Brandon Weiner and Carlos Tallard / Mbed 2 deprecated Bluetooth-Controlled_LIDAR_Robot_LiveStreamingRaspberryPi

Complete Build

Dependencies:   4DGL-uLCD-SE1 Motor SDFileSystem X_NUCLEO_53L0A1 mbed-rtos mbed BotwithWavePlayerLevel

Fork of BotWithBluetoothLIDARV2 by Brandon Weiner and Carlos Tallard

main.cpp@17:2c6549be1ecb, 2017-11-20 (annotated)

Committer:
ctallardc
Date:
Mon Nov 20 01:47:29 2017 +0000
Revision:
17:2c6549be1ecb
Parent:
16:61e88b0e3689
Child:
18:aa7f48962bdb
First Version BotWithLIDAR Working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bdragon52 16:61e88b0e3689 1
emilmont 1:491820ee784d 2 #include "mbed.h"
bdragon52 16:61e88b0e3689 3 #include "Motor.h"
mbed_official 11:0309bef74ba8 4 #include "rtos.h"
bdragon52 12:af37c8938aaf 5
ctallardc 17:2c6549be1ecb 6 #define SD_DBG 1
ctallardc 17:2c6549be1ecb 7
bdragon52 16:61e88b0e3689 8 #include "SDFileSystem.h"
bdragon52 16:61e88b0e3689 9 SDFileSystem sd(p5, p6, p7, p29, "sd");
bdragon52 12:af37c8938aaf 10
bdragon52 16:61e88b0e3689 11
bdragon52 16:61e88b0e3689 12 #include "wave_player.h"
bdragon52 12:af37c8938aaf 13 AnalogOut DACout(p18);
bdragon52 12:af37c8938aaf 14 wave_player waver(&DACout);
bdragon52 16:61e88b0e3689 15
ctallardc 17:2c6549be1ecb 16 PwmOut speaker(p23);
bdragon52 15:c8360ceaad61 17
bdragon52 16:61e88b0e3689 18 //BusOut myled(LED1,LED2,LED3,LED4);
bdragon52 16:61e88b0e3689 19 #include "XNucleo53L0A1.h"
bdragon52 16:61e88b0e3689 20 #include <stdio.h>
bdragon52 16:61e88b0e3689 21 Serial pc(USBTX,USBRX);
bdragon52 16:61e88b0e3689 22 DigitalOut shdn(p26);
bdragon52 16:61e88b0e3689 23 //I2C sensor pins
bdragon52 16:61e88b0e3689 24 #define VL53L0_I2C_SDA p28
bdragon52 16:61e88b0e3689 25 #define VL53L0_I2C_SCL p27
bdragon52 16:61e88b0e3689 26 static XNucleo53L0A1 *board=NULL;
bdragon52 16:61e88b0e3689 27 DigitalOut myled (LED2);
bdragon52 16:61e88b0e3689 28 Serial blue(p9,p10);
bdragon52 16:61e88b0e3689 29 Motor RW(p22, p13, p12); // pwm, fwd, rev
bdragon52 16:61e88b0e3689 30 Motor LW(p21, p8, p11); // pwm, fwd, rev
bdragon52 16:61e88b0e3689 31 Thread lidar;
bdragon52 16:61e88b0e3689 32 Thread siren;
bdragon52 16:61e88b0e3689 33 uint32_t distance;
ctallardc 17:2c6549be1ecb 34 int level = 8; //Volume level is turned off
ctallardc 17:2c6549be1ecb 35 //wave_file;
ctallardc 17:2c6549be1ecb 36
ctallardc 17:2c6549be1ecb 37 void listdir(void) {
ctallardc 17:2c6549be1ecb 38 DIR *d;
ctallardc 17:2c6549be1ecb 39 struct dirent *p;
cjtallu 14:cc2e4fbaffd8 40
ctallardc 17:2c6549be1ecb 41 d = opendir("/sd");
ctallardc 17:2c6549be1ecb 42 if (d != NULL) {
ctallardc 17:2c6549be1ecb 43 while ((p = readdir(d)) != NULL) {
ctallardc 17:2c6549be1ecb 44 pc.printf(" - %s\r\n", p->d_name);
ctallardc 17:2c6549be1ecb 45 }
ctallardc 17:2c6549be1ecb 46 } else {
ctallardc 17:2c6549be1ecb 47 pc.printf("Could not open directory!\r\n");
ctallardc 17:2c6549be1ecb 48 }
ctallardc 17:2c6549be1ecb 49 closedir(d);
ctallardc 17:2c6549be1ecb 50 }
bdragon52 16:61e88b0e3689 51
bdragon52 16:61e88b0e3689 52 void t3(){
ctallardc 17:2c6549be1ecb 53 // int i;
ctallardc 17:2c6549be1ecb 54 pc.printf("Speaker\r\n");
ctallardc 17:2c6549be1ecb 55 listdir();
ctallardc 17:2c6549be1ecb 56 //waver.set_verbosity(1);
ctallardc 17:2c6549be1ecb 57 // FILE *fp = fopen("/sd/myfile2.txt", "w");
ctallardc 17:2c6549be1ecb 58 // fprintf(fp, "Hello World 11/18\n");
ctallardc 17:2c6549be1ecb 59 // fclose(fp);
bdragon52 16:61e88b0e3689 60 while(1){
ctallardc 17:2c6549be1ecb 61
ctallardc 17:2c6549be1ecb 62
ctallardc 17:2c6549be1ecb 63 /* generate a 500Hz tone using PWM hardware output
ctallardc 17:2c6549be1ecb 64 speaker.period(1.0/500.0); // 500hz period
ctallardc 17:2c6549be1ecb 65 speaker =0.5; //50% duty cycle - max volume
ctallardc 17:2c6549be1ecb 66 wait(3);
ctallardc 17:2c6549be1ecb 67 speaker=0.0; // turn off audio
ctallardc 17:2c6549be1ecb 68 wait(2);
ctallardc 17:2c6549be1ecb 69
ctallardc 17:2c6549be1ecb 70 // generate a short 150Hz tone using PWM hardware output
ctallardc 17:2c6549be1ecb 71 // something like this can be used for a button click effect for feedback
ctallardc 17:2c6549be1ecb 72 for (i=0; i<10; i++) {
ctallardc 17:2c6549be1ecb 73 speaker.period(1.0/150.0); // 500hz period
ctallardc 17:2c6549be1ecb 74 speaker =0.25; //25% duty cycle - mid range volume
ctallardc 17:2c6549be1ecb 75 wait(.02);
ctallardc 17:2c6549be1ecb 76 speaker=0.0; // turn off audio
ctallardc 17:2c6549be1ecb 77 wait(0.5);
ctallardc 17:2c6549be1ecb 78 }
ctallardc 17:2c6549be1ecb 79 */
ctallardc 17:2c6549be1ecb 80 while(1){
ctallardc 17:2c6549be1ecb 81 FILE *wave_file=fopen("/sd/LoudSound.wav","r");
ctallardc 17:2c6549be1ecb 82
bdragon52 16:61e88b0e3689 83 waver.play(wave_file);
ctallardc 17:2c6549be1ecb 84
bdragon52 16:61e88b0e3689 85 fclose(wave_file);
ctallardc 17:2c6549be1ecb 86 //Thread::wait(50);
ctallardc 17:2c6549be1ecb 87 }
bdragon52 12:af37c8938aaf 88 }
cjtallu 14:cc2e4fbaffd8 89 }
cjtallu 14:cc2e4fbaffd8 90
bdragon52 16:61e88b0e3689 91 void t2() {
bdragon52 16:61e88b0e3689 92
bdragon52 16:61e88b0e3689 93 int status;
bdragon52 16:61e88b0e3689 94 DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
bdragon52 16:61e88b0e3689 95 /* creates the 53L0A1 expansion board singleton obj */
bdragon52 16:61e88b0e3689 96 board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
bdragon52 16:61e88b0e3689 97 shdn = 0; //must reset sensor for an mbed reset to work
bdragon52 16:61e88b0e3689 98 Thread::wait(100);
ctallardc 17:2c6549be1ecb 99 //lidar power off
bdragon52 16:61e88b0e3689 100 shdn = 1;
bdragon52 16:61e88b0e3689 101 Thread::wait(100);
bdragon52 16:61e88b0e3689 102 /* init the 53L0A1 board with default values */
bdragon52 16:61e88b0e3689 103 status = board->init_board();
bdragon52 16:61e88b0e3689 104 while (status) {
bdragon52 16:61e88b0e3689 105 pc.printf("Failed to init board! \r\n");
bdragon52 16:61e88b0e3689 106 status = board->init_board();
emilmont 1:491820ee784d 107 }
bdragon52 16:61e88b0e3689 108 //loop taking and printing distance
bdragon52 13:ab6bbdd2447a 109
bdragon52 16:61e88b0e3689 110 bool speakerOn=false;
bdragon52 16:61e88b0e3689 111
bdragon52 16:61e88b0e3689 112 while (1) {
bdragon52 16:61e88b0e3689 113 status = board->sensor_centre->get_distance(&distance);
bdragon52 16:61e88b0e3689 114 if (status == VL53L0X_ERROR_NONE) {
ctallardc 17:2c6549be1ecb 115 pc.printf("D=%ld mm\r\n", distance);
ctallardc 17:2c6549be1ecb 116 if(distance > 240) level = 8;
ctallardc 17:2c6549be1ecb 117 if(distance < 90) level = 0;
ctallardc 17:2c6549be1ecb 118 if (distance >=90 && distance <=240){
ctallardc 17:2c6549be1ecb 119 int value=floor(static_cast<double>(8*(distance-90)/150));
ctallardc 17:2c6549be1ecb 120 if(value >=0 && value<=8){
ctallardc 17:2c6549be1ecb 121 level=value;
ctallardc 17:2c6549be1ecb 122 }
ctallardc 17:2c6549be1ecb 123 }
bdragon52 16:61e88b0e3689 124 }
bdragon52 16:61e88b0e3689 125
bdragon52 16:61e88b0e3689 126 //LIDAR checks
bdragon52 13:ab6bbdd2447a 127
bdragon52 16:61e88b0e3689 128 /* if(speakerOn==false && distance<=100) //thread start sound, speakerOn=true;
bdragon52 16:61e88b0e3689 129 if(speakerOn==true && distance<=100) //certain volume
bdragon52 16:61e88b0e3689 130 if(speakerOn==true && distance<50) //higher volume;
bdragon52 16:61e88b0e3689 131 if(distance>100) //thread stop, speakerOn==false;
bdragon52 16:61e88b0e3689 132 */
bdragon52 16:61e88b0e3689 133 //siren.start(t3);
bdragon52 16:61e88b0e3689 134 myled=!myled;
bdragon52 16:61e88b0e3689 135 Thread::wait(500);
bdragon52 16:61e88b0e3689 136 }
bdragon52 13:ab6bbdd2447a 137
bdragon52 13:ab6bbdd2447a 138 }
bdragon52 13:ab6bbdd2447a 139
bdragon52 13:ab6bbdd2447a 140
bdragon52 13:ab6bbdd2447a 141
bdragon52 16:61e88b0e3689 142
bdragon52 15:c8360ceaad61 143
bdragon52 16:61e88b0e3689 144 int main()
bdragon52 16:61e88b0e3689 145 {
ctallardc 17:2c6549be1ecb 146 char previousButton='0';
ctallardc 17:2c6549be1ecb 147 char current;
bdragon52 16:61e88b0e3689 148 myled=0;
ctallardc 17:2c6549be1ecb 149 pc.printf("in main\n\r");
ctallardc 17:2c6549be1ecb 150 lidar.start(t2);
ctallardc 17:2c6549be1ecb 151 siren.start(t3);
bdragon52 16:61e88b0e3689 152 char bnum=0;
bdragon52 16:61e88b0e3689 153 char bhit=0;
bdragon52 12:af37c8938aaf 154 while(1) {
bdragon52 16:61e88b0e3689 155
bdragon52 16:61e88b0e3689 156 if(blue.readable()==1){
bdragon52 16:61e88b0e3689 157 if (blue.getc()=='!') {
bdragon52 16:61e88b0e3689 158 if (blue.getc()=='B') { //button data packet
bdragon52 16:61e88b0e3689 159 bnum = blue.getc(); //button number
bdragon52 16:61e88b0e3689 160 bhit = blue.getc(); //1=hit, 0=release
ctallardc 17:2c6549be1ecb 161 current=bnum;
ctallardc 17:2c6549be1ecb 162 //Thread::wait(250);
ctallardc 17:2c6549be1ecb 163 //pc.printf("Button Pressed %c bhit = %c PreviousButton = %c CurrentButton = %c\n\r", bnum, bhit, previousButton, current);
ctallardc 17:2c6549be1ecb 164 previousButton = current;
bdragon52 16:61e88b0e3689 165 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
bdragon52 16:61e88b0e3689 166 //myled = bnum - '0'; //current button number will appear on LEDs
bdragon52 16:61e88b0e3689 167 switch (bnum) {
bdragon52 16:61e88b0e3689 168 case '1': //number button 1
bdragon52 16:61e88b0e3689 169 if (bhit=='1') {
bdragon52 16:61e88b0e3689 170 RW.speed(1);
bdragon52 16:61e88b0e3689 171 //add hit code here
bdragon52 16:61e88b0e3689 172 } else {
bdragon52 16:61e88b0e3689 173 //add release code here
bdragon52 16:61e88b0e3689 174 }
bdragon52 16:61e88b0e3689 175 break;
bdragon52 16:61e88b0e3689 176 case '2': //number button 2
bdragon52 16:61e88b0e3689 177 if (bhit=='1') {
bdragon52 16:61e88b0e3689 178 RW.speed(0);
bdragon52 16:61e88b0e3689 179 LW.speed(0);
bdragon52 16:61e88b0e3689 180 //add hit code here
bdragon52 16:61e88b0e3689 181 } else {
bdragon52 16:61e88b0e3689 182 //add release code here
bdragon52 16:61e88b0e3689 183 }
bdragon52 16:61e88b0e3689 184 break;
bdragon52 16:61e88b0e3689 185 case '3': //number button 3
bdragon52 16:61e88b0e3689 186 if (bhit=='1') {
bdragon52 16:61e88b0e3689 187 //add hit code here
bdragon52 16:61e88b0e3689 188 } else {
bdragon52 16:61e88b0e3689 189 //add release code here
bdragon52 16:61e88b0e3689 190 }
bdragon52 16:61e88b0e3689 191 break;
bdragon52 16:61e88b0e3689 192 case '4': //number button 4
bdragon52 16:61e88b0e3689 193 if (bhit=='1') {
bdragon52 16:61e88b0e3689 194 //add hit code here
bdragon52 16:61e88b0e3689 195 } else {
bdragon52 16:61e88b0e3689 196 //add release code here
bdragon52 16:61e88b0e3689 197 }
bdragon52 16:61e88b0e3689 198 break;
bdragon52 16:61e88b0e3689 199 case '5': //button 5 up arrow
bdragon52 16:61e88b0e3689 200 if (bhit=='1') {
bdragon52 16:61e88b0e3689 201 //add hit code here
bdragon52 16:61e88b0e3689 202
bdragon52 16:61e88b0e3689 203 RW.speed(1.0);
bdragon52 16:61e88b0e3689 204 LW.speed(1.0);
bdragon52 16:61e88b0e3689 205
bdragon52 16:61e88b0e3689 206 } else {
bdragon52 16:61e88b0e3689 207
bdragon52 16:61e88b0e3689 208 LW.speed(0);
bdragon52 16:61e88b0e3689 209 RW.speed(0);
bdragon52 16:61e88b0e3689 210 //add release code here
bdragon52 16:61e88b0e3689 211 }
bdragon52 16:61e88b0e3689 212 break;
bdragon52 16:61e88b0e3689 213 case '6': //button 6 down arrow
bdragon52 16:61e88b0e3689 214 if (bhit=='1') {
bdragon52 16:61e88b0e3689 215 RW.speed(-1.0);
bdragon52 16:61e88b0e3689 216 LW.speed(-1.0);
bdragon52 16:61e88b0e3689 217 //add hit code here
bdragon52 16:61e88b0e3689 218 } else {
bdragon52 16:61e88b0e3689 219 RW.speed(0);
bdragon52 16:61e88b0e3689 220 LW.speed(0);
bdragon52 16:61e88b0e3689 221 //add release code here
bdragon52 16:61e88b0e3689 222 }
bdragon52 16:61e88b0e3689 223 break;
bdragon52 16:61e88b0e3689 224 case '7': //button 7 left arrow
bdragon52 16:61e88b0e3689 225 if (bhit=='1') {
ctallardc 17:2c6549be1ecb 226 RW.speed(-1.0);
ctallardc 17:2c6549be1ecb 227 LW.speed(1.0);
bdragon52 16:61e88b0e3689 228 //add hit code here
bdragon52 16:61e88b0e3689 229 } else {
bdragon52 16:61e88b0e3689 230
bdragon52 16:61e88b0e3689 231 RW.speed(0);
bdragon52 16:61e88b0e3689 232 LW.speed(0);
bdragon52 16:61e88b0e3689 233 //add release code here
bdragon52 16:61e88b0e3689 234 }
bdragon52 16:61e88b0e3689 235 break;
bdragon52 16:61e88b0e3689 236 case '8': //button 8 right arrow
bdragon52 16:61e88b0e3689 237 if (bhit=='1') {
ctallardc 17:2c6549be1ecb 238 RW.speed(1.0);
ctallardc 17:2c6549be1ecb 239 LW.speed(-1.0);
bdragon52 16:61e88b0e3689 240 //add hit code here
bdragon52 16:61e88b0e3689 241 } else {
bdragon52 16:61e88b0e3689 242 RW.speed(0);
bdragon52 16:61e88b0e3689 243 LW.speed(0);
bdragon52 16:61e88b0e3689 244 //add release code here
bdragon52 16:61e88b0e3689 245 }
bdragon52 16:61e88b0e3689 246 break;
bdragon52 16:61e88b0e3689 247 default:
bdragon52 16:61e88b0e3689 248 break;
bdragon52 16:61e88b0e3689 249 }
bdragon52 16:61e88b0e3689 250 }
bdragon52 16:61e88b0e3689 251 }
bdragon52 16:61e88b0e3689 252 }
bdragon52 16:61e88b0e3689 253
bdragon52 16:61e88b0e3689 254 }
bdragon52 16:61e88b0e3689 255
bdragon52 16:61e88b0e3689 256 Thread::yield();
bdragon52 16:61e88b0e3689 257
bdragon52 12:af37c8938aaf 258 }
bdragon52 12:af37c8938aaf 259
bdragon52 16:61e88b0e3689 260 }