Zheyuan Xu
receiver code which helps the vehicle to move forward, backward, left and right
Dependencies: mbed Servo mbed-rtos XBeeTest Motor emic2 X_NUCLEO_53L0A1
Revision 3:5d43739ec09f, committed 2018-12-12
- Comitter:
- CharlesXu
- Date:
- Wed Dec 12 21:59:14 2018 +0000
- Parent:
- 2:112ca6a4fc73
- Child:
- 4:c15361d55018
- Commit message:
- Glove-bot receiver code
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Wed Dec 12 21:59:14 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
--- a/main.cpp Wed Dec 05 23:08:58 2018 +0000
+++ b/main.cpp Wed Dec 12 21:59:14 2018 +0000
@@ -6,13 +6,17 @@
#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);
@@ -23,7 +27,7 @@
char input;
int counter;
-
+int direction;
int main() {
//initialize distance sensor
int status;
@@ -43,8 +47,7 @@
}
- myTTS.volume(2);
- myTTS.voice(3);
+
counter = 0;
// reset the xbees (at least 200ns)
rst1 = 0;
@@ -52,37 +55,64 @@
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);
+ //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();
+ //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(0.5);
- } 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(0.5);
+ wait(0.2);
} else if (input == 'C')
{
myTTS.speakf("S");//Speak command starts with "S"
@@ -91,7 +121,7 @@
myTTS.ready();
A.speed(0.5);
B.speed(0.5);
- wait(0.5);
+ wait(0.2);
} else if (input == 'D')
{
myTTS.speakf("S");//Speak command starts with "S"
@@ -100,7 +130,7 @@
myTTS.ready();
A.speed(-0.5);
B.speed(-0.5);
- wait(0.5);
+ wait(0.2);
} else if (input == 'E')
{
myTTS.speakf("S");//Speak command starts with "S"
@@ -109,8 +139,7 @@
myTTS.ready();
A.speed(0);
B.speed(0);
- wait(0.5);
-
+ wait(0.2);
}
}
}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Wed Dec 12 21:59:14 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed-rtos/#5713cbbdb706