         case start:
00046             if (Blue.getc()=='!') state = got_exclm;
00047             else state = start;
00048             break;
00049         case got_exclm:
00050             if (Blue.getc() == 'B') state = got_B;
00051             else state = start;
00052             break;
00053         case got_B:
00054             bnum = Blue.getc();
00055             state = got_num;
00056             break;
00057         case got_num:
00058             bhit = Blue.getc();
00059             state = got_hit;
00060             break;
00061         case got_hit:
00062             if (Blue.getc() == char(~('!' + ' B' + bnum + bhit))) {
00063                 switch (bnum) {
00064                     case '1': //number button 1
00065                         regular = isrand = manual = sonic = 0; 
00066                         stationary = 1; 
00067                         printf("! B %d %d: Button 1 hit!\r\n", bnum, bhit);
00068                         break;
00069                     case '2': //number button 2
00070                         stationary = manual = isrand = sonic = 0; 
00071                         regular = 1; 
00072                         numstep = C; 
00073                         printf("! B %d %d: Button 2 hit!\r\n", bnum, bhit);
00074                         break;
00075                     case '3': //number button 3
00076                         stationary = regular = manual = sonic = 0;
00077                         isrand = 1;
00078                         printf("! B %d %d: Button 3 hit!\r\n", bnum, bhit);
00079                         break;
00080                     case '4': //number button 4
00081                         regular = isrand = manual = stationary = 0; 
00082                         sonic = 1; 
00083                         printf("! B %d %d: Button 4 hit! Going ultrasonic.\r\n", bnum, bhit);
00084                         break;
00085                     case '5': //up arrow
00086                         power = 1; 
00087                         printf("! B %d %d: Up arrow hit!\r\n", bnum, bhit);
00088                         break; 
00089                     case '6': //down arrow
00090                         power = 0; 
00091                         printf("! B %d %d: Down arrow hit!\r\n", bnum, bhit);
00092                         break;
00093                     case '7':
00094                         stationary = regular = isrand = sonic = 0;
00095                         manual = 1; 
00096                         dir = 0;
00097                         printf("! B %d %d: Left arrow hit!\r\n", bnum, bhit);
00098                         break;
00099                     case '8':
00100                         stationary = regular = isrand = sonic = 0; 
00101                         manual = 1; 
00102                         dir = 1;
00103                         printf("! B %d %d: Right arrow hit!\r\n", bnum, bhit);
00104                         break;
00105                 }
00106             }
00107         default:
00108             Blue.getc();
00109             state = start;
00110     }
00111 }
00112  
00113 int main() {
00114  
00115     // Screen Menu
00116     printf("Default Speed: %d\n\r", step_speed);
00117     printf("Use Adafruit Bluefruit buttons to select mode\n\r");
00118     
00119     // attach interrupt function for each new Bluetooth serial character
00120     Blue.attach(&parse_message,Serial::RxIrq);
00121  
00122     int temp1 = 0;
00123     int temp2 = 0;
00124     
00125     while (1) {
00126         laser = power;
00127         
00128         //IF STATIONARY, DONT DO ANYTHING, OTHERWISE: 
00129         if (stationary != 1) {
00130             
00131             //IF REGULAR, TURN BACK AND FORTH WITH C
00132             if (regular == 1) {
00133                 dir =  1 - dir;
00134                 motor.step(numstep, dir, step_speed);
00135             }
00136             //IF RANDOM, TURN RANDOMLY BASED ON C
00137             else if (isrand == 1) {
00138                 temp2 = rand() % C+1;
00139                 numstep = temp2 - temp1;
00140                 if (numstep < 0) {
00141                     dir = 0;
00142                 } else if (numstep > 0) {
00143                     dir = 1;
00144                 }
00145                 temp1 = temp2;
00146                 numstep = abs(numstep);
00147                 motor.step(numstep, dir, step_speed);
00148             } 
00149             //IF MANUAL, USE DIRECTION TO TURN
00150             else if (manual == 1) {
00151                 dir = dir;
00152                 numstep = C; 
00153                 motor.step(numstep, dir, step_speed);
00154                 manual = 0; 
00155                 stationary = 1; 
00156             } 
00157             //GOING ULTRASONIC
00158             else if (sonic == 1) {
00159                 laser = 0;
00160                 mu.startUpdates();//start measuring the distance
00161                 while (sonic) {
00162                     mu.checkDistance();
00163                     if (trigger) {
00164                         t.start();
00165                         while (t.read() < 60.0 && sonic == 1) {
00166                             laser = 1; 
00167                             printf("%f seconds\n", t.read());
00168                             numstep = rand() % C+1;
00169                             dir = !dir; 
00170                             motor.step(numstep, dir, step_speed);
00171                         }
00172                         laser = 0; 
00173                         trigger = 0; 
00174                         t.stop();
00175                         t.reset(); 
00176                     }
00177                 }
00178                 mu.pauseUpdates();//stop measureing the distance
00179             }
00180         }
00181     }
00182 }