Sachit kadle / Mbed 2 deprecated RFIDRobot

Code for RFID Robot

Dependencies:   DebounceIn HTTPClient ID12RFID SDFileSystem TextLCD WiflyInterface iniparser mbed

driver.cpp@0:9fd64882c5aa, 2013-12-10 (annotated)

Committer:
4180skrw
Date:
Tue Dec 10 02:17:48 2013 +0000
Revision:
0:9fd64882c5aa
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
4180skrw 0:9fd64882c5aa 1 #include "driver.h"
4180skrw 0:9fd64882c5aa 2 #include "wifiunit.h"
4180skrw 0:9fd64882c5aa 3
4180skrw 0:9fd64882c5aa 4 void processCommands(vector<robotCommand> &commands) {
4180skrw 0:9fd64882c5aa 5 printLCD("Processing", NULL);
4180skrw 0:9fd64882c5aa 6 forward();
4180skrw 0:9fd64882c5aa 7 stop();
4180skrw 0:9fd64882c5aa 8 for(int i=0; i<commands.size(); i++) {
4180skrw 0:9fd64882c5aa 9 double mag = commands[i].magnitude;
4180skrw 0:9fd64882c5aa 10 int angle;
4180skrw 0:9fd64882c5aa 11 switch(commands[i].commandType) {
4180skrw 0:9fd64882c5aa 12 case(Forward):
4180skrw 0:9fd64882c5aa 13 printLCD("Forward", NULL);
4180skrw 0:9fd64882c5aa 14 forward();
4180skrw 0:9fd64882c5aa 15 wait(mag*4);
4180skrw 0:9fd64882c5aa 16 break;
4180skrw 0:9fd64882c5aa 17 case(Reverse):
4180skrw 0:9fd64882c5aa 18 printLCD("Reverse", NULL);
4180skrw 0:9fd64882c5aa 19 reverse();
4180skrw 0:9fd64882c5aa 20 printf("%f\n", mag*4);
4180skrw 0:9fd64882c5aa 21 wait(mag*4);
4180skrw 0:9fd64882c5aa 22 break;
4180skrw 0:9fd64882c5aa 23 case(Left):
4180skrw 0:9fd64882c5aa 24 printLCD("Left", NULL);
4180skrw 0:9fd64882c5aa 25 angle = (int) (mag*90);
4180skrw 0:9fd64882c5aa 26 //create script
4180skrw 0:9fd64882c5aa 27 device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c", NewScript, 13, Drive, char((speed>>8)&0xFF), char(speed&0xFF), char(((1)>>8)&0xFF), char((1)&0xFF), WaitAngle, char((angle>>8)&0xFF), char(angle&0xFF), Drive, 0, 0, 0, 0);
4180skrw 0:9fd64882c5aa 28 device.printf("%c", DoScript);
4180skrw 0:9fd64882c5aa 29 break;
4180skrw 0:9fd64882c5aa 30 case(Right):
4180skrw 0:9fd64882c5aa 31 printLCD("Right", NULL);
4180skrw 0:9fd64882c5aa 32 angle = (int) (mag*90);
4180skrw 0:9fd64882c5aa 33 //create script
4180skrw 0:9fd64882c5aa 34 device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c", NewScript, 13, Drive, char((speed>>8)&0xFF), char(speed&0xFF), char(((-1)>>8)&0xFF), char((-1)&0xFF), WaitAngle, char(((-angle)>>8)&0xFF), char((-angle)&0xFF), Drive, 0, 0, 0, 0);
4180skrw 0:9fd64882c5aa 35 device.printf("%c", DoScript);
4180skrw 0:9fd64882c5aa 36 break;
4180skrw 0:9fd64882c5aa 37 case(PlaySound):
4180skrw 0:9fd64882c5aa 38 printLCD("Sound", NULL);
4180skrw 0:9fd64882c5aa 39 playsong((int) mag);
4180skrw 0:9fd64882c5aa 40 break;
4180skrw 0:9fd64882c5aa 41 }
4180skrw 0:9fd64882c5aa 42 stop();
4180skrw 0:9fd64882c5aa 43 }
4180skrw 0:9fd64882c5aa 44 }
4180skrw 0:9fd64882c5aa 45
4180skrw 0:9fd64882c5aa 46 void initialize() {
4180skrw 0:9fd64882c5aa 47 initializeRobot();
4180skrw 0:9fd64882c5aa 48 forward();
4180skrw 0:9fd64882c5aa 49 wait(.5);
4180skrw 0:9fd64882c5aa 50 stop();
4180skrw 0:9fd64882c5aa 51 reverse();
4180skrw 0:9fd64882c5aa 52 wait(.5);
4180skrw 0:9fd64882c5aa 53 stop();
4180skrw 0:9fd64882c5aa 54 setupSDCard();
4180skrw 0:9fd64882c5aa 55 setupWiFi();
4180skrw 0:9fd64882c5aa 56 down.mode(PullUp);
4180skrw 0:9fd64882c5aa 57 up.mode(PullUp);
4180skrw 0:9fd64882c5aa 58 back.mode(PullUp);
4180skrw 0:9fd64882c5aa 59 select.mode(PullUp);
4180skrw 0:9fd64882c5aa 60 }
4180skrw 0:9fd64882c5aa 61
4180skrw 0:9fd64882c5aa 62 void cancel() {
4180skrw 0:9fd64882c5aa 63 printLCD("Cancelled", NULL);
4180skrw 0:9fd64882c5aa 64 wait(1.5);
4180skrw 0:9fd64882c5aa 65 }
4180skrw 0:9fd64882c5aa 66
4180skrw 0:9fd64882c5aa 67 // Demo to move around using basic commands
4180skrw 0:9fd64882c5aa 68 int main() {
4180skrw 0:9fd64882c5aa 69 initialize();
4180skrw 0:9fd64882c5aa 70 const char* mainMenu[4] = {"Read From RFID", "Read From SD", "Reprogram", "WiFi Mode"};
4180skrw 0:9fd64882c5aa 71 const char* reprogramType[2] = {"Command", "Magnitude"};
4180skrw 0:9fd64882c5aa 72 const char* allCommands[5] = {"Forward", "Reverse", "Left", "Right", "Play Sound"};
4180skrw 0:9fd64882c5aa 73 const char* allMagnitudes[6] = {".5", "1", "1.5", "2", "2.5", "3"};
4180skrw 0:9fd64882c5aa 74 vector<int> tagValues;
4180skrw 0:9fd64882c5aa 75 vector<robotCommand>* commands;
4180skrw 0:9fd64882c5aa 76
4180skrw 0:9fd64882c5aa 77 while(1) {
4180skrw 0:9fd64882c5aa 78 wait(.2);
4180skrw 0:9fd64882c5aa 79 int option = displayMenu("Main Menu", mainMenu, 4);
4180skrw 0:9fd64882c5aa 80 wait(.2);
4180skrw 0:9fd64882c5aa 81 switch(option) {
4180skrw 0:9fd64882c5aa 82 case(0): { //read from RFID
4180skrw 0:9fd64882c5aa 83 tagValues.clear();
4180skrw 0:9fd64882c5aa 84 int rt = readTagSequence(tagValues);
4180skrw 0:9fd64882c5aa 85 if(!rt) {
4180skrw 0:9fd64882c5aa 86 cancel();
4180skrw 0:9fd64882c5aa 87 break;
4180skrw 0:9fd64882c5aa 88 }
4180skrw 0:9fd64882c5aa 89 commands = translateTags(tagValues);
4180skrw 0:9fd64882c5aa 90 processCommands(*commands);
4180skrw 0:9fd64882c5aa 91 delete commands;
4180skrw 0:9fd64882c5aa 92 }
4180skrw 0:9fd64882c5aa 93 break;
4180skrw 0:9fd64882c5aa 94 case(1): //read from SD
4180skrw 0:9fd64882c5aa 95 commands = getProgrammedPath(1);
4180skrw 0:9fd64882c5aa 96 processCommands(*commands);
4180skrw 0:9fd64882c5aa 97 delete commands;
4180skrw 0:9fd64882c5aa 98 break;
4180skrw 0:9fd64882c5aa 99 case(2): //reprogram
4180skrw 0:9fd64882c5aa 100 int type = displayMenu("Reprogram Type", reprogramType, 2);
4180skrw 0:9fd64882c5aa 101 if(type == 0) { //reprogram command
4180skrw 0:9fd64882c5aa 102 CommandType repCommand = (CommandType) displayMenu("Command Type", allCommands, 5);
4180skrw 0:9fd64882c5aa 103 int tagID = readTag();
4180skrw 0:9fd64882c5aa 104 if(!tagID) {
4180skrw 0:9fd64882c5aa 105 cancel();
4180skrw 0:9fd64882c5aa 106 break;
4180skrw 0:9fd64882c5aa 107 }
4180skrw 0:9fd64882c5aa 108 writeTagCommand(tagID, repCommand);
4180skrw 0:9fd64882c5aa 109 }
4180skrw 0:9fd64882c5aa 110 else { //reprogram magnitude
4180skrw 0:9fd64882c5aa 111 double repMag = displayMenu("Mag Type", allMagnitudes, 6)*.5+.5;
4180skrw 0:9fd64882c5aa 112 int tagID = readTag();
4180skrw 0:9fd64882c5aa 113 if(!tagID) {
4180skrw 0:9fd64882c5aa 114 cancel();
4180skrw 0:9fd64882c5aa 115 break;
4180skrw 0:9fd64882c5aa 116 }
4180skrw 0:9fd64882c5aa 117 writeTagCommand(tagID, repMag);
4180skrw 0:9fd64882c5aa 118 }
4180skrw 0:9fd64882c5aa 119 break;
4180skrw 0:9fd64882c5aa 120
4180skrw 0:9fd64882c5aa 121 case(3):
4180skrw 0:9fd64882c5aa 122 int ret = readTag();
4180skrw 0:9fd64882c5aa 123 commands = getTagCommands(ret%1000);
4180skrw 0:9fd64882c5aa 124 processCommands(*commands);
4180skrw 0:9fd64882c5aa 125 delete commands;
4180skrw 0:9fd64882c5aa 126 break;
4180skrw 0:9fd64882c5aa 127 }
4180skrw 0:9fd64882c5aa 128 }
4180skrw 0:9fd64882c5aa 129 }