Kacem Khaled
remoteContolledRobot via Bluetooth HC06
Dependencies: PWMOut Servo mbed
Revision 0:216ced19d510, committed 2017-04-12
- Comitter:
- 9acem
- Date:
- Wed Apr 12 17:01:17 2017 +0000
- Commit message:
- remote controlled robot bluetooth
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PWMOut.lib Wed Apr 12 17:01:17 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/inst/code/PWMOut/#f1e5739acc27
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Wed Apr 12 17:01:17 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Apr 12 17:01:17 2017 +0000
@@ -0,0 +1,127 @@
+#include "mbed.h"
+#include "Servo.h"
+Serial bt(D10,D2); // rx BT,tx BT
+
+Servo outil(D3);
+Servo porte(D13); //D4 twali D13
+Servo pivot(D5);
+PwmOut avd(D7); //in 1
+PwmOut ard(D6); //in 2
+PwmOut avg(D8); //in 3
+PwmOut arg(D9); //in 4
+
+
+
+
+void avancer()
+{
+ avd=1.0;
+ ard=0;
+ avg=1.0;
+ arg=0;
+}
+void avancerL()
+{
+ avd=0.5;
+ ard=0;
+ avg=0.5;
+ arg=0;
+}
+void reculer()
+{
+ avd=0;
+ ard=1.0;
+ avg=0;
+ arg=1.0;
+}
+void reculerL()
+{
+ avd=0;
+ ard=0.5;
+ avg=0;
+ arg=0.5;
+}
+void droite()
+{
+ avd=0;
+ ard=0;
+ avg=1.0;
+ arg=0;
+}
+void droitesp()
+{
+ avd=0;
+ ard=1.0;
+ avg=1.0;
+ arg=0;
+}
+void gauche()
+{
+ avd=1.0;
+ ard=0;
+ avg=0;
+ arg=0;
+}
+void gauchesp()
+{
+ avd=1.0;
+ ard=0;
+ avg=0;
+ arg=1.0;
+}
+void stoop()
+{
+ avd=0;
+ ard=0;
+ avg=0;
+ arg=0;
+
+}
+
+int main() {
+ bt.baud(9600);
+ porte.calibrate(0.00095, 90.0); // Calibrate the servo
+ outil.calibrate(0.00095, 90.0); // Calibrate the servo
+ pivot.calibrate(0.00095, 90.0); // Calibrate the servo
+ /*initialisation des servos*/
+ porte.write(0.15);//porte en haut
+ pivot.write(0.8); //outil avant rotation position initial
+ wait(1); outil.write(0.92); //outil en bas D11
+
+ while(1)
+ {
+ //For reading and writing data from/to bluetooth HC-06
+ //check if bluetooth is readable and execute commands to toggle LED
+ if (bt.readable())
+ {
+ char input_key= bt.putc(bt.getc());
+
+ switch (input_key)
+ {
+
+
+ case 'A' : pivot.write(0.8); //outil avant rotation position initial pivot.write(0.8)
+ wait(1); outil.write(0.92); //outil en bas D11
+ break;
+ case 'B' : outil.write(0.35);// outil en: haut outil.write(0.54);
+ wait(1); pivot.write(0.38);// outil pivoté 90°: pivot.write(0.38)
+ break;
+ case '6' : porte.write(0.15); //porte en haut
+ break;
+ case '5' : porte.write(0.83);// porte en bas
+ break;
+ case 'U': avancer();break;
+ case '1': avancerL (); break;
+ case 'D': reculer ();break;
+ case '3': reculerL(); break;
+ case '8': droitesp ();break;
+ case '7': gauchesp ();break;
+ case 'R': droite();break;
+ case 'L': gauche() ;break;
+ case 'S': stoop(); break;
+ default : stoop();break;
+ }
+ }
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Apr 12 17:01:17 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/87f2f5183dfb \ No newline at end of file