Revision 0:72c099aedf8e, committed 2016-05-02

Comitter:

Jakschwa

Date:

Mon May 02 17:25:19 2016 +0000

Commit message:

This code operates the backup robot for the Multi-Robot Security System designed for IUPUI's ECE 59500 Embedded Systems Design course.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266.lib	Mon May 02 17:25:19 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/quevedo/code/ESP8266/#77388e8f0697

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04.lib	Mon May 02 17:25:19 2016 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/Jakschwa/code/HCSR04_0/#348fdd74f030

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 02 17:25:19 2016 +0000
@@ -0,0 +1,406 @@
+/* Robot 2
+Project 3: Autonomous Multi-Robot Security Alert System
+Notes:
+1. Code checks entry id from the PostToSever results
+2. Sends two xvalue and yvalue to server
+3. Wall-following routine
+*/
+
+#include "mbed.h"
+#include "ESP8266.h"
+#define IP "184.106.153.149"       // IP Address of "api.thingspeak.com\"
+#include <iostream>   // std::cout
+#include <string>     // std::string, std::stoi
+#include <sstream>
+#include "HCSR04.h"  //Ultrasonic distance sensor lib
+#include <math.h> 
+
+//Subfunctions
+    void EncoderCount(void);
+    void Forward(void);
+    void Stop(void);
+    void Right90(void);
+    void Left90(void);
+    int GetFrontDistance(void);
+    int GetRightDistance(void);
+    void ConnectToServer(void);
+    void GetCurrentEntryID(void);
+    void CloseConnection(void);  
+    unsigned int Wifi(void);
+
+//Pin Setup
+    DigitalOut right_cont1(A2), right_cont2(A3), left_cont1(A0), left_cont2(A1);
+    DigitalOut red(LED_RED), blue(LED_BLUE), green(LED_GREEN); 
+    DigitalIn sw2(SW2);
+//Interrupt Setup
+    InterruptIn EncoderIn(D7); //External Interrupt 
+    
+//PWM Setup 
+    PwmOut right_pwm(A5);
+    PwmOut left_pwm(A4);
+    
+Serial pc(USBTX,USBRX); //Uart connection for TeraTerm
+ESP8266 wifi(PTC17, PTC16, 115200); // tx, rx, baud rate for wifi
+
+//Public variables
+    int frontDistance = 0, rightDistance = 0, setDistance = 0, lastRightDistance = 0; 
+    int xvalue = 0, yvalue = 0; 
+    unsigned int entryID = 0; 
+    float leftSpeed = 0, rightSpeed = 0;
+    float ileftSpeed = 0, irightSpeed = 0;
+    float bleftSpeed = 0, brightSpeed = 0; 
+    float inc = 0; 
+    
+int main() 
+{
+    red = 1; //off
+    blue = 1; //off
+    green = 1; //off
+    while(sw2); 
+    unsigned int go = 0; 
+    pc.baud(9600);  
+    pc.printf("starting\r\n");
+    //go = 1; 
+    while(go != 1)
+    {
+        blue = 0;
+        wait(1); //wait 1 sec
+        blue = 1; 
+        go = Wifi();
+        pc.printf("go = %d\r\n", go);
+    }
+    red = 0; //on
+    pc.printf("\r\n\r\nRecieved Threat Alert\r\n Proceeding to Coordinate: %d", xvalue);
+    wait(10); 
+//set motor period
+  right_pwm.period(0.007f); 
+  left_pwm.period(0.007f); 
+  
+//motor speed
+    leftSpeed = 0.50f;
+    rightSpeed = 0.70f; 
+    ileftSpeed = 0.50f;
+    irightSpeed = 0.70f;    
+    left_pwm.write(ileftSpeed);  
+    right_pwm.write(irightSpeed);
+    Forward();   
+    setDistance = GetRightDistance(); //check right distance distance
+    lastRightDistance = setDistance; 
+    pc.printf("setDistance:%d\r\n", setDistance);
+    while(1) 
+    { 
+        EncoderIn.rise(NULL);  //disable EncoderIn inturrpt
+         
+        rightDistance = GetRightDistance(); //check distance
+        if( rightDistance > (lastRightDistance + 20) || rightDistance < (lastRightDistance - 20))
+        {
+            pc.printf("Old righDistance:%d, lastRightDistance: %d\r\n", rightDistance, lastRightDistance);
+            rightDistance = lastRightDistance -10; 
+            pc.printf("New righDistance:%d\r\n", rightDistance);
+        }
+        else
+            lastRightDistance = rightDistance; 
+            
+        frontDistance = GetFrontDistance(); //check distance 
+        //pc.printf("Right:%d , Front: %d\r\n", rightDistance, frontDistance);
+        
+        if(rightDistance >=1000) 
+        {
+            rightDistance = 1;
+        }
+        else
+            rightDistance = rightDistance; 
+        //***turn right
+        if( rightDistance > setDistance + 1 ) 
+        {
+            inc = 0.2f; 
+            leftSpeed = leftSpeed + inc;
+            if(leftSpeed > .55f)
+                leftSpeed = .55f;
+            left_pwm.write(leftSpeed);
+            
+            rightSpeed = rightSpeed - inc;
+            if(rightSpeed < 0.30f)
+                rightSpeed = 0.30f; 
+            right_pwm.write(rightSpeed);
+            pc.printf("Turn Right,right distance:%d, %d\r\n", rightDistance, setDistance);
+            pc.printf("leftSpeed:%f, rightSpeed:%f\r\n\r\n", leftSpeed, rightSpeed);
+            //Stop();
+            //while(sw2);
+            //wait(1); 
+            //Forward();
+        }
+        //****turn left
+        //else ( rightDistance < (setDistance - 1)) 
+        else
+        {
+            inc = 0.2f;
+            leftSpeed = leftSpeed - inc;
+            if(leftSpeed < 0.25f)
+                leftSpeed = 0.25f;           
+            left_pwm.write(leftSpeed);
+            
+            rightSpeed = rightSpeed + inc;
+            if(rightSpeed > 0.65f)
+                rightSpeed = 0.65f;
+            right_pwm.write(rightSpeed);
+            pc.printf("Turn Left,right distance:%d, %d\r\n", rightDistance, setDistance);
+            pc.printf("leftSpeed:%f, rightSpeed:%f\r\n\r\n", leftSpeed, rightSpeed);
+            //Stop();
+            //while(sw2);
+            //wait(1); 
+            //Forward();
+        }
+        /*else
+        {
+            left_pwm.write(ileftSpeed);
+            right_pwm.write(irightSpeed);
+            pc.printf("Go Straight,right distance:%d, %d\r\n", rightDistance, setDistance);
+            pc.printf("leftSpeed:%f, rightSpeed:%f\r\n\r\n", ileftSpeed, irightSpeed);
+            //Stop();
+            //while(sw2);
+            //wait(1); 
+            //Forward();
+        }   */  
+    EncoderIn.rise(&EncoderCount);  /*Interrupt: On rising edge of encoder tick*/ 
+    wait(.05);
+    }//end of while(1)
+}//end of main()
+
+        
+unsigned int Wifi(void) 
+{  
+    unsigned int go = 0;
+    pc.printf("\r\n******************Wifi Begin*********************************\r\n");    
+    entryID = 0;   
+    while(entryID == 0)
+    {
+        ConnectToServer();
+        GetCurrentEntryID();
+        CloseConnection();
+    }
+    if(xvalue != 0 || yvalue != 0)
+        go = 1;
+    else 
+        go = 0;  
+    pc.printf("\r\n******************Wifi Completed*********************************\r\n");    
+    return go;
+}//end of Wifi()
+
+
+
+void GetCurrentEntryID(void)
+{
+    unsigned int i = 0, len = 0, lastEntryID = 0,diff = 0, xvalue1 = 0, yvalue1 = 0, dash = 0, end =0, k = 0; 
+    char snd[255],rcv1[1000];
+    const int size = sizeof(rcv1);
+//Get values from ThinkSpeak
+    pc.printf("\r\nGet Values from ThingSpeak\r\n");
+    strcpy(snd,"GET http://api.thingspeak.com/channels/104257/fields/1.json?key=1YAN0O31ADCV9MEP HTTP/1.0\r\n\r\n");//97 
+    //strcpy(snd,"GET http://api.thingspeak.com/channels/104257/status.json?key=1YAN0O31ADCV9MEP HTTP/1.0\r\n\r\n");//97 
+    //send
+    //pc.printf("\r\nSending: %s",snd);
+    wifi.SendCMD(snd);
+    wifi.RcvReply(rcv1, 750);
+    pc.printf("\r\nSent Status: %s", rcv1);
+    //send again
+    //pc.printf("\r\nSending: %s",snd);
+    wifi.SendCMD(snd);
+    wifi.RcvReply(rcv1, 750);
+    pc.printf("\r\nSent Status: %s", rcv1);  
+    for(i = 0; i <= size - 1; i++)
+    {  
+        if(rcv1[i-1]==121 && rcv1[i]==95 && rcv1[i+1]==105 && rcv1[i+2]==100 && rcv1[i+6]<=57 && rcv1[i+6]>=44) //check for "_id"  entry_id 
+        { 
+            if(rcv1[i+6] ==44)
+            {
+                len = 0;
+                entryID = rcv1[i+5]-48;
+            }
+            else
+            {
+                len = 1;
+                entryID = (rcv1[i+5]-48)*10+(rcv1[i+6]-48); 
+            }
+            dash = 0; 
+            end = 0; 
+            for(k = 1;k<=20;k++)
+            {
+                if(rcv1[i+17+len+k] == 45) //look for "-"
+                {
+                    dash = k;
+                    k = 21;  
+                }
+            }
+            for(k = 1;k<=20;k++)
+            {
+                if(rcv1[i+17+len+k] == 34)
+                {
+                    end = k - 1;
+                    diff = end - dash;
+                    k = 21; 
+                }
+            }
+            xvalue1 = 0; 
+            yvalue1 = 0;
+            
+            for(k=1;k<=dash;k++)
+            { 
+                xvalue1 = xvalue1 + (rcv1[i+16+len+k]-48)*pow(10,float(dash - k));
+            }
+            for(k=1;k<=diff;k++)
+            {
+                yvalue1 = yvalue1 + (rcv1[i+17+len+dash+k]-48)*pow(10,float(diff-k));
+            }
+        }//if(entry_id)
+        else
+            i=i;
+
+        if(entryID <=99 && entryID > lastEntryID)
+        {
+            lastEntryID = entryID; 
+            xvalue = xvalue1;
+            yvalue = yvalue1;
+        }
+        else
+        {
+            lastEntryID = lastEntryID; 
+            xvalue = xvalue;
+            yvalue = yvalue;   
+        }
+    } //end of For loop
+    pc.printf("\r\nfinal:: lastEntry_id= %d, xvalue = %d, yvalue = %d",lastEntryID, xvalue, yvalue);
+} //end of GetCurrentEntryID
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+void ConnectToServer(void)
+{   
+    char snd[255],rcv[500];
+    pc.printf("\r\n\r\n*************Sending WiFi information*************\r\n");
+    
+//Set Wifi to Single Channel Mode    
+    pc.printf("\r\nSet WiFi into Single Channel mode\r\n");
+    strcpy(snd,"AT+CIPMUX=0");//Setting WiFi into single Channel mode
+    wifi.SendCMD(snd);
+    //pc.printf(snd);
+    wifi.RcvReply(rcv, 750);
+    pc.printf("\r\nSingle Channel Mode Status: %s", rcv);
+    //wait(1);
+
+//Initiate connection with THINGSPEAK server 
+    pc.printf("\r\nInitiating connection with ThinkSpeak sever\r\n");
+    strcpy(snd,"AT+CIPSTART=\"TCP\",\"api.thingspeak.com\",80");    
+    //pc.printf("\r\nsending: %s", snd);
+    wifi.SendCMD(snd);
+    wifi.RcvReply(rcv, 750);
+    pc.printf("\r\nConnection Status: %s", rcv);
+    
+//Send Number of Characters to be sent
+    pc.printf("\r\nSending Number of Characters to be sent");
+    strcpy(snd,"AT+CIPSEND=110");    //Send Number of open connections,Characters to send 
+    wifi.SendCMD(snd);
+    //pc.printf(snd);
+    wifi.RcvReply(rcv, 750);
+    pc.printf("\r\nSent Status: %s", rcv);    
+} //end of ConnectToServer()
+
+
+
+void CloseConnection(void)
+{
+    char snd[255],rcv[500];
+    //close connection   
+    pc.printf("\r\nClose the Connection\r\n");                                   
+    strcpy(snd,"AT+CIPCLOSE");        //closing the connection with thingspeak server
+    wifi.SendCMD(snd);   
+    //pc.printf("\r\nSending: %s",snd);  
+    wifi.RcvReply(rcv, 750);
+    pc.printf("\r\nClose Connection Status: %s", rcv);
+         
+    pc.printf("\r\nEnd of Closed Connection Response\r\n\r\n");
+}//void connection
+
+void EncoderCount()
+{ 
+    static int xval = 0, yval = 0;
+    xval++;
+    //yval++;
+    pc.printf("\r\nX: %d, Y: %d\r\n\r\n", xval, yval);
+    if(xval >= xvalue)
+    {
+        EncoderIn.rise(NULL);
+        Stop();
+        green = 0; //on
+        while(1); 
+    }
+}
+
+int GetFrontDistance(void)
+{
+    int distance = 0; 
+    HCSR04 sensor(D4, D5);
+    distance = sensor.distance();
+    return distance;
+}
+
+int GetRightDistance(void)
+{
+    int distance = 0; 
+    HCSR04 sensor(D2, D3);
+    distance = sensor.distance();
+    return distance; 
+}
+
+void Forward(void)
+{
+      right_cont1=0;
+      right_cont2=1;
+      left_cont1=0;
+      left_cont2=1;
+}
+
+void Stop(void)
+{
+    right_cont1=0;
+    right_cont2=0;
+    left_cont1=0;
+    left_cont2=0;
+}
+
+void Right90(void)
+{
+      right_cont1=0;
+      right_cont2=0;
+      left_cont1=0;
+      left_cont2=1;
+}
+
+void Left90(void)
+{
+      right_cont1=0;
+      right_cont2=1;
+      left_cont1=0;
+      left_cont2=0;
+}
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon May 02 17:25:19 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/99a22ba036c9
\ No newline at end of file