ISSP
Prakikum 1
Dependencies: mbed SeeedShieldBot BluetoothSerial
Revision 0:e96fa074cd27, committed 2020-11-01
- Comitter:
- tiiecher
- Date:
- Sun Nov 01 17:23:14 2020 +0000
- Commit message:
- neu
Changed in this revision
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