Revision 0:9fd64882c5aa, committed 2013-12-10

Comitter:

4180skrw

Date:

Tue Dec 10 02:17:48 2013 +0000

Commit message:

initial commit

Changed in this revision

diff -r 000000000000 -r 9fd64882c5aa DebounceIn.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DebounceIn.lib	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/AjK/code/DebounceIn/#31ae5cfb44a4

diff -r 000000000000 -r 9fd64882c5aa HTTPClient.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HTTPClient.lib	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/donatien/code/HTTPClient/#1f743885e7de

diff -r 000000000000 -r 9fd64882c5aa ID12RFID.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ID12RFID.lib	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/ID12RFID/#f04afa911cf5

diff -r 000000000000 -r 9fd64882c5aa LCDText.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LCDText.cpp	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,56 @@
+#include "LCDText.h"
+
+void clearLCD() {
+    char buff[33];
+    memset(buff, ' ', 32);
+    buff[32] = '\0';
+    mylcd.printf(buff);
+}
+
+//clears LCD and prints the two strings centered on each line
+//max length of each string is 16
+void printLCD(const char* string1, const char* string2) {
+    char buff[33];
+    memset(buff, ' ', 32);
+    buff[32] = '\0';
+    //clear LCD
+    clearLCD();
+    
+    //print to LCD
+    if(string1) {
+        memcpy(buff+(16-strlen(string1))/2, string1, strlen(string1));
+    }
+    if(string2) {
+        memcpy(buff+16+(16-strlen(string2))/2, string2, strlen(string2));
+    }
+    mylcd.printf(buff);
+}
+
+//creates a menu with with a title, controlled by the up/down/select buttons
+//returns index of option selected
+int displayMenu(const char* menuTitle, const char** menuOptions, int numOptions) {
+    int curSelection = 0;
+    
+    printLCD(menuTitle, menuOptions[curSelection]);
+    if(!up || !down || !select || !back) wait(.3);
+    while(1) {
+        if(!up) {
+            curSelection = (curSelection == numOptions-1) ? 0 : (curSelection + 1);
+            printLCD(menuTitle, menuOptions[curSelection]);
+            if(!up) wait(.2);
+        }
+        if(!down) {
+            curSelection = (curSelection == 0) ? (numOptions - 1) : (curSelection - 1);
+            printLCD(menuTitle, menuOptions[curSelection]);
+            if(!down) wait(.2);
+        }
+        if(!select) {
+            clearLCD();
+            return curSelection;
+        }
+        if(!back) {
+            clearLCD();
+            return -1;
+        }
+    }
+}

diff -r 000000000000 -r 9fd64882c5aa LCDText.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LCDText.h	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,17 @@
+#ifndef _LCDTEST_H
+#define _LCDTEST_H
+
+#include "mbed.h"
+#include "TextLCD.h"
+#include "DebounceIn.h"
+
+extern DigitalOut myled1, myled2, myled3, myled4;
+extern TextLCD mylcd;
+extern DebounceIn down, up, select, back;
+extern Serial device;
+
+void clearLCD();
+void printLCD(const char* string1, const char* string2);
+int displayMenu(const char* menuTitle, const char** menuOptions, int numOptions);
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 9fd64882c5aa RFID.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RFID.cpp	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,46 @@
+#include "RFID.h"
+
+//Takes in vector by reference and populates it with unique RFID values
+//until pb21 is pressed.
+int readTagSequence(std::vector<int>& v)
+{
+   int currTag;
+   int size = 0;
+   printLCD("Scan tag", NULL);
+   while (select) {
+       if(rfid.readable()) {
+           currTag = rfid.read();
+           size++;
+           v.resize(size);
+           v[size-1] = currTag;
+           char line1[16];
+           sprintf(line1, "%d", v[size-1]);
+           printLCD(line1, "added to list");
+           wait(1.5);
+           printLCD("Scan tag", NULL);
+       }
+       else if(!back) return 0;
+   }
+   return 1;
+}
+
+//Reads a single RFID tag, and returns value
+int readTag()
+{
+   printLCD("Scan tag", NULL);
+   int currTag = 0;
+   while (!currTag) {
+       if (rfid.readable()) {
+           currTag = rfid.read();
+           char line1[16];
+           sprintf(line1, "%d", currTag);
+           printLCD(line1, "read");
+           wait(1.5);
+           return currTag;
+       }
+       else if (!back) {
+           return 0;
+       }
+   }
+   return currTag;
+}
\ No newline at end of file

diff -r 000000000000 -r 9fd64882c5aa RFID.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RFID.h	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,16 @@
+#ifndef  _RFID_H
+#define _RFID_H
+
+#include "mbed.h"
+#include "ID12RFID.h"
+#include <vector>
+#include <algorithm>
+#include "LCDText.h"
+
+extern DebounceIn down, up, select, back;
+extern ID12RFID rfid;
+
+int readTagSequence(std::vector<int>& v);
+int readTag();
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 9fd64882c5aa SD.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SD.cpp	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,172 @@
+#include "SD.h"
+
+dictionary* translationFile;
+dictionary* programmedFile;
+
+void setupSDCard()
+{
+    translationFile = iniparser_load("/sd/translationFile.ini");
+    programmedFile = iniparser_load("/sd/programmedFile.ini");
+    
+    if(translationFile && programmedFile) {
+        printLCD("Files opened", "succesfully!");
+    }
+    else if(!translationFile && !programmedFile) {
+        printLCD("Error opening", "both files");
+    }
+    else if(!translationFile) {
+        printLCD("Error opening", "translation");
+    }
+    else {
+        printLCD("Error opening", "programmed");
+    }
+    wait(1.5);
+}
+
+vector<robotCommand>* translateTags(vector<int>& tagValues)
+{
+
+    vector<robotCommand>* commandVector = new vector<robotCommand>();
+    printLCD("Translating", NULL);
+    wait(.5);
+    
+    for (int i = 0; i < tagValues.size(); i += 2) // Tags alternate between command type and magnitude
+    {
+        printf("trying to find tag # %d\n", tagValues[i]);
+        char tagName[40];
+        sprintf(tagName, "translations:%d", tagValues[i]%1000);
+        
+        // get the command string from the ini file
+        
+        char commandName[30];
+        sprintf(commandName,"%s", iniparser_getstring(translationFile,tagName, "NONE"));
+
+        //printf("commandName is: %s\n", commandName);
+        CommandType commandID = None;
+        
+        if (strcmp(commandName, "FORWARD") == 0)
+            commandID = Forward;
+        else if (strcmp(commandName, "REVERSE") == 0)
+            commandID = Reverse; 
+        else if (strcmp(commandName, "LEFT") == 0)
+            commandID = Left; 
+        else if (strcmp(commandName, "RIGHT") == 0)
+            commandID = Right; 
+        else if (strcmp(commandName, "PLAYSOUND") == 0)
+            commandID = PlaySound; 
+        
+        sprintf(tagName, "Translations:%d", tagValues[i+1]%1000);
+        double magnitude = iniparser_getdouble(translationFile,tagName, 0.0);
+        printf("Adding %d %f", commandID, magnitude);
+        commandVector->push_back(robotCommand(commandID, magnitude));
+    }
+    printf("done searching\n");
+    printLCD("Translation", "Complete");
+    wait(.5);
+    return commandVector;
+}
+
+vector<robotCommand>* getProgrammedPath(int pathNumber)
+{
+    vector<robotCommand>* commandVector = new vector<robotCommand>();
+    printLCD("Translating", NULL);
+    wait(.5);
+    
+    char sectionName[30];
+    sprintf(sectionName, "path%d", pathNumber);
+    printf("section name: %s\n", sectionName);
+    int num_keys = iniparser_getsecnkeys(programmedFile, sectionName);
+    
+    printf("number of keys: %d\n", num_keys);
+    char keyName[5];
+    for (int i = 0; i < num_keys; i+= 2)
+    {
+        sprintf(keyName,"path%d:%d",pathNumber, i);
+        char commandName[30];
+        sprintf(commandName,"%s", iniparser_getstring(programmedFile,keyName, "NONE"));
+ 
+        CommandType commandID = None;
+        if (strcmp(commandName, "FORWARD") == 0)
+            commandID = Forward;
+        else if (strcmp(commandName, "REVERSE") == 0)
+            commandID = Reverse; 
+        else if (strcmp(commandName, "LEFT") == 0)
+            commandID = Left; 
+        else if (strcmp(commandName, "RIGHT") == 0)
+            commandID = Right; 
+        else if (strcmp(commandName, "PLAYSOUND") == 0)
+            commandID = PlaySound; 
+            
+        sprintf(keyName,"path%d:%d",pathNumber, i+1);
+        double magnitude = iniparser_getdouble(programmedFile,keyName, 0.0);
+        printf("Adding %d %f", commandID, magnitude);
+        commandVector->push_back(robotCommand(commandID, magnitude));
+    }
+    printf("done searching pre-programmed path\n");
+    printLCD("Translation", "Complete");
+    wait(.5);
+    return commandVector;
+}
+
+void writeTagCommand(int tagID, CommandType value)
+{
+    printf("first key: %s\n", translationFile->key[1]);
+    printf("Entering Write Command, tagID: %d, value: %d\n", tagID, value);
+    char stringValue[15];
+    tagID = tagID % 1000;
+    
+    if (value == 0)
+    {
+        sprintf(stringValue, "FORWARD");
+    }
+    else if (value == 1)
+    {
+        sprintf(stringValue, "REVERSE");
+    }
+    else if (value == 2)
+    {
+        sprintf(stringValue, "LEFT");
+    }
+    else if (value == 3)
+    {
+        sprintf(stringValue, "RIGHT");
+    }
+    else if (value == 4)
+    {
+        sprintf(stringValue, "PLAYSOUND");
+    }
+
+    char keyName[30];
+    sprintf(keyName, "translations:%d", tagID);
+    printf("trying to set\n");
+    int val = dictionary_set(translationFile, keyName, stringValue);
+    
+    
+    FILE* translationFilePointer = fopen("/sd/translationFile.ini", "w"); // need to make sure this is right
+    if (translationFilePointer != NULL) printf("file opened succesfully\n");
+    iniparser_dump(translationFile, translationFilePointer);
+    printf("done dumping\n");
+    printf("value is now %s\n", iniparser_getstring(translationFile,keyName, "NONE"));
+    fclose(translationFilePointer);
+    printLCD("Tag Updated", NULL);
+    wait(1.5);
+}
+
+void writeTagCommand(int tagID, double magValue)
+{
+    char keyName[30];
+    tagID = tagID % 1000;
+    sprintf(keyName, "translations:%d", tagID); // need to make sure this is right
+    
+    char stringValue[20];
+    sprintf(stringValue, "%f", magValue);
+    
+    dictionary_set(translationFile, keyName, stringValue); // add the key to the dictionary
+    FILE* translationFilePointer = fopen("/sd/translationFile.ini", "w");
+    iniparser_dump_ini(translationFile, translationFilePointer);
+    fclose(translationFilePointer);
+    printLCD("Tag Updated", NULL);
+    wait(1.5);
+}
+
+

diff -r 000000000000 -r 9fd64882c5aa SD.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SD.h	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,35 @@
+#ifndef _SD_H
+#define _SD_H
+
+#include "mbed.h"
+#include "SDFileSystem.h"
+#include "iniparser.h"
+#include "dictionary.h"
+#include <vector>
+#include "LCDText.h"
+
+typedef enum {
+    Forward,
+    Reverse,
+    Left,
+    Right,
+    PlaySound,
+    None
+} CommandType; 
+
+class robotCommand {
+public:
+    robotCommand(CommandType type, double mag) : commandType(type), magnitude(mag) {}
+    CommandType commandType;
+    double magnitude;
+};
+
+extern SDFileSystem sd;
+
+void setupSDCard();
+vector<robotCommand>* translateTags(vector<int>& tagValues);
+vector<robotCommand>* getProgrammedPath(int pathNumber);
+void writeTagCommand(int tagID, CommandType value);
+void writeTagCommand(int tagID, double magValue);
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 9fd64882c5aa SDFileSystem.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.lib	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/SDFileSystem/#c8f66dc765d4

diff -r 000000000000 -r 9fd64882c5aa TextLCD.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TextLCD.lib	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/TextLCD/#44f34c09bd37

diff -r 000000000000 -r 9fd64882c5aa WiflyInterface.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/WiflyInterface.lib	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/WiflyInterface/#fb4494783863

diff -r 000000000000 -r 9fd64882c5aa driver.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver.cpp	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,129 @@
+#include "driver.h"
+#include "wifiunit.h"
+
+void processCommands(vector<robotCommand> &commands) {
+    printLCD("Processing", NULL);
+    forward();
+    stop();
+    for(int i=0; i<commands.size(); i++) {
+        double mag = commands[i].magnitude;
+        int angle;
+        switch(commands[i].commandType) {
+            case(Forward):
+                printLCD("Forward", NULL);
+                forward();
+                wait(mag*4);
+                break;
+            case(Reverse):
+                printLCD("Reverse", NULL);
+                reverse();
+                printf("%f\n", mag*4);
+                wait(mag*4);
+                break;
+            case(Left):
+                printLCD("Left", NULL);
+                angle = (int) (mag*90);
+                //create script
+                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);
+                device.printf("%c", DoScript);
+                break;
+            case(Right):
+                printLCD("Right", NULL);
+                angle = (int) (mag*90);
+                //create script
+                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);
+                device.printf("%c", DoScript);
+                break;
+            case(PlaySound):
+                printLCD("Sound", NULL);
+                playsong((int) mag);
+                break;
+        }
+        stop();
+    }
+}
+
+void initialize() {
+    initializeRobot();
+    forward();
+    wait(.5);
+    stop();
+    reverse();
+    wait(.5);
+    stop();
+    setupSDCard();
+    setupWiFi();
+    down.mode(PullUp);
+    up.mode(PullUp);
+    back.mode(PullUp);
+    select.mode(PullUp);
+}
+
+void cancel() {
+    printLCD("Cancelled", NULL);
+    wait(1.5);
+}
+
+// Demo to move around using basic commands
+int main() {
+    initialize();
+    const char* mainMenu[4] = {"Read From RFID", "Read From SD", "Reprogram", "WiFi Mode"};
+    const char* reprogramType[2] = {"Command", "Magnitude"};
+    const char* allCommands[5] = {"Forward", "Reverse", "Left", "Right", "Play Sound"};
+    const char* allMagnitudes[6] = {".5", "1", "1.5", "2", "2.5", "3"};
+    vector<int> tagValues;
+    vector<robotCommand>* commands;
+    
+    while(1) {
+        wait(.2);
+        int option = displayMenu("Main Menu", mainMenu, 4);
+        wait(.2);
+        switch(option) {
+            case(0):  { //read from RFID
+                tagValues.clear();
+                int rt = readTagSequence(tagValues);
+                if(!rt) {
+                    cancel();
+                    break;
+                }
+                commands = translateTags(tagValues);
+                processCommands(*commands);
+                delete commands;
+            }
+            break;
+            case(1): //read from SD
+                commands = getProgrammedPath(1);
+                processCommands(*commands);
+                delete commands;
+                break;
+            case(2): //reprogram
+                int type = displayMenu("Reprogram Type", reprogramType, 2);
+                if(type == 0) { //reprogram command
+                    CommandType repCommand = (CommandType) displayMenu("Command Type", allCommands, 5);
+                    int tagID = readTag();
+                    if(!tagID) {
+                        cancel();
+                        break;
+                    }
+                    writeTagCommand(tagID, repCommand);
+                }
+                else { //reprogram magnitude
+                    double repMag = displayMenu("Mag Type", allMagnitudes, 6)*.5+.5;
+                    int tagID = readTag();
+                    if(!tagID) {
+                        cancel();
+                        break;
+                    }
+                    writeTagCommand(tagID, repMag);
+                }
+                break;
+                
+           case(3):
+                int ret = readTag();
+                commands = getTagCommands(ret%1000);
+                processCommands(*commands);
+                delete commands;
+                break;
+        }
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 9fd64882c5aa driver.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver.h	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,22 @@
+#ifndef _DRIVER_H
+#define _DRIVER_H
+
+#include "mbed.h"
+#include "LCDText.h"
+#include "DebounceIn.h"
+#include "robot.h"
+#include "ID12RFID.h"
+#include "RFID.h"
+#include "SD.h"
+
+DigitalOut myled1(LED1), myled2(LED2), myled3(LED3), myled4(LED4);
+Serial device(p28, p27);
+TextLCD mylcd(p15, p16, p17, p18, p19, p20);
+DebounceIn down(p22), up(p23), select(p24), back(p21);
+ID12RFID rfid(p10); // uart rx
+SDFileSystem sd(p5, p6, p7, p8, "sd");
+
+void processCommands(vector<robotCommand> &commands);
+void initialize();
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 9fd64882c5aa iniparser.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/iniparser.lib	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/4180skrw/code/iniparser/#452fd0d30ac6

diff -r 000000000000 -r 9fd64882c5aa mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f
\ No newline at end of file

diff -r 000000000000 -r 9fd64882c5aa robot.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot.cpp	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,78 @@
+#include "robot.h"
+
+void initializeRobot() {
+    printLCD("Initializing", NULL);
+    // wait for Roomba to power up to accept serial commands
+    wait(2);
+    // set baud rate for Roomba factory default
+    device.baud(57600);
+    // Start command mode and select sensor data to send back
+    start();
+    
+    //define songs
+    //one beep
+    device.printf("%c%c%c%c%c", Song, char(1), char(1), char(69), char(16));
+    wait(1);
+    //georgia tech fight song, split into 3 songs because max song length is 16
+    device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c", Song, char(2), char(16), char(67), char(18), char(0), char(2), char(65), char(9), char(0), char(2), char(63), char(18), char(0), char(2), char(63), char(9), char(0), char(2), char(63), char(18), char(0), char(2), char(65), char(9), char(0), char(2), char(67), char(18), char(0), char(2), char(67), char(9), char(0), char(2));
+    device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c", Song, char(14), char(16), char(67), char(9), char(0), char(2), char(65), char(9), char(0), char(2), char(63), char(9), char(0), char(2), char(65), char(9), char(0), char(2), char(65), char(9), char(0), char(2), char(65), char(9), char(0), char(2), char(63), char(18), char(0), char(2), char(62), char(9), char(63), char(54));
+    //a major arpeggio
+    device.printf("%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c%c", Song, char(3), char(7), char(69), char(32), char(73), char(32), char(76), char(32), char(81), char(32), char(76), char(32), char(73), char(32), char(69), char(32));
+    clearLCD();
+}
+
+// Start  - send start and safe mode, start streaming sensor data
+void start() {
+   // device.printf("%c%c", Start, SafeMode);
+    device.putc(Start);
+    wait(.1);
+    device.putc(Control);
+    wait(.5);
+  //  device.printf("%c%c", SensorStream, char(1));
+    device.putc(Sensors);
+    device.putc(BumpsandDrops);
+    wait(.5);
+}
+// Stop  - turn off drive motors
+void stop() {
+    device.printf("%c%c%c%c%c", Drive, char(0),  char(0),  char(0),  char(0));
+}
+// Forward  - turn on drive motors
+void forward() {
+    device.printf("%c%c%c%c%c", Drive, char((speed>>8)&0xFF),  char(speed&0xFF),  
+    char((radius>>8)&0xFF),  char(radius&0xFF));
+ 
+}
+// Reverse - reverse drive motors
+void reverse() {
+    device.printf("%c%c%c%c%c", Drive, char(((-speed)>>8)&0xFF),  char((-speed)&0xFF),  
+    char(((radius)>>8)&0xFF),  char((radius)&0xFF));
+ 
+}
+// Left - drive motors set to rotate to left
+void left() {
+    device.printf("%c%c%c%c%c", Drive, char((speed>>8)&0xFF),  char(speed&0xFF),  
+    char(((1)>>8)&0xFF),  char((1)&0xFF));
+}
+// Right - drive motors set to rotate to right
+void right() {
+    device.printf("%c%c%c%c%c", Drive, char(((speed)>>8)&0xFF),  char((speed)&0xFF),  
+    char((-1>>8)&0xFF),  char(-1&0xFF));
+ 
+}
+// Charger - search and return to charger using IR beacons (if found)
+void charger() {
+    device.printf("%c", Clean );
+    wait(.2);
+    device.printf("%c", CoverandDock );
+}
+// Play Song  - play a song
+void playsong(int mag) { //Play song
+    if(mag == 2) { //play rest of georgia tech fight song
+        device.printf("%c%c%c%c%c%c%c%c", NewScript, char(6), PlaySong, char(2), WaitTime, char(20), PlaySong, char(14));
+        device.printf("%c", DoScript);
+    }
+    else {
+        device.printf("%c%c", PlaySong, char(mag));
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 9fd64882c5aa robot.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot.h	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,43 @@
+#ifndef _ROBOT_H
+#define _ROBOT_H
+
+#include "mbed.h"
+#include <vector>
+#include "LCDText.h"
+
+extern Serial device;
+ 
+// Definitions of iRobot Roomba SCI Command Numbers
+// See the Roomba SCI manual for a complete list
+ 
+ 
+//                 Create Command              // Arguments
+const char         Start = 128;
+const char         Control = 130;
+const char         FullMode = 132;
+const char         Drive = 137;                // 4:   [Vel. Hi] [Vel Low] [Rad. Hi] [Rad. Low]
+const char         Sensors = 142;              // 1:    Sensor Packet ID
+const char         CoverandDock = 143;         // 0:    Return to Charger
+const char         Clean = 135;                 // 0:    Start Cleaning
+const char         PlaySong = 141;
+const char         Song = 140;
+const char         NewScript = 152;
+const char         DoScript = 153;
+const char         WaitTime = 155;
+const char         WaitAngle = 157;
+                /* iRobot Roomba Sensor IDs */
+const char         BumpsandDrops = 1;
+ 
+const int speed =  250;
+const int radius = 0x8000;
+void start();
+void forward();
+void reverse();
+void left();
+void right();
+void stop();
+void playsong(int mag);
+void charger();
+void initializeRobot();
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 9fd64882c5aa wifiunit.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wifiunit.cpp	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+#include "WiflyInterface.h"
+#include "HTTPClient.h"
+#include <vector>
+#include "SD.h"
+
+WiflyInterface wifly(p13, p14, p29, p30, "GTother", "GeorgeP@1927", WPA);
+
+HTTPClient http;
+char str[512];
+
+void setupWiFi()
+{
+    printf("trying to connect");
+    wifly.init();
+    while (!wifly.connect()) wait (0.1);
+    printf("IP Address is %s\n\r", wifly.getIPAddress());
+}
+
+vector<robotCommand>* getTagCommands(int tagID)
+{    
+    vector<robotCommand>* commandVector = new vector<robotCommand>();
+    printLCD("Translating", "Web Server");
+    char url[512];
+    char str[512];
+    sprintf(url, "http://sabacai.com/index.php?tag=%d", tagID);
+    printf("url is %s", url);
+    int ret = http.get(url, str, 512);
+    if (!ret) {
+        printf("Tag String Received - read %d characters\n", strlen(str));
+        str[strlen(str)-1] = '\0'; // remove the last column
+        printf("Result: %s\n", str);
+    }
+    
+    char * pch;
+    printf ("Splitting string \"%s\" into tokens:\n",str);
+    pch = strtok (str,",");
+    
+    int i = 0;
+    CommandType commandID = None;
+    
+    while (pch != NULL)
+    {
+        printf ("%s\n",pch);
+        double magnitude = 0.0;
+        
+        if ((i&0x1) == 0)
+        {
+            // this is the command type
+            if (strcmp(pch, "FORWARD") == 0)
+                commandID = Forward;
+            else if (strcmp(pch, "REVERSE") == 0)
+                commandID = Reverse; 
+            else if (strcmp(pch, "LEFT") == 0)
+                commandID = Left; 
+            else if (strcmp(pch, "RIGHT") == 0)
+                commandID = Right; 
+            else if (strcmp(pch, "PLAYSOUND") == 0)
+                commandID = PlaySound; 
+                
+            printf("command name is %s, id is %d", pch, commandID);
+        }
+        else 
+        {
+            // this is the magnitude
+            magnitude = atof(pch);
+            printf("magnitude is %f", magnitude);
+        }
+        
+        // do some stuff here
+        if (i != 0 && ((i&0x1) == 1))
+        {
+            // add the command to the vector
+            printf(" now adding %d, %f", commandID, magnitude);
+            commandVector->push_back(robotCommand(commandID, magnitude));
+        }
+        i+=1;
+        pch = strtok (NULL, ",");
+    }
+    
+    return commandVector;
+}
\ No newline at end of file

diff -r 000000000000 -r 9fd64882c5aa wifiunit.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wifiunit.h	Tue Dec 10 02:17:48 2013 +0000
@@ -0,0 +1,2 @@
+void setupWiFi();
+vector<robotCommand>* getTagCommands(int tagID);