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@0:fa6bc104fe2d, 2014-09-08 (annotated)

Committer:
bcostm
Date:
Mon Sep 08 08:22:07 2014 +0000
Revision:
0:fa6bc104fe2d
Child:
1:6a67ad238815
Initial version.

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 0:fa6bc104fe2d 14 A0, A1, A2, A3, A4 // Sensors pins (all DigitalIn)
bcostm 0:fa6bc104fe2d 15 );
bcostm 0:fa6bc104fe2d 16
bcostm 0:fa6bc104fe2d 17 // Enable it for debugging on hyperterminal
bcostm 0:fa6bc104fe2d 18 #define DEBUG 1
bcostm 0:fa6bc104fe2d 19 #if DEBUG == 1
bcostm 0:fa6bc104fe2d 20 Serial pc(PC_10, PC_11);
bcostm 0:fa6bc104fe2d 21 #define PC_DEBUG(args...) pc.printf(args)
bcostm 0:fa6bc104fe2d 22 #else
bcostm 0:fa6bc104fe2d 23 #define PC_DEBUG(args...)
bcostm 0:fa6bc104fe2d 24 #endif
bcostm 0:fa6bc104fe2d 25
bcostm 0:fa6bc104fe2d 26 Ticker tick;
bcostm 0:fa6bc104fe2d 27
bcostm 0:fa6bc104fe2d 28 float speed = 1.0; // Motors speed
bcostm 0:fa6bc104fe2d 29
bcostm 0:fa6bc104fe2d 30 void ReadCommand(void)
bcostm 0:fa6bc104fe2d 31 {
bcostm 0:fa6bc104fe2d 32 int cmd = 0;
bcostm 0:fa6bc104fe2d 33 PC_DEBUG(">>> Read command...\n");
bcostm 0:fa6bc104fe2d 34 if (bluetooth.readable())
bcostm 0:fa6bc104fe2d 35 {
bcostm 0:fa6bc104fe2d 36 cmd = bluetooth.getc();
bcostm 0:fa6bc104fe2d 37 PC_DEBUG(">>> Bluetooth read [%c]\n", cmd);
bcostm 0:fa6bc104fe2d 38 switch(cmd)
bcostm 0:fa6bc104fe2d 39 {
bcostm 0:fa6bc104fe2d 40 case 1: // Forward
bcostm 0:fa6bc104fe2d 41 bot.forward(speed);
bcostm 0:fa6bc104fe2d 42 break;
bcostm 0:fa6bc104fe2d 43 case 2: // Backward
bcostm 0:fa6bc104fe2d 44 bot.backward(speed);
bcostm 0:fa6bc104fe2d 45 break;
bcostm 0:fa6bc104fe2d 46 case 3: // Left
bcostm 0:fa6bc104fe2d 47 bot.left(speed);
bcostm 0:fa6bc104fe2d 48 break;
bcostm 0:fa6bc104fe2d 49 case 4: // Right
bcostm 0:fa6bc104fe2d 50 bot.right(speed);
bcostm 0:fa6bc104fe2d 51 break;
bcostm 0:fa6bc104fe2d 52 case 5: // Turn left
bcostm 0:fa6bc104fe2d 53 bot.turn_right(speed);
bcostm 0:fa6bc104fe2d 54 break;
bcostm 0:fa6bc104fe2d 55 case 6: // Turn right
bcostm 0:fa6bc104fe2d 56 bot.turn_left(speed);
bcostm 0:fa6bc104fe2d 57 break;
bcostm 0:fa6bc104fe2d 58 case 7: // Slow
bcostm 0:fa6bc104fe2d 59 speed = 0.4;
bcostm 0:fa6bc104fe2d 60 break;
bcostm 0:fa6bc104fe2d 61 case 8: // Fast
bcostm 0:fa6bc104fe2d 62 speed = 1.0;
bcostm 0:fa6bc104fe2d 63 break;
bcostm 0:fa6bc104fe2d 64 default: // Stop
bcostm 0:fa6bc104fe2d 65 bot.stopAll();
bcostm 0:fa6bc104fe2d 66 break;
bcostm 0:fa6bc104fe2d 67 }
bcostm 0:fa6bc104fe2d 68 }
bcostm 0:fa6bc104fe2d 69 }
bcostm 0:fa6bc104fe2d 70
bcostm 0:fa6bc104fe2d 71 int main()
bcostm 0:fa6bc104fe2d 72 {
bcostm 0:fa6bc104fe2d 73 PC_DEBUG("\n\nSeeed Bluetooth shield test started.\n");
bcostm 0:fa6bc104fe2d 74
bcostm 0:fa6bc104fe2d 75 // Enable motors
bcostm 0:fa6bc104fe2d 76 bot.enable_right_motor();
bcostm 0:fa6bc104fe2d 77 bot.enable_left_motor();
bcostm 0:fa6bc104fe2d 78
bcostm 0:fa6bc104fe2d 79 // Check if they are alive
bcostm 0:fa6bc104fe2d 80 bot.left(speed);
bcostm 0:fa6bc104fe2d 81 wait(0.2);
bcostm 0:fa6bc104fe2d 82 bot.right(speed);
bcostm 0:fa6bc104fe2d 83 wait(0.2);
bcostm 0:fa6bc104fe2d 84 bot.stopAll();
bcostm 0:fa6bc104fe2d 85
bcostm 0:fa6bc104fe2d 86 PC_DEBUG(">>> Bluetooth setup...");
bcostm 0:fa6bc104fe2d 87 bluetooth.setup();
bcostm 0:fa6bc104fe2d 88 PC_DEBUG("done\n");
bcostm 0:fa6bc104fe2d 89
bcostm 0:fa6bc104fe2d 90 PC_DEBUG(">>> Bluetooth in slave mode...");
bcostm 0:fa6bc104fe2d 91 bluetooth.slave("btslave8seeed"); // default PIN code: 0000
bcostm 0:fa6bc104fe2d 92 PC_DEBUG("done\n");
bcostm 0:fa6bc104fe2d 93
bcostm 0:fa6bc104fe2d 94 wait(2);
bcostm 0:fa6bc104fe2d 95
bcostm 0:fa6bc104fe2d 96 PC_DEBUG(">>> Bluetooth connect...");
bcostm 0:fa6bc104fe2d 97 bluetooth.connect();
bcostm 0:fa6bc104fe2d 98 PC_DEBUG("done\n");
bcostm 0:fa6bc104fe2d 99
bcostm 0:fa6bc104fe2d 100 tick.attach_us(ReadCommand, 500000); // Every 500ms read Bluetooth command
bcostm 0:fa6bc104fe2d 101
bcostm 0:fa6bc104fe2d 102 bot.forward(speed);
bcostm 0:fa6bc104fe2d 103 wait(0.4);
bcostm 0:fa6bc104fe2d 104 bot.backward(speed);
bcostm 0:fa6bc104fe2d 105 wait(0.4);
bcostm 0:fa6bc104fe2d 106 bot.stopAll();
bcostm 0:fa6bc104fe2d 107
bcostm 0:fa6bc104fe2d 108 while (1) {
bcostm 0:fa6bc104fe2d 109 wait(1);
bcostm 0:fa6bc104fe2d 110 }
bcostm 0:fa6bc104fe2d 111 }