ST / Mbed 2 deprecated Seeed_BlueBot_demo

Nucleo board with Seeed bot and bluetooth shields demo.

Dependencies:   BluetoothSerial SeeedShieldBot mbed

This code shows a simple application composed of a Nucleo board, a Seeed Bot and Seeed Bluetooth shieds:

This picture shows how the three boards are stacked together:

/media/uploads/bcostm/nucleo_bluetooth_bot.jpg

You will need also to use an application on your phone to send Bluetooth commands and to be able to control the Bot shield. We have used the Bluetooth spp tools pro Android application.

Look at this video to have more details about this demo:

main.cpp@4:5dd60bfc3cdd, 2014-10-24 (annotated)

Committer:
bcostm
Date:
Fri Oct 24 08:27:19 2014 +0000
Revision:
4:5dd60bfc3cdd
Parent:
3:68fe5b9e069a
Child:
5:de5b38436960
Add option to disable the bot front sensors reading (default is enabled, wire A5 to GND to disable it)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bcostm 0:fa6bc104fe2d 1 #include "mbed.h"
bcostm 0:fa6bc104fe2d 2 #include "BluetoothSerial.h"
bcostm 0:fa6bc104fe2d 3 #include "SeeedStudioShieldBot.h"
bcostm 0:fa6bc104fe2d 4
bcostm 0:fa6bc104fe2d 5 // The following configuration must be done on the NUCLEO board:
bcostm 0:fa6bc104fe2d 6 // - Close SB62/SB63 and open SB13/SB14 solder bridges to enable the D0/D1 pins
bcostm 0:fa6bc104fe2d 7 // - Open SB21 solder bridge to disconnect the LED
bcostm 0:fa6bc104fe2d 8
bcostm 0:fa6bc104fe2d 9 BluetoothSerial bluetooth(D1, D0); // TX, RX
bcostm 0:fa6bc104fe2d 10
bcostm 0:fa6bc104fe2d 11 SeeedStudioShieldBot bot(
bcostm 0:fa6bc104fe2d 12 D8, D9, D11, // Right motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 1
bcostm 0:fa6bc104fe2d 13 D12, D10, D13, // Left motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 2
bcostm 3:68fe5b9e069a 14 A0, A1, A2, A3, A4 // Sensors pins (all DigitalIn)
bcostm 0:fa6bc104fe2d 15 );
bcostm 0:fa6bc104fe2d 16
bcostm 4:5dd60bfc3cdd 17 // Disable the feature by wiring A5 to GND
bcostm 4:5dd60bfc3cdd 18 DigitalIn ReadSensorsEnabled(A5, PullUp);
bcostm 4:5dd60bfc3cdd 19
bcostm 0:fa6bc104fe2d 20 // Enable it for debugging on hyperterminal
bcostm 4:5dd60bfc3cdd 21 #define DEBUG 0
bcostm 0:fa6bc104fe2d 22 #if DEBUG == 1
bcostm 0:fa6bc104fe2d 23 Serial pc(PC_10, PC_11);
bcostm 0:fa6bc104fe2d 24 #define PC_DEBUG(args...) pc.printf(args)
bcostm 0:fa6bc104fe2d 25 #else
bcostm 0:fa6bc104fe2d 26 #define PC_DEBUG(args...)
bcostm 0:fa6bc104fe2d 27 #endif
bcostm 0:fa6bc104fe2d 28
bcostm 0:fa6bc104fe2d 29 Ticker tick;
bcostm 0:fa6bc104fe2d 30
bcostm 3:68fe5b9e069a 31 float speed = 1.0; // Used to select the motors speed
bcostm 3:68fe5b9e069a 32 int stop = 0; // Used to stop the motors when a sensor detects something
bcostm 3:68fe5b9e069a 33
bcostm 0:fa6bc104fe2d 34 void ReadCommand(void)
bcostm 0:fa6bc104fe2d 35 {
bcostm 0:fa6bc104fe2d 36 int cmd = 0;
bcostm 0:fa6bc104fe2d 37 PC_DEBUG(">>> Read command...\n");
bcostm 3:68fe5b9e069a 38
bcostm 0:fa6bc104fe2d 39 if (bluetooth.readable())
bcostm 0:fa6bc104fe2d 40 {
bcostm 0:fa6bc104fe2d 41 cmd = bluetooth.getc();
bcostm 0:fa6bc104fe2d 42 PC_DEBUG(">>> Bluetooth read [%c]\n", cmd);
bcostm 3:68fe5b9e069a 43
bcostm 3:68fe5b9e069a 44 // Ignore the receive command (excepted "Backward") if a sensor has detected something.
bcostm 3:68fe5b9e069a 45 if ((stop) && (cmd != '2')) return;
bcostm 3:68fe5b9e069a 46
bcostm 3:68fe5b9e069a 47 switch (cmd)
bcostm 0:fa6bc104fe2d 48 {
bcostm 3:68fe5b9e069a 49 case '1': // Forward
bcostm 3:68fe5b9e069a 50 bot.forward(speed);
bcostm 3:68fe5b9e069a 51 break;
bcostm 3:68fe5b9e069a 52 case '2': // Backward
bcostm 3:68fe5b9e069a 53 bot.backward(speed);
bcostm 3:68fe5b9e069a 54 break;
bcostm 3:68fe5b9e069a 55 case '3': // Left
bcostm 3:68fe5b9e069a 56 bot.left(speed);
bcostm 3:68fe5b9e069a 57 break;
bcostm 3:68fe5b9e069a 58 case '4': // Right
bcostm 3:68fe5b9e069a 59 bot.right(speed);
bcostm 3:68fe5b9e069a 60 break;
bcostm 3:68fe5b9e069a 61 case '5': // Turn left
bcostm 3:68fe5b9e069a 62 bot.turn_right(speed);
bcostm 3:68fe5b9e069a 63 break;
bcostm 3:68fe5b9e069a 64 case '6': // Turn right
bcostm 3:68fe5b9e069a 65 bot.turn_left(speed);
bcostm 3:68fe5b9e069a 66 break;
bcostm 3:68fe5b9e069a 67 case '7': // Slow
bcostm 3:68fe5b9e069a 68 speed = 0.4;
bcostm 3:68fe5b9e069a 69 break;
bcostm 3:68fe5b9e069a 70 case '8': // Fast
bcostm 3:68fe5b9e069a 71 speed = 1.0;
bcostm 3:68fe5b9e069a 72 break;
bcostm 3:68fe5b9e069a 73 default: // Stop
bcostm 3:68fe5b9e069a 74 bot.stopAll();
bcostm 3:68fe5b9e069a 75 break;
bcostm 0:fa6bc104fe2d 76 }
bcostm 0:fa6bc104fe2d 77 }
bcostm 0:fa6bc104fe2d 78 }
bcostm 0:fa6bc104fe2d 79
bcostm 0:fa6bc104fe2d 80 int main()
bcostm 0:fa6bc104fe2d 81 {
bcostm 0:fa6bc104fe2d 82 PC_DEBUG("\n\nSeeed Bluetooth shield test started.\n");
bcostm 0:fa6bc104fe2d 83
bcostm 0:fa6bc104fe2d 84 // Enable motors
bcostm 0:fa6bc104fe2d 85 bot.enable_right_motor();
bcostm 0:fa6bc104fe2d 86 bot.enable_left_motor();
bcostm 0:fa6bc104fe2d 87
bcostm 0:fa6bc104fe2d 88 PC_DEBUG(">>> Bluetooth setup...");
bcostm 0:fa6bc104fe2d 89 bluetooth.setup();
bcostm 0:fa6bc104fe2d 90 PC_DEBUG("done\n");
bcostm 0:fa6bc104fe2d 91
bcostm 0:fa6bc104fe2d 92 PC_DEBUG(">>> Bluetooth in slave mode...");
bcostm 0:fa6bc104fe2d 93 bluetooth.slave("btslave8seeed"); // default PIN code: 0000
bcostm 0:fa6bc104fe2d 94 PC_DEBUG("done\n");
bcostm 0:fa6bc104fe2d 95
bcostm 0:fa6bc104fe2d 96 wait(2);
bcostm 0:fa6bc104fe2d 97
bcostm 0:fa6bc104fe2d 98 PC_DEBUG(">>> Bluetooth connect...");
bcostm 0:fa6bc104fe2d 99 bluetooth.connect();
bcostm 0:fa6bc104fe2d 100 PC_DEBUG("done\n");
bcostm 0:fa6bc104fe2d 101
bcostm 3:68fe5b9e069a 102 tick.attach(ReadCommand, 0.3); // Every 300 ms read Bluetooth command
bcostm 3:68fe5b9e069a 103
bcostm 3:68fe5b9e069a 104 // Check if motors are alive
bcostm 3:68fe5b9e069a 105 bot.left(speed);
bcostm 3:68fe5b9e069a 106 wait(0.2);
bcostm 3:68fe5b9e069a 107 bot.right(speed);
bcostm 3:68fe5b9e069a 108 wait(0.2);
bcostm 3:68fe5b9e069a 109 bot.stopAll();
bcostm 4:5dd60bfc3cdd 110
bcostm 0:fa6bc104fe2d 111 while (1) {
bcostm 3:68fe5b9e069a 112 // Stop the motors if a sensor has detected something.
bcostm 4:5dd60bfc3cdd 113 if ((!bot.rightSensor || !bot.inRightSensor || !bot.centreSensor || !bot.inLeftSensor || !bot.leftSensor) && ReadSensorsEnabled)
bcostm 3:68fe5b9e069a 114 {
bcostm 3:68fe5b9e069a 115 if (!stop) bot.stopAll();
bcostm 3:68fe5b9e069a 116 stop = 1;
bcostm 3:68fe5b9e069a 117 }
bcostm 3:68fe5b9e069a 118 else
bcostm 3:68fe5b9e069a 119 {
bcostm 3:68fe5b9e069a 120 stop = 0;
bcostm 3:68fe5b9e069a 121 }
bcostm 3:68fe5b9e069a 122 }
bcostm 0:fa6bc104fe2d 123 }