Puppet Master System / Mbed 2 deprecated Robot_Puppet_EndDevice

This code is for controlling the motors on the robot based on the values received on the xbee coming from the flex sensors.

Dependencies:   Motor mbed

main.cpp@0:a66bf82d70ed, 2018-04-26 (annotated)

Committer:
fyousuf3
Date:
Thu Apr 26 15:37:12 2018 +0000
Revision:
0:a66bf82d70ed
Code for the motor control from glove inputs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fyousuf3 0:a66bf82d70ed 1 // test code, this demonstrates working motor drivers.
fyousuf3 0:a66bf82d70ed 2 // full reverse to full stop, dynamicaly brake and switch off.
fyousuf3 0:a66bf82d70ed 3 #include "mbed.h"
fyousuf3 0:a66bf82d70ed 4 #include "Motor.h"
fyousuf3 0:a66bf82d70ed 5 Motor A(p22, p6, p5); // pwm, fwd, rev, can brake
fyousuf3 0:a66bf82d70ed 6 Motor B(p21, p7, p8); // pwm, fwd, rev, can brake
fyousuf3 0:a66bf82d70ed 7
fyousuf3 0:a66bf82d70ed 8
fyousuf3 0:a66bf82d70ed 9 //End Device Setup for XBEE End Device
fyousuf3 0:a66bf82d70ed 10 Serial xbee2(p9,p10);
fyousuf3 0:a66bf82d70ed 11 DigitalOut rst1(p11);
fyousuf3 0:a66bf82d70ed 12
fyousuf3 0:a66bf82d70ed 13 //Movement Indicators
fyousuf3 0:a66bf82d70ed 14 DigitalOut myled1(LED1);
fyousuf3 0:a66bf82d70ed 15 DigitalOut myled2(LED2);
fyousuf3 0:a66bf82d70ed 16 DigitalOut myled3(LED2);
fyousuf3 0:a66bf82d70ed 17 DigitalOut myled4(LED2);
fyousuf3 0:a66bf82d70ed 18
fyousuf3 0:a66bf82d70ed 19 // Default Value for command to wait
fyousuf3 0:a66bf82d70ed 20 char command = 'W';
fyousuf3 0:a66bf82d70ed 21
fyousuf3 0:a66bf82d70ed 22 int main() {
fyousuf3 0:a66bf82d70ed 23 rst1 = 0; //Set reset pin to 0
fyousuf3 0:a66bf82d70ed 24 myled1 = 0;
fyousuf3 0:a66bf82d70ed 25 myled2 = 0;
fyousuf3 0:a66bf82d70ed 26 myled3 = 0;
fyousuf3 0:a66bf82d70ed 27 myled4 = 0;
fyousuf3 0:a66bf82d70ed 28 wait_ms(1);
fyousuf3 0:a66bf82d70ed 29 rst1 = 1; //Set reset pin to 1
fyousuf3 0:a66bf82d70ed 30 wait_ms(1);
fyousuf3 0:a66bf82d70ed 31
fyousuf3 0:a66bf82d70ed 32 while (1){
fyousuf3 0:a66bf82d70ed 33 if(xbee2.readable()) {//if new command readable
fyousuf3 0:a66bf82d70ed 34 command = xbee2.getc();
fyousuf3 0:a66bf82d70ed 35 //pc.printf("Command: %c\n\r",command);
fyousuf3 0:a66bf82d70ed 36 }
fyousuf3 0:a66bf82d70ed 37
fyousuf3 0:a66bf82d70ed 38 switch (command){
fyousuf3 0:a66bf82d70ed 39 case 'A': // Move back speed 1
fyousuf3 0:a66bf82d70ed 40 A.speed(-0.5);
fyousuf3 0:a66bf82d70ed 41 B.speed(-0.5);
fyousuf3 0:a66bf82d70ed 42
fyousuf3 0:a66bf82d70ed 43 myled1 = 1;
fyousuf3 0:a66bf82d70ed 44 myled2 = 0;
fyousuf3 0:a66bf82d70ed 45 myled3 = 0;
fyousuf3 0:a66bf82d70ed 46 myled4 = 0;
fyousuf3 0:a66bf82d70ed 47
fyousuf3 0:a66bf82d70ed 48 wait(0.5);
fyousuf3 0:a66bf82d70ed 49 break;
fyousuf3 0:a66bf82d70ed 50 case 'B': // Move back speed 2
fyousuf3 0:a66bf82d70ed 51 A.speed(-1);
fyousuf3 0:a66bf82d70ed 52 B.speed(-1);
fyousuf3 0:a66bf82d70ed 53
fyousuf3 0:a66bf82d70ed 54 myled1 = 1;
fyousuf3 0:a66bf82d70ed 55 myled2 = 0;
fyousuf3 0:a66bf82d70ed 56 myled3 = 0;
fyousuf3 0:a66bf82d70ed 57 myled4 = 0;
fyousuf3 0:a66bf82d70ed 58
fyousuf3 0:a66bf82d70ed 59 wait(0.5);
fyousuf3 0:a66bf82d70ed 60 break;
fyousuf3 0:a66bf82d70ed 61 case 'C': // Move right speed 1
fyousuf3 0:a66bf82d70ed 62 A.speed(0.5);
fyousuf3 0:a66bf82d70ed 63 B.speed(0);
fyousuf3 0:a66bf82d70ed 64
fyousuf3 0:a66bf82d70ed 65 myled1 = 0;
fyousuf3 0:a66bf82d70ed 66 myled2 = 1;
fyousuf3 0:a66bf82d70ed 67 myled3 = 0;
fyousuf3 0:a66bf82d70ed 68 myled4 = 0;
fyousuf3 0:a66bf82d70ed 69
fyousuf3 0:a66bf82d70ed 70 wait(0.5);
fyousuf3 0:a66bf82d70ed 71 break;
fyousuf3 0:a66bf82d70ed 72 case 'D': // Move right speed 2
fyousuf3 0:a66bf82d70ed 73 A.speed(1);
fyousuf3 0:a66bf82d70ed 74 B.speed(0);
fyousuf3 0:a66bf82d70ed 75
fyousuf3 0:a66bf82d70ed 76 myled1 = 0;
fyousuf3 0:a66bf82d70ed 77 myled2 = 1;
fyousuf3 0:a66bf82d70ed 78 myled3 = 0;
fyousuf3 0:a66bf82d70ed 79 myled4 = 0;
fyousuf3 0:a66bf82d70ed 80
fyousuf3 0:a66bf82d70ed 81 wait(0.5);
fyousuf3 0:a66bf82d70ed 82 break;
fyousuf3 0:a66bf82d70ed 83 case 'E': // Move forward speed 1
fyousuf3 0:a66bf82d70ed 84 A.speed(0.5);
fyousuf3 0:a66bf82d70ed 85 B.speed(0.5);
fyousuf3 0:a66bf82d70ed 86
fyousuf3 0:a66bf82d70ed 87 myled1 = 0;
fyousuf3 0:a66bf82d70ed 88 myled2 = 0;
fyousuf3 0:a66bf82d70ed 89 myled3 = 1;
fyousuf3 0:a66bf82d70ed 90 myled4 = 0;
fyousuf3 0:a66bf82d70ed 91
fyousuf3 0:a66bf82d70ed 92 wait(0.5);
fyousuf3 0:a66bf82d70ed 93 break;
fyousuf3 0:a66bf82d70ed 94 case 'F': // Move forward speed 2
fyousuf3 0:a66bf82d70ed 95 A.speed(1);
fyousuf3 0:a66bf82d70ed 96 B.speed(1);
fyousuf3 0:a66bf82d70ed 97
fyousuf3 0:a66bf82d70ed 98 myled1 = 0;
fyousuf3 0:a66bf82d70ed 99 myled2 = 0;
fyousuf3 0:a66bf82d70ed 100 myled3 = 1;
fyousuf3 0:a66bf82d70ed 101 myled4 = 0;
fyousuf3 0:a66bf82d70ed 102
fyousuf3 0:a66bf82d70ed 103 wait(0.5);
fyousuf3 0:a66bf82d70ed 104 break;
fyousuf3 0:a66bf82d70ed 105 case 'G': // Move left speed 1
fyousuf3 0:a66bf82d70ed 106 A.speed(0);
fyousuf3 0:a66bf82d70ed 107 B.speed(0.5);
fyousuf3 0:a66bf82d70ed 108
fyousuf3 0:a66bf82d70ed 109 myled1 = 0;
fyousuf3 0:a66bf82d70ed 110 myled2 = 0;
fyousuf3 0:a66bf82d70ed 111 myled3 = 0;
fyousuf3 0:a66bf82d70ed 112 myled4 = 1;
fyousuf3 0:a66bf82d70ed 113
fyousuf3 0:a66bf82d70ed 114 wait(0.5);
fyousuf3 0:a66bf82d70ed 115 break;
fyousuf3 0:a66bf82d70ed 116 case 'H': // Move left speed 2
fyousuf3 0:a66bf82d70ed 117 A.speed(0);
fyousuf3 0:a66bf82d70ed 118 B.speed(1);
fyousuf3 0:a66bf82d70ed 119
fyousuf3 0:a66bf82d70ed 120 myled1 = 0;
fyousuf3 0:a66bf82d70ed 121 myled2 = 0;
fyousuf3 0:a66bf82d70ed 122 myled3 = 0;
fyousuf3 0:a66bf82d70ed 123 myled4 = 1;
fyousuf3 0:a66bf82d70ed 124
fyousuf3 0:a66bf82d70ed 125 wait(0.5);
fyousuf3 0:a66bf82d70ed 126 break;
fyousuf3 0:a66bf82d70ed 127 case 'I': // Stop
fyousuf3 0:a66bf82d70ed 128 A.speed(-0.5);
fyousuf3 0:a66bf82d70ed 129 B.speed(-0.5);
fyousuf3 0:a66bf82d70ed 130
fyousuf3 0:a66bf82d70ed 131 myled1 = 1;
fyousuf3 0:a66bf82d70ed 132 myled2 = 1;
fyousuf3 0:a66bf82d70ed 133 myled3 = 1;
fyousuf3 0:a66bf82d70ed 134 myled4 = 1;
fyousuf3 0:a66bf82d70ed 135
fyousuf3 0:a66bf82d70ed 136 wait(0.5);
fyousuf3 0:a66bf82d70ed 137
fyousuf3 0:a66bf82d70ed 138 case 'W': // Stop if nothing else is coming in
fyousuf3 0:a66bf82d70ed 139 A.speed(0);
fyousuf3 0:a66bf82d70ed 140 B.speed(0);
fyousuf3 0:a66bf82d70ed 141
fyousuf3 0:a66bf82d70ed 142 myled1 = 0;
fyousuf3 0:a66bf82d70ed 143 myled2 = 0;
fyousuf3 0:a66bf82d70ed 144 myled3 = 0;
fyousuf3 0:a66bf82d70ed 145 myled4 = 0;
fyousuf3 0:a66bf82d70ed 146
fyousuf3 0:a66bf82d70ed 147 wait(0.5);
fyousuf3 0:a66bf82d70ed 148
fyousuf3 0:a66bf82d70ed 149 }
fyousuf3 0:a66bf82d70ed 150 }
fyousuf3 0:a66bf82d70ed 151 }