Prana Koirala / Mbed 2 deprecated Wifi_controlled_Robot_ECE4180_Lab4

Wifi Controlled Robot is done as a mini project (Lab4) for ECE 4180 class (Georgia Tech). Robot is assembled in Sparkfun's Shadow chasis robot kit. This robot takes the command from the webpage to move forward, reverse without colliding. The distance sensor is used as a mechanism for collision detection and play a short beep sound. It turn 90 degree with magnetometer when the turn command is sent.

Dependencies:   Motordriver mbed

Showing the setup and calibration: Part1 In this part the Wifi setups and attains an IP address so we can control it through a webpage on our phone/PC. After it obtains an IP address it calibrates the IMU so we can have accurate compass headings for precise turns.

The parts that we use are as follows:

• Mbed
• 2 DC motors
• H-Bridge (to drive the DC motors)
• Speaker
• Class D Amp (to drive the Speaker)
• IMU (use the magnometer for compass headings)
• Wifi card (ESP8266)

Showing webpage functionality and Robot Functionality: In this part we demonstrate the functionality of the robot and the webpage to control it.

Final Code

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#include "mbed.h"
// a new class to play a note on Speaker based on PwmOut class
class Speaker
{
public:
    Speaker(PinName pin) : _pin(pin) {
// _pin(pin) means pass pin to the Speaker Constructor
    }
// class method to play a note based on PwmOut class
    void PlayNote(float frequency, float duration, float volume) {
        _pin.period(1.0/frequency);
        _pin = volume/2.0;
        wait(duration);
        _pin = 0.0;
    }

private:
    PwmOut _pin;
};