File content as of revision 0:f54028dab58f:

/*         what target am i at?
        wait for input from phone
         if input is 1 or 2 then return number to choose target choice function which then fires at target
         did i hit the target?
        wait for input from phone
        if input is yes then go back to maze navigation function
        if input is no then try again
 ********************************************************** */

#include "mbed.h"              
 
Serial blue(PTC4,PTC3);
DigitalOut led(LED1);

// which target are we at?        
int TargetChoice(){
    
    blue.printf("Which target am I at?");           // ask user question
    char TargetIn = blue.getc();                    // assign user input to TargetIn
    int command=0, choice = 0;
    
    while(command==0) {                             // loop until a command has been given  
        switch (TargetIn) {                         // input is either 1 or 2 in DECIMAL    
            case 0x31:                              // if target 1
                choice=1;                           // 
                command = 1;                        // exit while
            break;
            case 0x32:                              // if target 2
                choice=2;                            // return 2 to ball firing or call ball fire 2 
                command = 1;                        // exit while
            break;    }
                                      
    }
    return choice;                                  // return which target to fire at
}

// did we hit the target
int SuccessCheck(){
        
    blue.printf("Did I hit the target?");           // ask user question
    char SuccessIn = blue.getc();                   // assign user input to SuccessIn
    int command=0, success=0;
    
    while(command==0) {                             // loop until a command has been given
        switch (SuccessIn) {                        // input either y (0x79) or n (0x6E)
            case 0x79:                              // if input is y           
                success=1;                          // return 1 directs to go back to the maze and locate next target                              
                command = 1;
            break;  
            
            case 0x6E:                              // if input is n
                success=0;                          // return 0 to go back to trying to hit the target                                
                command = 1;
            break;    }
         
    }
 return success;
 }
        
//main bluetooth operation function
void MazeBluetoothing() {
    
  //  int bluetooth=0;  does this still initialise int bluetooth to 0? for the while loop?
    while(int bluetooth=0){
        
             int target = TargetChoice();                                 // call target choosing function
             
              // if target = 1 then call function to fire at target 1, if target = 2 then call fire function 2
            switch (target) {
                    case 1:
                    //call target 1 function
                     break;
            
                     case 2:
                     //call target 2 function
                    break;   
             }
            int success = SuccessCheck();

            // if success is 0, then reposition & go back to start of bluetoothing()
            switch (success) {
                    case 0:
                    // call repositioning functionthen break to go back to loop of bluetoothing  
                    break;
            
                    case 1:
                    bluetooth=1;
                    break;
            
            }
     }
}


//motor select pins
DigitalOut motor_lf(PTE2);
DigitalOut motor_lb(PTE3);
DigitalOut motor_rf(PTE4);
DigitalOut motor_rb(PTE5);

//Frequency of Pulse Width Modulated signal in Hz
#define PWM_FREQ          1000

//PWM pin (Enable 1 and 2)
PwmOut motor_l (PTC2);
PwmOut motor_r (PTE29);

//LED to test
DigitalOut myled(LED_BLUE);

void set_direction( int direction, float speed, float angle)
{
    /* *******************Example Use*****************
                 set_direction("11", 0.5, 0);  //This would set the robot to go forward, at half speed, straight

                 set_directin( "11", 0.8, 0.2); //this would set robot to go forward, at 100% to the right and 60% to the left (turn right)

                 set_direction("00", 0.3, 0.7); //robot back, 100% rightmotor; 0%left (technically -40%, but 0% is min)

                 set_direction("11", 0.5, 0.5); // robot pivots forward, to the right, full speed (100% duty right ; 0% duty left)

                 set_direction("11", 0.5, -0.5); //robot pivots forward, to the left,  full speed  (0% duty right ; 100% duty left)

                 set_direction("11", 0.3, 0.5); //robot pivots forard, to the right , at 80% speed (80% right; 0% left)

                 set_direction("11", -0.3, 0.5); //robot pivotrs foward, to the right, AT 20% SPEED (20%, 0%)

                 set_direction("10", 0.5, 0);   //robot spins to teh right, at half speed. Left forward 50% ; Right forward 50%

                 set_direction("10", 0.5, 0.3); //robot spins to the right, 80% right forward ; 20% left backward

    */

    float r_result = (speed + angle); //where angle can be postive and negative and will TURN the robot
    float l_result = (speed - angle); //if turning left, you'd make the angle postive (right motor goes faster left motor goes slwoer)
    switch( direction ) {
        case 0x11: { //forward
            motor_r.write(  r_result  < 0 ? 0    :     r_result > 1 ? 1    :       r_result);
            //Look up ternary statements -- {condition ? value_if_true : value_if_false} This makes 0<result<1
            motor_l.write(  l_result < 0 ? 0     :     l_result > 1 ? 1    :       l_result);

            motor_rf=1;
            motor_rb=0;
            motor_lf=1;
            motor_lb=0;
        }
        case 0x00: { //backward
            motor_r.write( r_result  < 0 ? 0    :     r_result > 1 ? 1    :       r_result);
            motor_l.write( l_result  < 0 ? 0    :     l_result > 1 ? 1    :       l_result);

            motor_rf=0;
            motor_rb=1;
            motor_lf=0;
            motor_lb=1;
        }
        case 0x01: {  //spin left  --     Right forward, left backward
            motor_r.write( r_result  < 0 ? 0    :     r_result > 1 ? 1    :       r_result);
            motor_l.write( l_result  < 0 ? 0    :     l_result > 1 ? 1    :       l_result);

            motor_rf=1;
            motor_rb=0;
            motor_lf=0;
            motor_lb=1;
        }
        case 0x10: {    //spin right
            motor_r.write( r_result  < 0 ? 0    :     r_result > 1 ? 1    :       r_result);
            motor_l.write( l_result  < 0 ? 0    :     l_result > 1 ? 1    :       l_result);

            motor_rf=0;
            motor_rb=1;
            motor_lf=1;
            motor_lb=0;
        }
    }
}


void SpinFunct() {
    //Set PWM frequency to 1000Hz
    motor_l.period( 1.0f / (float) PWM_FREQ);
    motor_r.period( 1.0f / (float) PWM_FREQ);
    //Initialise direction to nothing.
    motor_rf=0;
    motor_rb=0;
    motor_lf=0;
    motor_lb=0;    
    led=1;
    set_direction(0x10, 0.5, 0.3); //robot spins to the right, 80% right forward ; 20% left backward
    wait(5); led=0;
    
}

void JiveFunct() {
    
    //Set PWM frequency to 1000Hz
    motor_l.period( 1.0f / (float) PWM_FREQ);
    motor_r.period( 1.0f / (float) PWM_FREQ);
    //Initialise direction to nothing.
    motor_rf=0;
    motor_rb=0;
    motor_lf=0;
    motor_lb=0;
           
       //forward + right spin
        wait(2);
        myled = !myled;
        set_direction(0x11, 0.3, 0.5); //robot pivots forard, to the right , at 80% speed (80% right; 0% left)
       
       // back spin
        wait(2);
        myled = !myled;
        set_direction(0x00, 0.3, 0.7); //robot back, 100% rightmotor; 0%left (technically -40%, but 0% is min)
       
       //
        wait(2);
        myled = !myled;
        set_direction(0x01, 0.3, 0.4);   //robot spins to teh left, at half speed. Left forward 70% ; Right 0% (technically -30%, but 0% is min)
        
        wait(2);
        myled = !myled;
        set_direction(0x10, 0.5, 0);   //robot spins to teh right, at half speed. Left forward 50% ; Right forward 50%
       
       
       /*
        wait(2);
        led = !led;
        set_direction(0x11, 0.5, 0);  //This would set the robot to go forward, at half speed, straight
        
        wait(2);
        led = !led;
        set_direction(0x11, 0.8, 0.2); //this would set robot to go forward, at 100% to the right and 60% to the left (turn right)

        wait(2);
        led = !led;
        set_direction(0x11, 0.5, 0.5); // robot pivots forward, to the right, full speed (100% duty right ; 0% duty left)

        wait(2);
        led = !led;
        set_direction(0x11, 0.5, -0.5); //robot pivots forward, to the left,  full speed  (0% duty right ; 100% duty left)

       

        wait(2);
        led = !led;
        set_direction(0x11, -0.3, 0.5); //robot pivotrs foward, to the right, AT 20% SPEED (20%, 0%)

        wait(2);
        led = !led;
        set_direction(0x10, 0.5, 0);   //robot spins to teh right, at half speed. Left forward 50% ; Right forward 50%
        
        wait(2);
        led = !led;
        set_direction(0x10, 0.5, 0.3); //robot spins to the right, 80% right forward ; 20% left backward
        */
        
}


// will just make a question at the end to say quit? yes or no. it's possible to make a quitter function and test the input for quit
// at every point but it's too annoying to get it to work... so fuk dat

void RemoteControl(){  char dir[2]; /*speed=0, angle=0, time=0, */ int quit=0;

    while(quit==0) {
        wait(1);
        //dir
        blue.printf("Direction?\n");
        while ( blue.readable() ) {}               // loops until there is an input from the user
        
        for(int i=0; i<2; i++) { dir[2] = blue.getc(); } //Store incoming response into array 
        blue.printf("%c dir\n", dir);
        
    }
}
        //for(int i=0; i<4; i++) { quitarray[i]= blue.getc();  blue.printf("get %c", quitarray[i]); } //Store incoming response into array 
        //quit=Quitter(quitarray);
        
        /*
        //speed
        blue.printf("Speed?");
        while ( blue.readable() ) {}               // loops until there is an input from the user
            speed=blue.getc();
            quit=Quitter();
           
        
        //angle
        blue.printf("Angle?");
        while (blue.readable()==0) {}               // loops until there is an input from the user
            angle=blue.getc();
            quit=Quitter();
            
        
        //time
        blue.printf("How long?");
        while (blue.readable()==0) {}               // loops until there is an input from the user
            time=blue.getc();
            quit=Quitter();
    */
        //set_direction(dir, speed, angle); //also find a way to do time too
        //wait(time); 
    

    /*
    
    send 11, 0.5, 0.2 in one string
    for the floats, it will send (num)(point)(num) ef 0.3 = 30, 2E, 33
    all in ASCII remember
    
    so for:
    11 0.5 0.2
    it will send:
    31 31 20 30 2e 35 20 30 2e 32

    sending 313120302e3520302e32 would cause a stack overload
    
    going to have to split the user into 3 different lines of tx
    
    so it'd be simpler too but more difficult for the user to control.
    might need to add in a "for how long for?" function that will only drive the motors for a short period of time
    
    user would have to be knowledgeable of the set direction function  aka get daniel to do the demonstration
    
    so then user sends: direction 11,10,01; speed 0.2,0.5,0.7; angle 0.2,0.4,0.8; time 1,2,3,4;
    
    yes it is slow, but it allows for exact computation of distance, speed and angle
    
    so 1 function with 4 different while loops
    
    while user has not input a direction, loop again
    
    one function : remote control    
    */

int main(){ 

    int spin[4] = {0x73, 0x70, 0x69, 0x6e};       
    int jive[4] = {0x6a, 0x69, 0x76, 0x65};
    int ctrl[4] = {0x63, 0x74, 0x72, 0x6c};
    int maze[4] = {0x6d, 0x61, 0x7a, 0x65};
    unsigned char x[4];

    while (1) {
        blue.printf("What will I do?\n");           // ask user question
        while (blue.readable()==0) {}               // loops until there is an input from the user
        
        for(int i=0; i<4; i++) {  x[i] = blue.getc();  } //Store incoming response into array
        
       int FindSpin=0, FindJive=0, FindCtrl=0, FindMaze=0;

        for(int s=0; s<4; s++) {   
          if (x[s]==spin[s]) { FindSpin++; }
          if (x[s]==jive[s]) { FindJive++; }
          if (x[s]==ctrl[s]) { FindCtrl++; }
          if (x[s]==maze[s]) { FindMaze++; }
        }
        
        if (FindSpin==4) { SpinFunct();}
        if (FindJive==4) { JiveFunct();}
        if (FindCtrl==4) { RemoteControl() ;}
        if (FindMaze==4) {led=1; wait(4); led=0;}
    }
}










/*
int Quitter(char x[4]) {     int quit=0; char quitting[4]={0x71, 0x75, 0x69, 0x74};
    
    blue.printf ("works");
    for(int i=0; i<4; i++) {  x[i] = blue.getc();  } //Store incoming response into array 
    for(int s=0; s<4; s++) {   
        if (x[s]==quitting[s]) { quit++; }
    }
    if (quit==4) { quit=1;}
    return quit;
}
*/