CSCI 5360 JB_MB_BC / Mbed 2 deprecated m3pi_reciever

Executes commands received via xbee.

Dependencies:   m3pi mbed

main.cpp@5:854aea46d7b8, 2015-05-03 (annotated)

Committer:
mb4899
Date:
Sun May 03 01:20:15 2015 +0000
Revision:
5:854aea46d7b8
Parent:
4:c7a00aca4520 
Added "Protocol" header file and updated "main" file accordingly

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bc6599 0:98be52da5242 1 #include "mbed.h"
bc6599 0:98be52da5242 2 #include "m3pi.h"
mb4899 5:854aea46d7b8 3 #include "Protocol.h"
bc6599 0:98be52da5242 4
bc6599 0:98be52da5242 5 Serial xbee(p28, p27);
bc6599 0:98be52da5242 6 m3pi m3pi;
bc6599 0:98be52da5242 7
mb4899 2:ce95322fe535 8 void set_command();
bc6599 0:98be52da5242 9 void execute();
mb4899 2:ce95322fe535 10
mb4899 5:854aea46d7b8 11 int commands[3];
bc6599 0:98be52da5242 12
mb4899 2:ce95322fe535 13 int main()
mb4899 2:ce95322fe535 14 {
bc6599 1:8b83b8a03351 15 m3pi.cls();
bc6599 4:c7a00aca4520 16
mb4899 5:854aea46d7b8 17 // Set initial "default" commands for m3pi
mb4899 5:854aea46d7b8 18 // Action (stop), Direction (left), and Duration (zero), respectively
mb4899 5:854aea46d7b8 19 commands[0] = 6; commands[1] = 0; commands[2] = 0;
bc6599 4:c7a00aca4520 20
bc6599 0:98be52da5242 21 while (1) {
bc6599 4:c7a00aca4520 22 if (xbee.readable()) {
mb4899 5:854aea46d7b8 23 xbee.scanf("|%i,%i,%i@", &commands[0], &commands[1], &commands[2]);
bc6599 4:c7a00aca4520 24 }
mb4899 5:854aea46d7b8 25
bc6599 4:c7a00aca4520 26 m3pi.locate(0,1);
mb4899 5:854aea46d7b8 27 m3pi.printf("%i,%i,%i", commands[0], commands[1], commands[2]);
mb4899 2:ce95322fe535 28 execute();
bc6599 0:98be52da5242 29 }
bc6599 0:98be52da5242 30 }
bc6599 0:98be52da5242 31
mb4899 2:ce95322fe535 32 void execute()
mb4899 2:ce95322fe535 33 {
mb4899 5:854aea46d7b8 34 float speed = 0.25; // Default initial speed
mb4899 5:854aea46d7b8 35 float turn_speed = 0.125; // Default turn speed
mb4899 2:ce95322fe535 36
mb4899 5:854aea46d7b8 37 // For ease in switch block readability
mb4899 5:854aea46d7b8 38 int action = commands[0];
mb4899 5:854aea46d7b8 39 int direction = commands[1];
mb4899 5:854aea46d7b8 40 int duration = commands[2];
mb4899 5:854aea46d7b8 41
mb4899 5:854aea46d7b8 42 switch (action) {
mb4899 5:854aea46d7b8 43 case MOVE:
mb4899 5:854aea46d7b8 44 if (direction == FORWARD) {
bc6599 3:042a104c558f 45 m3pi.forward(speed);
mb4899 5:854aea46d7b8 46 } else if (direction == LEFT) {
mb4899 5:854aea46d7b8 47 m3pi.left(turn_speed);
mb4899 5:854aea46d7b8 48 m3pi.forward(speed);
mb4899 5:854aea46d7b8 49 } else if (direction == RIGHT) {
mb4899 5:854aea46d7b8 50 m3pi.right(turn_speed);
mb4899 5:854aea46d7b8 51 m3pi.forward(speed);
mb4899 5:854aea46d7b8 52 } else if (direction == BACKWARD) {
bc6599 3:042a104c558f 53 m3pi.backward(speed);
mb4899 2:ce95322fe535 54 } break;
mb4899 2:ce95322fe535 55
mb4899 5:854aea46d7b8 56 case TURN:
mb4899 5:854aea46d7b8 57 if (direction == LEFT) {
bc6599 4:c7a00aca4520 58 m3pi.left(turn_speed);
mb4899 5:854aea46d7b8 59 } else if (direction == RIGHT) {
bc6599 4:c7a00aca4520 60 m3pi.right(turn_speed);
mb4899 2:ce95322fe535 61 } break;
mb4899 2:ce95322fe535 62
mb4899 5:854aea46d7b8 63 case RUN:
mb4899 5:854aea46d7b8 64 if (direction == FORWARD) {
mb4899 5:854aea46d7b8 65 speed *= 2;
bc6599 3:042a104c558f 66 m3pi.forward(speed);
mb4899 5:854aea46d7b8 67 } else if (direction == LEFT) {
mb4899 5:854aea46d7b8 68 m3pi.left(turn_speed);
mb4899 5:854aea46d7b8 69 speed *= 2;
mb4899 5:854aea46d7b8 70 m3pi.forward(speed);
mb4899 5:854aea46d7b8 71 } else if (direction == RIGHT) {
mb4899 5:854aea46d7b8 72 m3pi.right(turn_speed);
mb4899 5:854aea46d7b8 73 speed *= 2;
mb4899 5:854aea46d7b8 74 m3pi.forward(speed);
mb4899 5:854aea46d7b8 75 } else if (direction == BACKWARD) {
mb4899 5:854aea46d7b8 76 speed *= 2;
bc6599 3:042a104c558f 77 m3pi.backward(speed);
mb4899 2:ce95322fe535 78 } break;
mb4899 2:ce95322fe535 79
mb4899 5:854aea46d7b8 80 case STOP:
bc6599 3:042a104c558f 81 m3pi.stop();
mb4899 5:854aea46d7b8 82 break;
bc6599 0:98be52da5242 83 }
mb4899 2:ce95322fe535 84
mb4899 5:854aea46d7b8 85 wait(duration);
mb4899 2:ce95322fe535 86 m3pi.stop();
mb4899 5:854aea46d7b8 87 commands[0] = 6; commands[1] = 0; commands[2] = 0; // Reset "defaults"
bc6599 0:98be52da5242 88 }