Prakikum 1

Dependencies:   mbed SeeedShieldBot BluetoothSerial

Files at this revision

API Documentation at this revision

Comitter:
tiiecher
Date:
Sun Nov 01 17:23:14 2020 +0000
Commit message:
neu

Changed in this revision

BluetoothSerial.lib Show annotated file Show diff for this revision Revisions of this file
SeeedShieldBot.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r e96fa074cd27 BluetoothSerial.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BluetoothSerial.lib	Sun Nov 01 17:23:14 2020 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/yihui/code/BluetoothSerial/#f56002898ee8
diff -r 000000000000 -r e96fa074cd27 SeeedShieldBot.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SeeedShieldBot.lib	Sun Nov 01 17:23:14 2020 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/teams/components/code/SeeedShieldBot/#9fd1722259a1
diff -r 000000000000 -r e96fa074cd27 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Nov 01 17:23:14 2020 +0000
@@ -0,0 +1,137 @@
+#include "mbed.h"
+#include "BluetoothSerial.h"
+#include "SeeedStudioShieldBot.h"
+
+// The following configuration must be done on the NUCLEO board:
+// - Close SB62/SB63 and open SB13/SB14 solder bridges to enable the D0/D1 pins
+// - Open SB21 solder bridge to disconnect the LED
+
+BluetoothSerial bluetooth(D1, D0); // TX, RX
+
+#ifdef TARGET_NUCLEO_L053R8
+#define PWM1 D6 // Connect D6 and D8
+#define PWM2 D12
+#else // NUCLEO_F072RB
+#define PWM1 D8
+#define PWM2 D12
+#endif
+
+SeeedStudioShieldBot bot(
+    PWM1, D9, D11,     // Right motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 1
+    PWM2, D10, D13,    // Left motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 2
+    A0, A1, A2, A3, A4 // Sensors pins (all DigitalIn)
+);
+
+// Disable the feature by wiring A5 to GND
+DigitalIn ReadSensorsEnabled(A5, PullUp);
+
+// Enable it for debugging on hyperterminal
+#define DEBUG 0
+#if DEBUG == 1
+Serial pc(PC_10, PC_11); // Connect PC10 and CN3-RX
+#define PC_DEBUG(args...) pc.printf(args)
+#else
+#define PC_DEBUG(args...)
+#endif
+
+Ticker tick;
+
+float speed = 1.0; // Used to select the motors speed
+int stop = 0; // Used to stop the motors when a sensor detects something
+
+void ReadCommand(void)
+{
+    int cmd = 0;
+    PC_DEBUG(">>> Read command...\n");
+
+    if (bluetooth.readable())
+    {
+        cmd = bluetooth.getc();
+        PC_DEBUG(">>> Bluetooth read [%c]\n", cmd);
+      
+        // Ignore the receive command (excepted "Backward") if a sensor has detected something.
+        if ((stop) && (cmd != '2')) return;
+
+        switch (cmd)
+        {
+            case '1': // Forward
+                bot.forward(speed);
+                break;
+            case '2': // Backward
+                bot.backward(speed);
+                break;              
+            case '3': // Left
+                bot.left(speed);
+                break;
+            case '4': // Right
+                bot.right(speed);
+                break;              
+            case '5': // Turn left forward
+                bot.turn_right(speed);
+                break;
+            case '6': // Turn right forward
+                bot.turn_left(speed);
+                break; 
+            case '7': // Turn left backward
+                bot.turn_right(-speed);
+                break;
+            case '8': // Turn right backward
+                bot.turn_left(-speed);
+                break; 
+            case '9': // Slow
+                speed = 0.5;
+                break;
+            case 'A': // Fast
+                speed = 1.0;
+                break;
+            default: // Stop
+                bot.stopAll();
+                break;
+         }
+    }    
+}
+    
+int main()
+{
+    PC_DEBUG("\n\nSeeed Bluetooth shield test started.\n");
+      
+    // Enable motors
+    bot.enable_right_motor();
+    bot.enable_left_motor();
+  
+    PC_DEBUG(">>> Bluetooth setup...");
+    bluetooth.setup();
+    PC_DEBUG("done\n");
+  
+    PC_DEBUG(">>> Bluetooth in slave mode...");
+    bluetooth.slave("bt_seeed_1");  // default PIN code: 0000
+    PC_DEBUG("done\n");
+    
+    wait(2);
+    
+    PC_DEBUG(">>> Bluetooth connect...");
+    bluetooth.connect();
+    PC_DEBUG("done\n");
+    
+    tick.attach(ReadCommand, 0.3); // Every 300 ms read Bluetooth command
+
+    // Check if motors are alive
+    bot.left(speed);
+    wait(0.2);
+    bot.right(speed);
+    wait(0.2);
+    bot.stopAll();
+    
+    while (1) {
+        // Stop the motors if a sensor has detected something.
+        if ((!bot.rightSensor || !bot.inRightSensor || !bot.centreSensor || !bot.inLeftSensor || !bot.leftSensor) && ReadSensorsEnabled)
+        {
+            if (!stop) bot.stopAll();
+            stop = 1;
+        }
+        else
+        { 
+            stop = 0;
+        }
+    }
+}
diff -r 000000000000 -r e96fa074cd27 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Nov 01 17:23:14 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file