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:
2014-09-08
Revision:
2:7b09d04f029b
Parent:
1:6a67ad238815
Child:
3:68fe5b9e069a

File content as of revision 2:7b09d04f029b:

#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, D4 // 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; // Motors speed
    
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)
        {
          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();
    
    // 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();
    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_us(ReadCommand, 500000); // Every 500ms read Bluetooth command

    bot.forward(speed);
    wait(0.4);
    bot.backward(speed);
    wait(0.4);
    bot.stopAll();
      
    while (1) {
        wait(1);
    } 
}