asd / Mbed 2 deprecated 4180_FinaProject

Dependencies:   mbed Motor mbed-rtos

Useless Robot

Useless Robot Overview

Project by Austin Bartmess and Jeremy Deremer

This is a robot developed on an ARM Microcontroller (LPC 1768). It uses a servo, two DC motors both powered by an external power source, nine red LEDs, two RBG LEDs, a speaker, a toggle switch and a transistor.

The goal of this robot is to stay off. However, the user can turn it on without harm. It attempts to stay off via turning a toggle switch off with an arm attached to a servo. If the robot is turned on too much, it will progressively get angry. It starts by not smiling and changing eye colors. Following that, the robot will frown and yell at the user. Finally, the robot will drive around randomly while screaming and looking angry via its LEDs.

Required Parts

  • mbed Microcontroller x1
  • USB to mini USB cable x1
  • Servo x1
  • H-Bridge Breakout Board x1
  • DC Motors x2
  • DC Motor Wheels x4
  • Red LEDs x9
  • RGB LEDs x2
  • 0.5W Speaker x1
  • Toggle Switch x1
  • BJTransistor x1
  • Jumper Cables Kit x1
  • Breadboard x2

Pinout and Connections

MbedH-BridgeDC MotorsServoTransistorSpeakerLEDsBarrel JackToggle Switch
GNDGND(-)Emitter(-)GND(-)(-)
Vu
VinVm(+)(+)
VoutVcc, /STBY(+)
p5AIN1
p6AIN2
p10LED+
p11LED+
p12LED+
p15Control
p21PWMA
p22Collector
p23Blue
p24Green
p25Red
p26Control
AO1(+)
AO2(-)

/media/uploads/jderemer3/capture.png

Demo Clip

Source Code

Import program4180_FinaProject

Last commit 01 May 2017 by asd

main.cpp

Committer:
arb
Date:
2017-05-01
Revision:
3:a7bd2f5946ed
Parent:
2:69a3683834c7

File content as of revision 3:a7bd2f5946ed:

#include "mbed.h"
#include "rtos.h"
#include "Motor.h"

Serial pc(USBTX, USBRX);
 
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);

DigitalIn Switch(p15);

//SERVO for arm
PwmOut arm(p26);

//LEDS
PwmOut red(p25);
PwmOut green(p24);
PwmOut blue(p23);

DigitalOut MouthUp(p11);
DigitalOut MouthDown(p12);
DigitalOut MouthCenter(p10);

//SD card/audio
PwmOut Speaker(p22);
/* //For SD custom songs
AnalogOut DACout(p18);
SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
wave_player waver(&DACout,&Speaker);
char buffer[20];
FILE *wave_file;
*/
//motor for wheels

Motor wheel(p21, p6, p5); // pwm, fwd, rev

Thread t2; // LED Color
Thread t3; // Speaker Music / Audio
Thread t4; // Motor Control

Mutex state;
int angerlevel;
int priority=1;
bool pushFlag = false;
 

void LEDThread() {
    //TODO: Add colors according to angerlevel
    while(1){
        if (pushFlag&&priority==1)
        {
            state.lock();   //lock to read the angerlevel
            switch(angerlevel){
                case 1:
                    //turn on leds
                    MouthCenter=1;
                    MouthUp=1;
                    red=1.0;
                    green=1.0;
                    blue=1.0;
                    break;
                case 2:
                    //LEDS/AUDIO
                    red=1.0;
                    green=0.0;
                    blue=1.0;
                    MouthUp=0;
                    break;
                case 3:
                    MouthDown=1;
                    red=1.0;
                    green=0.0;
                    blue=0.0;
                    break;
                default:
                    //case 0 do nothing
                    break;
            }
            priority=2;
            state.unlock();
        }
    }
}

void AudioThread() {
    //PWM/AMP? to play audio?
    //TODO: get sound on SD card and confirm this will work
    //mabye multiple sounds according to what angerlevel
    while(1){
        if (pushFlag&&priority==2)
        {
            state.lock();   //lock to read the angerlevel
            switch(angerlevel){
                case 2:
                    //AUDIO
                    /*for SD custom sound
                    for (int a=1;a<40; a++){
                        sprintf(buffer,"/sd//voice%d.wav",a);    
                        wave_file=fopen(buffer,"r");
                        waver.play(wave_file);
                        fclose(wave_file);
                    }*/
                    //siren affect
                    arm.period(1.0/800.0);
                    Speaker = float(48)/50.0;
                    wait(2.5);
                    Speaker=0;
                    break;
                case 3:
                    break;
                default:
                    //Nothing to do here
                    break;
            }
            priority=3;
            state.unlock();
        }
    }
}

void WheelsThread() {
    //Drive around randomly
    //TODO: add random driving for both motors(current:example for 1 motor)
    while(1){
        if (pushFlag&&priority==3)
        {

            state.lock();   //lock to read the angerlevel
            switch(angerlevel){
                case 3:
                        arm.period(0.001);
                        wheel.speed(1.0);
                        wait(2.5);

                        arm.period(1.0/969.0);
                        Speaker = float(46)/50.0;
                        wait(.5);
                        arm.period(1.0/800.0);
                        wait(.5);

                        arm.period(0.001);
                        wheel.speed(-1.0);
                        wait(2.5);
                        
                        arm.period(1.0/969.0);
                        Speaker = float(48)/50.0;
                        wait(.5);
                        arm.period(1.0/800.0);
                        wait(.5);
                        Speaker=0;

                        arm.period(0.001);
                        wheel.speed(0.0);
                        wait(0.04);
                    break;
                default:
                    //nothing
                    break;
            }
            priority=1;
            state.unlock();
        }
    }
}

 
void fallInterrupt(){
    priority=1;
    pushFlag=true;
}

void init(){

    //start threads
    t2.start(LEDThread);
    t3.start(AudioThread);
    t4.start(WheelsThread);

}

int main() {
    init();

    while(1) {
        while(Switch) {
            //* code 
        }
        fallInterrupt();
            //start servo
            state.lock();   //lock for period + angerlevel
            arm.period(0.020);          // servo requires a 20ms period
            arm.pulsewidth(0.002);
            wait(0.5);
            arm.pulsewidth(0.0013);
            wait(0.5);

            angerlevel++;
            state.unlock();
            wait(1);
            pushFlag=false;
    }
    pc.printf("exited");
}