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

Committer:
bcostm
Date:
2014-10-16
Revision:
3:68fe5b9e069a
Parent:
2:7b09d04f029b
Child:
4:5dd60bfc3cdd

File content as of revision 3:68fe5b9e069a:

#include "mbed.h"
#include "BluetoothSerial.h"
#include "SeeedStudioShieldBot.h"

// The following configuration must be done on the NUCLEO board:
// - Close SB62/SB63 and open SB13/SB14 solder bridges to enable the D0/D1 pins
// - Open SB21 solder bridge to disconnect the LED

BluetoothSerial bluetooth(D1, D0); // TX, RX

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, A4 // Sensors pins (all DigitalIn)
);

// Enable it for debugging on hyperterminal
#define DEBUG 1
#if DEBUG == 1
Serial pc(PC_10, PC_11);
#define PC_DEBUG(args...) pc.printf(args)
#else
#define PC_DEBUG(args...)
#endif

Ticker tick;

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);
      
        // 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;
         }
    }    
}
    
int main()
{
    PC_DEBUG("\n\nSeeed Bluetooth shield test started.\n");
      
    // Enable motors
    bot.enable_right_motor();
    bot.enable_left_motor();
  
    PC_DEBUG(">>> Bluetooth setup...");
    bluetooth.setup();
    PC_DEBUG("done\n");
  
    PC_DEBUG(">>> Bluetooth in slave mode...");
    bluetooth.slave("btslave8seeed");  // default PIN code: 0000
    PC_DEBUG("done\n");
    
    wait(2);
    
    PC_DEBUG(">>> Bluetooth connect...");
    bluetooth.connect();
    PC_DEBUG("done\n");
    
    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();

    while (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;
        }
    }
}