Diff: main.cpp

Revision:

0:fa6bc104fe2d

Child:

1:6a67ad238815

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Sep 08 08:22:07 2014 +0000
@@ -0,0 +1,111 @@
+#include "mbed.h"
+#include "BluetoothSerial.h"
+#include "SeeedStudioShieldBot.h"
+
+// The following configuration must be done on the NUCLEO board:
+// - Close SB62/SB63 and open SB13/SB14 solder bridges to enable the D0/D1 pins
+// - Open SB21 solder bridge to disconnect the LED
+
+BluetoothSerial bluetooth(D1, D0); // TX, RX
+
+SeeedStudioShieldBot bot(
+    D8, D9, D11,       // Right motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 1
+    D12, D10, D13,     // Left motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 2
+    A0, A1, A2, A3, A4 // Sensors pins (all DigitalIn)
+);
+
+// Enable it for debugging on hyperterminal
+#define DEBUG 1
+#if DEBUG == 1
+Serial pc(PC_10, PC_11);
+#define PC_DEBUG(args...) pc.printf(args)
+#else
+#define PC_DEBUG(args...)
+#endif
+
+Ticker tick;
+
+float speed = 1.0; // Motors speed
+    
+void ReadCommand(void)
+{
+    int cmd = 0;
+    PC_DEBUG(">>> Read command...\n");
+    if (bluetooth.readable())
+    {
+        cmd = bluetooth.getc();
+        PC_DEBUG(">>> Bluetooth read [%c]\n", cmd);
+        switch(cmd)
+        {
+        case 1: // Forward
+            bot.forward(speed);
+            break;
+        case 2: // Backward
+            bot.backward(speed);
+            break;              
+        case 3: // Left
+            bot.left(speed);
+            break;
+        case 4: // Right
+            bot.right(speed);
+            break;              
+        case 5: // Turn left
+            bot.turn_right(speed);
+            break;
+         case 6: // Turn right
+            bot.turn_left(speed);
+            break; 
+         case 7: // Slow
+            speed = 0.4;
+            break;
+         case 8: // Fast
+            speed = 1.0;
+            break;
+         default: // Stop
+            bot.stopAll();
+            break;
+         }
+    }    
+}
+    
+int main()
+{
+    PC_DEBUG("\n\nSeeed Bluetooth shield test started.\n");
+      
+    // Enable motors
+    bot.enable_right_motor();
+    bot.enable_left_motor();
+    
+    // Check if they are alive
+    bot.left(speed);
+    wait(0.2);
+    bot.right(speed);
+    wait(0.2);
+    bot.stopAll();
+  
+    PC_DEBUG(">>> Bluetooth setup...");
+    bluetooth.setup();
+    PC_DEBUG("done\n");
+  
+    PC_DEBUG(">>> Bluetooth in slave mode...");
+    bluetooth.slave("btslave8seeed");  // default PIN code: 0000
+    PC_DEBUG("done\n");
+    
+    wait(2);
+    
+    PC_DEBUG(">>> Bluetooth connect...");
+    bluetooth.connect();
+    PC_DEBUG("done\n");
+    
+    tick.attach_us(ReadCommand, 500000); // Every 500ms read Bluetooth command
+
+    bot.forward(speed);
+    wait(0.4);
+    bot.backward(speed);
+    wait(0.4);
+    bot.stopAll();
+      
+    while (1) {
+        wait(1);
+    } 
+}