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
- Committer:
- CharlesXu
- Date:
- 2018-12-12
- Revision:
- 3:5d43739ec09f
- Parent:
- 2:112ca6a4fc73
- Child:
- 4:c15361d55018
File content as of revision 3:5d43739ec09f:
// basic xbee example // - take chars from the terminal, push them out xbee1 // - listen on xbee2, and print value + 1 to terminal #include "Motor.h" #include "mbed.h" #include "emic2.h" #include "XNucleo53L0A1.h" #include <stdio.h> #include "rtos.h" Serial pc(USBTX, USBRX); DigitalOut shdn(p26); AnalogOut led(p18); //I2C sensor pins #define VL53L0_I2C_SDA p28 #define VL53L0_I2C_SCL p27 static XNucleo53L0A1 *board=NULL; emic2 myTTS(p13, p14); Serial xbee1(p9, p10); DigitalOut rst1(p11); Motor B(p23, p6, p5); // pwm, fwd, rev, can brake, right Motor A(p24, p7, p8); // left motor char input; int counter; int direction; int main() { //initialize distance sensor int status; uint32_t distance; DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL); /* creates the 53L0A1 expansion board singleton obj */ board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2); shdn = 0; //must reset sensor for an mbed reset to work wait(0.1); shdn = 1; wait(0.1); /* init the 53L0A1 board with default values */ status = board->init_board(); while (status) { pc.printf("Failed to init board! \r\n"); status = board->init_board(); } counter = 0; // reset the xbees (at least 200ns) rst1 = 0; wait_ms(1); rst1 = 1; wait_ms(1); input = 'I'; A.speed(0); B.speed(0); wait(2); direction = 1; while(1) { if(xbee1.readable()) { input = xbee1.getc(); wait(0.2); } //A.speed(0); //B.speed(0); status = board->sensor_centre->get_distance(&distance); if (status == VL53L0X_ERROR_NONE) { pc.printf("D=%ld mm\r\n", distance); } while (distance < 200) { direction = rand()*100; if (direction > 50) { A.speed(-0.5); B.speed(-0.5); led = 0; wait(0.1); } else { A.speed(0.5); B.speed(0.5); led = 1; wait(0.1); } status = board->sensor_centre->get_distance(&distance); led = 0; A.speed(0); B.speed(0); } if (input == 'A') { //myTTS.speakf("S");//Speak command starts with "S" //myTTS.speakf("forward"); //myTTS.speakf("\r"); //marks end of speak command //myTTS.ready(); A.speed(-0.5); B.speed(0.5); wait(0.2); } else if (input == 'B') { //myTTS.speakf("S");//Speak command starts with "S" //myTTS.speakf("back"); //myTTS.speakf("\r"); //marks end of speak command //myTTS.ready(); A.speed(0.5); B.speed(-0.5); wait(0.2); } else if (input == 'C') { myTTS.speakf("S");//Speak command starts with "S" myTTS.speakf("left"); myTTS.speakf("\r"); //marks end of speak command myTTS.ready(); A.speed(0.5); B.speed(0.5); wait(0.2); } else if (input == 'D') { myTTS.speakf("S");//Speak command starts with "S" myTTS.speakf("right"); myTTS.speakf("\r"); //marks end of speak command myTTS.ready(); A.speed(-0.5); B.speed(-0.5); wait(0.2); } else if (input == 'E') { myTTS.speakf("S");//Speak command starts with "S" myTTS.speakf("stop"); myTTS.speakf("\r"); //marks end of speak command myTTS.ready(); A.speed(0); B.speed(0); wait(0.2); } } }