Diff: main.cpp

Revision:

12:3f127a8c0ed6

Parent:

11:0309bef74ba8

--- a/main.cpp	Wed Feb 15 14:04:02 2017 -0600
+++ b/main.cpp	Fri Apr 24 14:15:23 2020 +0000
@@ -1,22 +1,151 @@
 #include "mbed.h"
 #include "rtos.h"
- 
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-Thread thread;
- 
-void led2_thread() {
-    while (true) {
-        led2 = !led2;
-        Thread::wait(1000);
+#include "SDFileSystem.h"
+#include "wave_player.h"
+#include "Servo.h"
+#include "Motor.h"
+
+Servo launcher(p21); // Digital Out
+Servo leftMotor(p22); // pwm
+Servo rightMotor(p23); // pwm
+DigitalOut solenoid(p9); //Solenoid output control bit
+
+SDFileSystem sd(p11, p12, p13, p8, "sd"); // the pinout on the mbed Cool Components workshop board.
+Serial bluetooth(p28,p27); // bluetooth control of the robot
+
+Thread thread2; // thread for playing sound
+Thread thread3; // thread for bluetooth messages
+Mutex solenoidCtrl;
+AnalogOut DACout(p18);
+wave_player mySpeaker(&DACout);
+
+int stopSound = 1;
+
+void acceptMessage() {
+    char buffer = 0;
+    char bnum, bhit;
+    while (1) {
+        // Function to take in bluetooth messages and set global variables.
+        if (bluetooth.readable()) {
+         buffer = bluetooth.getc();
+         if (buffer == '!') {
+            buffer = bluetooth.getc();
+            if(buffer == 'B') {
+               // Check button
+               bnum = bluetooth.getc(); //button number
+               bhit = bluetooth.getc(); //1=hit, 0=release
+               if (bluetooth.getc()==char(~('!' + 'B' + bnum + bhit))) { 
+                    //checksum OK?
+                    switch(bnum) {
+                        case '1': {
+                            if (bhit=='1') {
+                                //turn on launcher motor.
+                                launcher = 0.58;
+                            }else{
+                                //turn off launcher.
+                                launcher = 0.5;
+                            }
+                            break;
+                        }
+                        case '2': {
+                            if (bhit=='1') {
+                                //enable sound.
+                                stopSound = 0;
+                                //let a ping pong ball through.
+                                solenoidCtrl.lock();
+                                solenoid = 1; //retract the solenoid
+                                wait(0.05);
+                                solenoid = 0; //extend the solenoid
+                                solenoidCtrl.unlock();
+                            }
+                            break;
+                        }
+                        case '8': {
+                            if (bhit=='1') {
+                                //back
+                                rightMotor = 0.0;
+                                leftMotor = 0.0;
+                            }else{
+                                rightMotor = 0.5;
+                                leftMotor = 0.5;
+                            }
+                            break;
+                        }
+                        case '7': {
+                            if (bhit=='1') {
+                                //forward
+                                rightMotor = 1.0;
+                                leftMotor = 1.0;
+                            }else{
+                                rightMotor = 0.5;
+                                leftMotor = 0.5;
+                            }
+                            break;
+                        }
+                        case '6': {
+                            if (bhit=='1') {
+                                //turn right
+                                rightMotor = 0.0;
+                                leftMotor = 1.0;
+                            }else{
+                                rightMotor = 0.5;
+                                leftMotor = 0.5;
+                            }
+                            break;
+                        }
+                        case '5': {
+                            if (bhit=='1') {
+                                //turn left
+                                rightMotor = 1.0;
+                                leftMotor = 0.0;
+                            }else{
+                                rightMotor = 0.5;
+                                leftMotor = 0.5;
+                            }
+                            break;
+                        }
+                    }       
+               }
+            }
+         }     
+        }else{
+            solenoidCtrl.lock();
+            solenoid = 0; //extend the solenoid
+            solenoidCtrl.unlock();   
+        }
     }
 }
+
+void sound() {
+    while (1)
+    {
+        // Start song and return once playing starts
+        if (stopSound) {
+            Thread::wait(100);
+            continue;
+        }
+        FILE *wave_file;
+        wave_file=fopen("/sd/wavfiles/boom.wav","r");
+        mySpeaker.play(wave_file);
+        fclose(wave_file);
+        stopSound = 1;
+        Thread::wait(500);
+    }
+ }
  
 int main() {
-    thread.start(led2_thread);
-    
+    //Initialize motors and solenoid
+    rightMotor = 0.5;
+    leftMotor = 0.5;
+    solenoid = 0;
+    //Initialize ESC and turn off launcher
+    launcher = 0.5;
+    wait(5);
+    launcher = 0.5;
+    Thread::wait(2);
+    thread2.start(sound);
+    thread3.start(acceptMessage);
     while (true) {
-        led1 = !led1;
         Thread::wait(500);
     }
 }