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
Mbed | H-Bridge | DC Motors | Servo | Transistor | Speaker | LEDs | Barrel Jack | Toggle Switch |
---|---|---|---|---|---|---|---|---|
GND | GND | (-) | Emitter | (-) | GND | (-) | (-) | |
Vu | ||||||||
Vin | Vm | (+) | (+) | |||||
Vout | Vcc, /STBY | (+) | ||||||
p5 | AIN1 | |||||||
p6 | AIN2 | |||||||
p10 | LED+ | |||||||
p11 | LED+ | |||||||
p12 | LED+ | |||||||
p15 | Control | |||||||
p21 | PWMA | |||||||
p22 | Collector | |||||||
p23 | Blue | |||||||
p24 | Green | |||||||
p25 | Red | |||||||
p26 | Control | |||||||
AO1 | (+) | |||||||
AO2 | (-) |
Demo Clip
Source Code
Diff: main.cpp
- Revision:
- 3:a7bd2f5946ed
- Parent:
- 2:69a3683834c7
diff -r 69a3683834c7 -r a7bd2f5946ed main.cpp --- a/main.cpp Thu Apr 27 03:53:55 2017 +0000 +++ b/main.cpp Mon May 01 10:56:10 2017 +0000 @@ -1,175 +1,205 @@ #include "mbed.h" #include "rtos.h" -#include "Servo.h" -#include "RGBLed.h" -#include "wave_player.h" -#include "SDFileSystem.h" #include "Motor.h" -#include "uLCD_4DGL.h" + +Serial pc(USBTX, USBRX); DigitalOut led1(LED1); DigitalOut led2(LED2); DigitalOut led3(LED3); DigitalOut led4(LED4); -// RGBLed myRGBled(p21,p22,p23); //RGB PWM pins - -InterruptIn Switch(p15); +DigitalIn Switch(p15); //SERVO for arm -Servo arm(p22); +PwmOut arm(p26); //LEDS -PwmOut red(p21); -PwmOut green(p22); +PwmOut red(p25); +PwmOut green(p24); PwmOut blue(p23); +DigitalOut MouthUp(p11); +DigitalOut MouthDown(p12); +DigitalOut MouthCenter(p10); + //SD card/audio -PwmOut PWMout(p25); +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,&PWMout); +wave_player waver(&DACout,&Speaker); char buffer[20]; FILE *wave_file; - +*/ //motor for wheels -Motor wheelF(p21, p6, p5); // pwm, fwd, rev -Motor wheelB(p21, p6, p5); // pwm, fwd, rev -Thread t1; // Arm Response +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 ArmThread() { - //basic if switch is toggled then use arm to turn it off - //TODO: setup angle/speed for reasonable opening according to angerlevel - //Want to add delay depedning on anger level - //Potentially need a queue system - if (pushFlag) - { - //start servo - while (1) - { - for(float p=0; p<1.0; p += 0.1) - { - arm = p; - wait(0.4); - } - for(float p=1; p>0.0; p -= 0.1) - { - arm = p; - wait(0.4); - } - } - state.lock(); //lock to update the anger level - angerlevel++; - state.unlock(); - } -} void LEDThread() { //TODO: Add colors according to angerlevel - state.lock(); //lock to read the angerlevel - switch(angerlevel){ - case 1: - state.unlock(); - //turn on leds - break; - case 2: + 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(); - //LEDS/AUDIO - break; - case 3: - state.unlock(); - //LEDS/AUDIO/motor - break; - default: - state.unlock(); - //case 0 do nothing - break; + } } - 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 - state.lock(); //lock to read the angerlevel - switch(angerlevel){ - case 2: + 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(); - //AUDIO - 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); - } - break; - case 3: - state.unlock(); - //AUDIO/MOTOR - break; - default: - state.unlock(); - //Nothing to do here - break; + } } - state.unlock(); } void WheelsThread() { //Drive around randomly //TODO: add random driving for both motors(current:example for 1 motor) - state.lock(); //lock to read the angerlevel - switch(angerlevel){ - case 3: + 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(); - for (float s= -1.0; s < 1.0 ; s += 0.01) { - wheelF.speed(s); - wait(0.04); - } - for (float s= 1.0; s > -1.0 ; s -= 0.01) { - wheelF.speed(s); - wait(0.04); - } - break; - default: - state.unlock(); - //nothing - break; + } } - state.unlock(); } void fallInterrupt(){ + priority=1; pushFlag=true; } void init(){ - Switch.fall(&fallInterrupt); - Switch.mode(PullUp); - - //setup PWM hardware for a Class D style audio output - PWMout.period(1.0/400000.0); - + //start threads + t2.start(LEDThread); + t3.start(AudioThread); + t4.start(WheelsThread); } int main() { init(); - - t1.start(ArmThread); - t2.start(LEDThread); - t3.start(AudioThread); - t4.start(WheelsThread); - + + 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"); } \ No newline at end of file