main.cpp

#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
            }
        }
    }
}