University of Derby - MSc Control and Instrumentation
The Program for our autonomous vehicle which we built for our course project
Fork of
Moon_Buggy_Data_Centre
by 
Jamie Gibson
Diff: main.cpp
- Revision:
- 0:ef824c4d6d14
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Dec 10 14:49:12 2015 +0000
@@ -0,0 +1,325 @@
+#include "mbed.h" //MASTER
+#include "TextLCD.h"
+
+TextLCD lcd(p19, p20, p21, p22, p23, p24, TextLCD::LCD20x4); // rs, e, d4-d7
+I2C i2c_port(p28, p27); // Configure a serial port, pins 9 and 10 are sda,scl
+Serial async_port(p9, p10); //set up TX and RX on pins 13 and 14
+SPISlave ser_port(p5, p6, p7, p8); // mosi, miso, sclk
+DigitalOut Front(LED1);
+DigitalOut Right(LED2);
+DigitalOut Back(LED3);
+DigitalOut Left(LED4);
+
+char switch_word; //word we will send
+char recd_val; //value from async
+char recd_val1; //value from from Obstacle sensing
+const int addr = 0x52; // define the I2C slave address, an arbitrary even number
+int Ob_R;
+int Ob_L;
+int Ob_F;
+int Ob_All;
+int Ob_None;
+int Ob_FR;
+int Ob_FL;
+int Light_Full;
+int Light_None;
+int Light_F;
+int Light_FR;
+int Light_R;
+int Light_BR;
+int Light_B;
+int Light_BL;
+int Light_L;
+int Light_FL;
+
+int main()
+{
+ lcd.cls();
+ lcd.locate(2,0);
+ lcd.printf("Moon Buggy!");
+
+ async_port.baud(9600); //set baud rate to 9600 (ie default)
+
+ ser_port.format(8,0);
+ ser_port.frequency(4000000);
+
+ while(1)
+ {
+ Front=0; //preset both to 0
+ Right=0;
+ Back=0;
+ Left=0;
+ Ob_FR=0;
+ Ob_FL=0;
+ Ob_F=0;
+ Ob_R=0;
+ Ob_L=0;
+ Ob_All=0;
+ Ob_None=0;
+ Light_Full=0;
+ Light_None=0;
+ Light_F=0;
+ Light_FR=0;
+ Light_R=0;
+ Light_BR=0;
+ Light_B=0;
+ Light_BL=0;
+ Light_L=0;
+ Light_FL=0;
+
+ //Block 1 Receive Obstacle Data and Set Flags
+
+ if(ser_port.receive()) //test if data transfer has occurred
+ recd_val1 = ser_port.read(); // Read byte from master
+ recd_val1=recd_val1&0x0F;
+
+ if (recd_val1==1)
+ {
+ Ob_F=1;
+ lcd.locate(-4,3);
+ lcd.printf("Obstacle Ahead");
+ }
+ if (recd_val1==2)
+ {
+ Ob_R=1;
+ lcd.locate(-4,3);
+ lcd.printf("Obstacle Right");
+ }
+ if (recd_val1==3)
+ {
+ Ob_L=1;
+ lcd.locate(-4,3);
+ lcd.printf("Obstacle Left ");
+ }
+ if (recd_val1==4)
+ {
+ Ob_All=1;
+ lcd.locate(-4,3);
+ lcd.printf("All Obstacles ");
+ }
+ if (recd_val1==5)
+ {
+ Ob_FR=1;
+ lcd.locate(-4,3);
+ lcd.printf("Obstacles FR ");
+ }
+ if (recd_val1==6)
+ {
+ Ob_FL=1;
+ lcd.locate(-4,3);
+ lcd.printf("Obstacles FL ");
+ }
+ if (recd_val1==0)
+ {
+ Ob_None=1;
+ lcd.locate(-4,3);
+ lcd.printf("No Obstacle ");
+ }
+
+ //Block 2 Receive Light Data and Set Flags
+ if(async_port.readable()==1) //is there a character to be read?
+ recd_val=async_port.getc(); //if yes, then read it
+ recd_val=recd_val&0x0f; //AND out unwanted bits
+
+ if(recd_val==0)
+ {
+ Front=0;
+ Right=0;
+ Back=0;
+ Left=0;
+ Light_None=1;
+ //wait(0.5);
+ lcd.locate(0,1);
+ lcd.printf("No Light ");
+ }
+ if(recd_val==9)
+ {
+ Front=1;
+ Right=1;
+ Back=1;
+ Left=1;
+ Light_Full=1;
+ //wait(0.5);
+ lcd.locate(0,1);
+ lcd.printf("Full Light ");
+ }
+ if(recd_val==1)
+ {
+ Front=1;
+ Light_F=1;
+ //wait(0.5);
+ lcd.locate(0,1);
+ lcd.printf("Light Detected");
+ lcd.locate(0,2);
+ lcd.printf(" Front ");
+ }
+ if(recd_val==2)
+ {
+ Front=1;
+ Right=1;
+ Light_FR=1;
+ //wait(0.5);
+ lcd.locate(0,1);
+ lcd.printf("Light Detected");
+ lcd.locate(0,2);
+ lcd.printf("Front-Right");
+ }
+ if(recd_val==3)
+ {
+ Right=1;
+ Light_R=1;
+ //wait(0.5);
+ lcd.locate(0,1);
+ lcd.printf("Light Detected");
+ lcd.locate(0,2);
+ lcd.printf(" Right ");
+ }
+ if(recd_val==4)
+ {
+ Back=1;
+ Right=1;
+ Light_BR=1;
+ //wait(0.5);
+ lcd.locate(0,1);
+ lcd.printf("Light Detected");
+ lcd.locate(0,2);
+ lcd.printf("Back-Right");
+ }
+ if(recd_val==5)
+ {
+ Back=1;
+ Light_B=1;
+ //wait(0.5);
+ lcd.locate(0,1);
+ lcd.printf("Light Detected");
+ lcd.locate(0,2);
+ lcd.printf(" Back ");
+ }
+ if(recd_val==6)
+ {
+ Back=1;
+ Left=1;
+ Light_BL=1;
+ //wait(0.5);
+ lcd.locate(0,1);
+ lcd.printf("Light Detected");
+ lcd.locate(0,2);
+ lcd.printf("Back-Left");
+ }
+ if(recd_val==7)
+ {
+ Left=1;
+ Light_L=1;
+ //wait(0.5);
+ lcd.locate(0,1);
+ lcd.printf("Light Detected");
+ lcd.locate(0,2);
+ lcd.printf(" Left ");
+ }
+ if(recd_val==8)
+ {
+ Front=1;
+ Left=1;
+ Light_FL=1;
+ //wait(0.5);
+ lcd.locate(0,1);
+ lcd.printf("Light Detected");
+ lcd.locate(0,2);
+ lcd.printf("Front-Left");
+ }
+
+ //Block 3 Compare Flags and Set Command
+ switch_word=0xf0;
+ if(Light_F==1)
+ {
+ if(Ob_FR==1 || Ob_F==1)
+ {
+ //Go Left
+ switch_word=switch_word|0x07;
+ }
+ if(Ob_FL==1)
+ {
+ //Go Right
+ switch_word=switch_word|0x03;
+ }
+ if(Ob_All==1)
+ {
+ //Go Back
+ switch_word=switch_word|0x05;
+ }
+ if(Ob_None==1 || Ob_R==1 || Ob_L==1)
+ {
+ //Go Front
+ switch_word=switch_word|0x01;
+ }
+ }
+ if(Light_R==1)
+ {
+ if(Ob_R==1)
+ {
+ //Go Front
+ switch_word=switch_word|0x01;
+ }
+ if(Ob_FR==1)
+ {
+ //Go Left
+ switch_word=switch_word|0x07;
+ }
+ if(Ob_All==1)
+ {
+ //Go Back
+ switch_word=switch_word|0x05;
+ }
+ if(Ob_None==1 || Ob_L==1 || Ob_F==1 ||Ob_FL==1)
+ {
+ //Go Right
+ switch_word=switch_word|0x03;
+ }
+ }
+ if(Light_L==1)
+ {
+ if(Ob_L==1)
+ {
+ //Go Front
+ switch_word=switch_word|0x01;
+ }
+ if(Ob_FL==1)
+ {
+ //Go Right
+ switch_word=switch_word|0x03;
+ }
+ if(Ob_All==1)
+ {
+ //Go Back
+ switch_word=switch_word|0x05;
+ }
+ if(Ob_None==1 || Ob_R==1 || Ob_F==1 ||Ob_FR==1)
+ {
+ //Go Left
+ switch_word=switch_word|0x07;
+ }
+ }
+ if(Light_B==1)
+ {
+ //Go Back
+ switch_word=switch_word|0x05;
+ }
+ if(Light_Full==1)
+ {
+ //Stop
+ switch_word=switch_word|0x09;
+ }
+ if(Light_None==1)
+ {
+ //Stop
+ switch_word=switch_word|0x00;
+ }
+
+ //Block 4 Send Command to Locomotion
+ i2c_port.start(); //force a start condition
+ i2c_port.write(addr); //send the address
+ i2c_port.write(switch_word); //send one byte of data, ie recd_val
+ i2c_port.stop(); //force a stop condition
+ wait(0.00000002);
+ }
+}
\ No newline at end of file