![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
ManualControl
Dependencies: TPixy-Interface
Fork of MbedOS_Robot by
ui.cpp
- Committer:
- asobhy
- Date:
- 2018-04-10
- Branch:
- ManualControl
- Revision:
- 29:83c103d12078
- Parent:
- 22:c09acff62e6a
- Child:
- 23:1839085ffdcf
- Child:
- 28:00b21c648d31
File content as of revision 29:83c103d12078:
/******************************************************************************/ // ECE4333 // LAB Partner 1: Ahmed Sobhy - ID: 3594449 // LAB Partner 2: Brandon Kingman - ID: 3470444 // Project: Autonomous Robot Design // Instructor: Prof. Chris Diduch /******************************************************************************/ // filename: ui.cpp // file content description: // * Functions to display and manage the user interface on the PC terminal. /******************************************************************************/ #include "mbed.h" #include "WatchdogThread.h" #include "ui.h" #include "CameraThread.h" #include "PiControlThread.h" Serial bluetooth(p9,p10); // Define the bluetooth channel and IO pins Serial pc(USBTX, USBRX); // Pins (tx, rx) for PC serial channel bool killRobot = false; // variable to store character recieved from terminal char x; void displayStartupMsg() { bluetooth.printf("\r\n************************************"); bluetooth.printf("\r\n**** AUTONOMOUS FOLLOWING ROBOT ****"); bluetooth.printf("\r\n************************************"); bluetooth.printf("\r\n-PRESS 'r' TO KILL ROBOT"); } /****************************************************************************** User interface 3 - Manual Control ******************************************************************************/ void consoleUI(void) { if (bluetooth.readable()) { x = bluetooth.getc(); // if input from console is the letter 'r' if(x == 'r') { // reset watchdog timer WatchdogReset(); setpointR = 0; setpointL = 0; bluetooth.printf("\r\nWatchdog has been reset"); } /******************************ROBOT FWD RVS***********************************/ // if w is pressed increase the speed // by incrementing u else if(x == 'w') { mutexSetpoint.lock(); Setpoint = -40; mutexSetpoint.unlock(); } // if s is pressed decrease the speed // by decrementing u else if(x == 's') { mutexSetpoint.lock(); Setpoint = 40; mutexSetpoint.unlock(); } /******************************ROBOT STEERING**********************************/ else if (x=='a') { mutexSetpoint.lock(); SteeringError = 80; mutexSetpoint.unlock(); } else if (x=='d') { mutexSetpoint.lock(); SteeringError = -80; mutexSetpoint.unlock(); } // error wrong input else { bluetooth.printf("\r\nwrong input please enter \'w\' to increase the speed, \'s\' to reduce it or move in the opposite direction and \'r\' to reset the watchdog"); } } else{ // If no key is pressed stop the robot. Setpoint = 0; SteeringError = 0; } }