ECE 4180 Project
Code Controlling Robot DC Motors and Crane Servos
Dependencies: mbed Servo Motordriver
Revision 0:316cfb89e9cd, committed 2020-04-29
- Comitter:
- ohodge3
- Date:
- Wed Apr 29 20:02:35 2020 +0000
- Commit message:
- Final Robot Code
Changed in this revision
diff -r 000000000000 -r 316cfb89e9cd Motordriver.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver.lib Wed Apr 29 20:02:35 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/littlexc/code/Motordriver/#3110b9209d3c
diff -r 000000000000 -r 316cfb89e9cd Servo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Wed Apr 29 20:02:35 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/Servo/#36b69a7ced07
diff -r 000000000000 -r 316cfb89e9cd main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Apr 29 20:02:35 2020 +0000
@@ -0,0 +1,162 @@
+// full-speed reverse (-1.0)
+// full speed forwards (1.0)
+
+#include "mbed.h"
+#include "motordriver.h"
+#include "Servo.h"
+
+Motor left(p22, p12, p11, 1); // pwm, fwd, rev (Motor serialChar)
+Motor right(p21, p10, p9, 1); // pwm, fwd, rev (Motor B)
+Servo shoulder(p23);
+Servo elbow(p24);
+Servo wrist(p26);
+Servo wrist(p25);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+
+//set up xbee
+Serial xbee(p13, p14);//TX not used
+Serial pc(USBTX, USBRX);
+DigitalOut rst(p7);
+
+//speed variables for motors
+volatile float speed1;
+volatile float speed2;
+
+void go(){
+ left.speed(speed1);
+ right.speed(speed2);
+}
+
+int main() {
+
+ // reset xbee (at least 200ns)
+ rst = 0;
+ wait_ms(1);
+ rst = 1;
+ wait_ms(1);
+
+ //initial speed is 0
+ speed1 = 0.0;
+ speed2 = 0.0;
+
+ //variables to hold serial characters for xbee
+ char serialChar;
+ char prev;
+
+ //varaibles for arm servos
+ volatile float shoulderNum = 0.5;
+ volatile float elbowNum = 0.10;
+ volatile float wristNum = 0.0;
+
+ //loop
+ while (1) {
+
+ if(xbee.readable()){
+ prev = serialChar;
+ serialChar = xbee.getc();
+
+
+ //left right rotation
+ if (prev == 'a' && serialChar < 60){
+ shoulderNum = shoulderNum + 0.01;
+ if (shoulderNum > 1)
+ shoulderNum = 1;
+ shoulder = shoulderNum;
+ led1 = 1;
+ }
+ else if (prev == 'a' && serialChar > 110){
+ shoulderNum = shoulderNum - 0.01;
+ if (shoulderNum < 0)
+ shoulderNum = 0;
+ shoulder = shoulderNum;
+ led2 = 1;
+ }
+ else{
+ shoulder = shoulderNum;
+ }
+
+
+ //up down rotation
+ if (prev == 'b' && serialChar < 60){
+ elbowNum = elbowNum + 0.01;
+ if (elbowNum > 1)
+ elbowNum = 1;
+ elbow = elbowNum;
+ led1 = 1;
+ }
+ else if (prev == 'b' && serialChar > 110){
+ elbowNum = elbowNum - 0.01;
+ if (elbowNum < 0)
+ elbowNum = 0;
+ elbow = elbowNum;
+ led2 = 1;
+ }
+ else{
+ elbow = elbowNum;
+ }
+
+ //motor rotation
+ if (prev == 'c' && serialChar < 60){
+ speed1 = 1.0;
+ speed2 = -1.0;
+ go();
+ }
+ else if (prev == 'c' && serialChar > 110){
+ speed1 = -1;
+ speed2 = 1;
+ go();
+ }
+ else if (prev == 'c' && serialChar > 60 && serialChar < 110 && speed1 != speed2){
+ speed1 = 0;
+ speed2 = 0;
+ go();
+ }
+
+ //motor forward and reverse
+ if (prev == 'd' && serialChar < 60){
+ speed1 = -1.0;
+ speed2 = -1.0;
+ go();
+ }
+ else if (prev == 'd' && serialChar > 110){
+ speed1 = 1;
+ speed2 = 1;
+ go();
+ }
+ else if (prev == 'd' && serialChar > 60 && serialChar < 110 && speed1 == speed2){
+ speed1 = 0;
+ speed2 = 0;
+ go();
+ }
+
+
+
+
+ //wrist controller
+ if (prev == 'e' && serialChar == 36){
+ wristNum = wristNum + 0.01;
+ if (wristNum > 1)
+ wristNum = 1;
+ wrist = wristNum;
+ led1 = 1;
+ }
+ else if (prev == 'f' && serialChar == 36){
+ wristNum = wristNum - 0.01;
+ if (wristNum < 0)
+ wristNum = 0;
+ wrist = wristNum;
+ led2 = 1;
+ }
+ else{
+ wrist = wristNum;
+ }
+
+ //print to pc for debugging (Tera Term etc.)
+ pc.putc(serialChar);
+ }
+ }
+}
diff -r 000000000000 -r 316cfb89e9cd mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Apr 29 20:02:35 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file