main.cpp

00001 #include "mbed.h"
00002 #include "RemoteIR.h"
00003 #include "ReceiverIR.h"
00004 #include "TB6612FNG.h"
00005 #include "TRSensors.h"
00006 #include "ultrasonic.h"
00007 #include "Adafruit_SSD1306.h"
00008 #include "WS2812.h"
00009 #include "PixelArray.h"
00010 
00011 #define button_SENSORS 5
00012 #define ADT7420_TEMP_REG (0x00)
00013 #define ADT7420_CONF_REG (0x03)
00014 #define EVAL_ADT7420_ADDR (0x48)
00015 #define PCF8574_ADDR (0x20)
00016 #define WS2812_BUF 100
00017 #define WS2812_BUF2 4
00018 #define NUM_COLORS 3
00019 #define NUM_LEDS_PER_COLOR 4
00020 
00021 // create object
00022 DigitalOut dc(D8,1);
00023 DigitalOut rst(D9,1);
00024 I2C i2c(I2C_SDA, I2C_SCL);
00025 TB6612FNG motorDriver(D6, A1, A0, D5, A2, A3);
00026 Ultrasonic ultra(D3, D2, .1, false);
00027 ReceiverIR IR(D4);
00028 TRSensors trs;
00029 RawSerial pc(USBTX, USBRX, 115200);
00030 Adafruit_SSD1306_I2c gOled2(i2c,D9,0x7A,64,128);
00031 Timer timer;
00032 PixelArray px(WS2812_BUF);
00033 WS2812 ws(D7, WS2812_BUF, 7, 15, 10, 15);
00034 
00035 
00036 volatile int button = 0;
00037 
00038 // PID variables
00039 static float pval = 0;
00040 
00041 // motor Driver
00042 float fPwmAPeriod;
00043 float fPwmAPulsewidth;
00044 float fPwmBPeriod;
00045 float fPwmBPulsewidth;
00046 
00047 inline void update_display(){
00048                 gOled2.clearDisplay();
00049                 gOled2.setTextCursor(0,0);
00050                 gOled2.printf("E-RON alphabot\r\n");
00051                 gOled2.printf("P: %.2f\r\n",pval);
00052                 gOled2.display();
00053 }
00054 
00055 int colorbuf[NUM_COLORS] = {0xff0000,0x00ff00,0x0000ff};
00056 int colorbuf3 =0x000000;
00057     
00058 int main()
00059 {
00060           
00061     for (int i = 0; i < WS2812_BUF; i++) {
00062         px.Set(i, colorbuf[(i / NUM_LEDS_PER_COLOR) % NUM_COLORS]);
00063     }
00064     
00065     for (int j=0; j<WS2812_BUF; j++) {
00066         // px.SetI(pixel position, II value)
00067         px.SetI(j%WS2812_BUF, 0xf+(0xf*4));
00068     }
00069     
00070     update_display();
00071     
00072     RemoteIR::Format format;
00073     uint8_t buf[32];
00074     int bitcount;
00075     while(1)
00076     { // read the value of the code
00077         if (IR.getState() == ReceiverIR::Received)
00078         {
00079             bitcount = IR.getData(&format, buf, sizeof(buf) * 8);
00080             pc.printf("%d\r\n", bitcount);
00081             pc.printf("buf[2]: %d\r\n", buf[2]);
00082             button = buf[2];
00083         }
00084         
00085         switch(button)
00086         {
00087             case 0x45:
00088             // ch- button (P value up)
00089                 pval += 0.01;
00090                 pval = fabs(pval);
00091                 update_display();
00092                 wait(0.3);
00093                 button = 0x1C;
00094                 break;
00095   
00096             default:
00097                 // wrong button
00098                 pc.printf("wrong button!\r\n");
00099                 break;
00100         }
00101     }
00102 }