Diff: main.cpp

Revision:

10:47e63d63297f

Parent:

9:73600707c93b

--- a/main.cpp	Mon Mar 02 17:36:12 2020 +0000
+++ b/main.cpp	Tue Mar 24 22:12:49 2020 +0000
@@ -1,34 +1,112 @@
 #include "mbed.h"
+#include <stdio.h>
+#include <string.h>
 #include "hcsr04.h"
 
 Serial pc(USBTX,USBRX);
 //Serial UART(USBTX,USBRX);
 HCSR04  usensor(D8,D12);
 //Bluetooth module declaration
-Serial HC06(PTC17,PTC16); //BT TX RX
-char snd[512],rcv[1000];
+Serial blue(PTC15, PTC14);
+DigitalOut Redl(LED1);
+DigitalOut Bluel(LED3);
+DigitalOut Greenl(LED2);
+
+DigitalOut vibMotorR(D3);
+DigitalOut vibMotorL(D5);
+
+int c =0;
 unsigned int dist;
 char a;
-
+char k;
 Timer dt;
-
 int main()
 {
     pc.baud(9600);
-    unsigned char rx;
     dt.start();
-    while(1) {
-        usensor.start(); 
+    Greenl = 1; //FRDM LED initially OFF
+    Bluel = 1; //FRDM LED initially OFF
+    Redl = 1; //FRDM LED initially OFF
+    vibMotorL = 0;
+    vibMotorR = 0;
+    while(1)
+    {
+        usensor.start();
         wait_ms(500);
-        pc.printf("started");
-        rx = HC06.getc();
-        pc.printf("\n\r %ld",rx);
         dist=usensor.get_dist_cm();
-         dt.reset();
-         if(dist>1 and dist<=30)
-         {
-         pc.printf("case: 1\r\n"); 
-         pc.printf("\n\r %ld",dist );  
-        }    
-    }
-}
\ No newline at end of file
+        printf("\n\r cm:%ld",dist);
+        dt.reset();
+        k = 'F';
+        if(blue.readable()> 0)
+        {
+            c = blue.getc();
+            pc.printf("\n\rbluetooth");
+            pc.printf("\n\r %ld",c);
+            k = 'T';
+            }
+            if(dist>1 and dist<=30)
+            {
+                pc.printf("case1: Obstacle ahead\r\n");
+                pc.printf("\n\r %ld",dist);
+                blue.printf("1");
+                Redl = 0;
+                vibMotorL = 1;
+                vibMotorR = 1;
+                wait(3);
+                Redl = 1;
+                vibMotorL = 0;
+                vibMotorR = 0;
+                }
+                if (k == 'T')
+                {
+                    if (c == 49)
+                    {
+                        pc.printf("case 2: Turn Left\r\n");
+                        Greenl = 0;
+                        vibMotorL = 1;
+                        wait(3);
+                        Greenl = 1;
+                        vibMotorL = 0;
+                        k = 'F';
+                        }
+                        else if (c == 50)
+                        {
+                            pc.printf("case 3: Turn Right\r\n");
+                            Bluel = 0;
+                            vibMotorR = 1;
+                            wait(3);
+                            Bluel = 1;
+                            vibMotorR = 0;
+                            k = 'F';
+                            }
+                            else if (c == 51)
+                            {
+                                pc.printf("case 4: Destination reached\r\n");
+                                Bluel = 0;
+                                Greenl = 0;
+                                Redl = 0;
+                                vibMotorL = 1;
+                                vibMotorR = 1;
+                                wait(3);
+                                Bluel = 1;
+                                Greenl = 1;
+                                Redl = 1;
+                                vibMotorL = 0;
+                                vibMotorR = 0;
+                                wait(1);
+                                Bluel = 0;
+                                Greenl = 0;
+                                Redl = 0;
+                                vibMotorL = 1;
+                                vibMotorR = 1;
+                                wait(3);
+                                Bluel = 1;
+                                Greenl = 1;
+                                Redl = 1;
+                                vibMotorL = 0;
+                                vibMotorR = 0;
+                                k = 'F';
+                                }
+                                }
+                                }
+                                }
\ No newline at end of file