ST
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:
Diff: main.cpp
- Revision:
- 3:68fe5b9e069a
- Parent:
- 2:7b09d04f029b
- Child:
- 4:5dd60bfc3cdd
--- a/main.cpp Mon Sep 08 13:00:23 2014 +0000
+++ b/main.cpp Thu Oct 16 06:18:14 2014 +0000
@@ -11,7 +11,7 @@
SeeedStudioShieldBot bot(
D8, D9, D11, // Right motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 1
D12, D10, D13, // Left motor pins (PwmOut, DigitalOut, DigitalOut) -> Motor 2
- A0, A1, A2, A3, D4 // Sensors pins (all DigitalIn)
+ A0, A1, A2, A3, A4 // Sensors pins (all DigitalIn)
);
// Enable it for debugging on hyperterminal
@@ -25,45 +25,51 @@
Ticker tick;
-float speed = 1.0; // Motors speed
-
+float speed = 1.0; // Used to select the motors speed
+int stop = 0; // Used to stop the motors when a sensor detects something
+
void ReadCommand(void)
{
int cmd = 0;
PC_DEBUG(">>> Read command...\n");
+
if (bluetooth.readable())
{
cmd = bluetooth.getc();
PC_DEBUG(">>> Bluetooth read [%c]\n", cmd);
- switch(cmd)
+
+ // Ignore the receive command (excepted "Backward") if a sensor has detected something.
+ if ((stop) && (cmd != '2')) return;
+
+ switch (cmd)
{
- case '1': // Forward
- bot.forward(speed);
- break;
- case '2': // Backward
- bot.backward(speed);
- break;
- case '3': // Left
- bot.left(speed);
- break;
- case '4': // Right
- bot.right(speed);
- break;
- case '5': // Turn left
- bot.turn_right(speed);
- break;
- case '6': // Turn right
- bot.turn_left(speed);
- break;
- case '7': // Slow
- speed = 0.4;
- break;
- case '8': // Fast
- speed = 1.0;
- break;
- default: // Stop
- bot.stopAll();
- break;
+ case '1': // Forward
+ bot.forward(speed);
+ break;
+ case '2': // Backward
+ bot.backward(speed);
+ break;
+ case '3': // Left
+ bot.left(speed);
+ break;
+ case '4': // Right
+ bot.right(speed);
+ break;
+ case '5': // Turn left
+ bot.turn_right(speed);
+ break;
+ case '6': // Turn right
+ bot.turn_left(speed);
+ break;
+ case '7': // Slow
+ speed = 0.4;
+ break;
+ case '8': // Fast
+ speed = 1.0;
+ break;
+ default: // Stop
+ bot.stopAll();
+ break;
}
}
}
@@ -75,13 +81,6 @@
// Enable motors
bot.enable_right_motor();
bot.enable_left_motor();
-
- // Check if they are alive
- bot.left(speed);
- wait(0.2);
- bot.right(speed);
- wait(0.2);
- bot.stopAll();
PC_DEBUG(">>> Bluetooth setup...");
bluetooth.setup();
@@ -97,15 +96,25 @@
bluetooth.connect();
PC_DEBUG("done\n");
- tick.attach_us(ReadCommand, 500000); // Every 500ms read Bluetooth command
+ tick.attach(ReadCommand, 0.3); // Every 300 ms read Bluetooth command
+
+ // Check if motors are alive
+ bot.left(speed);
+ wait(0.2);
+ bot.right(speed);
+ wait(0.2);
+ bot.stopAll();
- bot.forward(speed);
- wait(0.4);
- bot.backward(speed);
- wait(0.4);
- bot.stopAll();
-
while (1) {
- wait(1);
- }
+ // Stop the motors if a sensor has detected something.
+ if (!bot.rightSensor || !bot.inRightSensor || !bot.centreSensor || !bot.inLeftSensor || !bot.leftSensor)
+ {
+ if (!stop) bot.stopAll();
+ stop = 1;
+ }
+ else
+ {
+ stop = 0;
+ }
+ }
}