BME SmartLab
Remote controlled robot with LEDs and Wemos motor shield
Revision 0:51c02b15eb70, committed 2017-09-27
- Comitter:
- Makodan
- Date:
- Wed Sep 27 16:03:48 2017 +0000
- Commit message:
- Remote controlled robot with LEDs and Wemos motor shield
Changed in this revision
diff -r 000000000000 -r 51c02b15eb70 RF24.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RF24.lib Wed Sep 27 16:03:48 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/akashvibhute/code/RF24/#ef74df512fed
diff -r 000000000000 -r 51c02b15eb70 config.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/config.h Wed Sep 27 16:03:48 2017 +0000 @@ -0,0 +1,38 @@ +#ifndef CONFIG_H +#define CONFIG_H + + + + #define OWN_ID 1 + + #define RadioChannel 0x4C + #define DataAddress 0xF0F0F0F0D2 //0xc2c2c2c2c2 + + #define ledpin PA_8 + #define unused_pin PA_1 + + #define bump PA_11 + #define odom PA_12 + + #define red PA_0 + #define green PA_3 + #define blue PA_2 + + #define nrf_CE PB_4 + #define nrf_CSN PB_3 + #define spi_SCK PA_5 + #define spi_MOSI PA_7 + #define spi_MISO PA_6 + #define nrf_irq PA_15 + + #define i2c_sda PB_7 + #define i2c_scl PB_6 + + #define RXD PA_3 + #define TXD PA_2 + + + +#endif + +
diff -r 000000000000 -r 51c02b15eb70 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Sep 27 16:03:48 2017 +0000
@@ -0,0 +1,195 @@
+#include "mbed.h"
+#include "config.h"
+#include "main.h"
+#include "RF24.h"
+#include "wemos_mc.h"
+
+/*
+* Constructors and pin settings
+*/
+DigitalOut myled(ledpin);
+RF24 radio(spi_MOSI, spi_MISO, spi_SCK, nrf_CE, nrf_CSN );
+
+I2C ms(i2c_sda, i2c_scl);
+
+InterruptIn receive(nrf_irq);
+InterruptIn bumper(bump);
+//InterruptIn odomet(odom);
+
+DigitalOut strip_red(red);
+DigitalOut strip_blue(green);
+DigitalOut strip_green(blue);
+
+/*
+* Global variables
+*/
+volatile char rec;
+volatile float _pwm = 0;
+volatile bool newmsg_flag=0;
+volatile bool stop_flag=0;
+volatile dataIN input;
+volatile uint32_t roll_counter = 0;
+
+/*
+* Private function prototypes
+*/
+void RadioSetup();
+void change_strip(uint16_t col);
+void startAnimation();
+
+/*
+* Interrupt callbacks
+*/
+void read_radio(){
+ dataIN tmp;
+ myled = !myled;
+ radio.read(&tmp,sizeof(tmp));
+ if(tmp.ID == OWN_ID){
+ input.dir_L = tmp.dir_L;
+ input.pwm_L = tmp.pwm_L;
+ input.dir_R = tmp.dir_R;
+ input.pwm_R = tmp.pwm_R;
+ input.led = tmp.led;
+ newmsg_flag=1;
+ }
+ }
+
+void front_hit(){
+ //blinking_flag = 1;
+ //blinking_phase = 0;
+
+ stop_flag=1;
+ }
+
+void roll(){
+ roll_counter++;
+
+ if(roll_counter % 2) change_strip(GREEN);
+ if(roll_counter % 3) change_strip(OFF);
+
+ }
+
+int main(){
+ ms.frequency(100000);
+ setfreq(ms, 1000);
+
+ setmotor(ms, _MOTOR_L, _STOP, 0);
+ setmotor(ms, _MOTOR_R, _STOP, 0);
+ change_strip(OFF);
+
+ RadioSetup();
+ radio.startListening();
+
+ startAnimation();
+
+ receive.fall(&read_radio);
+ bumper.rise(&front_hit);
+ // odomet.rise(&roll);
+
+
+
+
+ while(1){
+
+ if(newmsg_flag == 1){
+ setmotor(ms, _MOTOR_L, (uint8_t)input.dir_L, input.pwm_L);
+ wait_ms(10);
+ setmotor(ms, _MOTOR_R, (uint8_t)input.dir_R, input.pwm_R);
+ change_strip(input.led);
+ newmsg_flag = 0;
+ }
+
+ if(stop_flag == 1){
+ setmotor(ms, _MOTOR_L, _STOP, 0);
+ setmotor(ms, _MOTOR_R, _STOP, 0);
+ change_strip(RED);
+ wait(2);
+ change_strip(OFF);
+ stop_flag = 0;
+ }
+
+ /*
+ if(blinking_phase<5 && blinking_flag == 1){
+ change_strip(current_col);
+ wait_ms(250);
+ change_strip(OFF);
+ wait_ms(250);
+ blinking_phase++;
+ }
+ */
+
+ }
+
+
+ }
+
+void RadioSetup(){
+
+ radio.begin();
+ radio.setPALevel(RF24_PA_HIGH);
+ radio.setChannel(RadioChannel);
+ radio.setRetries(0,2);
+ radio.enableDynamicAck();
+ radio.enableDynamicPayloads();
+ radio.openReadingPipe(1,DataAddress);
+ radio.maskIRQ(1,1,0);
+ }
+
+void change_strip(uint16_t col){
+
+ switch(col){
+ case RED:
+ strip_red = 1;
+ strip_blue = 0;
+ strip_green=0;
+ break;
+ case GREEN:
+ strip_red = 0;
+ strip_blue = 0;
+ strip_green = 1;
+ break;
+ case BLUE:
+ strip_red = 0;
+ strip_blue = 1;
+ strip_green = 0;
+ break;
+ case YELLOW:
+ strip_red = 1;
+ strip_blue = 0;
+ strip_green = 1;
+ break;
+ case MAGENTA:
+ strip_red = 1;
+ strip_blue = 1;
+ strip_green = 0;
+ break;
+ case CYAN:
+ strip_red = 0;
+ strip_blue = 1;
+ strip_green = 1;
+ break;
+ case WHITE:
+ strip_red = 1;
+ strip_blue = 1;
+ strip_green = 1;
+ break;
+ case OFF:
+ strip_red = 0;
+ strip_blue = 0;
+ strip_green = 0;
+ break;
+ }
+
+ }
+
+ void startAnimation(){
+
+ change_strip(RED);
+ wait_ms(500);
+ change_strip(GREEN);
+ wait_ms(500);
+ change_strip(BLUE);
+ wait_ms(500);
+ change_strip(OFF);
+
+ }
\ No newline at end of file
diff -r 000000000000 -r 51c02b15eb70 main.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h Wed Sep 27 16:03:48 2017 +0000
@@ -0,0 +1,22 @@
+enum{
+ OFF = 0,
+ RED = 1,
+ GREEN = 2,
+ BLUE = 3,
+ YELLOW = 4,
+ MAGENTA = 5,
+ CYAN = 6,
+ WHITE = 7
+ };
+
+typedef struct{
+
+ uint16_t ID;
+ uint16_t dir_L;
+ float pwm_L;
+ uint16_t dir_R;
+ float pwm_R;
+ uint16_t led;
+
+ }dataIN;
+
diff -r 000000000000 -r 51c02b15eb70 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Sep 27 16:03:48 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/675da3299148 \ No newline at end of file
diff -r 000000000000 -r 51c02b15eb70 wemos_mc.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/wemos_mc.cpp Wed Sep 27 16:03:48 2017 +0000
@@ -0,0 +1,61 @@
+#include "wemos_mc.h"
+
+
+/* setfreq() -- set PWM's frequency
+freq:
+ PWM's frequency
+*/
+void setfreq(I2C& i2c, uint32_t freq){
+
+ char data[4];
+
+ data[0]=(((char)(freq >> 16)) & (char)0x0f);
+ data[1]=((char)(freq >> 16));
+ data[2]=((char)(freq >> 8));
+ data[3]=((char)freq);
+
+ //__disable_irq();
+ i2c.write( _ADDRESS, data, 4 );
+ //__enable_irq();
+ wait_ms(5);
+
+}
+
+/* setmotor() -- set motor
+motor:
+ _MOTOR_A 0 Motor A
+ _MOTOR_B 1 Motor B
+dir:
+ _SHORT_BRAKE 0
+ _CW 1
+ _CCW 2
+ _STOP 3
+ _STANDBY 4
+pwm_val:
+ 0.00 - 100.00 (%)
+*/
+void setmotor(I2C& i2c,uint8_t motor, uint8_t dir, float pwm_val){
+
+ uint16_t _pwm_val = (uint16_t)pwm_val * 100;
+
+ if(_pwm_val>10000)
+ _pwm_val=10000;
+
+ char data[4];
+
+ data[0] = ( motor | (char)0x10);
+ data[1] = ( dir );
+ data[2] = ((char)(_pwm_val >> 8));
+ data[3] = ((char)_pwm_val);
+
+ //__disable_irq();
+ i2c.write( _ADDRESS, data, 4 );
+ //__enable_irq();
+ wait_ms(5);
+
+ }
+
+void setmotor(I2C& i2c, uint8_t motor, uint8_t dir){
+
+ setmotor(i2c,motor,dir,100);
+}
\ No newline at end of file
diff -r 000000000000 -r 51c02b15eb70 wemos_mc.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wemos_mc.h Wed Sep 27 16:03:48 2017 +0000 @@ -0,0 +1,26 @@ +#ifndef __WEMOS_MC_H +#define __WEMOS_MC_H + +#include "mbed.h" +#define _MOTOR_L 0 +#define _MOTOR_R 1 + +#define _ADDRESS 0x60 + +#define _SHORT_BRAKE 0 +#define _CCW 1 +#define _CW 2 +#define _STOP 3 +#define _STANDBY 4 + + + + void setfreq(I2C& i2c, uint32_t freq); + void setmotor(I2C& i2c, uint8_t motor, uint8_t dir, float pwm_val); + void setmotor(I2C& i2c, uint8_t motor, uint8_t dir); + + + + + +#endif \ No newline at end of file