First release.
Dependencies: FXOS8700CQ SDFileSystem mbed
Final program
- Controling a robot by Bluetooth, it is capable of making 90° turns and move pre-defined distances.
Code by:
- Mayumi Hori
- Sarahí Morán
- Gerardo Carmona
Diff: main.cpp
- Revision:
- 3:bd16e43ad7be
- Parent:
- 2:94059cb643be
- Child:
- 4:c60636c95b80
diff -r 94059cb643be -r bd16e43ad7be main.cpp --- a/main.cpp Thu Oct 16 17:30:52 2014 +0000 +++ b/main.cpp Fri Oct 17 06:21:52 2014 +0000 @@ -5,12 +5,16 @@ the magnometer. It will report data from the encoders and limit the movement by the ultrasonic sensors + COMPONENTS: * Bluetooth * Magnometer (FXOS8700CQ & magnometer.h) * Motors (motors.h) - * Encoder + * Encoder (encoder.h) * Ultrasonic sensors (motors.h) + * SD Card (sd_card.h & SDFileSystem) + * xbee (xbee.h) + CONTROLS: w: foward @@ -20,16 +24,20 @@ o: 90° left turn p: 90° right turn + Credits: * Mayumi Haro * Sarahí Morán * Gerardo Carmona VERSION: - 1.2 - 10/16/14 + 1.3 - 10/17/14 + - HISTORY: + 1.3 - 10/17/14 + (+) Added nuw functions + 1.2 - 10/16/14 (+) Added xbee, ultrasonic, sd_card @@ -50,31 +58,44 @@ #include "encoder.h" #include "sd_card.h" #include "xbee.h" +#include "encoders.h" +#include "ultrasonic.h" // ----- Constants ------------------------------------------------------------------ #define LED_ERROR 6 #define LED_NORMAL 5 #define LED_BUSY 3 -#define BT_TIME 100 +// Motores +#define MOVE_FWD_F 'W' +#define MOVE_REV_F 'S' +#define MOVE_LEF_F 'A' +#define MOVE_RIG_F 'D' +#define MOVE_FWD_S 'w' +#define MOVE_REV_S 's' +#define MOVE_LEF_S 'a' +#define MOVE_RIG_S 'd' +#define MOVE_STO 'q' +#define MOVE_90L 'o' +#define MOVE_90R 'p' +// Otros +#define reset_encoders 'r' +#define request_data 'm' +#define encoder_rigth 1 +#define encoder_left 2 // ----- I/O Pins ------------------------------------------------------------------- Serial pc(USBTX, USBRX); Serial bt(PTC15, PTC14); -//FXOS8700CQ fxos(PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // SDA, SCL, (addr << 1) // Leds for status BusOut leds(LED_RED, LED_GREEN, LED_BLUE); // Sensors -//AnalogIn current_left(A0); -//AnalogIn current_left(A1); AnalogIn ultra_left(A2); AnalogIn ultra_right(A3); -DigitalIn encoder_left(D3); -DigitalIn encoder_right(D4); +//DigitalIn encoder_left(D3); +//DigitalIn encoder_right(D4); // ----- Others --------------------------------------------------------------------- -//SRAWDATA accel_data; -//SRAWDATA magn_data; Timer bt_timer; Timer gps_timer; @@ -82,35 +103,84 @@ char bt_data; // ----- Function prototypes -------------------------------------------------------- -//double get_mag_x(); -//double get_mag_y(); -//double get_mag_angle(); // Read angle from the compass -char read_bt(); +void read_bt(); +void command_bt(char _command); +void send_all_data(); // ----- Main program --------------------------------------------------------------- int main(){ + init_encoders(); bt.baud(9600); pc.baud(9600); - //fxos.enable(); leds = LED_NORMAL; - bt_timer.start(); while (true){ - if (bt_timer.read_ms() >= BT_TIME){ - bt_data = read_bt(); - if (bt_data != ' '){ - move_motors(bt_data, 100, 100); - } - } + read_bt(); } } // ----- Functions ------------------------------------------------------------------ - -char read_bt(){ +void read_bt(){ char c = ' '; if (bt.readable()){ c = bt.getc(); bt.printf("%c\n\r", c); + //} + //if (c != ' '){ + command_bt(c); } - return c; +} + +void command_bt(char _command){ + switch (_command){ + case MOVE_FWD_F: + motor_fwd(FAST, FAST); + break; + case MOVE_REV_F: + motor_rev(FAST, FAST); + break; + case MOVE_LEF_F: + motor_left(FAST, FAST); + break; + case MOVE_RIG_F: + motor_right(FAST, FAST); + break; + case MOVE_FWD_S: + motor_fwd(SLOW, SLOW); + break; + case MOVE_REV_S: + motor_rev(SLOW, SLOW); + break; + case MOVE_LEF_S: + motor_left(SLOW, SLOW); + break; + case MOVE_RIG_S: + motor_right(SLOW, SLOW); + break; + case MOVE_STO: + motor_stop(); + break; + //case MOVE_90L: + // move_90(1); + // break; + //case MOVE_90R: + // move_90(2); + // break; + case reset_encoders: + encoders_to_zero(); + break; + case request_data: + send_all_data(); + break; + default: + motor_stop(); + // bt.printf("%f\r\n", get_mag_angle()); + break; + } +} + +void send_all_data(){ + bt.printf("sending all data...\n"); + bt.printf("Right encoder: %f cms\tLeft encoder: %f cms\n", encoder(encoder_rigth), encoder(encoder_rigth)); + bt.printf("Rigt distance: %fcms\tLeft distance: %fcms\n", ultrasonicos(ULTRA_R), ultrasonicos(ULTRA_L)); + bt.printf("Angle: %f\n", get_mag_angle()); } \ No newline at end of file