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:
- http://mbed.org/components/Seeed-Studio-Shield-Robot
- http://mbed.org/components/Seeed-Bluetooth-Shield
This picture shows how the three boards are stacked together:
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@5:de5b38436960, 2015-05-21 (annotated)
- Committer:
- bcostm
- Date:
- Thu May 21 08:49:34 2015 +0000
- Revision:
- 5:de5b38436960
- Parent:
- 4:5dd60bfc3cdd
- Show how to use another Nucleo board (L053R8 for example)
; - Add commands
Who changed what in which revision?
User | Revision | Line number | New 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 | 5:de5b38436960 | 11 | #ifdef TARGET_NUCLEO_L053R8 |
bcostm | 5:de5b38436960 | 12 | #define PWM1 D6 // Connect D6 and D8 |
bcostm | 5:de5b38436960 | 13 | #define PWM2 D12 |
bcostm | 5:de5b38436960 | 14 | #else // NUCLEO_F072RB |
bcostm | 5:de5b38436960 | 15 | #define PWM1 D8 |
bcostm | 5:de5b38436960 | 16 | #define PWM2 D12 |
bcostm | 5:de5b38436960 | 17 | #endif |
bcostm | 5:de5b38436960 | 18 | |
bcostm | 0:fa6bc104fe2d | 19 | SeeedStudioShieldBot bot( |
bcostm | 5:de5b38436960 | 20 | PWM1, D9, D11, // Right motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 1 |
bcostm | 5:de5b38436960 | 21 | PWM2, D10, D13, // Left motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 2 |
bcostm | 3:68fe5b9e069a | 22 | A0, A1, A2, A3, A4 // Sensors pins (all DigitalIn) |
bcostm | 0:fa6bc104fe2d | 23 | ); |
bcostm | 0:fa6bc104fe2d | 24 | |
bcostm | 4:5dd60bfc3cdd | 25 | // Disable the feature by wiring A5 to GND |
bcostm | 4:5dd60bfc3cdd | 26 | DigitalIn ReadSensorsEnabled(A5, PullUp); |
bcostm | 4:5dd60bfc3cdd | 27 | |
bcostm | 0:fa6bc104fe2d | 28 | // Enable it for debugging on hyperterminal |
bcostm | 4:5dd60bfc3cdd | 29 | #define DEBUG 0 |
bcostm | 0:fa6bc104fe2d | 30 | #if DEBUG == 1 |
bcostm | 5:de5b38436960 | 31 | Serial pc(PC_10, PC_11); // Connect PC10 and CN3-RX |
bcostm | 0:fa6bc104fe2d | 32 | #define PC_DEBUG(args...) pc.printf(args) |
bcostm | 0:fa6bc104fe2d | 33 | #else |
bcostm | 0:fa6bc104fe2d | 34 | #define PC_DEBUG(args...) |
bcostm | 0:fa6bc104fe2d | 35 | #endif |
bcostm | 0:fa6bc104fe2d | 36 | |
bcostm | 0:fa6bc104fe2d | 37 | Ticker tick; |
bcostm | 0:fa6bc104fe2d | 38 | |
bcostm | 3:68fe5b9e069a | 39 | float speed = 1.0; // Used to select the motors speed |
bcostm | 3:68fe5b9e069a | 40 | int stop = 0; // Used to stop the motors when a sensor detects something |
bcostm | 3:68fe5b9e069a | 41 | |
bcostm | 0:fa6bc104fe2d | 42 | void ReadCommand(void) |
bcostm | 0:fa6bc104fe2d | 43 | { |
bcostm | 0:fa6bc104fe2d | 44 | int cmd = 0; |
bcostm | 0:fa6bc104fe2d | 45 | PC_DEBUG(">>> Read command...\n"); |
bcostm | 3:68fe5b9e069a | 46 | |
bcostm | 0:fa6bc104fe2d | 47 | if (bluetooth.readable()) |
bcostm | 0:fa6bc104fe2d | 48 | { |
bcostm | 0:fa6bc104fe2d | 49 | cmd = bluetooth.getc(); |
bcostm | 0:fa6bc104fe2d | 50 | PC_DEBUG(">>> Bluetooth read [%c]\n", cmd); |
bcostm | 3:68fe5b9e069a | 51 | |
bcostm | 3:68fe5b9e069a | 52 | // Ignore the receive command (excepted "Backward") if a sensor has detected something. |
bcostm | 3:68fe5b9e069a | 53 | if ((stop) && (cmd != '2')) return; |
bcostm | 3:68fe5b9e069a | 54 | |
bcostm | 3:68fe5b9e069a | 55 | switch (cmd) |
bcostm | 0:fa6bc104fe2d | 56 | { |
bcostm | 3:68fe5b9e069a | 57 | case '1': // Forward |
bcostm | 3:68fe5b9e069a | 58 | bot.forward(speed); |
bcostm | 3:68fe5b9e069a | 59 | break; |
bcostm | 3:68fe5b9e069a | 60 | case '2': // Backward |
bcostm | 3:68fe5b9e069a | 61 | bot.backward(speed); |
bcostm | 3:68fe5b9e069a | 62 | break; |
bcostm | 3:68fe5b9e069a | 63 | case '3': // Left |
bcostm | 3:68fe5b9e069a | 64 | bot.left(speed); |
bcostm | 3:68fe5b9e069a | 65 | break; |
bcostm | 3:68fe5b9e069a | 66 | case '4': // Right |
bcostm | 3:68fe5b9e069a | 67 | bot.right(speed); |
bcostm | 3:68fe5b9e069a | 68 | break; |
bcostm | 5:de5b38436960 | 69 | case '5': // Turn left forward |
bcostm | 3:68fe5b9e069a | 70 | bot.turn_right(speed); |
bcostm | 3:68fe5b9e069a | 71 | break; |
bcostm | 5:de5b38436960 | 72 | case '6': // Turn right forward |
bcostm | 3:68fe5b9e069a | 73 | bot.turn_left(speed); |
bcostm | 3:68fe5b9e069a | 74 | break; |
bcostm | 5:de5b38436960 | 75 | case '7': // Turn left backward |
bcostm | 5:de5b38436960 | 76 | bot.turn_right(-speed); |
bcostm | 3:68fe5b9e069a | 77 | break; |
bcostm | 5:de5b38436960 | 78 | case '8': // Turn right backward |
bcostm | 5:de5b38436960 | 79 | bot.turn_left(-speed); |
bcostm | 5:de5b38436960 | 80 | break; |
bcostm | 5:de5b38436960 | 81 | case '9': // Slow |
bcostm | 5:de5b38436960 | 82 | speed = 0.5; |
bcostm | 5:de5b38436960 | 83 | break; |
bcostm | 5:de5b38436960 | 84 | case 'A': // Fast |
bcostm | 3:68fe5b9e069a | 85 | speed = 1.0; |
bcostm | 3:68fe5b9e069a | 86 | break; |
bcostm | 3:68fe5b9e069a | 87 | default: // Stop |
bcostm | 3:68fe5b9e069a | 88 | bot.stopAll(); |
bcostm | 3:68fe5b9e069a | 89 | break; |
bcostm | 0:fa6bc104fe2d | 90 | } |
bcostm | 0:fa6bc104fe2d | 91 | } |
bcostm | 0:fa6bc104fe2d | 92 | } |
bcostm | 0:fa6bc104fe2d | 93 | |
bcostm | 0:fa6bc104fe2d | 94 | int main() |
bcostm | 0:fa6bc104fe2d | 95 | { |
bcostm | 0:fa6bc104fe2d | 96 | PC_DEBUG("\n\nSeeed Bluetooth shield test started.\n"); |
bcostm | 0:fa6bc104fe2d | 97 | |
bcostm | 0:fa6bc104fe2d | 98 | // Enable motors |
bcostm | 0:fa6bc104fe2d | 99 | bot.enable_right_motor(); |
bcostm | 0:fa6bc104fe2d | 100 | bot.enable_left_motor(); |
bcostm | 0:fa6bc104fe2d | 101 | |
bcostm | 0:fa6bc104fe2d | 102 | PC_DEBUG(">>> Bluetooth setup..."); |
bcostm | 0:fa6bc104fe2d | 103 | bluetooth.setup(); |
bcostm | 0:fa6bc104fe2d | 104 | PC_DEBUG("done\n"); |
bcostm | 0:fa6bc104fe2d | 105 | |
bcostm | 0:fa6bc104fe2d | 106 | PC_DEBUG(">>> Bluetooth in slave mode..."); |
bcostm | 5:de5b38436960 | 107 | bluetooth.slave("bt_seeed_1"); // default PIN code: 0000 |
bcostm | 0:fa6bc104fe2d | 108 | PC_DEBUG("done\n"); |
bcostm | 0:fa6bc104fe2d | 109 | |
bcostm | 0:fa6bc104fe2d | 110 | wait(2); |
bcostm | 0:fa6bc104fe2d | 111 | |
bcostm | 0:fa6bc104fe2d | 112 | PC_DEBUG(">>> Bluetooth connect..."); |
bcostm | 0:fa6bc104fe2d | 113 | bluetooth.connect(); |
bcostm | 0:fa6bc104fe2d | 114 | PC_DEBUG("done\n"); |
bcostm | 0:fa6bc104fe2d | 115 | |
bcostm | 3:68fe5b9e069a | 116 | tick.attach(ReadCommand, 0.3); // Every 300 ms read Bluetooth command |
bcostm | 3:68fe5b9e069a | 117 | |
bcostm | 3:68fe5b9e069a | 118 | // Check if motors are alive |
bcostm | 3:68fe5b9e069a | 119 | bot.left(speed); |
bcostm | 3:68fe5b9e069a | 120 | wait(0.2); |
bcostm | 3:68fe5b9e069a | 121 | bot.right(speed); |
bcostm | 3:68fe5b9e069a | 122 | wait(0.2); |
bcostm | 3:68fe5b9e069a | 123 | bot.stopAll(); |
bcostm | 4:5dd60bfc3cdd | 124 | |
bcostm | 0:fa6bc104fe2d | 125 | while (1) { |
bcostm | 3:68fe5b9e069a | 126 | // Stop the motors if a sensor has detected something. |
bcostm | 4:5dd60bfc3cdd | 127 | if ((!bot.rightSensor || !bot.inRightSensor || !bot.centreSensor || !bot.inLeftSensor || !bot.leftSensor) && ReadSensorsEnabled) |
bcostm | 3:68fe5b9e069a | 128 | { |
bcostm | 3:68fe5b9e069a | 129 | if (!stop) bot.stopAll(); |
bcostm | 3:68fe5b9e069a | 130 | stop = 1; |
bcostm | 3:68fe5b9e069a | 131 | } |
bcostm | 3:68fe5b9e069a | 132 | else |
bcostm | 3:68fe5b9e069a | 133 | { |
bcostm | 3:68fe5b9e069a | 134 | stop = 0; |
bcostm | 3:68fe5b9e069a | 135 | } |
bcostm | 3:68fe5b9e069a | 136 | } |
bcostm | 0:fa6bc104fe2d | 137 | } |