Zheyuan Xu / Mbed 2 deprecated Receiver

receiver code which helps the vehicle to move forward, backward, left and right

Dependencies:   mbed Servo mbed-rtos XBeeTest Motor emic2 X_NUCLEO_53L0A1

main.cpp@1:95f5ac2f045d, 2018-12-05 (annotated)

Committer:
CharlesXu
Date:
Wed Dec 05 22:46:10 2018 +0000
Revision:
1:95f5ac2f045d
Parent:
0:25aca1983704
Child:
2:112ca6a4fc73
receiver end of the device

Who changed what in which revision?

UserRevisionLine numberNew contents of line
CharlesXu 1:95f5ac2f045d 1 // basic xbee example
CharlesXu 1:95f5ac2f045d 2 // - take chars from the terminal, push them out xbee1
CharlesXu 1:95f5ac2f045d 3 // - listen on xbee2, and print value + 1 to terminal
CharlesXu 1:95f5ac2f045d 4 #include "Motor.h"
vcazan 0:25aca1983704 5 #include "mbed.h"
CharlesXu 1:95f5ac2f045d 6 #include "emic2.h"
CharlesXu 1:95f5ac2f045d 7 #include "XNucleo53L0A1.h"
CharlesXu 1:95f5ac2f045d 8 #include <stdio.h>
CharlesXu 1:95f5ac2f045d 9 Serial pc(USBTX, USBRX);
CharlesXu 1:95f5ac2f045d 10 DigitalOut shdn(p26);
vcazan 0:25aca1983704 11
CharlesXu 1:95f5ac2f045d 12 //I2C sensor pins
CharlesXu 1:95f5ac2f045d 13 #define VL53L0_I2C_SDA p28
CharlesXu 1:95f5ac2f045d 14 #define VL53L0_I2C_SCL p27
vcazan 0:25aca1983704 15
CharlesXu 1:95f5ac2f045d 16 static XNucleo53L0A1 *board=NULL;
CharlesXu 1:95f5ac2f045d 17 DigitalOut shdn(p26);
CharlesXu 1:95f5ac2f045d 18 emic2 myTTS(p13, p14);
CharlesXu 1:95f5ac2f045d 19 Serial xbee1(p9, p10);
CharlesXu 1:95f5ac2f045d 20 DigitalOut rst1(p11);
vcazan 0:25aca1983704 21
CharlesXu 1:95f5ac2f045d 22 Motor B(p23, p6, p5); // pwm, fwd, rev, can brake, right
CharlesXu 1:95f5ac2f045d 23 Motor A(p24, p7, p8); // left motor
CharlesXu 1:95f5ac2f045d 24
CharlesXu 1:95f5ac2f045d 25 char input;
CharlesXu 1:95f5ac2f045d 26 int counter;
vcazan 0:25aca1983704 27
vcazan 0:25aca1983704 28 int main() {
CharlesXu 1:95f5ac2f045d 29 //initialize distance sensor
CharlesXu 1:95f5ac2f045d 30 int status;
CharlesXu 1:95f5ac2f045d 31 uint32_t distance;
CharlesXu 1:95f5ac2f045d 32 DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
CharlesXu 1:95f5ac2f045d 33 /* creates the 53L0A1 expansion board singleton obj */
CharlesXu 1:95f5ac2f045d 34 board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
CharlesXu 1:95f5ac2f045d 35 shdn = 0; //must reset sensor for an mbed reset to work
CharlesXu 1:95f5ac2f045d 36 wait(0.1);
CharlesXu 1:95f5ac2f045d 37 shdn = 1;
CharlesXu 1:95f5ac2f045d 38 wait(0.1);
CharlesXu 1:95f5ac2f045d 39 /* init the 53L0A1 board with default values */
CharlesXu 1:95f5ac2f045d 40 status = board->init_board();
CharlesXu 1:95f5ac2f045d 41 while (status) {
CharlesXu 1:95f5ac2f045d 42 pc.printf("Failed to init board! \r\n");
CharlesXu 1:95f5ac2f045d 43 status = board->init_board();
CharlesXu 1:95f5ac2f045d 44 }
CharlesXu 1:95f5ac2f045d 45 //loop taking and printing distance
CharlesXu 1:95f5ac2f045d 46 while (1) {
CharlesXu 1:95f5ac2f045d 47 status = board->sensor_centre->get_distance(&distance);
CharlesXu 1:95f5ac2f045d 48 if (status == VL53L0X_ERROR_NONE) {
CharlesXu 1:95f5ac2f045d 49 pc.printf("D=%ld mm\r\n", distance);
CharlesXu 1:95f5ac2f045d 50 }
CharlesXu 1:95f5ac2f045d 51 }
CharlesXu 1:95f5ac2f045d 52
CharlesXu 1:95f5ac2f045d 53
CharlesXu 1:95f5ac2f045d 54
CharlesXu 1:95f5ac2f045d 55 myTTS.volume(2);
CharlesXu 1:95f5ac2f045d 56 myTTS.voice(3);
CharlesXu 1:95f5ac2f045d 57 counter = 0;
CharlesXu 1:95f5ac2f045d 58 // reset the xbees (at least 200ns)
CharlesXu 1:95f5ac2f045d 59 rst1 = 0;
CharlesXu 1:95f5ac2f045d 60 wait_ms(1);
CharlesXu 1:95f5ac2f045d 61 rst1 = 1;
CharlesXu 1:95f5ac2f045d 62 wait_ms(1);
CharlesXu 1:95f5ac2f045d 63 input = 'I';
CharlesXu 1:95f5ac2f045d 64 A.speed(0);
CharlesXu 1:95f5ac2f045d 65 B.speed(0);
CharlesXu 1:95f5ac2f045d 66 while(1) {
CharlesXu 1:95f5ac2f045d 67 if(xbee1.readable()) {
CharlesXu 1:95f5ac2f045d 68 input = xbee1.getc();
CharlesXu 1:95f5ac2f045d 69 }
CharlesXu 1:95f5ac2f045d 70 A.speed(0);
CharlesXu 1:95f5ac2f045d 71 B.speed(0);
CharlesXu 1:95f5ac2f045d 72
CharlesXu 1:95f5ac2f045d 73 if (input == 'A')
CharlesXu 1:95f5ac2f045d 74 {
CharlesXu 1:95f5ac2f045d 75 myTTS.speakf("S");//Speak command starts with "S"
CharlesXu 1:95f5ac2f045d 76 myTTS.speakf("forward");
CharlesXu 1:95f5ac2f045d 77 myTTS.speakf("\r"); //marks end of speak command
CharlesXu 1:95f5ac2f045d 78 myTTS.ready();
CharlesXu 1:95f5ac2f045d 79 A.speed(0.5);
CharlesXu 1:95f5ac2f045d 80 B.speed(-0.5);
CharlesXu 1:95f5ac2f045d 81 wait(0.5);
CharlesXu 1:95f5ac2f045d 82 } else if (input == 'B')
CharlesXu 1:95f5ac2f045d 83 {
CharlesXu 1:95f5ac2f045d 84 myTTS.speakf("S");//Speak command starts with "S"
CharlesXu 1:95f5ac2f045d 85 myTTS.speakf("back");
CharlesXu 1:95f5ac2f045d 86 myTTS.speakf("\r"); //marks end of speak command
CharlesXu 1:95f5ac2f045d 87 myTTS.ready();
CharlesXu 1:95f5ac2f045d 88 A.speed(-0.5);
CharlesXu 1:95f5ac2f045d 89 B.speed(0.5);
CharlesXu 1:95f5ac2f045d 90 wait(0.5);
CharlesXu 1:95f5ac2f045d 91 } else if (input == 'C')
CharlesXu 1:95f5ac2f045d 92 {
CharlesXu 1:95f5ac2f045d 93 myTTS.speakf("S");//Speak command starts with "S"
CharlesXu 1:95f5ac2f045d 94 myTTS.speakf("left");
CharlesXu 1:95f5ac2f045d 95 myTTS.speakf("\r"); //marks end of speak command
CharlesXu 1:95f5ac2f045d 96 myTTS.ready();
CharlesXu 1:95f5ac2f045d 97 A.speed(0.5);
CharlesXu 1:95f5ac2f045d 98 B.speed(0.5);
CharlesXu 1:95f5ac2f045d 99 wait(0.5);
CharlesXu 1:95f5ac2f045d 100 } else if (input == 'D')
CharlesXu 1:95f5ac2f045d 101 {
CharlesXu 1:95f5ac2f045d 102 myTTS.speakf("S");//Speak command starts with "S"
CharlesXu 1:95f5ac2f045d 103 myTTS.speakf("right");
CharlesXu 1:95f5ac2f045d 104 myTTS.speakf("\r"); //marks end of speak command
CharlesXu 1:95f5ac2f045d 105 myTTS.ready();
CharlesXu 1:95f5ac2f045d 106 A.speed(-0.5);
CharlesXu 1:95f5ac2f045d 107 B.speed(-0.5);
CharlesXu 1:95f5ac2f045d 108 wait(0.5);
CharlesXu 1:95f5ac2f045d 109 } else if (input == 'E')
CharlesXu 1:95f5ac2f045d 110 {
CharlesXu 1:95f5ac2f045d 111 myTTS.speakf("S");//Speak command starts with "S"
CharlesXu 1:95f5ac2f045d 112 myTTS.speakf("stop, open vicinity warning system");
CharlesXu 1:95f5ac2f045d 113 myTTS.speakf("\r"); //marks end of speak command
CharlesXu 1:95f5ac2f045d 114 myTTS.ready();
CharlesXu 1:95f5ac2f045d 115 A.speed(0);
CharlesXu 1:95f5ac2f045d 116 B.speed(0);
CharlesXu 1:95f5ac2f045d 117 wait(0.5);
CharlesXu 1:95f5ac2f045d 118
vcazan 0:25aca1983704 119 }
vcazan 0:25aca1983704 120 }
vcazan 0:25aca1983704 121 }