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	(-)

/media/uploads/jderemer3/capture.png

Demo Clip

Source Code

Import program 4180_FinaProject

Files at this revision

API Documentation at this revision

Revision 3:a7bd2f5946ed, committed 2017-05-01

Comitter:: arb
Date:: Mon May 01 10:56:10 2017 +0000
Parent:: 2:69a3683834c7
Commit message:: Submit Verison

Changed in this revision

--- a/4DGL-uLCD-SE.lib	Thu Apr 27 03:53:55 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/users/4180_1/code/4DGL-uLCD-SE/#2cb1845d7681

--- a/RGBLed.h	Thu Apr 27 03:53:55 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,26 +0,0 @@
-#include "mbed.h"
-//Class to control an RGB LED using three PWM pins
-class RGBLed
-{
-public:
-    RGBLed(PinName redpin, PinName greenpin, PinName bluepin);
-    void write(float red,float green, float blue);
-private:
-    PwmOut _redpin;
-    PwmOut _greenpin;
-    PwmOut _bluepin;
-};
- 
-RGBLed::RGBLed (PinName redpin, PinName greenpin, PinName bluepin)
-    : _redpin(redpin), _greenpin(greenpin), _bluepin(bluepin)
-{
-    //50Hz PWM clock default a bit too low, go to 2000Hz (less flicker)
-    _redpin.period(0.0005);
-}
- 
-void RGBLed::write(float red,float green, float blue)
-{
-    _redpin = red;
-    _greenpin = green;
-    _bluepin = blue;
-}
\ No newline at end of file

--- a/SDFileSystem.lib	Thu Apr 27 03:53:55 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/users/mbed_official/code/SDFileSystem/#8db0d3b02cec

--- a/Servo.lib	Thu Apr 27 03:53:55 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/users/simon/code/Servo/#36b69a7ced07

--- 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

--- a/mbed.bld	Thu Apr 27 03:53:55 2017 +0000
+++ b/mbed.bld	Mon May 01 10:56:10 2017 +0000
@@ -1,1 +1,1 @@
-https://mbed.org/users/mbed_official/code/mbed/builds/97feb9bacc10
\ No newline at end of file
+https://mbed.org/users/mbed_official/code/mbed/builds/794e51388b66
\ No newline at end of file

--- a/wave_player_appbd.lib	Thu Apr 27 03:53:55 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/4180_1/code/wave_player_appbd/#b1cea7afcfd2

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Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	26 Apr 2017
Imports:	2
Forks:	0
Commits:	4
Dependents:	0
Dependencies:	3
Followers:	3

4DGL-uLCD-SE.lib	Show diff for this revision Revisions of this file
RGBLed.h	Show diff for this revision Revisions of this file
SDFileSystem.lib	Show diff for this revision Revisions of this file
Servo.lib	Show diff for this revision Revisions of this file
main.cpp	Show annotated file Show diff for this revision Revisions of this file
mbed.bld	Show annotated file Show diff for this revision Revisions of this file
wave_player_appbd.lib	Show diff for this revision Revisions of this file