University of Derby - MSc Control and Instrumentation
The Program for our autonomous vehicle which we built for our course project
Fork of
Moon_Buggy_Locomotion
by 
Jamie Gibson
Revision 0:bd3be923d5fa, committed 2015-12-10
- Comitter:
- JamieGibson
- Date:
- Thu Dec 10 15:13:29 2015 +0000
- Commit message:
- Moon Buggy Locomotion Code
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Thu Dec 10 15:13:29 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Dec 10 15:13:29 2015 +0000
@@ -0,0 +1,135 @@
+#include "mbed.h"
+#include "Servo.h"
+
+I2CSlave slave(p9, p10); //Configure I2C slave
+PwmOut steering (p21);// Define PWM Output to wheels servo
+Servo motor (p22); // Define PWM Output to the ESC
+DigitalOut forward(LED1);
+DigitalOut back(LED2);
+DigitalOut stop(LED3);
+DigitalOut led1(p13); // Indicator Light for center turn
+DigitalOut led2(p15); // Indicator Light for left turn
+DigitalOut led3(p17);// Indicator Light for right turn
+char switch_word ; //word we will send
+char recd_val; //value received from master
+
+int main() //start of main programme
+{
+ slave.address(0x52); // The slave is addressed
+ while(1)
+ {
+ led1=0;
+ led2=0;
+ led3=0;
+ forward=0;
+ back=0;
+ stop=0;
+ switch_word=0xa0; //set up a recognisable output pattern
+ slave.write(switch_word); //load up word to send
+ /*test for I2C, and act accordingly*/
+ int i = slave.receive();
+ if (i == 3) //slave is addressed, Master will write
+ {
+ recd_val= slave.read();
+ recd_val=recd_val&0x0F; // AND out unwatnted LSB bits
+ /*Locomotion and Sterring Control based on received Value*/
+ if (recd_val==1)
+ {
+ led1=1;
+ forward=1;
+ steering.pulsewidth (0.0015); //centre
+ wait(0.2);
+ motor.write(0.3); //full forward
+ wait(1);
+ }
+ /*
+ if (recd_val==2)
+ {
+ led3=1;
+ forward=1;
+ steering.pulsewidth (0.0009);//right
+ wait(0.2);
+ motor.write(0.3); //full forward
+ wait(1);
+ }
+ */
+ if (recd_val==3)
+ {
+ led3=1;
+ forward=1;
+ steering.pulsewidth (0.0009);//right
+ wait(0.2);
+ motor.write(0.3);//forward
+ wait(1);
+ }
+ /*
+ if(recd_val==4)
+ {
+ led3=1;
+ back=1;
+ steering.pulsewidth (0.0009);//right
+ wait(0.2);
+ motor.write(0.6); //full backwards
+ wait(1);
+ }*/
+ if (recd_val==5)
+ {
+ led1=1;
+ back=1;
+ steering.pulsewidth (0.0015);//center
+ motor.write(0.6); //full backwards
+ wait(1);
+ }
+ /*
+ if(recd_val==6)
+ {
+ led2=1;
+ back=1;
+ steering.pulsewidth (0.0021);//LEFT
+ wait(0.2);
+ motor.write(0.6); //full backwards
+ wait(1);
+ }
+ */
+ if (recd_val==7)
+ {
+ led2=1;
+ forward=1;
+ steering.pulsewidth (0.0021);//LEFT
+ wait(0.2);
+ motor.write(0.3); //full forward
+ wait(1);
+ led1=0;
+ led2=0;
+ led3=0;
+ }
+ /*
+ if (recd_val==8)
+ {
+ led2=1;
+ forward=1;
+ steering.pulsewidth (0.0021);//LEFT
+ wait(0.2);
+ motor.write(0.3); //full FORWARD
+ wait(1);
+ }
+ */
+ if (recd_val==9)
+ {
+ stop=1;
+ steering.pulsewidth(0.0015);//stop
+ wait(0.2);
+ motor.write(0.5);//stop
+ wait(1);
+ }
+ if (recd_val==0)
+ {
+ stop=1;
+ steering.pulsewidth(0.0015);//stop
+ wait(0.2);
+ motor.write(0.5);//stop
+ wait(1);
+ }
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Dec 10 15:13:29 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/165afa46840b \ No newline at end of file