![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
The servo version of SCRIBE
Dependencies: BLE_nRF8001 BNO055 HC_SR04_Ultrasonic_Library mbed-rtos mbed
Fork of SCRIBE_stepper by
Diff: main.cpp
- Revision:
- 3:63aef644e6d2
- Parent:
- 0:83acd45a2405
- Child:
- 5:1da4d4050306
--- a/main.cpp Fri Apr 22 18:30:57 2016 +0000 +++ b/main.cpp Sat Apr 23 02:46:30 2016 +0000 @@ -32,12 +32,18 @@ unsigned char count_on = 0; // array to save the values of the user -const int size = 40; +const int size = 400; int path_x [size]; int path_y [size]; int counter = 0; int start = 0; +const int shape_size = 10; +int shape_x [shape_size]; +int shape_y [shape_size]; + +int mode = -1; + //coordinates of the pen and the centre of SCRIBE at beginning double x_pen = 0; double y_pen = 0; @@ -51,6 +57,7 @@ Semaphore one_slot(1); +localization L; void bluetooth_thread(void const *args){ serial.printf("Serial begin!\r\n"); @@ -74,6 +81,8 @@ //return value for move functions int ret; + int width, length; + serial.printf("BLE UART Peripheral begin!\r\n"); while(1) @@ -92,57 +101,53 @@ { unsigned char rxlen = rxCharacteristic.valueLength(); const unsigned char *val = rxCharacteristic.value(); - serial.printf("didCharacteristicWritten, Length: %d\r\n", rxlen); + serial.printf("didCharacteristicWritten, Length: %d\r\n", rxlen); + unsigned char i = 0; while(i<rxlen) { serial.printf("%d, ",val[i++]); } + serial.printf("\r\n"); - x = (int) val[0]; - y = (int) val[1]; - x_dir = (int) val[2]; - y_dir = (int) val[3]; - - // see if values are negative - if(x_dir == 1){ - x = -1*x; - } - if(y_dir == 1){ - y = -1*y; - } - // go forward - if(x == 0 && y == 4){ - serial.printf("Go forward \r\n"); - } - // go backward - else if(x == 0 && y == -4){ - serial.printf("Go backward \r\n"); + //determine mode of signal + if(rxlen == 1){ + if (mode != 13){ + mode = (int) val[0]; + } } - // go left - else if(x == 4 && y == 0 && x_dir == 0 && y_dir == 1){ - serial.printf("Go left \r\n"); - } - // go right - else if(x == 4 && y == 0){ - serial.printf("Go right \r\n"); - } - else { - serial.printf("Coordinates \r\n"); + if(rxlen == 4){ + //check if drawing mode + if(mode != 4){ + mode = 9; + } + x = (int) val[0]; + y = (int) val[1]; + x_dir = (int) val[2]; + y_dir = (int) val[3]; + + // see if values are negative + if(x_dir == 1){ + x = -1*x; + } + if(y_dir == 1){ + y = -1*y; + } + if (rxlen == 1){ + mode = (int) val[0]; + } + // putting values into array + serial.printf("try to put coordinates \r\n"); + one_slot.wait(); + if (counter == size){ + counter = 0; + } + path_x[counter] = x; + path_y[counter] = y; + counter++; + one_slot.release(); + serial.printf("put coordinates \r\n"); } - - // putting values into array - serial.printf("try to put coordinates \r\n"); - one_slot.wait(); - if (counter == size){ - counter = 0; - } - path_x[counter] = x; - path_y[counter] = y; - counter++; - one_slot.release(); - serial.printf("put coordinates \r\n"); - Thread::wait(100); } @@ -177,14 +182,25 @@ } } +// incomplete +int draw_circle(double radius){ + float currAngle = L.getAngle(); + if(radius >= 5){ + int outer = (int) radius*0.6; + int inner = (int) radius*0.2; + } +} + void move_thread(void const *args){ int angle; + double length = 8; + double width = 8; + int radius = 5; Timer t; t.start(); - - localization L; + L.reset(); //initally put pen down //L.servo(0); @@ -195,9 +211,13 @@ float diffAngle; int control; + int shape_count = 0; + + double draw_corr; double dot,a2,b2,c2; double x_tar,y_tar; + double x_pen_pr, y_pen_pr, x_cent_pr, y_cent_pr; double cosg,gamma,distance,wait_t; double x_taro = 0; double y_taro = 0; @@ -205,18 +225,105 @@ int newval = 0; while(1){ - one_slot.wait(); - if(counter != start){ - if (start == size){ - start = 0; + // check what mode is present + //rectangle/square + if(mode == 0){ + serial.printf("Draw rectangle \r\n"); + //save old values and set initial + x_pen_pr = x_pen; + y_pen_pr = y_pen; + x_cent_pr = x_cent; + y_cent_pr = y_cent; + x_pen = 0; + y_pen = 0; + x_cent = 0; + y_cent = -1; + + //set values + shape_x[3] = 0; + shape_y[3] = length; + shape_x[2] = width; + shape_y[2] = length; + shape_x[1] = width; + shape_y[1] = 0; + shape_x[0] = 0; + shape_y[0] = 0; + shape_count = 4; + + mode = 13; + } + else if(mode == 1){ + serial.printf("Draw circle \r\n"); + //call circle function + control = draw_circle(radius); + + mode = -1; + } + else if(mode == 2){ + serial.printf("Draw triangle \r\n"); + //save old values and set initial + x_pen_pr = x_pen; + y_pen_pr = y_pen; + x_cent_pr = x_cent; + y_cent_pr = y_cent; + x_pen = 0; + y_pen = 0; + x_cent = 0; + y_cent = -1; + + //set values + shape_x[2] = 0; + shape_y[2] = length; + shape_x[1] = width; + shape_y[1] = 0; + shape_x[0] = 0; + shape_y[0] = 0; + + shape_count = 3; + mode = 13; + } + else if(mode == 3){ + serial.printf("Reset \r\n"); + //set initial + x_pen = 0; + y_pen = 0; + x_cent = 0; + y_cent = -1; + + mode = -1; + } + else if (mode == 4){ + serial.printf("Draw freely \r\n"); + draw_corr = 0.2; + } + else if (mode == 9){ + serial.printf("Draw coordinates \r\n"); + draw_corr = 1; + + mode = -1; + } + + // next coordinate is free drawing or coordinates + if(shape_count == 0){ + one_slot.wait(); + if(counter != start){ + if (start == size){ + start = 0; + } + x_tar = path_x[start]; + y_tar = path_y[start]; + start++; + newval = 1; } - x_tar = path_x[start]; - y_tar = path_y[start]; - start++; - newval = 1; + one_slot.release(); } - one_slot.release(); - + // next coordinate is shape + else{ + shape_count = shape_count - 1; + x_tar = shape_x[shape_count]; + y_tar = shape_y[shape_count]; + newval = 1; + } if(newval == 1){ serial.printf("x-coord: %f, y-coord: %f\r\n",x_tar,y_tar); newval = 0;