Alexander Ferrara
bluetooth robot
Dependencies: Motor ShiftBrite mbed-rtos mbed
Revision 0:18550647a842, committed 2016-12-12
- Comitter:
- AlexFerrara
- Date:
- Mon Dec 12 04:24:28 2016 +0000
- Commit message:
- final
Changed in this revision
diff -r 000000000000 -r 18550647a842 Motor.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Mon Dec 12 04:24:28 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
diff -r 000000000000 -r 18550647a842 ShiftBrite.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ShiftBrite.lib Mon Dec 12 04:24:28 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/jwaters9/code/ShiftBrite/#466ea48e852a
diff -r 000000000000 -r 18550647a842 Speaker.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Speaker.h Mon Dec 12 04:24:28 2016 +0000
@@ -0,0 +1,19 @@
+#include "mbed.h"
+// a new class to play a note on Speaker based on PwmOut class
+class Speaker
+{
+public:
+ Speaker(PinName pin) : _pin(pin) {
+// _pin(pin) means pass pin to the Speaker Constructor
+ }
+// class method to play a note based on PwmOut class
+ void PlayNote(float frequency, float duration, float volume) {
+ _pin.period(1.0/frequency);
+ _pin = volume/2.0;
+ wait(duration);
+ _pin = 0.0;
+ }
+
+private:
+ PwmOut _pin;
+};
\ No newline at end of file
diff -r 000000000000 -r 18550647a842 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Dec 12 04:24:28 2016 +0000
@@ -0,0 +1,268 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "rtos.h"
+#include "stdio.h"
+#include "ShiftBrite.h"
+#include "Speaker.h"
+
+// I/O Configurations
+
+// LEDS
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+// Motors
+Motor m_l(p21, p22, p23); // pwm, fwd, rev
+Motor m_r(p26, p30, p24); // pwm, fwd, rev
+
+//Shiftbrites
+SPI spi(p11, p12, p13);
+ShiftBrite myBrite(p15,p16,spi); //latch, enable, spi
+
+//Speaker
+Speaker mySpeaker(p25);
+
+// Serial ports
+RawSerial pc(USBTX, USBRX);
+RawSerial dev(p28, p27);
+char X;
+Mutex dev_mutex;
+DigitalOut rst1(p8);
+
+// IR
+AnalogIn IR(p20);
+float IR_distance;
+
+// Serial reading variables
+char building = '0';
+int tVal = 0;
+int l_speed = 32767;
+int r_speed = 32767;
+int c;
+
+// Horn and Light flags
+bool horn = false;
+int lightMode = 0;
+int colorMode = 0;
+
+// Threads
+
+// Motor Thread
+// Uses thresholds for the Y-axis of the analog joysticks to set variable motor speed
+void thread_Motor(void const *args){
+ while (true) {
+
+ m_r.speed(0);
+ m_l.speed(0);
+
+ // LEFT MOTOR CONTROL
+ if(l_speed < 30000){
+ if(l_speed < 8000)
+ m_l.speed(-1);
+ else if(l_speed < 16000)
+ m_l.speed(-0.8);
+ else if(l_speed < 24000)
+ m_l.speed(-0.6);
+ else
+ m_l.speed(-0.5);
+ }
+ else if(l_speed > 34000 & IR_distance < 0.9f){
+ if(l_speed > 56000)
+ m_l.speed(1);
+ else if(l_speed > 48000)
+ m_l.speed(0.8);
+ else if(l_speed > 40000)
+ m_l.speed(0.6);
+ else
+ m_l.speed(0.5);
+ }
+ else
+ m_l.speed(0);
+
+ // RIGHT MOTOR CONTROL
+ if(r_speed < 30000){
+ if(r_speed < 8000)
+ m_r.speed(-1);
+ else if(r_speed < 16000)
+ m_r.speed(-0.8);
+ else if(r_speed < 24000)
+ m_r.speed(-0.6);
+ else
+ m_r.speed(-0.5);
+ }
+ else if(r_speed > 34000 & IR_distance < 0.9f){
+ if(r_speed > 56000)
+ m_r.speed(1);
+ else if(r_speed > 48000)
+ m_r.speed(0.8);
+ else if(r_speed > 40000)
+ m_r.speed(0.6);
+ else
+ m_r.speed(0.5);
+ }
+ else
+ m_r.speed(0);
+ Thread::wait(10);
+ }
+}
+
+
+// Serial Port Reading Interrupt
+void dev_recv(){
+ led1 = !led1;
+ while(dev.readable()) {
+ dev_mutex.lock();
+ X = dev.getc();
+ dev_mutex.unlock();
+ switch (X) {
+ case 'L': //number button 1
+ building = 'L';
+ tVal = 0;
+ break;
+ case 'R': //number button 2
+ building = 'R';
+ tVal = 0;
+ break;
+ case ']': //number button 3
+ if(building == 'L')
+ l_speed = tVal;
+ else
+ r_speed = tVal;
+ building = '0';
+ break;
+ case 'T': //number button 2
+ horn = true;
+ break;
+ case 't': //number button 2
+ horn = false;
+ break;
+ case 'S': //number button 2
+ lightMode++;
+ break;
+ case 'C': //number button 2
+ colorMode++;
+ break;
+ default:
+ break;
+ }
+ c = (int)X - 48;
+ if(building != '0' && c >= 0 && c <= 9)
+ tVal = tVal*10 + c;
+ }
+}
+
+// Shiftbrite Thread
+void thread_Lights(void const *args){
+ int r,g,b;
+ r=g=b=0;
+ int br = 0;
+ int scale = 0;
+ //myBrite.Brightness(1023,1023,1023);
+ //myBrite.Write(0,0,0);
+ while(1) {
+ int mode = lightMode%3;
+ int color = colorMode % 4;
+ switch (color){
+ case 0:
+ r=g=b=1;
+ break;
+ case 1:
+ r = 1;
+ g=b=0;
+ break;
+ case 2:
+ g = 1;
+ r=b=0;
+ break;
+ case 3:
+ b = 1;
+ r=g=0;
+ break;
+ default:
+ break;
+ }
+
+ //pc.printf("%d,%d,%d\r\n",r,g,b);
+ switch (mode){
+ case 0:
+ scale = 0;
+ br = 0;
+ break;
+ case 1:
+ scale = 100;
+ br = 600;
+ break;
+ case 2:
+ scale= 255;
+ br = 1023;
+ break;
+ default:
+ break;
+ }
+ r = (int) (r * scale);
+ b = (int) (b * scale);
+ g = (int) (g * scale);
+ myBrite.Write(r,g,b);
+ myBrite.Brightness(br*r,br*g,br*b);
+
+ Thread::wait(50);
+ }
+}
+
+// Speaker Thread
+void thread_Speaker(void const *args){
+ while(1){
+ if (horn){
+ mySpeaker.PlayNote(400.0,0.2,0.5);
+ }
+ Thread::wait(10);
+ }
+}
+
+// Main
+int main(){
+ pc.baud(9600);
+
+ dev.attach(&dev_recv, Serial::RxIrq);
+
+ Thread t2(thread_Motor);
+ Thread t3(thread_Lights);
+ Thread t4(thread_Speaker);
+
+ while(1) {
+ if(IR > 0.9f){
+ led1 = 1;
+ led2 = 1;
+ led3 = 1;
+ led4 = 1;
+ }
+ else if(IR > 0.7f){
+ led1 = 1;
+ led2 = 1;
+ led3 = 1;
+ led4 = 0;
+ }
+ else if(IR > 0.5f){
+ led1 = 1;
+ led2 = 1;
+ led3 = 0;
+ led4 = 0;
+ }
+ else if(IR > 0.3f){
+ led1 = 1;
+ led2 = 0;
+ led3 = 0;
+ led4 = 0;
+ }
+ else if(IR > 0.1f){
+ led1 = 0;
+ led2 = 0;
+ led3 = 0;
+ led4 = 0;
+ }
+ IR_distance = IR;
+ Thread::wait(50); // wait 0.5s
+ }
+}
diff -r 000000000000 -r 18550647a842 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Mon Dec 12 04:24:28 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#58563e6cba1e
diff -r 000000000000 -r 18550647a842 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Dec 12 04:24:28 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/d75b3fe1f5cb \ No newline at end of file